From eb9c9a148d55b8155fc135dd9d583e27ed0f5afd Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Fri, 11 Jun 2021 16:11:21 +0200
Subject: [PATCH] avoiding unnecessary copy
---
.../NJointHolonomicPlatformGlobalPositionController.cpp | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp
index f11e5e156..77f9c8d8b 100755
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp
@@ -22,7 +22,9 @@
* GNU General Public License
*/
#include "NJointHolonomicPlatformGlobalPositionController.h"
+
#include <cmath>
+
#include <SimoxUtility/math/periodic/periodic_clamp.h>
namespace armarx
@@ -87,7 +89,7 @@ namespace armarx
const Eigen::Rotation2Df global_R_local(-measuredOrientation);
- Eigen::Vector2f velocities = global_R_local * Eigen::Vector2f(pid.getControlValue()[0], pid.getControlValue()[1]);
+ Eigen::Vector2f velocities = global_R_local * pid.getControlValue();
target->velocityX = velocities.x();
target->velocityY = velocities.y();
target->velocityRotation = static_cast<float>(opid.getControlValue());
--
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