Not a proper PR so no thorough review required (for now).
I just wanted to show you what the code would look like when using a custom units library. It currently supports Speed, Acceleration, Duration, Distance and Area.
Not all members/parameters/calculations have been changed yet. Please focus on Controller as most changes have been made there.
The calculation of d_end_phase on line 591 is particularly interesting. There a distance is calculated based on the current speed, target acceleration and target speed.
Also nice work on the original implementation because all units I have seen so far were correctly used.
I'll work on an example using the Boost units library next week. So you can compare the two.
Not a proper PR so no thorough review required (for now).
I just wanted to show you what the code would look like when using a custom units library. It currently supports Speed, Acceleration, Duration, Distance and Area.
Not all members/parameters/calculations have been changed yet. Please focus on
Controlleras most changes have been made there.The calculation of
d_end_phaseon line 591 is particularly interesting. There a distance is calculated based on the current speed, target acceleration and target speed.Also nice work on the original implementation because all units I have seen so far were correctly used.
I'll work on an example using the Boost units library next week. So you can compare the two.