test route finish

class_model/include/class_model/command.h

@@ -6,7 +6,7 @@
 #include <geometry_msgs/TwistStamped.h>
 #include <mavros_msgs/GlobalPositionTarget.h>
 #include <class_model/sensor.h>
-#include <geographic_msgs/GeoPoseStamped.h>
+// #include <geographic_msgs/GeoPoseStamped.h>
 
 class CommandClass {
 public:
@@ -25,7 +25,7 @@ private:
     ros::NodeHandle node_handle_;
 
     geometry_msgs::TwistStamped msg;
-    mavros_msgs::GlobalPositionTarget goal_position;
+    // mavros_msgs::GlobalPositionTarget goal_position;
     global_location current_location;
     global_location target_location;
     global_location origin_location;

class_model/include/class_model/follower.h

@@ -65,7 +65,7 @@ private:
     global_location pre_tar,ref_point;  // function plane()'s variable
     float slope,c,y;              // function plane()'s variable
     global_location pre_target;  // function plane()'s variable
-    int flag = 0;
+    int flag = 0,pre_plane = 0;
 
     void calculate_position(float k,float theta,int plane);
     void plane(global_location* target, global_location* leader, global_location* follower);