Apply consistent variable naming

Co-authored-by: Quique Llorente <[email protected]>
ros-controls · Jun 5, 2024 · 089a803 · 089a803
1 parent 479d850
commit 089a803
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Showing 3 changed files with 17 additions and 15 deletions.
diff --git a/ackermann_steering_controller/src/ackermann_steering_controller.cpp b/ackermann_steering_controller/src/ackermann_steering_controller.cpp
@@ -66,25 +66,25 @@ bool AckermannSteeringController::update_odometry(const rclcpp::Duration & perio
       state_interfaces_[STATE_TRACTION_RIGHT_WHEEL].get_value();
     const double traction_left_wheel_value =
       state_interfaces_[STATE_TRACTION_LEFT_WHEEL].get_value();
-    const double right_steer_position = state_interfaces_[STATE_STEER_RIGHT_WHEEL].get_value();
-    const double left_steer_position = state_interfaces_[STATE_STEER_LEFT_WHEEL].get_value();
+    const double steering_right_position = state_interfaces_[STATE_STEER_RIGHT_WHEEL].get_value();
+    const double steering_left_position = state_interfaces_[STATE_STEER_LEFT_WHEEL].get_value();
     if (
       std::isfinite(traction_right_wheel_value) && std::isfinite(traction_left_wheel_value) &&
-      std::isfinite(right_steer_position) && std::isfinite(left_steer_position))
+      std::isfinite(steering_right_position) && std::isfinite(steering_left_position))
     {
       if (params_.position_feedback)
       {
         // Estimate linear and angular velocity using joint information
         odometry_.update_from_position(
-          traction_right_wheel_value, traction_left_wheel_value, right_steer_position,
-          left_steer_position, period.seconds());
+          traction_right_wheel_value, traction_left_wheel_value, steering_right_position,
+          steering_left_position, period.seconds());
       }
       else
       {
         // Estimate linear and angular velocity using joint information
         odometry_.update_from_velocity(
-          traction_right_wheel_value, traction_left_wheel_value, right_steer_position,
-          left_steer_position, period.seconds());
+          traction_right_wheel_value, traction_left_wheel_value, steering_right_position,
+          steering_left_position, period.seconds());
       }
     }
   }

diff --git a/bicycle_steering_controller/src/bicycle_steering_controller.cpp b/bicycle_steering_controller/src/bicycle_steering_controller.cpp
@@ -61,18 +61,18 @@ bool BicycleSteeringController::update_odometry(const rclcpp::Duration & period)
   else
   {
     const double traction_wheel_value = state_interfaces_[STATE_TRACTION_WHEEL].get_value();
-    const double steer_position = state_interfaces_[STATE_STEER_AXIS].get_value();
-    if (std::isfinite(traction_wheel_value) && std::isfinite(steer_position))
+    const double steering_position = state_interfaces_[STATE_STEER_AXIS].get_value();
+    if (std::isfinite(traction_wheel_value) && std::isfinite(steering_position))
     {
       if (params_.position_feedback)
       {
         // Estimate linear and angular velocity using joint information
-        odometry_.update_from_position(traction_wheel_value, steer_position, period.seconds());
+        odometry_.update_from_position(traction_wheel_value, steering_position, period.seconds());
       }
       else
       {
         // Estimate linear and angular velocity using joint information
-        odometry_.update_from_velocity(traction_wheel_value, steer_position, period.seconds());
+        odometry_.update_from_velocity(traction_wheel_value, steering_position, period.seconds());
       }
     }
   }

diff --git a/tricycle_steering_controller/src/tricycle_steering_controller.cpp b/tricycle_steering_controller/src/tricycle_steering_controller.cpp
@@ -64,22 +64,24 @@ bool TricycleSteeringController::update_odometry(const rclcpp::Duration & period
       state_interfaces_[STATE_TRACTION_RIGHT_WHEEL].get_value();
     const double traction_left_wheel_value =
       state_interfaces_[STATE_TRACTION_LEFT_WHEEL].get_value();
-    const double steer_position = state_interfaces_[STATE_STEER_AXIS].get_value();
+    const double steering_position = state_interfaces_[STATE_STEER_AXIS].get_value();
     if (
       std::isfinite(traction_right_wheel_value) && std::isfinite(traction_left_wheel_value) &&
-      std::isfinite(steer_position))
+      std::isfinite(steering_position))
     {
       if (params_.position_feedback)
       {
         // Estimate linear and angular velocity using joint information
         odometry_.update_from_position(
-          traction_right_wheel_value, traction_left_wheel_value, steer_position, period.seconds());
+          traction_right_wheel_value, traction_left_wheel_value, steering_position,
+          period.seconds());
       }
       else
       {
         // Estimate linear and angular velocity using joint information
         odometry_.update_from_velocity(
-          traction_right_wheel_value, traction_left_wheel_value, steer_position, period.seconds());
+          traction_right_wheel_value, traction_left_wheel_value, steering_position,
+          period.seconds());
       }
     }
   }