param name changed

include/laser_scan_utils/icp.h

@@ -42,7 +42,7 @@ namespace laserscanutils
         double error;               // Total correspondence error
         double mean_error;          // Average error (total error / nvalid)
         double points_ratio;        // Ratio of valid correspondences of totall amount of points
-        unsigned int attempts;      // Number of ICP calls to obtain a valid result (<= params.icp_attempts)
+        unsigned int attempts;      // Number of ICP calls to obtain a valid result (<= params.attempts)
     };
 
     struct icpParams
@@ -127,7 +127,7 @@ namespace laserscanutils
         double cov_max_eigv_factor; // Factor multiplying the direction of the max eigenvalue of the cov output of csm
 
         // Attempts ------------------------------------------------------------------
-        unsigned int icp_attempts;        // number of icp attempts if result fails (not valid or error > restart_threshold_mean_error)
+        unsigned int attempts;            // number of icp attempts if result fails (not valid or error > restart_threshold_mean_error)
         double perturbation_new_attempts; // perturbation noise amplitude applied to initial guess in new attempts
 
         // Validation ----------------------------------------------------------------
@@ -167,7 +167,7 @@ namespace laserscanutils
             std::cout << "do_compute_covariance: " << std::to_string(do_compute_covariance) << std::endl;
             std::cout << "cov_factor: " << std::to_string(cov_factor) << std::endl;
             std::cout << "cov_max_eigv_factor: " << std::to_string(cov_max_eigv_factor) << std::endl;
-            std::cout << "icp_attempts: " << std::to_string(icp_attempts) << std::endl;
+            std::cout << "attempts: " << std::to_string(attempts) << std::endl;
             std::cout << "perturbation_new_attempts: " << std::to_string(perturbation_new_attempts) << std::endl;
             std::cout << "max_mean_error: " << std::to_string(max_mean_error) << std::endl;
             std::cout << "min_points_ratio: " << std::to_string(min_points_ratio) << std::endl;

src/icp.cpp

@@ -208,7 +208,7 @@ icpOutput ICP::align(const LaserScan &_current_ls,
             std::cout << "Invalid result, trying again!" << std::endl;
         }
 
-    } while (not result.valid and result.attempts < _icp_params.icp_attempts);
+    } while (not result.valid and result.attempts < _icp_params.attempts);
 
     // if valid, copy transformation values and grow covariance
     if (result.valid)

test/gtest_icp.cpp

@@ -268,7 +268,7 @@ TEST(TestIcp, TestIcpSame1)
 
     // icp
     auto icp_params = icp_params_default;
-    icp_params.icp_attempts = n_attempts;
+    icp_params.attempts = n_attempts;
     // icp_params.verbose = true;
 
     // no perturbation
@@ -318,7 +318,7 @@ TEST(TestIcp, TestIcpSame2)
   LaserScanParams scan_params = generateLaserScanParams(0, 1);
   double pert = 0.0;
   auto icp_params = icp_params_default;
-  icp_params.icp_attempts = n_attempts;
+  icp_params.attempts = n_attempts;
 
   for (auto i = 0; i < N; i++)
   {
@@ -375,7 +375,7 @@ TEST(TestIcp, TestIcp1)
   LaserScan scan_ref, scan_tar;
 
   auto icp_params = icp_params_default;
-  icp_params.icp_attempts = n_attempts;
+  icp_params.attempts = n_attempts;
 
   double pert = 0.0;
 
@@ -421,7 +421,7 @@ TEST(TestIcp, TestIcp10)
   LaserScan scan_ref, scan_tar;
 
   auto icp_params = icp_params_default;
-  icp_params.icp_attempts = n_attempts;
+  icp_params.attempts = n_attempts;
   icp_params.verbose = true;
 
   double pert = 0.0;