From 095379eaab81b0f51fe36ae7eef3217d6a3fc812 Mon Sep 17 00:00:00 2001
From: beuchatp <beuchatp@control.ee.ethz.ch>
Date: Tue, 5 Dec 2017 09:15:31 +0100
Subject: [PATCH] Corrected erroneour function prototye
---
pps_ws/src/d_fall_pps/src/CustomControllerService.cpp | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp b/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
index 66fdafef..10329a2a 100644
--- a/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
@@ -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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