From e6b7062442978933a02e8a745f58941953cfd7ce Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Wed, 18 Sep 2019 11:53:49 +0200 Subject: [PATCH] TrajMath: replace type placeholder with floats --- src/lib/FlightTasks/tasks/Utility/TrajMath.hpp | 16 +++++++--------- 1 file changed, 7 insertions(+), 9 deletions(-) diff --git a/src/lib/FlightTasks/tasks/Utility/TrajMath.hpp b/src/lib/FlightTasks/tasks/Utility/TrajMath.hpp index 4bed8c4fa8..e18e98a9c7 100644 --- a/src/lib/FlightTasks/tasks/Utility/TrajMath.hpp +++ b/src/lib/FlightTasks/tasks/Utility/TrajMath.hpp @@ -54,12 +54,11 @@ namespace trajmath * * @return maximum speed */ -template -const T computeMaxSpeedFromBrakingDistance(T jerk, T accel, T braking_distance) +float computeMaxSpeedFromBrakingDistance(const float jerk, const float accel, const float braking_distance) { - T b = (T) 4 * accel * accel / jerk; - T c = - (T) 2 * accel * braking_distance; - T max_speed = (T) 0.5 * (-b + sqrtf(b * b - (T) 4 * c)); + float b = 4.0f * accel * accel / jerk; + float c = - 2.0f * accel * braking_distance; + float max_speed = 0.5f * (-b + sqrtf(b * b - 4.0f * c)); return max_speed; } @@ -78,11 +77,10 @@ const T computeMaxSpeedFromBrakingDistance(T jerk, T accel, T braking_distance) * * @return maximum tangential speed */ -template -const T computeMaxSpeedInWaypoint(T alpha, T accel, T d) +float computeMaxSpeedInWaypoint(const float alpha, const float accel, const float d) { - T tan_alpha = tan(alpha / (T) 2); - T max_speed_in_turn = sqrtf(accel * d * tan_alpha); + float tan_alpha = tanf(alpha / 2.0f); + float max_speed_in_turn = sqrtf(accel * d * tan_alpha); return max_speed_in_turn; }