本文整理汇总了C++中math::Vector::length方法的典型用法代码示例。如果您正苦于以下问题：C++ Vector::length方法的具体用法？C++ Vector::length怎么用？C++ Vector::length使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类math::Vector的用法示例。
在下文中一共展示了Vector::length方法的2个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1:
void
MulticopterPositionControl::control_manual(float dt)
{
_sp_move_rate.zero();
if (_control_mode.flag_control_altitude_enabled) {
if(_reset_mission)
{
_reset_mission = false;
_mode_mission = 1 ;
_hover_time = 0.0 ;
}
float height_hover_constant=-1.0;
float hover_time_constant = 20.0;
switch(_mode_mission)
{
case 1:
_sp_move_rate(2) = -0.8;
if(_pos_sp(2)<=height_hover_constant)
_mode_mission=2;
break;
case 2:
_hover_time += dt;
if(_hover_time>hover_time_constant)
{
_hover_time=0.0;
_mode_mission=3;
}
break;
case 3:
_pos_sp_triplet.current.type =position_setpoint_s::SETPOINT_TYPE_LAND;
break;
default:
/* move altitude setpoint with throttle stick */
_sp_move_rate(2) = -scale_control(_manual.z - 0.5f, 0.5f, alt_ctl_dz);
break;
}
}
if (_control_mode.flag_control_position_enabled) {
/* move position setpoint with roll/pitch stick */
_sp_move_rate(0) = _manual.x;
_sp_move_rate(1) = _manual.y;
}
/* limit setpoint move rate */
float sp_move_norm = _sp_move_rate.length();
if (sp_move_norm > 1.0f) {
_sp_move_rate /= sp_move_norm;
}
/* _sp_move_rate scaled to 0..1, scale it to max speed and rotate around yaw */
math::Matrix<3, 3> R_yaw_sp;
R_yaw_sp.from_euler(0.0f, 0.0f, _att_sp.yaw_body);
_sp_move_rate = R_yaw_sp * _sp_move_rate.emult(_params.vel_max);
if (_control_mode.flag_control_altitude_enabled) {
/* reset alt setpoint to current altitude if needed */
reset_alt_sp();
}
if (_control_mode.flag_control_position_enabled) {
/* reset position setpoint to current position if needed */
reset_pos_sp();
}
/* feed forward setpoint move rate with weight vel_ff */
_vel_ff = _sp_move_rate.emult(_params.vel_ff);
/* move position setpoint */
_pos_sp += _sp_move_rate * dt;
/* check if position setpoint is too far from actual position */
math::Vector<3> pos_sp_offs;
pos_sp_offs.zero();
if (_control_mode.flag_control_position_enabled) {
pos_sp_offs(0) = (_pos_sp(0) - _pos(0)) / _params.sp_offs_max(0);
pos_sp_offs(1) = (_pos_sp(1) - _pos(1)) / _params.sp_offs_max(1);
}
if (_control_mode.flag_control_altitude_enabled) {
pos_sp_offs(2) = (_pos_sp(2) - _pos(2)) / _params.sp_offs_max(2);
}
float pos_sp_offs_norm = pos_sp_offs.length();
if (pos_sp_offs_norm > 1.0f) {
pos_sp_offs /= pos_sp_offs_norm;
_pos_sp = _pos + pos_sp_offs.emult(_params.sp_offs_max);
}
}示例2:
void
MulticopterPositionControl::control_manual(float dt)
{
_sp_move_rate.zero();
if (_control_mode.flag_control_altitude_enabled) {
/* move altitude setpoint with throttle stick */
_sp_move_rate(2) = -scale_control(_manual.z - 0.5f, 0.5f, alt_ctl_dz);
}
if (_control_mode.flag_control_position_enabled) {
/* move position setpoint with roll/pitch stick */
_sp_move_rate(0) = _manual.x;
_sp_move_rate(1) = _manual.y;
}
/* limit setpoint move rate */
float sp_move_norm = _sp_move_rate.length();
if (sp_move_norm > 1.0f) {
_sp_move_rate /= sp_move_norm;
}
/* _sp_move_rate scaled to 0..1, scale it to max speed and rotate around yaw */
math::Matrix<3, 3> R_yaw_sp;
R_yaw_sp.from_euler(0.0f, 0.0f, _att_sp.yaw_body);
_sp_move_rate = R_yaw_sp * _sp_move_rate.emult(_params.vel_max);
if (_control_mode.flag_control_altitude_enabled) {
/* reset alt setpoint to current altitude if needed */
reset_alt_sp();
}
if (_control_mode.flag_control_position_enabled) {
/* reset position setpoint to current position if needed */
reset_pos_sp();
}
/* feed forward setpoint move rate with weight vel_ff */
_vel_ff = _sp_move_rate.emult(_params.vel_ff);
/* move position setpoint */
_pos_sp += _sp_move_rate * dt;
/* check if position setpoint is too far from actual position */
math::Vector<3> pos_sp_offs;
pos_sp_offs.zero();
if (_control_mode.flag_control_position_enabled) {
pos_sp_offs(0) = (_pos_sp(0) - _pos(0)) / _params.sp_offs_max(0);
pos_sp_offs(1) = (_pos_sp(1) - _pos(1)) / _params.sp_offs_max(1);
}
if (_control_mode.flag_control_altitude_enabled) {
pos_sp_offs(2) = (_pos_sp(2) - _pos(2)) / _params.sp_offs_max(2);
}
float pos_sp_offs_norm = pos_sp_offs.length();
if (pos_sp_offs_norm > 1.0f) {
pos_sp_offs /= pos_sp_offs_norm;
_pos_sp = _pos + pos_sp_offs.emult(_params.sp_offs_max);
}
}