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AP_Math: minor control spelling and format fixes

gps-1.3.1
Randy Mackay 3 years ago
parent
d9c562cfae
commit
8bbdd4825f
2 changed files with 10 additions and 10 deletions
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  1. 8
      libraries/AP_Math/control.cpp
  2. 12
      libraries/AP_Math/control.h

8
libraries/AP_Math/control.cpp
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@ -31,7 +31,7 @@
// update_vel_accel - single axis projection of velocity, vel, forwards in time based on a time step of dt and acceleration of accel. // update_vel_accel - single axis projection of velocity, vel, forwards in time based on a time step of dt and acceleration of accel.
// the velocity is not moved in the direction of limit if limit is not set to zero. // the velocity is not moved in the direction of limit if limit is not set to zero.
// limit - specifies if the system is unable to continue to accelerate. // limit - specifies if the system is unable to continue to accelerate.
// vel_error - specifies the direction of the velocity error useded in limit handling. // vel_error - specifies the direction of the velocity error used in limit handling.
void update_vel_accel(float& vel, float accel, float dt, float limit, float vel_error) void update_vel_accel(float& vel, float accel, float dt, float limit, float vel_error)
{ {
const float delta_vel = accel * dt; const float delta_vel = accel * dt;
@ -44,7 +44,7 @@ void update_vel_accel(float& vel, float accel, float dt, float limit, float vel_
// update_pos_vel_accel - single axis projection of position and velocity forward in time based on a time step of dt and acceleration of accel. // update_pos_vel_accel - single axis projection of position and velocity forward in time based on a time step of dt and acceleration of accel.
// the position and velocity is not moved in the direction of limit if limit is not set to zero. // the position and velocity is not moved in the direction of limit if limit is not set to zero.
// limit - specifies if the system is unable to continue to accelerate. // limit - specifies if the system is unable to continue to accelerate.
// pos_error and vel_error - specifies the direction of the velocity error useded in limit handling. // pos_error and vel_error - specifies the direction of the velocity error used in limit handling.
void update_pos_vel_accel(postype_t& pos, float& vel, float accel, float dt, float limit, float pos_error, float vel_error) void update_pos_vel_accel(postype_t& pos, float& vel, float accel, float dt, float limit, float pos_error, float vel_error)
{ {
// move position and velocity forward by dt if it does not increase error when limited. // move position and velocity forward by dt if it does not increase error when limited.
@ -60,7 +60,7 @@ void update_pos_vel_accel(postype_t& pos, float& vel, float accel, float dt, flo
// update_vel_accel - dual axis projection of position and velocity, pos and vel, forwards in time based on a time step of dt and acceleration of accel. // update_vel_accel - dual axis projection of position and velocity, pos and vel, forwards in time based on a time step of dt and acceleration of accel.
// the velocity is not moved in the direction of limit if limit is not set to zero. // the velocity is not moved in the direction of limit if limit is not set to zero.
// limit - specifies if the system is unable to continue to accelerate. // limit - specifies if the system is unable to continue to accelerate.
// pos_error and vel_error - specifies the direction of the velocity error useded in limit handling. // pos_error and vel_error - specifies the direction of the velocity error used in limit handling.
void update_vel_accel_xy(Vector2f& vel, const Vector2f& accel, float dt, const Vector2f& limit, const Vector2f& vel_error) void update_vel_accel_xy(Vector2f& vel, const Vector2f& accel, float dt, const Vector2f& limit, const Vector2f& vel_error)
{ {
// increase velocity by acceleration * dt if it does not increase error when limited. // increase velocity by acceleration * dt if it does not increase error when limited.
@ -188,7 +188,7 @@ void shape_vel_accel(float vel_input, float accel_input,
} }
// 2D version // 2D version
void shape_vel_accel_xy(const Vector2f &vel_input, const Vector2f& accel_input, void shape_vel_accel_xy(const Vector2f& vel_input, const Vector2f& accel_input,
const Vector2f& vel, Vector2f& accel, const Vector2f& vel, Vector2f& accel,
float accel_max, float jerk_max, float dt, bool limit_total_accel) float accel_max, float jerk_max, float dt, bool limit_total_accel)
{ {

12
libraries/AP_Math/control.h
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@ -28,25 +28,25 @@ typedef Vector3f Vector3p;
// update_vel_accel - single axis projection of velocity, vel, forwards in time based on a time step of dt and acceleration of accel. // update_vel_accel - single axis projection of velocity, vel, forwards in time based on a time step of dt and acceleration of accel.
// the velocity is not moved in the direction of limit if limit is not set to zero. // the velocity is not moved in the direction of limit if limit is not set to zero.
// limit - specifies if the system is unable to continue to accelerate. // limit - specifies if the system is unable to continue to accelerate.
// vel_error - specifies the direction of the velocity error useded in limit handling. // vel_error - specifies the direction of the velocity error used in limit handling.
void update_vel_accel(float& vel, float accel, float dt, float limit, float vel_error); void update_vel_accel(float& vel, float accel, float dt, float limit, float vel_error);
// update_pos_vel_accel - single axis projection of position and velocity forward in time based on a time step of dt and acceleration of accel. // update_pos_vel_accel - single axis projection of position and velocity forward in time based on a time step of dt and acceleration of accel.
// the position and velocity is not moved in the direction of limit if limit is not set to zero. // the position and velocity is not moved in the direction of limit if limit is not set to zero.
// limit - specifies if the system is unable to continue to accelerate. // limit - specifies if the system is unable to continue to accelerate.
// pos_error and vel_error - specifies the direction of the velocity error useded in limit handling. // pos_error and vel_error - specifies the direction of the velocity error used in limit handling.
void update_pos_vel_accel(postype_t & pos, float& vel, float accel, float dt, float limit, float pos_error, float vel_error); void update_pos_vel_accel(postype_t& pos, float& vel, float accel, float dt, float limit, float pos_error, float vel_error);
// update_vel_accel - dual axis projection of position and velocity, pos and vel, forwards in time based on a time step of dt and acceleration of accel. // update_vel_accel - dual axis projection of position and velocity, pos and vel, forwards in time based on a time step of dt and acceleration of accel.
// the velocity is not moved in the direction of limit if limit is not set to zero. // the velocity is not moved in the direction of limit if limit is not set to zero.
// limit - specifies if the system is unable to continue to accelerate. // limit - specifies if the system is unable to continue to accelerate.
// pos_error and vel_error - specifies the direction of the velocity error useded in limit handling. // pos_error and vel_error - specifies the direction of the velocity error used in limit handling.
void update_vel_accel_xy(Vector2f& vel, const Vector2f& accel, float dt, const Vector2f& limit, const Vector2f& vel_error); void update_vel_accel_xy(Vector2f& vel, const Vector2f& accel, float dt, const Vector2f& limit, const Vector2f& vel_error);
// update_pos_vel_accel - dual axis projection of position and velocity, pos and vel, forwards in time based on a time step of dt and acceleration of accel. // update_pos_vel_accel - dual axis projection of position and velocity, pos and vel, forwards in time based on a time step of dt and acceleration of accel.
// the position and velocity is not moved in the direction of limit if limit is not set to zero. // the position and velocity is not moved in the direction of limit if limit is not set to zero.
// limit - specifies if the system is unable to continue to accelerate. // limit - specifies if the system is unable to continue to accelerate.
// pos_error and vel_error - specifies the direction of the velocity error useded in limit handling. // pos_error and vel_error - specifies the direction of the velocity error used in limit handling.
void update_pos_vel_accel_xy(Vector2p& pos, Vector2f& vel, const Vector2f& accel, float dt, const Vector2f& limit, const Vector2f& pos_error, const Vector2f& vel_error); void update_pos_vel_accel_xy(Vector2p& pos, Vector2f& vel, const Vector2f& accel, float dt, const Vector2f& limit, const Vector2f& pos_error, const Vector2f& vel_error);
/* shape_accel calculates a jerk limited path from the current acceleration to an input acceleration. /* shape_accel calculates a jerk limited path from the current acceleration to an input acceleration.
@ -87,7 +87,7 @@ void shape_vel_accel(float vel_input, float accel_input,
float jerk_max, float dt, bool limit_total_accel); float jerk_max, float dt, bool limit_total_accel);
// 2D version // 2D version
void shape_vel_accel_xy(const Vector2f &vel_input1, const Vector2f& accel_input, void shape_vel_accel_xy(const Vector2f& vel_input1, const Vector2f& accel_input,
const Vector2f& vel, Vector2f& accel, const Vector2f& vel, Vector2f& accel,
float accel_max, float jerk_max, float dt, bool limit_total_accel); float accel_max, float jerk_max, float dt, bool limit_total_accel);

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