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PositionControl: use constant references instead of pass-by-value for structs

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This commit is contained in:
Beat Küng
2018-06-13 12:11:38 +02:00
committed by Lorenz Meier
parent 5cc450c7cb
commit 76c94b08f1
2 changed files with 4 additions and 4 deletions
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src/modules/mc_pos_control/PositionControl.cpp
+2 -2
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@@ -71,7 +71,7 @@ PositionControl::PositionControl()
_setParams();
};
void PositionControl::updateState(const struct vehicle_local_position_s state, const Vector3f &vel_dot)
void PositionControl::updateState(const vehicle_local_position_s &state, const Vector3f &vel_dot)
{
_pos = Vector3f(&state.x);
_vel = Vector3f(&state.vx);
@@ -79,7 +79,7 @@ void PositionControl::updateState(const struct vehicle_local_position_s state, c
_vel_dot = vel_dot;
}
void PositionControl::updateSetpoint(struct vehicle_local_position_setpoint_s setpoint)
void PositionControl::updateSetpoint(const vehicle_local_position_setpoint_s &setpoint)
{
_pos_sp = Vector3f(&setpoint.x);
_vel_sp = Vector3f(&setpoint.vx);
src/modules/mc_pos_control/PositionControl.hpp
+2 -2
View File
@@ -64,8 +64,8 @@ public:
~PositionControl() {};
void updateState(const struct vehicle_local_position_s state, const matrix::Vector3f &vel_dot);
void updateSetpoint(struct vehicle_local_position_setpoint_s setpoint);
void updateState(const vehicle_local_position_s &state, const matrix::Vector3f &vel_dot);
void updateSetpoint(const vehicle_local_position_setpoint_s &setpoint);
void updateConstraints(const Controller::Constraints &constraints);
void generateThrustYawSetpoint(const float &dt);