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[wpilibc] Fix const-qualification in kinematics and constraints (#2478)

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This commit is contained in:
Prateek Machiraju
2020-04-14 01:32:25 -04:00
committed by GitHub
parent a3a8472b82
commit e5935a4737
21 changed files with 71 additions and 66 deletions
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8
wpilibc/src/main/native/cpp/trajectory/constraint/EllipticalRegionConstraint.cpp
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@@ -13,7 +13,7 @@ using namespace frc;
EllipticalRegionConstraint::EllipticalRegionConstraint(
const Translation2d& center, units::meter_t xWidth, units::meter_t yWidth,
const Rotation2d& rotation, TrajectoryConstraint& constraint)
const Rotation2d& rotation, const TrajectoryConstraint& constraint)
: m_center(center),
m_radii(xWidth / 2.0, yWidth / 2.0),
m_constraint(constraint) {
@@ -22,7 +22,7 @@ EllipticalRegionConstraint::EllipticalRegionConstraint(
units::meters_per_second_t EllipticalRegionConstraint::MaxVelocity(
const Pose2d& pose, units::curvature_t curvature,
units::meters_per_second_t velocity) {
units::meters_per_second_t velocity) const {
if (IsPoseInRegion(pose)) {
return m_constraint.MaxVelocity(pose, curvature, velocity);
} else {
@@ -32,7 +32,7 @@ units::meters_per_second_t EllipticalRegionConstraint::MaxVelocity(
TrajectoryConstraint::MinMax EllipticalRegionConstraint::MinMaxAcceleration(
const Pose2d& pose, units::curvature_t curvature,
units::meters_per_second_t speed) {
units::meters_per_second_t speed) const {
if (IsPoseInRegion(pose)) {
return m_constraint.MinMaxAcceleration(pose, curvature, speed);
} else {
@@ -40,7 +40,7 @@ TrajectoryConstraint::MinMax EllipticalRegionConstraint::MinMaxAcceleration(
}
}
bool EllipticalRegionConstraint::IsPoseInRegion(const Pose2d& pose) {
bool EllipticalRegionConstraint::IsPoseInRegion(const Pose2d& pose) const {
// The region (disk) bounded by the ellipse is given by the equation:
// ((x-h)^2)/Rx^2) + ((y-k)^2)/Ry^2) <= 1
// If the inequality is satisfied, then it is inside the ellipse; otherwise