Rename variables and improve doc

ros-controls · May 27, 2024 · 2531973 · 2531973
1 parent bf9998b
commit 2531973
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Showing 2 changed files with 9 additions and 9 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
@@ -130,11 +130,11 @@ class SteeringOdometry
 
   /**
    * \brief Updates the odometry class with latest velocity command
-   * \param linear  Linear velocity [m/s]
-   * \param angular Angular velocity [rad/s]
+   * \param v_bx  Linear velocity   [m/s]
+   * \param omega_bz Angular velocity [rad/s]
    * \param dt      time difference to last call
    */
-  void update_open_loop(const double linear, const double angular, const double dt);
+  void update_open_loop(const double v_bx, const double omega_bz, const double dt);
 
   /**
    * \brief Set odometry type
@@ -186,8 +186,8 @@ class SteeringOdometry
 
   /**
    * \brief Calculates inverse kinematics for the desired linear and angular velocities
-   * \param v_bx     Linear velocity of the robot in x_b-axis direction
-   * \param omega_bz Angular velocity of the robot around x_z-axis
+   * \param v_bx     Desired linear velocity of the robot in x_b-axis direction
+   * \param omega_bz Desired angular velocity of the robot around x_z-axis
    * \return Tuple of velocity commands and steering commands
    */
   std::tuple<std::vector<double>, std::vector<double>> get_commands(

diff --git a/steering_controllers_library/src/steering_odometry.cpp b/steering_controllers_library/src/steering_odometry.cpp
@@ -174,14 +174,14 @@ bool SteeringOdometry::update_from_velocity(
   return update_odometry(linear_velocity, angular_velocity, dt);
 }
 
-void SteeringOdometry::update_open_loop(const double linear, const double angular, const double dt)
+void SteeringOdometry::update_open_loop(const double v_bx, const double omega_bz, const double dt)
 {
   /// Save last linear and angular velocity:
-  linear_ = linear;
-  angular_ = angular;
+  linear_ = v_bx;
+  angular_ = omega_bz;
 
   /// Integrate odometry:
-  integrate_fk(linear, angular, dt);
+  integrate_fk(v_bx, omega_bz, dt);
 }
 
 void SteeringOdometry::set_wheel_params(double wheel_radius, double wheelbase, double wheel_track)