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AC_Avoidance: constify get_shortest_path_point

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This commit is contained in:
Randy Mackay 2023-12-14 10:36:43 +09:00
parent 1e626a70cb
commit d01a330588
2 changed files with 2 additions and 2 deletions
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2
libraries/AC_Avoidance/AP_OADijkstra.cpp
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@ -934,7 +934,7 @@ bool AP_OADijkstra::calc_shortest_path(const Location &origin, const Location &d
}
// return point from final path as an offset (in cm) from the ekf origin
bool AP_OADijkstra::get_shortest_path_point(uint8_t point_num, Vector2f& pos)
bool AP_OADijkstra::get_shortest_path_point(uint8_t point_num, Vector2f& pos) const
{
if ((_path_numpoints == 0) || (point_num >= _path_numpoints)) {
return false;

2
libraries/AC_Avoidance/AP_OADijkstra.h
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@ -182,7 +182,7 @@ private:
Vector2f _path_destination; // destination position used in shortest path calculations (offset in cm from EKF origin)
// return point from final path as an offset (in cm) from the ekf origin
bool get_shortest_path_point(uint8_t point_num, Vector2f& pos);
bool get_shortest_path_point(uint8_t point_num, Vector2f& pos) const;
// find the position of a node as an offset (in cm) from the ekf origin
// returns true if successful and pos is updated