From 38eaf282ccfe39b804b850df319ac83541add21a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 31 Jul 2019 08:44:47 +0200
Subject: [PATCH] Update sensor_diff_drive.h
---
include/core/sensor/sensor_diff_drive.h | 15 +++++++--------
1 file changed, 7 insertions(+), 8 deletions(-)
diff --git a/include/core/sensor/sensor_diff_drive.h b/include/core/sensor/sensor_diff_drive.h
index c7465756a..20b09ae49 100644
--- a/include/core/sensor/sensor_diff_drive.h
+++ b/include/core/sensor/sensor_diff_drive.h
@@ -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()
--
GitLab