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Reducing copy ctor calls in apo.

This commit is contained in:
James Goppert 2011-10-06 12:00:45 -04:00
parent dad20ce795
commit a02ce5aed7
2 changed files with 15 additions and 15 deletions
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16
libraries/APO/AP_MavlinkCommand.cpp
View File

@ -32,7 +32,7 @@ AP_MavlinkCommand::AP_MavlinkCommand(uint16_t index, bool doLoad) :
}
}
AP_MavlinkCommand::AP_MavlinkCommand(mavlink_waypoint_t cmd) :
AP_MavlinkCommand::AP_MavlinkCommand(const mavlink_waypoint_t & cmd) :
_data(k_commands + cmd.seq), _seq(cmd.seq) {
setCommand(MAV_CMD(cmd.command));
setAutocontinue(cmd.autocontinue);
@ -76,7 +76,7 @@ AP_MavlinkCommand::AP_MavlinkCommand(mavlink_waypoint_t cmd) :
Serial.flush();
}
mavlink_waypoint_t AP_MavlinkCommand::convert(uint8_t current) {
mavlink_waypoint_t AP_MavlinkCommand::convert(uint8_t current) const {
mavlink_waypoint_t mavCmd;
mavCmd.seq = getSeq();
mavCmd.command = getCommand();
@ -95,7 +95,7 @@ mavlink_waypoint_t AP_MavlinkCommand::convert(uint8_t current) {
return mavCmd;
}
float AP_MavlinkCommand::bearingTo(AP_MavlinkCommand next) const {
float AP_MavlinkCommand::bearingTo(const AP_MavlinkCommand & next) const {
float deltaLon = next.getLon() - getLon();
/*
Serial.print("Lon: "); Serial.println(getLon());
@ -122,7 +122,7 @@ float AP_MavlinkCommand::bearingTo(int32_t latDegInt, int32_t lonDegInt) const {
return bearing;
}
float AP_MavlinkCommand::distanceTo(AP_MavlinkCommand next) const {
float AP_MavlinkCommand::distanceTo(const AP_MavlinkCommand & next) const {
float sinDeltaLat2 = sin((getLat() - next.getLat()) / 2);
float sinDeltaLon2 = sin((getLon() - next.getLon()) / 2);
float a = sinDeltaLat2 * sinDeltaLat2 + cos(getLat()) * cos(
@ -151,8 +151,8 @@ float AP_MavlinkCommand::distanceTo(int32_t lat_degInt, int32_t lon_degInt) cons
}
//calculates cross track of a current location
float AP_MavlinkCommand::crossTrack(AP_MavlinkCommand previous,
int32_t lat_degInt, int32_t lon_degInt) {
float AP_MavlinkCommand::crossTrack(const AP_MavlinkCommand & previous,
int32_t lat_degInt, int32_t lon_degInt) const {
float d = previous.distanceTo(lat_degInt, lon_degInt);
float bCurrent = previous.bearingTo(lat_degInt, lon_degInt);
float bNext = previous.bearingTo(*this);
@ -161,8 +161,8 @@ float AP_MavlinkCommand::crossTrack(AP_MavlinkCommand previous,
}
// calculates along track distance of a current location
float AP_MavlinkCommand::alongTrack(AP_MavlinkCommand previous,
int32_t lat_degInt, int32_t lon_degInt) {
float AP_MavlinkCommand::alongTrack(const AP_MavlinkCommand & previous,
int32_t lat_degInt, int32_t lon_degInt) const {
// ignores lat/lon since single prec.
float dXt = this->crossTrack(previous,lat_degInt, lon_degInt);
float d = previous.distanceTo(lat_degInt, lon_degInt);

14
libraries/APO/AP_MavlinkCommand.h
View File

@ -50,7 +50,7 @@ public:
* Constructor for copying/ saving from a mavlink waypoint.
* @param cmd The mavlink_waopint_t structure for the command.
*/
AP_MavlinkCommand(mavlink_waypoint_t cmd);
AP_MavlinkCommand(const mavlink_waypoint_t & cmd);
bool save() {
return _data.save();
@ -64,7 +64,7 @@ public:
bool getAutocontinue() const {
return _data.get().autocontinue;
}
void setAutocontinue(bool val) {
void setAutocontinue( bool val) {
_data.get().autocontinue = val;
}
void setSeq(uint8_t val) {
@ -294,14 +294,14 @@ public:
* conversion for outbound packets to ground station
* @return output the mavlink_waypoint_t packet
*/
mavlink_waypoint_t convert(uint8_t current);
mavlink_waypoint_t convert(uint8_t current) const;
/**
* Calculate the bearing from this command to the next command
* @param next The command to calculate the bearing to.
* @return the bearing
*/
float bearingTo(AP_MavlinkCommand next) const;
float bearingTo(const AP_MavlinkCommand & next) const;
/**
* Bearing form this command to a gps coordinate in integer units
@ -316,7 +316,7 @@ public:
* @param next The command to measure to.
* @return The distance in meters.
*/
float distanceTo(AP_MavlinkCommand next) const;
float distanceTo(const AP_MavlinkCommand & next) const;
/**
* Distance to a gps coordinate in integer units
@ -363,10 +363,10 @@ public:
}
//calculates cross track of a current location
float crossTrack(AP_MavlinkCommand previous, int32_t lat_degInt, int32_t lon_degInt);
float crossTrack(const AP_MavlinkCommand & previous, int32_t lat_degInt, int32_t lon_degInt) const;
// calculates along track distance of a current location
float alongTrack(AP_MavlinkCommand previous, int32_t lat_degInt, int32_t lon_degInt);
float alongTrack(const AP_MavlinkCommand & previous, int32_t lat_degInt, int32_t lon_degInt) const;
};
} // namespace apo