From 4e5653d39cab08071c84140df27f9ebe7d22f9d1 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Mon, 27 May 2024 21:42:59 +0000 Subject: [PATCH] Make some temporary variables const --- .../src/steering_odometry.cpp | 24 ++++++++++--------- 1 file changed, 13 insertions(+), 11 deletions(-) diff --git a/steering_controllers_library/src/steering_odometry.cpp b/steering_controllers_library/src/steering_odometry.cpp index e07b988dd4..f388f50687 100644 --- a/steering_controllers_library/src/steering_odometry.cpp +++ b/steering_controllers_library/src/steering_odometry.cpp @@ -243,9 +243,9 @@ std::tuple, std::vector> SteeringOdometry::get_comma } else { - double turning_radius = wheelbase_ / std::tan(steer_pos_); - double Wr = Ws * (turning_radius + wheel_track_ * 0.5) / turning_radius; - double Wl = Ws * (turning_radius - wheel_track_ * 0.5) / turning_radius; + const double turning_radius = wheelbase_ / std::tan(steer_pos_); + const double Wr = Ws * (turning_radius + wheel_track_ * 0.5) / turning_radius; + const double Wl = Ws * (turning_radius - wheel_track_ * 0.5) / turning_radius; traction_commands = {Wr, Wl}; } steering_commands = {phi}; @@ -262,17 +262,19 @@ std::tuple, std::vector> SteeringOdometry::get_comma } else { - double turning_radius = wheelbase_ / std::tan(steer_pos_); - double Wr = Ws * (turning_radius + wheel_track_ * 0.5) / turning_radius; - double Wl = Ws * (turning_radius - wheel_track_ * 0.5) / turning_radius; + const double turning_radius = wheelbase_ / std::tan(steer_pos_); + const double Wr = Ws * (turning_radius + wheel_track_ * 0.5) / turning_radius; + const double Wl = Ws * (turning_radius - wheel_track_ * 0.5) / turning_radius; traction_commands = {Wr, Wl}; - double numerator = 2 * wheelbase_ * std::sin(phi); - double denominator_first_member = 2 * wheelbase_ * std::cos(phi); - double denominator_second_member = wheel_track_ * std::sin(phi); + const double numerator = 2 * wheelbase_ * std::sin(phi); + const double denominator_first_member = 2 * wheelbase_ * std::cos(phi); + const double denominator_second_member = wheel_track_ * std::sin(phi); - double alpha_r = std::atan2(numerator, denominator_first_member + denominator_second_member); - double alpha_l = std::atan2(numerator, denominator_first_member - denominator_second_member); + const double alpha_r = + std::atan2(numerator, denominator_first_member + denominator_second_member); + const double alpha_l = + std::atan2(numerator, denominator_first_member - denominator_second_member); steering_commands = {alpha_r, alpha_l}; } return std::make_tuple(traction_commands, steering_commands);