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AC_Avoidance: rename adjust_velocity_polygon_fence

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This commit is contained in:
Randy Mackay 2016-11-08 13:54:24 +09:00
parent 79280036de
commit cdee68174d
2 changed files with 3 additions and 4 deletions
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5
libraries/AC_Avoidance/AC_Avoid.cpp
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@ -34,8 +34,8 @@ void AC_Avoid::adjust_velocity(float kP, float accel_cmss, Vector2f &desired_vel
float accel_cmss_limited = MIN(accel_cmss, AC_AVOID_ACCEL_CMSS_MAX); float accel_cmss_limited = MIN(accel_cmss, AC_AVOID_ACCEL_CMSS_MAX);
if ((_enabled & AC_AVOID_STOP_AT_FENCE) > 0) { if ((_enabled & AC_AVOID_STOP_AT_FENCE) > 0) {
adjust_velocity_poly(kP, accel_cmss_limited, desired_vel);
adjust_velocity_circle_fence(kP, accel_cmss_limited, desired_vel); adjust_velocity_circle_fence(kP, accel_cmss_limited, desired_vel);
adjust_velocity_polygon_fence(kP, accel_cmss_limited, desired_vel);
} }
if ((_enabled & AC_AVOID_USE_PROXIMITY_SENSOR) > 0) { if ((_enabled & AC_AVOID_USE_PROXIMITY_SENSOR) > 0) {
@ -96,8 +96,7 @@ void AC_Avoid::adjust_velocity_circle_fence(float kP, float accel_cmss, Vector2f
/* /*
* Adjusts the desired velocity for the polygon fence. * Adjusts the desired velocity for the polygon fence.
*/ */
void AC_Avoid::adjust_velocity_polygon_fence(float kP, float accel_cmss, Vector2f &desired_vel)
void AC_Avoid::adjust_velocity_poly(const float kP, const float accel_cmss, Vector2f &desired_vel)
{ {
// exit if the polygon fence is not enabled // exit if the polygon fence is not enabled
if ((_fence.get_enabled_fences() & AC_FENCE_TYPE_POLYGON) == 0) { if ((_fence.get_enabled_fences() & AC_FENCE_TYPE_POLYGON) == 0) {

2
libraries/AC_Avoidance/AC_Avoid.h
View File

@ -47,7 +47,7 @@ private:
/* /*
* Adjusts the desired velocity for the polygon fence. * Adjusts the desired velocity for the polygon fence.
*/ */
void adjust_velocity_poly(const float kP, const float accel_cmss, Vector2f &desired_vel); void adjust_velocity_polygon_fence(float kP, float accel_cmss, Vector2f &desired_vel);
/* /*
* Adjusts the desired velocity based on output from the proximity sensor * Adjusts the desired velocity based on output from the proximity sensor