From 0bd3728383b41870dbe13edaeae5bdc38f7acb07 Mon Sep 17 00:00:00 2001 From: Tomaz Canabrava Date: Mon, 19 Aug 2019 11:35:12 +0200 Subject: [PATCH] VehicleObjectAvoidance: Use qobject_cast instead of dynamic_cast qobject_cast is times faster dynamic_cast for objects that inherit QObject. also, use auto keyword to not duplicate class names. --- src/Vehicle/VehicleObjectAvoidance.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/Vehicle/VehicleObjectAvoidance.cc b/src/Vehicle/VehicleObjectAvoidance.cc index dde999852..d6b9151e9 100644 --- a/src/Vehicle/VehicleObjectAvoidance.cc +++ b/src/Vehicle/VehicleObjectAvoidance.cc @@ -46,7 +46,7 @@ VehicleObjectAvoidance::update(mavlink_obstacle_distance_t* message) //-- Create a plottable grid with found objects _objGrid.clear(); _objDistance.clear(); - VehicleSetpointFactGroup* sp = dynamic_cast(_vehicle->setpointFactGroup()); + auto* sp = qobject_cast(_vehicle->setpointFactGroup()); qreal startAngle = sp->yaw()->rawValue().toDouble() + _angleOffset; for(int i = 0; i < MAVLINK_MSG_OBSTACLE_DISTANCE_FIELD_DISTANCES_LEN; i++) { if(_distances[i] < _maxDistance && message->distances[i] != UINT16_MAX) { -- 2.22.0