tanjianbin/lzwc-terminal-unitreeGo2
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refactor(controller): Update TrajectoryFollow method signature to accept non-const reference

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- 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.
This commit is contained in:
Sucan126
2025-09-23 19:19:18 +08:00
parent d66fbae01f
commit 44becb76e6
2 changed files with 2 additions and 2 deletions
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2
include/controller.hpp
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@@ -61,7 +61,7 @@ public:
bool ClassicWalk(bool flag); bool ClassicWalk(bool flag);
bool WalkUpright(bool flag); bool WalkUpright(bool flag);
bool CrossStep(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 // Obstacle
bool SwitchSet(bool enable); bool SwitchSet(bool enable);

2
src/controller.cpp
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@@ -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 ExecuteSportCmd([&path](auto* sc) {
return sc->TrajectoryFollow(path); return sc->TrajectoryFollow(path);
}); });