diff --git a/src/shared/algorithms/AirBrakes/AirBrakes.cpp b/src/shared/algorithms/AirBrakes/AirBrakes.cpp index 9e288ba06a9f93c6b8179ff0e3669db0be571dee..896815cdba7893328e332a775c895c878602a4c2 100644 --- a/src/shared/algorithms/AirBrakes/AirBrakes.cpp +++ b/src/shared/algorithms/AirBrakes/AirBrakes.cpp @@ -31,7 +31,7 @@ namespace Boardcore { AirBrakes::AirBrakes(std::function<TimedTrajectoryPoint()> getCurrentPosition, - TrajectorySet &trajectorySet, + const TrajectorySet &trajectorySet, const AirBrakesConfig &config, std::function<void(float)> setActuator) : getCurrentPosition(getCurrentPosition), trajectorySet(trajectorySet), diff --git a/src/shared/algorithms/AirBrakes/AirBrakes.h b/src/shared/algorithms/AirBrakes/AirBrakes.h index b8d7d8b3c4bbc8cbb3411924934295f3710232a8..9af39d4d26638dadceb5536b6026c9ff2414967c 100644 --- a/src/shared/algorithms/AirBrakes/AirBrakes.h +++ b/src/shared/algorithms/AirBrakes/AirBrakes.h @@ -40,7 +40,7 @@ class AirBrakes : public Algorithm { public: AirBrakes(std::function<TimedTrajectoryPoint()> getCurrentPosition, - TrajectorySet &trajectorySet, const AirBrakesConfig &config, + const TrajectorySet &trajectorySet, const AirBrakesConfig &config, std::function<void(float)> setActuator); bool init() override; @@ -138,7 +138,7 @@ private: private: std::function<TimedTrajectoryPoint()> getCurrentPosition; - TrajectorySet &trajectorySet; + const TrajectorySet &trajectorySet; const AirBrakesConfig &config; std::function<void(float)> setActuator; diff --git a/src/shared/algorithms/AirBrakes/TrajectorySet.h b/src/shared/algorithms/AirBrakes/TrajectorySet.h index b720af10fd1379062a566590cb77f8a9a94c4d29..64075e6b7f16a6fa1f7667b680032df7fed9a85e 100644 --- a/src/shared/algorithms/AirBrakes/TrajectorySet.h +++ b/src/shared/algorithms/AirBrakes/TrajectorySet.h @@ -38,7 +38,7 @@ public: { } - uint32_t length() { return trjSize; } + uint32_t length() const { return trjSize; } }; } // namespace Boardcore