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AC_Avoidance: remove unnecessary const float arguments

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This commit is contained in:
Randy Mackay 2016-11-08 13:51:33 +09:00
parent 6293fa1595
commit 40c4e75ae7
2 changed files with 11 additions and 11 deletions
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10
libraries/AC_Avoidance/AC_Avoid.cpp
View File

@ -23,7 +23,7 @@ AC_Avoid::AC_Avoid(const AP_AHRS& ahrs, const AP_InertialNav& inav, const AC_Fen
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
} }
void AC_Avoid::adjust_velocity(const float kP, const float accel_cmss, Vector2f &desired_vel) void AC_Avoid::adjust_velocity(float kP, float accel_cmss, Vector2f &desired_vel)
{ {
// exit immediately if disabled // exit immediately if disabled
if (_enabled == AC_AVOID_DISABLED) { if (_enabled == AC_AVOID_DISABLED) {
@ -44,7 +44,7 @@ void AC_Avoid::adjust_velocity(const float kP, const float accel_cmss, Vector2f
} }
// convenience function to accept Vector3f. Only x and y are adjusted // convenience function to accept Vector3f. Only x and y are adjusted
void AC_Avoid::adjust_velocity(const float kP, const float accel_cmss, Vector3f &desired_vel) void AC_Avoid::adjust_velocity(float kP, float accel_cmss, Vector3f &desired_vel)
{ {
Vector2f des_vel_xy(desired_vel.x, desired_vel.y); Vector2f des_vel_xy(desired_vel.x, desired_vel.y);
adjust_velocity(kP, accel_cmss, des_vel_xy); adjust_velocity(kP, accel_cmss, des_vel_xy);
@ -193,7 +193,7 @@ void AC_Avoid::adjust_velocity_proximity(const float kP, const float accel_cmss,
* Uses velocity adjustment idea from Randy's second email on this thread: * Uses velocity adjustment idea from Randy's second email on this thread:
* https://groups.google.com/forum/#!searchin/drones-discuss/obstacle/drones-discuss/QwUXz__WuqY/qo3G8iTLSJAJ * https://groups.google.com/forum/#!searchin/drones-discuss/obstacle/drones-discuss/QwUXz__WuqY/qo3G8iTLSJAJ
*/ */
void AC_Avoid::limit_velocity(const float kP, const float accel_cmss, Vector2f &desired_vel, const Vector2f limit_direction, const float limit_distance) const void AC_Avoid::limit_velocity(float kP, float accel_cmss, Vector2f &desired_vel, const Vector2f& limit_direction, float limit_distance) const
{ {
const float max_speed = get_max_speed(kP, accel_cmss, limit_distance); const float max_speed = get_max_speed(kP, accel_cmss, limit_distance);
// project onto limit direction // project onto limit direction
@ -219,7 +219,7 @@ Vector2f AC_Avoid::get_position()
* Computes the speed such that the stopping distance * Computes the speed such that the stopping distance
* of the vehicle will be exactly the input distance. * of the vehicle will be exactly the input distance.
*/ */
float AC_Avoid::get_max_speed(const float kP, const float accel_cmss, const float distance) const float AC_Avoid::get_max_speed(float kP, float accel_cmss, float distance) const
{ {
return AC_AttitudeControl::sqrt_controller(distance, kP, accel_cmss); return AC_AttitudeControl::sqrt_controller(distance, kP, accel_cmss);
} }
@ -229,7 +229,7 @@ float AC_Avoid::get_max_speed(const float kP, const float accel_cmss, const floa
* *
* Implementation copied from AC_PosControl. * Implementation copied from AC_PosControl.
*/ */
float AC_Avoid::get_stopping_distance(const float kP, const float accel_cmss, const float speed) const float AC_Avoid::get_stopping_distance(float kP, float accel_cmss, float speed) const
{ {
// avoid divide by zero by using current position if the velocity is below 10cm/s, kP is very low or acceleration is zero // avoid divide by zero by using current position if the velocity is below 10cm/s, kP is very low or acceleration is zero
if (kP <= 0.0f || accel_cmss <= 0.0f || is_zero(speed)) { if (kP <= 0.0f || accel_cmss <= 0.0f || is_zero(speed)) {

12
libraries/AC_Avoidance/AC_Avoid.h
View File

@ -32,8 +32,8 @@ public:
* before the fence/object. * before the fence/object.
* Note: Vector3f version is for convenience and only adjusts x and y axis * Note: Vector3f version is for convenience and only adjusts x and y axis
*/ */
void adjust_velocity(const float kP, const float accel_cmss, Vector2f &desired_vel); void adjust_velocity(float kP, float accel_cmss, Vector2f &desired_vel);
void adjust_velocity(const float kP, const float accel_cmss, Vector3f &desired_vel); void adjust_velocity(float kP, float accel_cmss, Vector3f &desired_vel);
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
@ -52,7 +52,7 @@ private:
/* /*
* Adjusts the desired velocity based on output from the proximity sensor * Adjusts the desired velocity based on output from the proximity sensor
*/ */
void adjust_velocity_proximity(const float kP, const float accel_cmss, Vector2f &desired_vel); void adjust_velocity_proximity(float kP, float accel_cmss, Vector2f &desired_vel);
/* /*
* Limits the component of desired_vel in the direction of the unit vector * Limits the component of desired_vel in the direction of the unit vector
@ -61,7 +61,7 @@ private:
* Uses velocity adjustment idea from Randy's second email on this thread: * Uses velocity adjustment idea from Randy's second email on this thread:
* https://groups.google.com/forum/#!searchin/drones-discuss/obstacle/drones-discuss/QwUXz__WuqY/qo3G8iTLSJAJ * https://groups.google.com/forum/#!searchin/drones-discuss/obstacle/drones-discuss/QwUXz__WuqY/qo3G8iTLSJAJ
*/ */
void limit_velocity(const float kP, const float accel_cmss, Vector2f &desired_vel, const Vector2f limit_direction, const float limit_distance) const; void limit_velocity(float kP, float accel_cmss, Vector2f &desired_vel, const Vector2f& limit_direction, float limit_distance) const;
/* /*
* Gets the current position, relative to home (not relative to EKF origin) * Gets the current position, relative to home (not relative to EKF origin)
@ -72,12 +72,12 @@ private:
* Computes the speed such that the stopping distance * Computes the speed such that the stopping distance
* of the vehicle will be exactly the input distance. * of the vehicle will be exactly the input distance.
*/ */
float get_max_speed(const float kP, const float accel_cmss, const float distance) const; float get_max_speed(float kP, float accel_cmss, float distance) const;
/* /*
* Computes distance required to stop, given current speed. * Computes distance required to stop, given current speed.
*/ */
float get_stopping_distance(const float kP, const float accel_cmss, const float speed) const; float get_stopping_distance(float kP, float accel_cmss, float speed) const;
/* /*
* Gets the fence margin in cm * Gets the fence margin in cm