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feat: fix dwa_planner member scope #40

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feat: fix dwa_planner member scope #40

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951ea6b
move update() and update_timer_ to private scope
Autumn60 Jul 13, 2024
d118d11
Merge branch 'main' into feat/planning/fix_dwaP_member_scope
Autumn60 Jul 13, 2024
ac6629f
Merge branch 'main' into feat/planning/fix_dwaP_member_scope
Autumn60 Jul 14, 2024
bd51497
Revert "Merge branch 'main' into feat/planning/fix_dwaP_member_scope"
Autumn60 Jul 14, 2024
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70 changes: 0 additions & 70 deletions src/common/wheel_stuck_utils/include/wheel_stuck_utils/math/math.hpp
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13 changes: 10 additions & 3 deletions src/planning/dwa_planner/include/dwa_planner/dwa_planner.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@
#include <nav_msgs/msg/occupancy_grid.hpp>
#include <nav_msgs/msg/odometry.hpp>

#include <algorithm>
#include <vector>

namespace dwa_planner
Expand Down Expand Up @@ -59,11 +60,9 @@ class DWAPlanner : public rclcpp::Node

public:
explicit DWAPlanner(const rclcpp::NodeOptions & options);
void update();

rclcpp::TimerBase::SharedPtr update_timer_;

private:
void update();
bool subscribe_and_validate();
bool try_subscribe_map();
bool try_subscribe_odom();
Expand All @@ -74,6 +73,14 @@ class DWAPlanner : public rclcpp::Node
double calculate_stage_cost(const State & state);
double calculate_terminal_cost(const State & state);

inline static double lerp(const double a, const double b, double t)
{
t = std::max(0.0, std::min(1.0, t));
return a + t * (b - a);
}

rclcpp::TimerBase::SharedPtr update_timer_;

OccupancyGridSubscription::SharedPtr map_sub_;
OdometrySubscription::SharedPtr odom_sub_;
PoseStampedSubscription::SharedPtr goal_sub_;
Expand Down
7 changes: 2 additions & 5 deletions src/planning/dwa_planner/src/dwa_planner.cpp
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Original file line number Diff line number Diff line change
@@ -1,7 +1,5 @@
#include "dwa_planner/dwa_planner.hpp"

#include <wheel_stuck_utils/math/math.hpp>

#include <limits>

namespace dwa_planner
Expand Down Expand Up @@ -185,10 +183,9 @@ DWAPlanner::Trajectory DWAPlanner::planning()
Trajectory best_trajectory;

for (int v = 0; v < velocity_resolution_; v++) {
double velocity = wheel_stuck_utils::math::lerp(
window.min_velocity, window.max_velocity, v * velocity_resolution_inv_);
double velocity = lerp(window.min_velocity, window.max_velocity, v * velocity_resolution_inv_);
for (int a = 0; a < angular_velocity_resolution_; a++) {
double angular_velocity = wheel_stuck_utils::math::lerp(
double angular_velocity = lerp(
window.min_angular_velocity, window.max_angular_velocity,
a * angular_velocity_resolution_inv_);

Expand Down
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