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

12
libraries/APO/AP_MavlinkCommand.h
View File

@ -50,7 +50,7 @@ public:
* Constructor for copying/ saving from a mavlink waypoint. * Constructor for copying/ saving from a mavlink waypoint.
* @param cmd The mavlink_waopint_t structure for the command. * @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() { bool save() {
return _data.save(); return _data.save();
@ -294,14 +294,14 @@ public:
* conversion for outbound packets to ground station * conversion for outbound packets to ground station
* @return output the mavlink_waypoint_t packet * @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 * Calculate the bearing from this command to the next command
* @param next The command to calculate the bearing to. * @param next The command to calculate the bearing to.
* @return the bearing * @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 * Bearing form this command to a gps coordinate in integer units
@ -316,7 +316,7 @@ public:
* @param next The command to measure to. * @param next The command to measure to.
* @return The distance in meters. * @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 * Distance to a gps coordinate in integer units
@ -363,10 +363,10 @@ public:
} }
//calculates cross track of a current location //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 // 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 } // namespace apo