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Sonar linted.
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@boyali
boyali committed Jun 6, 2022
1 parent 7aeedd2 commit f6fd6ab
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Showing 4 changed files with 22 additions and 23 deletions.
2 changes: 1 addition & 1 deletion control/autoware_control_toolbox/include/utils_act/state_space.hpp
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Expand Up @@ -85,7 +85,7 @@ namespace ns_control_toolbox
* */


double simulateOneStep(Eigen::MatrixXd& x0, double const& u);
double simulateOneStep(Eigen::MatrixXd& x0, double const& u) const;


/**
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8 changes: 4 additions & 4 deletions control/autoware_control_toolbox/include/utils_act/tf_algebra.hpp
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Expand Up @@ -58,7 +58,7 @@ namespace ns_control_toolbox
{
return it1 + it2;
});
return T(v1);;
return T(v1);
}


Expand All @@ -73,7 +73,7 @@ namespace ns_control_toolbox
{
return it1 + it2;
});
return T(v1);;
return T(v1);
}
};

Expand All @@ -91,7 +91,7 @@ namespace ns_control_toolbox
{
return it1 - it2;
});
return T(v1);;
return T(v1);
}


Expand All @@ -106,7 +106,7 @@ namespace ns_control_toolbox
{
return it1 - it2;
});
return T(v1);;
return T(v1);
}
};

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28 changes: 14 additions & 14 deletions control/autoware_control_toolbox/src/utils_act/state_space.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,11 +20,12 @@
#include "utils_act/transfer_functions.hpp"


ns_control_toolbox::tf2ss::tf2ss(const ns_control_toolbox::tf& sys_tf, const double& Ts) : Ts_{ Ts }
ns_control_toolbox::tf2ss::tf2ss(const ns_control_toolbox::tf& sys_tf, const double& Ts) : Ts_{ Ts },
N_{ sys_tf.order() }
{
N_ = sys_tf.order(); // size of A will be order of the TF.
//N_ = sys_tf.order(); // size of A will be order of the TF.

auto&& nx = N_;
auto const& nx = N_;
A_.resize(nx, nx);
B_.resize(nx, 1);
C_.resize(1, nx);
Expand Down Expand Up @@ -105,7 +106,7 @@ ns_control_toolbox::tf2ss::tf2ss(const std::vector<double>& numerator,
}

// Initialize the system matrices.
auto& nx = N_;
auto const& nx = N_;
A_.resize(nx, nx);
B_.resize(nx, 1);
C_.resize(1, nx);
Expand Down Expand Up @@ -140,7 +141,7 @@ ns_control_toolbox::tf2ss::tf2ss(const std::vector<double>& numerator,
void ns_control_toolbox::tf2ss::computeSystemMatrices(const std::vector<double>& num,
const std::vector<double>& den)
{
auto&& nx = N_; //static_cast<long>(den.size() - 1); // Order of the system.
auto const nx = N_; //static_cast<long>(den.size() - 1); // Order of the system.

// We can put system check function if the nx = 0 -- i.e throw exception.
// B_ = Eigen::MatrixXd::Identity(nx, 1); // We assign B here and this not only an initialization.
Expand Down Expand Up @@ -230,11 +231,11 @@ void ns_control_toolbox::tf2ss::computeSystemMatrices(const std::vector<double>&

// Balance the matrices.
// Call balance_a_matrix method on the system matrices.
// ns_utils::print("Before Balancing");
// ns_eigen_utils::printEigenMat(A_);
// ns_eigen_utils::printEigenMat(B_);
// ns_eigen_utils::printEigenMat(C_);
// ns_eigen_utils::printEigenMat(D_);
// ns_utils::print("Before Balancing");
// ns_eigen_utils::printEigenMat(A_);
// ns_eigen_utils::printEigenMat(B_);
// ns_eigen_utils::printEigenMat(C_);
// ns_eigen_utils::printEigenMat(D_);

ns_control_toolbox::balance_a_matrix(A_, Tsimilarity_mat_);

Expand Down Expand Up @@ -315,7 +316,7 @@ void ns_control_toolbox::tf2ss::print_discrete_system() const
void ns_control_toolbox::tf2ss::discretisize(double const& Ts)
{

auto&& nx = N_;
auto const& nx = N_;

// take inverse:
auto const&& I = Eigen::MatrixXd::Identity(nx, nx);
Expand Down Expand Up @@ -349,7 +350,7 @@ void ns_control_toolbox::tf2ss::discretisize(double const& Ts)
// Discrete time state-space matrices.
Eigen::MatrixXd ns_control_toolbox::tf2ss::Ad() const
{
// auto&& Ad = sys_matABCD_disc_.topLeftCorner(N_ - 1, N_ - 1);

return Ad_;
}

Expand All @@ -361,7 +362,6 @@ Eigen::MatrixXd ns_control_toolbox::tf2ss::Bd() const

Eigen::MatrixXd ns_control_toolbox::tf2ss::Cd() const
{
// auto&& Cd = sys_matABCD_disc_.bottomLeftCorner(1, N_ - 1);
return Cd_;
}

Expand Down Expand Up @@ -405,7 +405,7 @@ Eigen::MatrixXd ns_control_toolbox::tf2ss::D() const



double ns_control_toolbox::tf2ss::simulateOneStep(Eigen::MatrixXd& x0, const double& u)
double ns_control_toolbox::tf2ss::simulateOneStep(Eigen::MatrixXd& x0, const double& u) const
{

// First compute the output y.
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7 changes: 3 additions & 4 deletions control/autoware_control_toolbox/src/utils_act/transfer_functions.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,6 @@
size_t ns_control_toolbox::tf::getPolynomialStringAndSize(std::vector<double> const& num_or_den,
std::ostringstream& string_stream)
{

auto Nn = num_or_den.size();
int precision = 4;

Expand Down Expand Up @@ -125,9 +124,9 @@ void ns_control_toolbox::tf::print() const

void ns_control_toolbox::tf::inv()
{
// std::vector<double> temp_den{ std::move(den_) };
// den_ = std::move(num_);
// num_ = std::move(temp_den);
// std::vector<double> temp_den{ std::move(den_) };
// den_ = std::move(num_);
// num_ = std::move(temp_den);

std::swap(num_, den_);
std::swap(num_constant_, den_constant_);
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