Refactored distToSegmentSquared(). - Githubissues

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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Refactored distToSegmentSquared(). #91

Closed lewie-donckers closed 2 years ago

lewie-donckers commented 2 years ago

Refactored Controller::distToSegmentSquared().

Some of the changes:

prefer early returns over long/nested ifs: https://isocpp.github.io/CppCoreGuidelines/CppCoreGuidelines#f56-avoid-unnecessary-condition-nesting
prefer const for local variables: https://isocpp.github.io/CppCoreGuidelines/CppCoreGuidelines#con1-by-default-make-objects-immutable
removed incorrect (or outdated?) comment