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Rover : class Mode : Add const attribute to some 'getter' member function signatures.

This commit is contained in:
Andy Little 2024-02-18 10:33:45 +00:00 committed by Randy Mackay
parent 6c4c7a2130
commit 883d57b286
2 changed files with 15 additions and 15 deletions
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14
Rover/mode.cpp
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@ -56,7 +56,7 @@ bool Mode::enter()
// decode pilot steering and throttle inputs and return in steer_out and throttle_out arguments
// steering_out is in the range -4500 ~ +4500 with positive numbers meaning rotate clockwise
// throttle_out is in the range -100 ~ +100
void Mode::get_pilot_input(float &steering_out, float &throttle_out)
void Mode::get_pilot_input(float &steering_out, float &throttle_out) const
{
// no RC input means no throttle and centered steering
if (rover.failsafe.bits & FAILSAFE_EVENT_THROTTLE) {
@ -102,7 +102,7 @@ void Mode::get_pilot_input(float &steering_out, float &throttle_out)
// decode pilot steering and throttle inputs and return in steer_out and throttle_out arguments
// steering_out is in the range -4500 ~ +4500 with positive numbers meaning rotate clockwise
// throttle_out is in the range -100 ~ +100
void Mode::get_pilot_desired_steering_and_throttle(float &steering_out, float &throttle_out)
void Mode::get_pilot_desired_steering_and_throttle(float &steering_out, float &throttle_out) const
{
// do basic conversion
get_pilot_input(steering_out, throttle_out);
@ -130,7 +130,7 @@ void Mode::get_pilot_desired_steering_and_throttle(float &steering_out, float &t
}
// decode pilot steering and return steering_out and speed_out (in m/s)
void Mode::get_pilot_desired_steering_and_speed(float &steering_out, float &speed_out)
void Mode::get_pilot_desired_steering_and_speed(float &steering_out, float &speed_out) const
{
float desired_throttle;
get_pilot_input(steering_out, desired_throttle);
@ -146,7 +146,7 @@ void Mode::get_pilot_desired_steering_and_speed(float &steering_out, float &spee
}
// decode pilot lateral movement input and return in lateral_out argument
void Mode::get_pilot_desired_lateral(float &lateral_out)
void Mode::get_pilot_desired_lateral(float &lateral_out) const
{
// no RC input means no lateral input
if ((rover.failsafe.bits & FAILSAFE_EVENT_THROTTLE) || (rover.channel_lateral == nullptr)) {
@ -159,7 +159,7 @@ void Mode::get_pilot_desired_lateral(float &lateral_out)
}
// decode pilot's input and return heading_out (in cd) and speed_out (in m/s)
void Mode::get_pilot_desired_heading_and_speed(float &heading_out, float &speed_out)
void Mode::get_pilot_desired_heading_and_speed(float &heading_out, float &speed_out) const
{
// get steering and throttle in the -1 to +1 range
float desired_steering = constrain_float(rover.channel_steer->norm_input_dz(), -1.0f, 1.0f);
@ -183,7 +183,7 @@ void Mode::get_pilot_desired_heading_and_speed(float &heading_out, float &speed_
// decode pilot roll and pitch inputs and return in roll_out and pitch_out arguments
// outputs are in the range -1 to +1
void Mode::get_pilot_desired_roll_and_pitch(float &roll_out, float &pitch_out)
void Mode::get_pilot_desired_roll_and_pitch(float &roll_out, float &pitch_out) const
{
if (channel_roll != nullptr) {
roll_out = channel_roll->norm_input();
@ -199,7 +199,7 @@ void Mode::get_pilot_desired_roll_and_pitch(float &roll_out, float &pitch_out)
// decode pilot walking_height inputs and return in walking_height_out arguments
// outputs are in the range -1 to +1
void Mode::get_pilot_desired_walking_height(float &walking_height_out)
void Mode::get_pilot_desired_walking_height(float &walking_height_out) const
{
if (channel_walking_height != nullptr) {
walking_height_out = channel_walking_height->norm_input();

16
Rover/mode.h
View File

@ -138,24 +138,24 @@ protected:
// decode pilot steering and throttle inputs and return in steer_out and throttle_out arguments
// steering_out is in the range -4500 ~ +4500 with positive numbers meaning rotate clockwise
// throttle_out is in the range -100 ~ +100
void get_pilot_desired_steering_and_throttle(float &steering_out, float &throttle_out);
void get_pilot_desired_steering_and_throttle(float &steering_out, float &throttle_out) const;
// decode pilot input steering and return steering_out and speed_out (in m/s)
void get_pilot_desired_steering_and_speed(float &steering_out, float &speed_out);
void get_pilot_desired_steering_and_speed(float &steering_out, float &speed_out) const;
// decode pilot lateral movement input and return in lateral_out argument
void get_pilot_desired_lateral(float &lateral_out);
void get_pilot_desired_lateral(float &lateral_out) const;
// decode pilot's input and return heading_out (in cd) and speed_out (in m/s)
void get_pilot_desired_heading_and_speed(float &heading_out, float &speed_out);
void get_pilot_desired_heading_and_speed(float &heading_out, float &speed_out) const;
// decode pilot roll and pitch inputs and return in roll_out and pitch_out arguments
// outputs are in the range -1 to +1
void get_pilot_desired_roll_and_pitch(float &roll_out, float &pitch_out);
void get_pilot_desired_roll_and_pitch(float &roll_out, float &pitch_out) const;
// decode pilot height inputs and return in height_out arguments
// outputs are in the range -1 to +1
void get_pilot_desired_walking_height(float &walking_height_out);
void get_pilot_desired_walking_height(float &walking_height_out) const;
// high level call to navigate to waypoint
void navigate_to_waypoint();
@ -192,7 +192,7 @@ protected:
// decode pilot steering and throttle inputs and return in steer_out and throttle_out arguments
// steering_out is in the range -4500 ~ +4500 with positive numbers meaning rotate clockwise
// throttle_out is in the range -100 ~ +100
void get_pilot_input(float &steering_out, float &throttle_out);
void get_pilot_input(float &steering_out, float &throttle_out) const;
void set_steering(float steering_value);
// references to avoid code churn:
@ -745,7 +745,7 @@ protected:
bool _loitering; // true if loitering at end of SRTL
};
class ModeSteering : public Mode
{