chore(pure_pursuit): fix typo (#4403)

fix(pure_pursuit): fix typo

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

control/pure_pursuit/include/pure_pursuit/pure_pursuit.hpp

@@ -47,18 +47,18 @@ namespace pure_pursuit
 class PurePursuit
 {
 public:
-  PurePursuit() : lookahead_distance_(0.0), clst_thr_dist_(3.0), clst_thr_ang_(M_PI / 4) {}
+  PurePursuit() : lookahead_distance_(0.0), closest_thr_dist_(3.0), closest_thr_ang_(M_PI / 4) {}
   ~PurePursuit() = default;
 
   rclcpp::Logger logger = rclcpp::get_logger("pure_pursuit");
   // setter
   void setCurrentPose(const geometry_msgs::msg::Pose & msg);
   void setWaypoints(const std::vector<geometry_msgs::msg::Pose> & msg);
   void setLookaheadDistance(double ld) { lookahead_distance_ = ld; }
-  void setClosestThreshold(double clst_thr_dist, double clst_thr_ang)
+  void setClosestThreshold(double closest_thr_dist, double closest_thr_ang)
   {
-    clst_thr_dist_ = clst_thr_dist;
-    clst_thr_ang_ = clst_thr_ang;
+    closest_thr_dist_ = closest_thr_dist;
+    closest_thr_ang_ = closest_thr_ang;
   }
 
   // getter
@@ -74,7 +74,7 @@ class PurePursuit
   geometry_msgs::msg::Point loc_next_tgt_;
 
   // variables got from outside
-  double lookahead_distance_, clst_thr_dist_, clst_thr_ang_;
+  double lookahead_distance_, closest_thr_dist_, closest_thr_ang_;
   std::shared_ptr<std::vector<geometry_msgs::msg::Pose>> curr_wps_ptr_;
   std::shared_ptr<geometry_msgs::msg::Pose> curr_pose_ptr_;
 

control/pure_pursuit/src/pure_pursuit_core/pure_pursuit.cpp

@@ -55,16 +55,17 @@ std::pair<bool, double> PurePursuit::run()
     return std::make_pair(false, std::numeric_limits<double>::quiet_NaN());
   }
 
-  auto clst_pair = planning_utils::findClosestIdxWithDistAngThr(
-    *curr_wps_ptr_, *curr_pose_ptr_, clst_thr_dist_, clst_thr_ang_);
+  auto closest_pair = planning_utils::findClosestIdxWithDistAngThr(
+    *curr_wps_ptr_, *curr_pose_ptr_, closest_thr_dist_, closest_thr_ang_);
 
-  if (!clst_pair.first) {
+  if (!closest_pair.first) {
     RCLCPP_WARN(
-      logger, "cannot find, curr_bool: %d, clst_idx: %d", clst_pair.first, clst_pair.second);
+      logger, "cannot find, curr_bool: %d, closest_idx: %d", closest_pair.first,
+      closest_pair.second);
     return std::make_pair(false, std::numeric_limits<double>::quiet_NaN());
   }
 
-  int32_t next_wp_idx = findNextPointIdx(clst_pair.second);
+  int32_t next_wp_idx = findNextPointIdx(closest_pair.second);
   if (next_wp_idx == -1) {
     RCLCPP_WARN(logger, "lost next waypoint");
     return std::make_pair(false, std::numeric_limits<double>::quiet_NaN());