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clang-tidy: enable performance-unnecessary-value-param and fix

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This commit is contained in:
Daniel Agar
2019-10-27 19:19:07 -04:00
parent 4a7a9a1ba9
commit d545825bf0
5 changed files with 15 additions and 15 deletions
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src/lib/FlightTasks/tasks/Utility/ManualVelocitySmoothingXY.cpp
+4 -4
View File
@@ -38,7 +38,7 @@
using namespace matrix;
void ManualVelocitySmoothingXY::reset(Vector2f accel, Vector2f vel, Vector2f pos)
void ManualVelocitySmoothingXY::reset(const Vector2f &accel, const Vector2f &vel, const Vector2f &pos)
{
for (int i = 0; i < 2; i++) {
_trajectory[i].reset(accel(i), vel(i), pos(i));
@@ -54,7 +54,7 @@ void ManualVelocitySmoothingXY::resetPositionLock()
_position_setpoint_locked(1) = NAN;
}
void ManualVelocitySmoothingXY::update(float dt, Vector2f velocity_target)
void ManualVelocitySmoothingXY::update(float dt, const Vector2f &velocity_target)
{
// Update state
updateTrajectories(dt);
@@ -79,7 +79,7 @@ void ManualVelocitySmoothingXY::updateTrajectories(float dt)
}
}
void ManualVelocitySmoothingXY::updateTrajDurations(Vector2f velocity_target)
void ManualVelocitySmoothingXY::updateTrajDurations(const Vector2f &velocity_target)
{
for (int i = 0; i < 2; ++i) {
_trajectory[i].updateDurations(velocity_target(i));
@@ -88,7 +88,7 @@ void ManualVelocitySmoothingXY::updateTrajDurations(Vector2f velocity_target)
VelocitySmoothing::timeSynchronization(_trajectory, 2);
}
void ManualVelocitySmoothingXY::checkPositionLock(Vector2f velocity_target)
void ManualVelocitySmoothingXY::checkPositionLock(const Vector2f &velocity_target)
{
/**
* During a position lock -> position unlock transition, we have to make sure that the velocity setpoint
src/lib/FlightTasks/tasks/Utility/ManualVelocitySmoothingXY.hpp
+8 -8
View File
@@ -50,10 +50,10 @@ public:
ManualVelocitySmoothingXY() = default;
~ManualVelocitySmoothingXY() = default;
void reset(Vector2f accel, Vector2f vel, Vector2f pos);
void update(float dt, Vector2f velocity_target);
void reset(const Vector2f &accel, const Vector2f &vel, const Vector2f &pos);
void update(float dt, const Vector2f &velocity_target);
void setVelSpFeedback(const Vector2f fb) { _velocity_setpoint_feedback = fb; }
void setVelSpFeedback(const Vector2f &fb) { _velocity_setpoint_feedback = fb; }
void setMaxJerk(const float max_jerk)
{
@@ -79,7 +79,7 @@ public:
Vector2f getCurrentJerk() const { return _state.j; }
Vector2f getCurrentAcceleration() const { return _state.a; }
void setCurrentVelocity(const Vector2f vel)
void setCurrentVelocity(const Vector2f &vel)
{
_state.v = vel;
_trajectory[0].setCurrentVelocity(vel(0));
@@ -87,7 +87,7 @@ public:
}
Vector2f getCurrentVelocity() const { return _state.v; }
void setCurrentPosition(const Vector2f pos)
void setCurrentPosition(const Vector2f &pos)
{
_state.x = pos;
_trajectory[0].setCurrentPosition(pos(0));
@@ -96,13 +96,13 @@ public:
}
Vector2f getCurrentPosition() const { return _position_setpoint_locked; }
void setCurrentPositionEstimate(Vector2f pos) { _position_estimate = pos; }
void setCurrentPositionEstimate(const Vector2f &pos) { _position_estimate = pos; }
private:
void resetPositionLock();
void updateTrajectories(float dt);
void checkPositionLock(Vector2f velocity_target);
void updateTrajDurations(Vector2f velocity_target);
void checkPositionLock(const Vector2f &velocity_target);
void updateTrajDurations(const Vector2f &velocity_target);
VelocitySmoothing _trajectory[2]; ///< Trajectory in x and y directions