From 2d76c44910be527c6bd214199d4a20d94def86d3 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 24 May 2024 21:33:13 +0000 Subject: [PATCH] Rename method and variables --- .../steering_odometry.hpp | 2 +- .../src/steering_odometry.cpp | 13 +++++++------ 2 files changed, 8 insertions(+), 7 deletions(-) diff --git a/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp b/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp index 9bad40202d..fcad530ca1 100644 --- a/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp +++ b/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp @@ -221,7 +221,7 @@ class SteeringOdometry * \param omega_bz Angular velocity [rad/s] * \param dt time difference to last call */ - void integrate(const double v_bx, const double omega_bz, const double dt); + void integrate_fk(const double v_bx, const double omega_bz, const double dt); /** * \brief Calculates steering angle from the desired translational and rotational velocity diff --git a/steering_controllers_library/src/steering_odometry.cpp b/steering_controllers_library/src/steering_odometry.cpp index 4d98b49250..3afa391371 100644 --- a/steering_controllers_library/src/steering_odometry.cpp +++ b/steering_controllers_library/src/steering_odometry.cpp @@ -48,10 +48,11 @@ void SteeringOdometry::init(const rclcpp::Time & time) timestamp_ = time; } -bool SteeringOdometry::update_odometry(const double linear, const double angular, const double dt) +bool SteeringOdometry::update_odometry( + const double linear_velocity, const double angular_velocity, const double dt) { /// Integrate odometry: - integrate(linear, angular, dt); + integrate_fk(linear_velocity, angular_velocity, dt); /// We cannot estimate the speed with very small time intervals: if (dt < 0.0001) @@ -60,8 +61,8 @@ bool SteeringOdometry::update_odometry(const double linear, const double angular } /// Estimate speeds using a rolling mean to filter them out: - linear_acc_.accumulate(linear); - angular_acc_.accumulate(angular); + linear_acc_.accumulate(linear_velocity); + angular_acc_.accumulate(angular_velocity); linear_ = linear_acc_.getRollingMean(); angular_ = angular_acc_.getRollingMean(); @@ -180,7 +181,7 @@ void SteeringOdometry::update_open_loop(const double linear, const double angula angular_ = angular; /// Integrate odometry: - integrate(linear, angular, dt); + integrate_fk(linear, angular, dt); } void SteeringOdometry::set_wheel_params(double wheel_radius, double wheelbase, double wheel_track) @@ -302,7 +303,7 @@ void SteeringOdometry::integrate_runge_kutta_2( heading_ += omega_bz * dt; } -void SteeringOdometry::integrate(const double v_bx, const double omega_bz, const double dt) +void SteeringOdometry::integrate_fk(const double v_bx, const double omega_bz, const double dt) { const double delta_x_b = v_bx * dt; const double delta_Theta = omega_bz * dt;