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Commit 095379ea authored by beuchatp's avatar beuchatp
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Corrected erroneour function prototye

parent 395cf627
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......@@ -256,8 +256,8 @@ ros::Subscriber xyz_yaw_to_follow_subscriber;
// CONTROLLER COMPUTATIONS
bool calculateControlOutput(Controller::Request &request, Controller::Response &response);
void calculateControlOutput_viaLQRforRates(stateErrorBody, Controller::Request &request, Controller::Response &response);
void calculateControlOutput_viaLQRforAngles(stateErrorBody, Controller::Request &request, Controller::Response &response);
void calculateControlOutput_viaLQRforRates(float stateErrorBody[9], Controller::Request &request, Controller::Response &response);
void calculateControlOutput_viaLQRforAngles(float stateErrorBody[9], Controller::Request &request, Controller::Response &response);
// TRANSFORMATION OF THE (x,y) INERTIAL FRAME ERROR INTO AN (x,y) BODY FRAME ERROR
void convertIntoBodyFrame(float stateInertial[9], float (&stateBody)[9], float yaw_measured);
......@@ -613,7 +613,7 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
void calculateControlOutput_viaLQRforRates(stateErrorBody, Controller::Request &request, Controller::Response &response)
void calculateControlOutput_viaLQRforRates(float stateErrorBody[9], Controller::Request &request, Controller::Response &response)
{
// **********************
// Y Y A W W
......@@ -737,7 +737,7 @@ void calculateControlOutput_viaLQRforRates(stateErrorBody, Controller::Request &
void calculateControlOutput_viaLQRforAngles(stateErrorBody, Controller::Request &request, Controller::Response &response)
void calculateControlOutput_viaLQRforAngles(float stateErrorBody[9], Controller::Request &request, Controller::Response &response)
{
// **********************
// Y Y A W W
......
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