Change use_eth_lib to constexpr

microsoft · Dec 10, 2021 · bbb1806 · bbb1806
1 parent 22b7675
commit bbb1806
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/ros/src/airsim_ros_pkgs/include/pd_position_controller_simple.h b/ros/src/airsim_ros_pkgs/include/pd_position_controller_simple.h
@@ -102,7 +102,7 @@ class PIDPositionController
 
 private:
     GeodeticConverter geodetic_converter_;
-    const bool use_eth_lib_for_geodetic_conv_;
+    static constexpr bool use_eth_lib_for_geodetic_conv_ = true;
 
     ros::NodeHandle nh_;
     ros::NodeHandle nh_private_;

diff --git a/ros/src/airsim_ros_pkgs/src/pd_position_controller_simple.cpp b/ros/src/airsim_ros_pkgs/src/pd_position_controller_simple.cpp
@@ -32,7 +32,7 @@ bool DynamicConstraints::load_from_rosparams(const ros::NodeHandle& nh)
 }
 
 PIDPositionController::PIDPositionController(const ros::NodeHandle& nh, const ros::NodeHandle& nh_private)
-    : use_eth_lib_for_geodetic_conv_(true), nh_(nh), nh_private_(nh_private), has_home_geo_(false), reached_goal_(false), has_goal_(false), has_odom_(false), got_goal_once_(false)
+    : nh_(nh), nh_private_(nh_private), has_home_geo_(false), reached_goal_(false), has_goal_(false), has_odom_(false), got_goal_once_(false)
 {
     params_.load_from_rosparams(nh_private_);
     constraints_.load_from_rosparams(nh_);
@@ -177,7 +177,7 @@ bool PIDPositionController::gps_goal_srv_cb(airsim_ros_pkgs::SetGPSPosition::Req
     if (!has_goal_) {
         msr::airlib::GeoPoint goal_gps_point(request.latitude, request.longitude, request.altitude);
         msr::airlib::GeoPoint gps_home(gps_home_msg_.latitude, gps_home_msg_.longitude, gps_home_msg_.altitude);
-        if (use_eth_lib_for_geodetic_conv_) {
+        if constexpr (use_eth_lib_for_geodetic_conv_) {
             // double initial_latitude, initial_longitude;
             // float initial_altitude;
             // geodetic_converter_.getHome(&initial_latitude, &initial_longitude, &initial_altitude);
@@ -226,7 +226,7 @@ bool PIDPositionController::gps_goal_srv_override_cb(airsim_ros_pkgs::SetGPSPosi
 
     msr::airlib::GeoPoint goal_gps_point(request.latitude, request.longitude, request.altitude);
     msr::airlib::GeoPoint gps_home(gps_home_msg_.latitude, gps_home_msg_.longitude, gps_home_msg_.altitude);
-    if (use_eth_lib_for_geodetic_conv_) {
+    if constexpr (use_eth_lib_for_geodetic_conv_) {
         // double initial_latitude, initial_longitude;
         // float initial_altitude;
         // geodetic_converter_.getHome(&initial_latitude, &initial_longitude, &initial_altitude);