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VelocitySmoothing - Get rid of math.h, math.cpp and px4_defines dependencies

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bresch
2019-03-05 17:40:47 +01:00
committed by Beat Küng
parent ddab0ccdf1
commit b9cf4dfb6c
2 changed files with 10 additions and 11 deletions
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src/lib/FlightTasks/tasks/Utility/VelocitySmoothing.cpp
+6 -8
View File
@@ -35,8 +35,6 @@
#include <cstdio> #include <cstdio>
#include <float.h> #include <float.h>
#include <math.h>
#include <px4_defines.h>
#include <mathlib/mathlib.h> #include <mathlib/mathlib.h>
@@ -210,22 +208,22 @@ void VelocitySmoothing::updateDurations(float T123)
_max_jerk_T1 = (_vel_sp - _vel > 0.f) ? _max_jerk : -_max_jerk; _max_jerk_T1 = (_vel_sp - _vel > 0.f) ? _max_jerk : -_max_jerk;
// compute increasing acceleration time // compute increasing acceleration time
if (PX4_ISFINITE(T123)) { if (T123 < 0.f) {
T1 = computeT1(T123, _accel, _vel, _vel_sp, _max_jerk_T1); T1 = computeT1(_accel, _vel, _vel_sp, _max_jerk_T1);
} else { } else {
T1 = computeT1(_accel, _vel, _vel_sp, _max_jerk_T1); T1 = computeT1(T123, _accel, _vel, _vel_sp, _max_jerk_T1);
} }
// compute decreasing acceleration time // compute decreasing acceleration time
T3 = computeT3(T1, _accel, _max_jerk_T1); T3 = computeT3(T1, _accel, _max_jerk_T1);
// compute constant acceleration time // compute constant acceleration time
if (PX4_ISFINITE(T123)) { if (T123 < 0.f) {
T2 = computeT2(T123, T1, T3); T2 = computeT2(T1, T3, _accel, _vel, _vel_sp, _max_jerk_T1);
} else { } else {
T2 = computeT2(T1, T3, _accel, _vel, _vel_sp, _max_jerk_T1); T2 = computeT2(T123, T1, T3);
} }
_T1 = T1; _T1 = T1;
src/lib/FlightTasks/tasks/Utility/VelocitySmoothing.hpp
+4 -3
View File
@@ -33,8 +33,6 @@
#pragma once #pragma once
#include <matrix/matrix/math.hpp>
/** /**
* @class VelocitySmoothing * @class VelocitySmoothing
* *
@@ -115,6 +113,9 @@ public:
static void timeSynchronization(VelocitySmoothing *traj, int n_traj); static void timeSynchronization(VelocitySmoothing *traj, int n_traj);
float getTotalTime() const { return _T1 + _T2 + _T3; } float getTotalTime() const { return _T1 + _T2 + _T3; }
float getT1() const { return _T1; }
float getT2() const { return _T2; }
float getT3() const { return _T3; }
float getVelSp() const { return _vel_sp; } float getVelSp() const { return _vel_sp; }
private: private:
@@ -124,7 +125,7 @@ private:
* @param T123 optional parameter. If set, the total trajectory time will be T123, if not, * @param T123 optional parameter. If set, the total trajectory time will be T123, if not,
* the algorithm optimizes for time. * the algorithm optimizes for time.
*/ */
void updateDurations(float T123 = NAN); void updateDurations(float T123 = -1.f);
/** /**
* Compute increasing acceleration time * Compute increasing acceleration time
*/ */