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fix(rename): Rename left over axis variables to object variables

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This commit is contained in:
Vincent Kompjoeteraar Winter
2025-11-26 15:20:38 +01:00
parent d06a33b90c
commit 2728baf8a5
4 changed files with 31 additions and 35 deletions
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12
src/g2_2025_odometry_pkg/src/g2_2025_imu_data_simulator_node/nodes/imu_data_simulator.cpp
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@@ -42,12 +42,12 @@ void DataSimulator::publish_imu_data() {
double elapsed_time = (this->now() - start_time_).seconds();
// Get values for each axis
imu_msg->linear_acceleration.x = simulator_->get_axis_value("linear_x", elapsed_time);
imu_msg->linear_acceleration.y = simulator_->get_axis_value("linear_y", elapsed_time);
imu_msg->linear_acceleration.z = simulator_->get_axis_value("linear_z", elapsed_time);
imu_msg->angular_velocity.x = simulator_->get_axis_value("angular_x", elapsed_time);
imu_msg->angular_velocity.y = simulator_->get_axis_value("angular_y", elapsed_time);
imu_msg->angular_velocity.z = simulator_->get_axis_value("angular_z", elapsed_time);
imu_msg->linear_acceleration.x = simulator_->get_object_value("linear_x", elapsed_time);
imu_msg->linear_acceleration.y = simulator_->get_object_value("linear_y", elapsed_time);
imu_msg->linear_acceleration.z = simulator_->get_object_value("linear_z", elapsed_time);
imu_msg->angular_velocity.x = simulator_->get_object_value("angular_x", elapsed_time);
imu_msg->angular_velocity.y = simulator_->get_object_value("angular_y", elapsed_time);
imu_msg->angular_velocity.z = simulator_->get_object_value("angular_z", elapsed_time);
RCLCPP_INFO(this->get_logger(),
"t=%.2fs - Accel: [%.3f, %.3f, %.3f], Gyro: [%.3f, %.3f, %.3f]",

11
src/g2_2025_odometry_pkg/src/g2_2025_wheel_data_simulator_node/nodes/wheel_data_simulator.cpp
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@@ -35,18 +35,15 @@ DataSimulator::~DataSimulator() {
void DataSimulator::publish_wheel_data() {
auto wheel_msg = std::make_shared<std_msgs::msg::Float64MultiArray>();
// wheel_msg->header.stamp = this->now();
// wheel_msg->header.frame_id = "wheel_link";
// Calculate elapsed time since node start
double elapsed_time = (this->now() - start_time_).seconds();
// For now, just log wheel values (adjust based on your actual message type)
wheel_msg->data = {
simulator_->get_axis_value("wheel_fl", elapsed_time),
simulator_->get_axis_value("wheel_fr", elapsed_time),
simulator_->get_axis_value("wheel_rl", elapsed_time),
simulator_->get_axis_value("wheel_rr", elapsed_time)
simulator_->get_object_value("wheel_fl", elapsed_time),
simulator_->get_object_value("wheel_fr", elapsed_time),
simulator_->get_object_value("wheel_rl", elapsed_time),
simulator_->get_object_value("wheel_rr", elapsed_time)
};
RCLCPP_INFO(this->get_logger(),

35
src/g2_2025_odometry_pkg/src/simulator/Simulator.cpp
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@@ -4,27 +4,26 @@
namespace assignments::three
{
Simulator::Simulator(rclcpp::Node* node, const std::vector<std::string>& axes) {
load_intervals(node, axes);
Simulator::Simulator(rclcpp::Node* node, const std::vector<std::string>& objects) {
load_intervals(node, objects);
}
Simulator::~Simulator() {
}
void Simulator::load_intervals(rclcpp::Node* node, const std::vector<std::string>& axes) {
void Simulator::load_intervals(rclcpp::Node* node, const std::vector<std::string>& objects) {
node->declare_parameter("max_intervals", 4);
max_intervals_ = node->get_parameter("max_intervals").as_int();
for (const auto& axis : axes) {
node->declare_parameter(axis + ".num_intervals", 0);
int num_intervals = node->get_parameter(axis + ".num_intervals").as_int();
RCLCPP_INFO(node->get_logger(), "Loading %d intervals for axis '%s'", num_intervals, axis.c_str());
for (const auto& object : objects) {
node->declare_parameter(object + ".num_intervals", 0);
int num_intervals = node->get_parameter(object + ".num_intervals").as_int();
RCLCPP_INFO(node->get_logger(), "Loading %d intervals for object '%s'", num_intervals, object.c_str());
std::vector<IntervalConfig> intervals;
for (int i = 0; i < std::min(num_intervals, max_intervals_); i++) {
std::string prefix = axis + ".interval_" + std::to_string(i);
std::string prefix = object + ".interval_" + std::to_string(i);
node->declare_parameter(prefix + ".type", "constant");
node->declare_parameter(prefix + ".t_start", 0.0);
@@ -61,13 +60,13 @@ void Simulator::load_intervals(rclcpp::Node* node, const std::vector<std::string
const char* type_str = (cfg.type == SimType::CONSTANT) ? "constant" :
(cfg.type == SimType::LINEAR) ? "linear" : "quadratic";
RCLCPP_DEBUG(node->get_logger(),
"Axis '%s' Interval %zu: type='%s', t_start=%.6f, t_end=%.6f, y_start=%.6f, y_end=%.6f, t_mid=%.6f, y_mid=%.6f",
axis.c_str(), j, type_str,
"Object '%s' Interval %zu: type='%s', t_start=%.6f, t_end=%.6f, y_start=%.6f, y_end=%.6f, t_mid=%.6f, y_mid=%.6f",
object.c_str(), j, type_str,
cfg.t_start, cfg.t_end, cfg.y_start, cfg.y_end, cfg.t_mid, cfg.y_mid
);
}
axis_intervals_[axis] = intervals;
object_intervals_[object] = intervals;
}
}
@@ -115,14 +114,14 @@ double Simulator::compute_value(double t, const IntervalConfig& interval) {
return 0.0;
}
double Simulator::get_axis_value(const std::string& axis, double t) {
// Check if axis exists in configuration
auto it = axis_intervals_.find(axis);
if (it == axis_intervals_.end()) {
return 0.0; // Default value if axis not configured
double Simulator::get_object_value(const std::string& object, double t) {
// Check if object exists in configuration
auto it = object_intervals_.find(object);
if (it == object_intervals_.end()) {
return 0.0; // Default value if object not configured
}
// Check each interval for this axis
// Check each interval for this object
double last_value = 0.0;
for (const auto& interval : it->second) {
if (t >= interval.t_start && t <= interval.t_end) {

8
src/g2_2025_odometry_pkg/src/simulator/Simulator.hpp
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@@ -25,18 +25,18 @@ struct IntervalConfig {
class Simulator {
public:
Simulator(rclcpp::Node* node, const std::vector<std::string>& axes);
Simulator(rclcpp::Node* node, const std::vector<std::string>& objects);
~Simulator();
double get_axis_value(const std::string& axis, double t);
double get_object_value(const std::string& object, double t);
private:
int max_intervals_;
void load_intervals(rclcpp::Node* node, const std::vector<std::string>& axes);
void load_intervals(rclcpp::Node* node, const std::vector<std::string>& objects);
double compute_value(double t, const IntervalConfig& interval);
std::map<std::string, std::vector<IntervalConfig>> axis_intervals_;
std::map<std::string, std::vector<IntervalConfig>> object_intervals_;
};
} // namespace assignments::three