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chore(pure_pursuit): fix typo #4403

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merged 1 commit into from
Jul 27, 2023
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chore(pure_pursuit): fix typo #4403

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10 changes: 5 additions & 5 deletions control/pure_pursuit/include/pure_pursuit/pure_pursuit.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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_;

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11 changes: 6 additions & 5 deletions control/pure_pursuit/src/pure_pursuit_core/pure_pursuit.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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());
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