From 44becb76e676ad839452dce5a27e0d6a8d88231c Mon Sep 17 00:00:00 2001
From: Sucan126 <632190820@qq.com>
Date: Tue, 23 Sep 2025 19:19:18 +0800
Subject: [PATCH] refactor(controller): Update TrajectoryFollow method
 signature to accept non-const reference

- Modified the TrajectoryFollow method in both the header and implementation files to accept a non-const reference to a vector of unitree::robot::go2::PathPoint, allowing for in-place modifications of the path.
---
 include/controller.hpp | 2 +-
 src/controller.cpp     | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/include/controller.hpp b/include/controller.hpp
index 15b6a6c..895e7f8 100644
--- a/include/controller.hpp
+++ b/include/controller.hpp
@@ -61,7 +61,7 @@ public:
     bool ClassicWalk(bool flag);
     bool WalkUpright(bool flag);
     bool CrossStep(bool flag);
-    bool TrajectoryFollow(const std::vector<unitree::robot::go2::PathPoint>& path);
+    bool TrajectoryFollow(std::vector<unitree::robot::go2::PathPoint>& path);
     
     // Obstacle 
     bool SwitchSet(bool enable);
diff --git a/src/controller.cpp b/src/controller.cpp
index eb0e015..dd0760e 100644
--- a/src/controller.cpp
+++ b/src/controller.cpp
@@ -339,7 +339,7 @@ bool Controller::CrossStep(bool flag) {
     });
 }
 
-bool Controller::TrajectoryFollow(const std::vector<unitree::robot::go2::PathPoint>& path) {
+bool Controller::TrajectoryFollow(std::vector<unitree::robot::go2::PathPoint>& path) {
     return ExecuteSportCmd([&path](auto* sc) {
         return sc->TrajectoryFollow(path);
     });