From 97836c71ca40ecf0d445d80a3deadaddf2588482 Mon Sep 17 00:00:00 2001 From: Ruixiang Du Date: Mon, 1 Jun 2020 19:03:26 +0800 Subject: [PATCH] updated hunter state variable name --- src/apps/hunter_demo/hunter_demo.cpp | 2 +- src/hunter_sdk/hunter_base/include/hunter_base/hunter_types.hpp | 2 +- src/hunter_sdk/hunter_base/src/hunter_base.cpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/apps/hunter_demo/hunter_demo.cpp b/src/apps/hunter_demo/hunter_demo.cpp index c22f8eb..d98d73a 100644 --- a/src/apps/hunter_demo/hunter_demo.cpp +++ b/src/apps/hunter_demo/hunter_demo.cpp @@ -81,7 +81,7 @@ int main(int argc, char **argv) std::cout << "count: " << count << std::endl; std::cout << "control mode: " << static_cast(state.control_mode) << " , base state: " << static_cast(state.base_state) << std::endl; std::cout << "battery voltage: " << state.battery_voltage << std::endl; - std::cout << "velocity (linear, angular): " << state.linear_velocity << ", " << state.angular_velocity << std::endl; + std::cout << "velocity (linear, angular): " << state.linear_velocity << ", " << state.steering_angle << std::endl; std::cout << "-------------------------------" << std::endl; sleep(1); diff --git a/src/hunter_sdk/hunter_base/include/hunter_base/hunter_types.hpp b/src/hunter_sdk/hunter_base/include/hunter_base/hunter_types.hpp index 5659553..7ab420b 100644 --- a/src/hunter_sdk/hunter_base/include/hunter_base/hunter_types.hpp +++ b/src/hunter_sdk/hunter_base/include/hunter_base/hunter_types.hpp @@ -37,7 +37,7 @@ struct HunterState // motion state double linear_velocity = 0; - double angular_velocity = 0; + double steering_angle = 0; }; struct HunterMotionCmd diff --git a/src/hunter_sdk/hunter_base/src/hunter_base.cpp b/src/hunter_sdk/hunter_base/src/hunter_base.cpp index 6d2e872..0818978 100644 --- a/src/hunter_sdk/hunter_base/src/hunter_base.cpp +++ b/src/hunter_sdk/hunter_base/src/hunter_base.cpp @@ -202,7 +202,7 @@ void HunterBase::UpdateHunterState(const HunterMessage &status_msg, static_cast(msg.data.status.linear_velocity.high_byte) << 8) / 1000.0; - state.angular_velocity = + state.steering_angle = static_cast( static_cast(msg.data.status.angular_velocity.low_byte) | static_cast(msg.data.status.angular_velocity.high_byte)