Use return value of std::clamp (#51)

Signed-off-by: Luca Della Vedova <luca@openrobotics.org>
open-rmf · Sep 13, 2021 · b70c6a0 · b70c6a0
1 parent 2626d08
commit b70c6a0
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/rmf_robot_sim_common/src/slotcar_common.cpp b/rmf_robot_sim_common/src/slotcar_common.cpp
@@ -722,7 +722,7 @@ SlotcarCommon::UpdateResult SlotcarCommon::update_ackermann(
       double dotp = heading.dot(dpos_norm);
       double cross = heading.x() * dpos_norm.y() - heading.y() * dpos_norm.x();
       // Clamp to avoid numerical errors due to floating point precision
-      std::clamp(dotp, -1.0, 1.0);
+      dotp = std::clamp(dotp, -1.0, 1.0);
       result.w = cross < 0.0 ? -acos(dotp) : acos(dotp);
     }
     else
@@ -745,7 +745,7 @@ SlotcarCommon::UpdateResult SlotcarCommon::update_ackermann(
     double cross = heading.x() * target_heading.y() - heading.y() *
       target_heading.x();
     // Clamp to avoid numerical errors due to floating point precision
-    std::clamp(heading_dotp, -1.0, 1.0);
+    heading_dotp = std::clamp(heading_dotp, -1.0, 1.0);
     result.w = cross <
       0.0 ? -acos(heading_dotp) : acos(heading_dotp);