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removed unused code - _constrainOneSide and _constrainAbs

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2022-06-22 21:50:30 +02:00
committed by Matthias Grob
parent 479c85047f
commit ffb0097052
1 changed files with 0 additions and 20 deletions
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src/lib/motion_planning/PositionSmoothing.cpp
-20
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@@ -84,26 +84,6 @@ bool PositionSmoothing::_isTurning(const Vector3f &target) const
&& pos_to_target.longerThan(_target_acceptance_radius));
}
/* Constrain some value vith a constrain depending on the sign of the constraint
* Example: - if the constrain is -5, the value will be constrained between -5 and 0
* - if the constrain is 5, the value will be constrained between 0 and 5
*/
inline float _constrainOneSide(float val, float constraint)
{
const float min = (constraint < FLT_EPSILON) ? constraint : 0.f;
const float max = (constraint > FLT_EPSILON) ? constraint : 0.f;
return math::constrain(val, min, max);
}
inline float _constrainAbs(float val, float max)
{
return matrix::sign(val) * math::min(fabsf(val), fabsf(max));
}
float PositionSmoothing::_getMaxXYSpeed(const Vector3f(&waypoints)[3]) const
{
Vector3f pos_traj(_trajectory[0].getCurrentPosition(),