From ccbf91cd9f98e626bd1ba4a535b5b2aff10eba0c Mon Sep 17 00:00:00 2001 From: methylDragon Date: Mon, 20 Nov 2023 13:25:26 -0800 Subject: [PATCH] Add comments for exact match tolerance Signed-off-by: methylDragon --- nexus_motion_planner/src/motion_planner_server.cpp | 1 + nexus_motion_planner/src/motion_planner_server.hpp | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/nexus_motion_planner/src/motion_planner_server.cpp b/nexus_motion_planner/src/motion_planner_server.cpp index 3a26de4..2c3ce5e 100644 --- a/nexus_motion_planner/src/motion_planner_server.cpp +++ b/nexus_motion_planner/src/motion_planner_server.cpp @@ -247,6 +247,7 @@ MotionPlannerServer::MotionPlannerServer(const rclcpp::NodeOptions& options) "Setting parameter cache_db_port to [%d]", _cache_db_port ); + // For floating point comparison, what counts as an "exact" match. _cache_exact_match_tolerance = this->declare_parameter( "cache_exact_match_tolerance", 0.0005); // ~0.028 degrees per joint RCLCPP_INFO( diff --git a/nexus_motion_planner/src/motion_planner_server.hpp b/nexus_motion_planner/src/motion_planner_server.hpp index 9032bf4..7451d7a 100644 --- a/nexus_motion_planner/src/motion_planner_server.hpp +++ b/nexus_motion_planner/src/motion_planner_server.hpp @@ -127,7 +127,7 @@ class MotionPlannerServer : public rclcpp_lifecycle::LifecycleNode std::string _cache_db_plugin; std::string _cache_db_host; int _cache_db_port; - double _cache_exact_match_tolerance; + double _cache_exact_match_tolerance; // for floating point comparison double _cache_start_match_tolerance; double _cache_goal_match_tolerance;