From de195c4476cd7f5f6849124c18847abb7b73db2c Mon Sep 17 00:00:00 2001
From: Alopez <alopez@iri.upc.edu>
Date: Thu, 15 Dec 2022 10:24:08 +0100
Subject: [PATCH] get_goal_tolerance -> get_goal_tolerances
---
include/iri_nav_module/teb_lp_module.h | 8 ++++----
include/iri_nav_module/teb_lp_module_bt.h | 22 +++++++++++-----------
2 files changed, 15 insertions(+), 15 deletions(-)
diff --git a/include/iri_nav_module/teb_lp_module.h b/include/iri_nav_module/teb_lp_module.h
index 1d2b08c..21a0744 100644
--- a/include/iri_nav_module/teb_lp_module.h
+++ b/include/iri_nav_module/teb_lp_module.h
@@ -64,7 +64,7 @@ class CTEBLPModule : public CNavPlannerModule<ModuleCfg>
*
* \return The status of the operation.
*/
- dyn_reconf_status_t get_goal_tolerance(double &xy_tol, double &yaw_tol);
+ dyn_reconf_status_t get_goal_tolerances(double &xy_tol, double &yaw_tol);
/**
* \brief Function to set the both goal tolerances parameters.
@@ -75,7 +75,7 @@ class CTEBLPModule : public CNavPlannerModule<ModuleCfg>
*
* \return The status of the operation.
*/
- dyn_reconf_status_t set_goal_tolerance(double &xy_tol, double &yaw_tol);
+ dyn_reconf_status_t set_goal_tolerances(double &xy_tol, double &yaw_tol);
/**
* \brief Function to set the parameter
@@ -205,7 +205,7 @@ class CTEBLPModule : public CNavPlannerModule<ModuleCfg>
}
template <class ModuleCfg>
- dyn_reconf_status_t CTEBLPModule<ModuleCfg>::set_goal_tolerance(double &xy_tol, double &yaw_tol)
+ dyn_reconf_status_t CTEBLPModule<ModuleCfg>::set_goal_tolerances(double &xy_tol, double &yaw_tol)
{
this->planner_reconf.set_parameter("xy_goal_tolerance",xy_tol);
if(this->planner_reconf.get_status()==DYN_RECONF_SUCCESSFULL)
@@ -214,7 +214,7 @@ class CTEBLPModule : public CNavPlannerModule<ModuleCfg>
}
template <class ModuleCfg>
- dyn_reconf_status_t CTEBLPModule<ModuleCfg>::get_goal_tolerance(double &xy_tol, double &yaw_tol)
+ dyn_reconf_status_t CTEBLPModule<ModuleCfg>::get_goal_tolerances(double &xy_tol, double &yaw_tol)
{
if(this->planner_reconf.get_parameter("xy_goal_tolerance",xy_tol))
{
diff --git a/include/iri_nav_module/teb_lp_module_bt.h b/include/iri_nav_module/teb_lp_module_bt.h
index a639b2d..761acce 100644
--- a/include/iri_nav_module/teb_lp_module_bt.h
+++ b/include/iri_nav_module/teb_lp_module_bt.h
@@ -44,8 +44,8 @@ class CTEBLPModuleBT
// conditions
// actions
- BT::NodeStatus set_goal_tolerance(BT::TreeNode& self);
- BT::NodeStatus get_goal_tolerance(BT::TreeNode& self);
+ BT::NodeStatus set_goal_tolerances(BT::TreeNode& self);
+ BT::NodeStatus get_goal_tolerances(BT::TreeNode& self);
BT::NodeStatus set_xy_goal_tolerance(BT::TreeNode& self);
BT::NodeStatus get_xy_goal_tolerance(BT::TreeNode& self);
BT::NodeStatus set_yaw_goal_tolerance(BT::TreeNode& self);
@@ -86,8 +86,8 @@ class CTEBLPModuleBT
// Registration of conditions
//Registration of actions
- factory.registerSimpleAction(this->name+"teb_set_goal_tolerance", std::bind(&CTEBLPModuleBT::set_goal_tolerance, this, std::placeholders::_1), set_goal_tol_ports);
- factory.registerSimpleAction(this->name+"teb_get_goal_tolerance", std::bind(&CTEBLPModuleBT::get_goal_tolerance, this, std::placeholders::_1), get_goal_tol_ports);
+ factory.registerSimpleAction(this->name+"teb_set_goal_tolerances", std::bind(&CTEBLPModuleBT::set_goal_tolerances, this, std::placeholders::_1), set_goal_tol_ports);
+ factory.registerSimpleAction(this->name+"teb_get_goal_tolerances", std::bind(&CTEBLPModuleBT::get_goal_tolerances, this, std::placeholders::_1), get_goal_tol_ports);
factory.registerSimpleAction(this->name+"teb_set_xy_goal_tolerance", std::bind(&CTEBLPModuleBT::set_xy_goal_tolerance, this, std::placeholders::_1), set_xy_goal_tol_ports);
factory.registerSimpleAction(this->name+"teb_get_xy_goal_tolerance", std::bind(&CTEBLPModuleBT::get_xy_goal_tolerance, this, std::placeholders::_1), get_xy_goal_tol_ports);
factory.registerSimpleAction(this->name+"teb_set_yaw_goal_tolerance", std::bind(&CTEBLPModuleBT::set_yaw_goal_tolerance, this, std::placeholders::_1), set_yaw_goal_tol_ports);
@@ -108,32 +108,32 @@ class CTEBLPModuleBT
}
template <class ModuleCfg>
- BT::NodeStatus CTEBLPModuleBT<ModuleCfg>::set_goal_tolerance(BT::TreeNode& self)
+ BT::NodeStatus CTEBLPModuleBT<ModuleCfg>::set_goal_tolerances(BT::TreeNode& self)
{
- ROS_DEBUG("CTEBLPModuleBT::set_goal_tolerance-> set_goal_tolerance");
+ ROS_DEBUG("CTEBLPModuleBT::set_goal_tolerances-> set_goal_tolerances");
BT::Optional<double> bt_xy = self.getInput<double>("xy_tolerance");
BT::Optional<double> bt_yaw = self.getInput<double>("yaw_tolerance");
if (!bt_xy || !bt_yaw)
{
- ROS_ERROR("CTEBLPModuleBT::set_goal_tolerance-> Incorrect or missing input. It needs the following input ports: xy_tolerance(double) yaw_tolerance(double)");
+ ROS_ERROR("CTEBLPModuleBT::set_goal_tolerances-> Incorrect or missing input. It needs the following input ports: xy_tolerance(double) yaw_tolerance(double)");
return BT::NodeStatus::FAILURE;
}
double xy=bt_xy.value();
double yaw=bt_yaw.value();
- if(this->module.set_goal_tolerance(xy,yaw)==DYN_RECONF_SUCCESSFULL)
+ if(this->module.set_goal_tolerances(xy,yaw)==DYN_RECONF_SUCCESSFULL)
return BT::NodeStatus::SUCCESS;
else
return BT::NodeStatus::FAILURE;
}
template <class ModuleCfg>
- BT::NodeStatus CTEBLPModuleBT<ModuleCfg>::get_goal_tolerance(BT::TreeNode& self)
+ BT::NodeStatus CTEBLPModuleBT<ModuleCfg>::get_goal_tolerances(BT::TreeNode& self)
{
- ROS_DEBUG("CTEBLPModuleBT::get_goal_tolerance-> get_goal_tolerance");
+ ROS_DEBUG("CTEBLPModuleBT::get_goal_tolerances-> get_goal_tolerances");
double xy,yaw;
- if(this->module.get_goal_tolerance(xy,yaw)==DYN_RECONF_SUCCESSFULL)
+ if(this->module.get_goal_tolerances(xy,yaw)==DYN_RECONF_SUCCESSFULL)
{
self.setOutput("xy_tolerance", xy);
self.setOutput("yaw_tolerance", yaw);
--
GitLab