search

nobleo / path_tracking_pid

Path Tracking PID offers a tuneable PID control loop, decouling steering and forward velocity
Apache License 2.0
130 stars 37 forks source link

Refactored findPositionOnPlan(). #92

Closed lewie-donckers closed 2 years ago

lewie-donckers commented 2 years ago

Refactored Controller::findPositionOnPlan() a bit.

Prefer early return to long/nested ifs: https://isocpp.github.io/CppCoreGuidelines/CppCoreGuidelines#f56-avoid-unnecessary-condition-nesting