From b9e4c51d826471635f2aeced2012218e9d0ba231 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Tue, 13 Feb 2024 16:59:50 +0100
Subject: [PATCH] set stuff const that should be const

---
 mission/controller/acs/Guidance.cpp | 35 ++++++++++++++---------------
 mission/controller/acs/Guidance.h   |  9 ++++----
 2 files changed, 21 insertions(+), 23 deletions(-)

diff --git a/mission/controller/acs/Guidance.cpp b/mission/controller/acs/Guidance.cpp
index 7a630eef..cc0a20d9 100644
--- a/mission/controller/acs/Guidance.cpp
+++ b/mission/controller/acs/Guidance.cpp
@@ -36,9 +36,9 @@ void Guidance::targetQuatPtgIdle(timeval timeAbsolute, const double timeDelta,
   targetRotationRate(timeDelta, targetQuat, targetSatRotRate);
 }
 
-void Guidance::targetQuatPtgTarget(timeval timeAbsolute, const double timeDelta, double posSatF[3],
-                                   double velSatF[3], double targetQuat[4],
-                                   double targetSatRotRate[3]) {
+void Guidance::targetQuatPtgTarget(timeval timeAbsolute, const double timeDelta,
+                                   const double posSatF[3], const double velSatF[3],
+                                   double targetQuat[4], double targetSatRotRate[3]) {
   //-------------------------------------------------------------------------------------
   //	Calculation of target quaternion for target pointing
   //-------------------------------------------------------------------------------------
@@ -115,18 +115,16 @@ void Guidance::targetQuatPtgGs(timeval timeAbsolute, const double timeDelta,
   VectorOperations<double>::normalize(groundStationDirI, xAxisIX, 3);
   VectorOperations<double>::mulScalar(xAxisIX, -1, xAxisIX, 3);
 
-  // normalize sun vector in ECI
-  double sunDirNormalizedI[3] = {0, 0, 0};
   // get earth vector in ECI
-  double earthDirNormalizedI[3] = {0, 0, 0};
-  VectorOperations<double>::normalize(posSatI, earthDirNormalizedI, 3);
-  VectorOperations<double>::mulScalar(earthDirNormalizedI, -1, earthDirNormalizedI, 3);
+  double earthDirI[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(posSatI, earthDirI, 3);
+  VectorOperations<double>::mulScalar(earthDirI, -1, earthDirI, 3);
 
   // sun avoidance calculations
   double sunPerpendicularX[3] = {0, 0, 0}, sunFloorYZ[3] = {0, 0, 0};
-  VectorOperations<double>::mulScalar(
-      xAxisIX, VectorOperations<double>::dot(xAxisIX, sunDirNormalizedI), sunPerpendicularX, 3);
-  VectorOperations<double>::subtract(sunDirNormalizedI, sunPerpendicularX, sunFloorYZ, 3);
+  VectorOperations<double>::mulScalar(xAxisIX, VectorOperations<double>::dot(xAxisIX, sunDirI),
+                                      sunPerpendicularX, 3);
+  VectorOperations<double>::subtract(sunDirI, sunPerpendicularX, sunFloorYZ, 3);
   VectorOperations<double>::normalize(sunFloorYZ, sunFloorYZ, 3);
   double sunWeight = 0, strVecSun[3] = {0, 0, 0}, strVecSunX[3] = {0, 0, 0},
          strVecSunZ[3] = {0, 0, 0};
@@ -136,13 +134,13 @@ void Guidance::targetQuatPtgGs(timeval timeAbsolute, const double timeDelta,
                                       strVecSunZ, 3);
   VectorOperations<double>::add(strVecSunX, strVecSunZ, strVecSun, 3);
   VectorOperations<double>::normalize(strVecSun, strVecSun, 3);
-  sunWeight = VectorOperations<double>::dot(strVecSun, sunDirNormalizedI);
+  sunWeight = VectorOperations<double>::dot(strVecSun, sunDirI);
 
   // earth avoidance calculations
   double earthPerpendicularX[3] = {0, 0, 0}, earthFloorYZ[3] = {0, 0, 0};
-  VectorOperations<double>::mulScalar(
-      xAxisIX, VectorOperations<double>::dot(xAxisIX, earthDirNormalizedI), earthPerpendicularX, 3);
-  VectorOperations<double>::subtract(earthDirNormalizedI, earthPerpendicularX, earthFloorYZ, 3);
+  VectorOperations<double>::mulScalar(xAxisIX, VectorOperations<double>::dot(xAxisIX, earthDirI),
+                                      earthPerpendicularX, 3);
+  VectorOperations<double>::subtract(earthDirI, earthPerpendicularX, earthFloorYZ, 3);
   VectorOperations<double>::normalize(earthFloorYZ, earthFloorYZ, 3);
   double earthWeight = 0, strVecEarth[3] = {0, 0, 0}, strVecEarthX[3] = {0, 0, 0},
          strVecEarthZ[3] = {0, 0, 0};
@@ -152,7 +150,7 @@ void Guidance::targetQuatPtgGs(timeval timeAbsolute, const double timeDelta,
                                       strVecEarthZ, 3);
   VectorOperations<double>::add(strVecEarthX, strVecEarthZ, strVecEarth, 3);
   VectorOperations<double>::normalize(strVecEarth, strVecEarth, 3);
-  earthWeight = VectorOperations<double>::dot(strVecEarth, earthDirNormalizedI);
+  earthWeight = VectorOperations<double>::dot(strVecEarth, earthDirI);
 
   if ((sunWeight == 0.0) and (earthWeight == 0.0)) {
     // if this actually ever happens i will eat a broom
@@ -187,8 +185,9 @@ void Guidance::targetQuatPtgGs(timeval timeAbsolute, const double timeDelta,
   targetRotationRate(timeDelta, targetQuat, targetSatRotRate);
 }
 
-void Guidance::targetQuatPtgNadir(timeval timeAbsolute, const double timeDelta, double posSatE[3],
-                                  double velSatE[3], double targetQuat[4], double refSatRate[3]) {
+void Guidance::targetQuatPtgNadir(timeval timeAbsolute, const double timeDelta,
+                                  const double posSatE[3], const double velSatE[3],
+                                  double targetQuat[4], double refSatRate[3]) {
   //-------------------------------------------------------------------------------------
   //	Calculation of target quaternion for Nadir pointing
   //-------------------------------------------------------------------------------------
diff --git a/mission/controller/acs/Guidance.h b/mission/controller/acs/Guidance.h
index 6fbce0a4..5284ba01 100644
--- a/mission/controller/acs/Guidance.h
+++ b/mission/controller/acs/Guidance.h
@@ -9,7 +9,6 @@
 #include <mission/controller/acs/AcsParameters.h>
 #include <mission/controller/acs/SensorValues.h>
 #include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
-#include <time.h>
 
 #include <cmath>
 #include <filesystem>
@@ -26,12 +25,12 @@ class Guidance {
 
   void targetQuatPtgIdle(timeval timeAbsolute, const double timeDelta, const double sunDirI[3],
                          const double posSatF[4], double targetQuat[4], double targetSatRotRate[3]);
-  void targetQuatPtgTarget(timeval timeAbsolute, const double timeDelta, double posSatF[3],
-                           double velSatE[3], double quatIX[4], double targetSatRotRate[3]);
+  void targetQuatPtgTarget(timeval timeAbsolute, const double timeDelta, const double posSatF[3],
+                           const double velSatE[3], double quatIX[4], double targetSatRotRate[3]);
   void targetQuatPtgGs(timeval timeAbsolute, const double timeDelta, const double posSatF[3],
                        const double sunDirI[3], double quatIX[4], double targetSatRotRate[3]);
-  void targetQuatPtgNadir(timeval timeAbsolute, const double timeDelta, double posSatF[3],
-                          double velSatF[3], double targetQuat[4], double refSatRate[3]);
+  void targetQuatPtgNadir(timeval timeAbsolute, const double timeDelta, const double posSatF[3],
+                          const double velSatF[3], double targetQuat[4], double refSatRate[3]);
 
   void targetRotationRate(const double timeDelta, double quatInertialTarget[4],
                           double *targetSatRotRate);