Made Controller::findPositionOnPlan() const.

nobleo / path_tracking_pid

Path Tracking PID offers a tuneable PID control loop, decouling steering and forward velocity

Apache License 2.0

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Closed lewie-donckers closed 2 years ago

lewie-donckers commented 2 years ago

Next PR to fix #123 .

Refactored Controller::findPositionOnPlan():

data member distance_to_goal_ is now no longer set but returned as (part of) the return value.
callers which run this as a simulation (those in PathTrackingPlanner) ignore this
other callers update the data member after the call
the member function is now const