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TrajMath: replace type placeholder with floats

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This commit is contained in:
Dennis Mannhart
2019-09-18 11:53:49 +02:00
committed by Mathieu Bresciani
parent e9ab6a75ba
commit e6b7062442
1 changed files with 7 additions and 9 deletions
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16
src/lib/FlightTasks/tasks/Utility/TrajMath.hpp
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@@ -54,12 +54,11 @@ namespace trajmath
* *
* @return maximum speed * @return maximum speed
*/ */
template<typename T> float computeMaxSpeedFromBrakingDistance(const float jerk, const float accel, const float braking_distance)
const T computeMaxSpeedFromBrakingDistance(T jerk, T accel, T braking_distance)
{ {
T b = (T) 4 * accel * accel / jerk; float b = 4.0f * accel * accel / jerk;
T c = - (T) 2 * accel * braking_distance; float c = - 2.0f * accel * braking_distance;
T max_speed = (T) 0.5 * (-b + sqrtf(b * b - (T) 4 * c)); float max_speed = 0.5f * (-b + sqrtf(b * b - 4.0f * c));
return max_speed; return max_speed;
} }
@@ -78,11 +77,10 @@ const T computeMaxSpeedFromBrakingDistance(T jerk, T accel, T braking_distance)
* *
* @return maximum tangential speed * @return maximum tangential speed
*/ */
template<typename T> float computeMaxSpeedInWaypoint(const float alpha, const float accel, const float d)
const T computeMaxSpeedInWaypoint(T alpha, T accel, T d)
{ {
T tan_alpha = tan(alpha / (T) 2); float tan_alpha = tanf(alpha / 2.0f);
T max_speed_in_turn = sqrtf(accel * d * tan_alpha); float max_speed_in_turn = sqrtf(accel * d * tan_alpha);
return max_speed_in_turn; return max_speed_in_turn;
} }