From 487f87f6342c677757a85f1334316371b8f4dc59 Mon Sep 17 00:00:00 2001
From: Alberto Nidasio <alberto.nidasio@skywarder.eu>
Date: Fri, 8 Jul 2022 12:00:54 +0000
Subject: [PATCH] [AirBrakes] Made the trajectory set constant
---
src/shared/algorithms/AirBrakes/AirBrakes.cpp | 2 +-
src/shared/algorithms/AirBrakes/AirBrakes.h | 4 ++--
src/shared/algorithms/AirBrakes/TrajectorySet.h | 2 +-
3 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/src/shared/algorithms/AirBrakes/AirBrakes.cpp b/src/shared/algorithms/AirBrakes/AirBrakes.cpp
index 9e288ba06..896815cdb 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 b8d7d8b3c..9af39d4d2 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 b720af10f..64075e6b7 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
--
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