From f56bd7f735b2bc132dd0f211a54484b49dcdf589 Mon Sep 17 00:00:00 2001 From: Sem van der Hoeven Date: Mon, 12 Jun 2023 15:18:04 +0200 Subject: [PATCH] ; --- src/drone_controls/src/PositionChanger.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/drone_controls/src/PositionChanger.cpp b/src/drone_controls/src/PositionChanger.cpp index ab632ce5..26450d51 100644 --- a/src/drone_controls/src/PositionChanger.cpp +++ b/src/drone_controls/src/PositionChanger.cpp @@ -225,7 +225,7 @@ public: { if (!this->move_direction_allowed[MOVE_DIRECTION_FRONT]) { - RCLCPP_INFO(this->get_logger(), "Collision prevention front: %d", collision_prevention_weights[MOVE_DIRECTION_FRONT]) + RCLCPP_INFO(this->get_logger(), "Collision prevention front: %d", collision_prevention_weights[MOVE_DIRECTION_FRONT]); get_x_y_with_rotation(collision_prevention_weights[MOVE_DIRECTION_FRONT], 0, this->current_yaw, &this->current_speed_x, &this->current_speed_y); } } @@ -233,7 +233,7 @@ public: { if (!this->move_direction_allowed[MOVE_DIRECTION_BACK]) { - RCLCPP_INFO(this->get_logger(), "Collision prevention back: %d", collision_prevention_weights[MOVE_DIRECTION_BACK]) + RCLCPP_INFO(this->get_logger(), "Collision prevention back: %d", collision_prevention_weights[MOVE_DIRECTION_BACK]); get_x_y_with_rotation(collision_prevention_weights[MOVE_DIRECTION_BACK], 0, this->current_yaw, &this->current_speed_x, &this->current_speed_y); } } @@ -241,16 +241,16 @@ public: { if (!this->move_direction_allowed[MOVE_DIRECTION_RIGHT]) { - RCLCPP_INFO(this->get_logger(), "Collision prevention right: %d", collision_prevention_weights[MOVE_DIRECTION_RIGHT]) - get_x_y_with_rotation(0,collision_prevention_weights[MOVE_DIRECTION_RIGHT], this->current_yaw, &this->current_speed_x, &this->current_speed_y) + RCLCPP_INFO(this->get_logger(), "Collision prevention right: %d", collision_prevention_weights[MOVE_DIRECTION_RIGHT]); + get_x_y_with_rotation(0, collision_prevention_weights[MOVE_DIRECTION_RIGHT], this->current_yaw, &this->current_speed_x, &this->current_speed_y); } } else // moving left { if (!this->move_direction_allowed[MOVE_DIRECTION_LEFT]) { - RCLCPP_INFO(this->get_logger(), "Collision prevention left: %d", collision_prevention_weights[MOVE_DIRECTION_LEFT]) - get_x_y_with_rotation(0,collision_prevention_weights[MOVE_DIRECTION_LEFT], this->current_yaw, &this->current_speed_x, &this->current_speed_y) + RCLCPP_INFO(this->get_logger(), "Collision prevention left: %d", collision_prevention_weights[MOVE_DIRECTION_LEFT]); + get_x_y_with_rotation(0, collision_prevention_weights[MOVE_DIRECTION_LEFT], this->current_yaw, &this->current_speed_x, &this->current_speed_y); } } }