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Replaced macros with constants. #28

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Feb 15, 2022
Merged

Replaced macros with constants. #28

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a992823
Replaced macros with constants.
lewie-donckers Feb 9, 2022
fe6ba23
Reworked formatting.
lewie-donckers Feb 15, 2022
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6 changes: 3 additions & 3 deletions include/path_tracking_pid/controller.hpp
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Expand Up @@ -19,9 +19,9 @@ template <typename T> int sign(T val) {
namespace path_tracking_pid
{

#define RADIUS_EPS 0.001 // Smallest relevant radius [m]
#define VELOCITY_EPS 1e-3 // Neglegible velocity
#define LONG_DURATION 31556926 // A year (ros::Duration cannot be inf)
inline constexpr double RADIUS_EPS = 0.001; // Smallest relevant radius [m]
inline constexpr double VELOCITY_EPS = 1e-3; // Neglegible velocity
inline constexpr double LONG_DURATION = 31556926; // A year (ros::Duration cannot be inf)
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enum class ControllerMode
{
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4 changes: 2 additions & 2 deletions include/path_tracking_pid/path_tracking_pid_local_planner.hpp
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Expand Up @@ -21,8 +21,8 @@
#include "tf2_ros/buffer.h"
#include "path_tracking_pid/visualization.hpp"

#define MAP_PARALLEL_THRESH 0.2
constexpr double DT_MAX=1.5;
inline constexpr double MAP_PARALLEL_THRESH = 0.2;
inline constexpr double DT_MAX = 1.5;


BOOST_GEOMETRY_REGISTER_POINT_2D(geometry_msgs::Point, double, cs::cartesian, x, y)
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