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clean up

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This commit is contained in:
baumanta
2018-11-20 14:11:33 +01:00
committed by Beat Küng
parent f5369db245
commit efa7e0ba77
1 changed files with 6 additions and 13 deletions
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src/lib/CollisionPrevention/CollisionPrevention.cpp
+6 -13
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@@ -70,16 +70,11 @@ bool CollisionPrevention::initializeSubscriptions(SubscriptionArray &subscriptio
void CollisionPrevention::reset_constraints()
{
_move_constraints_x_normalized(0) = 0.0f; //normalized constraint in negative x-direction
_move_constraints_x_normalized(1) = 0.0f; //normalized constraint in positive x-direction
_move_constraints_y_normalized(0) = 0.0f; //normalized constraint in negative y-direction
_move_constraints_y_normalized(1) = 0.0f; //normalized constraint in positive y-direction
_move_constraints_x(0) = 0.0f; //constraint in negative x-direction
_move_constraints_x(1) = 0.0f; //constraint in positive x-direction
_move_constraints_y(0) = 0.0f; //constraint in negative y-direction
_move_constraints_y(1) = 0.0f; //constraint in positive y-direction
_move_constraints_x_normalized.zero(); //normalized constraint in x-direction
_move_constraints_y_normalized.zero(); //normalized constraint in y-direction
_move_constraints_x.zero(); //constraint in x-direction
_move_constraints_y.zero(); //constraint in y-direction
}
void CollisionPrevention::publish_constraints(const Vector2f &original_setpoint, const Vector2f &adapted_setpoint)
@@ -164,10 +159,8 @@ void CollisionPrevention::modifySetpoint(Vector2f &original_setpoint, const floa
}
//scale the velocity reductions with the maximum possible velocity along the respective axis
_move_constraints_x(0) *= v_max_x;
_move_constraints_x(1) *= v_max_x;
_move_constraints_y(0) *= v_max_y;
_move_constraints_y(1) *= v_max_y;
_move_constraints_x *= v_max_x;
_move_constraints_y *= v_max_y;
//apply the velocity reductions to form velocity limits
_move_constraints_x(0) = v_max_x - _move_constraints_x(0);