From 73e01bea22463818adc338182962777ca714eb6d Mon Sep 17 00:00:00 2001
From: DrDab <duvictor514@gmail.com>
Date: Mon, 2 Oct 2023 18:23:45 -0700
Subject: [PATCH] Make normalizeVector private

---
 src/control/PlanarArmController.h | 38 +++++++++++++++----------------
 1 file changed, 19 insertions(+), 19 deletions(-)

diff --git a/src/control/PlanarArmController.h b/src/control/PlanarArmController.h
index 9ec6e6211..660144fdb 100644
--- a/src/control/PlanarArmController.h
+++ b/src/control/PlanarArmController.h
@@ -51,25 +51,6 @@ template <unsigned int N> class PlanarArmController {
 		setpoint = normalizeVectorWithinRadius(newSetPoint, radius);
 	}
 
-	/**
-	 * @brief Normalize the input vector to have a set radius,
-	 *  	  while maintaining the same direction it did before if it exceeds that set radius.
-	 *
-	 * @param input The input vector to normalize.
-	 * @param radius The radius to normalize the vector to.
-	 */
-	Eigen::Vector2d normalizeVectorWithinRadius(Eigen::Vector2d input, double radius) {
-		if (input.norm() > radius) {
-			// TODO: will need to eventually shrink velocity vector until it is within radius
-			// instead of just normalizing it.
-
-			input.normalize();
-			input *= radius;
-		}
-
-		return input;
-	}
-
 	/**
 	 * @brief Gets the current end effector setpoint / target position.
 	 *
@@ -155,5 +136,24 @@ template <unsigned int N> class PlanarArmController {
 	Eigen::Vector2d velocity;
 	std::optional<robot::types::datatime_t> velTimestamp;
 	const double safetyFactor;
+
+	/**
+	 * @brief Normalize the input vector to have a set radius,
+	 *  	  while maintaining the same direction it did before if it exceeds that set radius.
+	 *
+	 * @param input The input vector to normalize.
+	 * @param radius The radius to normalize the vector to.
+	 */
+	Eigen::Vector2d normalizeVectorWithinRadius(Eigen::Vector2d input, double radius) {
+		if (input.norm() > radius) {
+			// TODO: will need to eventually shrink velocity vector until it is within radius
+			// instead of just normalizing it.
+
+			input.normalize();
+			input *= radius;
+		}
+
+		return input;
+	}
 };
 } // namespace control
\ No newline at end of file