fixed saturate_vector_values bug

vortexntnu · Apr 8, 2024 · 0377659 · 0377659
1 parent f107122
commit 0377659
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Showing 2 changed files with 3 additions and 4 deletions.
diff --git a/motion/thruster_allocator/include/thruster_allocator/allocator_utils.hpp b/motion/thruster_allocator/include/thruster_allocator/allocator_utils.hpp
@@ -68,7 +68,7 @@ inline Eigen::MatrixXd calculate_right_pseudoinverse(const Eigen::MatrixXd &T) {
  * @return True if all vector values are within the given range, false
  * otherwise.
  */
-inline bool saturate_vector_values(Eigen::Vector3d &vec, double min,
+inline bool saturate_vector_values(Eigen::VectorXd &vec, double min,
                                    double max) {
   bool all_values_in_range =
       std::all_of(vec.begin(), vec.end(),

diff --git a/motion/thruster_allocator/src/allocator_ros.cpp b/motion/thruster_allocator/src/allocator_ros.cpp
@@ -33,9 +33,8 @@ ThrusterAllocator::ThrusterAllocator()
       std::bind(&ThrusterAllocator::wrench_callback, this,
                 std::placeholders::_1));
 
-  thruster_forces_publisher_ =
-      this->create_publisher<std_msgs::msg::Float32MultiArray>(
-          "thrust/thruster_forces", 1);
+  thruster_forces_publisher_ = this->create_publisher<std_msgs::msg::Float32MultiArray>(
+      "thrust/thruster_forces", 1);
 
   calculate_thrust_timer_ = this->create_wall_timer(
       100ms, std::bind(&ThrusterAllocator::calculate_thrust_timer_cb, this));