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Commit 38eaf282 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Update sensor_diff_drive.h

parent 55d95c00
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2 merge requests!312Adress 244: Do not use default yaml params,!305WIP: Resolve "Do not use default YAML params"
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Stage: build
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    include/core/sensor/sensor_diff_drive.h
    + 7
    − 8
    View file @ 38eaf282
    ......@@ -20,20 +20,19 @@ struct IntrinsicsDiffDrive : public IntrinsicsBase
    Scalar radius_left;
    Scalar radius_right;
    Scalar wheel_separation;
    unsigned int ticks_per_wheel_revolution;
    Scalar ticks_per_wheel_revolution;
    Scalar radians_per_tick; ///< Not user-definable -- DO NOT PRETEND TO USE YAML TO SET THIS PARAM.
    IntrinsicsDiffDrive() = default;
    IntrinsicsDiffDrive(std::string _unique_name,
    const wolf::ParamsServer & _server) :
    IntrinsicsBase(_unique_name, _server)
    IntrinsicsDiffDrive(std::string _unique_name, const wolf::ParamsServer & _server) :
    IntrinsicsBase(_unique_name, _server)
    {
    radius_left = _server.getParam<Scalar>(_unique_name + "/radius_left");
    radius_right = _server.getParam<Scalar>(_unique_name + "/radius_right");
    wheel_separation = _server.getParam<Scalar>(_unique_name + "/wheel_separation");
    ticks_per_wheel_revolution = _server.getParam<unsigned int>(_unique_name + "/ticks_per_wheel_revolution");
    radius_left = _server.getParam<Scalar>(_unique_name + "/radius_left");
    radius_right = _server.getParam<Scalar>(_unique_name + "/radius_right");
    wheel_separation = _server.getParam<Scalar>(_unique_name + "/wheel_separation");
    ticks_per_wheel_revolution = _server.getParam<Scalar>(_unique_name + "/ticks_per_wheel_revolution");
    radians_per_tick = 2.0 * M_PI / ticks_per_wheel_revolution;
    }
    std::string print()
    ......
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