Rename class variable to match parameter name

ros-controls · Nov 14, 2023 · fd49c22 · fd49c22
1 parent 4ca9e20
commit fd49c22
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Showing 2 changed files with 9 additions and 8 deletions.
diff --git a/...trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/...trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
@@ -167,8 +167,9 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
   std::vector<PidPtr> pids_;
   // Feed-forward velocity weight factor when calculating closed loop pid adapter's command
   std::vector<double> ff_velocity_scale_;
-  // Configuration for every joint, if position error is normalized
-  std::vector<bool> normalize_joint_error_;
+  // Configuration for every joint if it wraps around (ie. is continuous, position error is
+  // normalized)
+  std::vector<bool> joints_angle_wraparound_;
   // reserved storage for result of the command when closed loop pid adapter is used
   std::vector<double> tmp_command_;
 

diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -131,7 +131,7 @@ controller_interface::return_type JointTrajectoryController::update(
                                    const JointTrajectoryPoint & desired)
   {
     // error defined as the difference between current and desired
-    if (normalize_joint_error_[index])
+    if (joints_angle_wraparound_[index])
     {
       // if desired, the shortest_angular_distance is calculated, i.e., the error is
       //  normalized between -pi<error<pi
@@ -197,12 +197,12 @@ controller_interface::return_type JointTrajectoryController::update(
       if (params_.open_loop_control)
       {
         traj_external_point_ptr_->set_point_before_trajectory_msg(
-          time, last_commanded_state_, normalize_joint_error_);
+          time, last_commanded_state_, joints_angle_wraparound_);
       }
       else
       {
         traj_external_point_ptr_->set_point_before_trajectory_msg(
-          time, state_current_, normalize_joint_error_);
+          time, state_current_, joints_angle_wraparound_);
       }
     }
 
@@ -727,19 +727,19 @@ controller_interface::CallbackReturn JointTrajectoryController::on_configure(
   }
 
   // Configure joint position error normalization from ROS parameters (angle_wraparound)
-  normalize_joint_error_.resize(dof_);
+  joints_angle_wraparound_.resize(dof_);
   for (size_t i = 0; i < dof_; ++i)
   {
     const auto & gains = params_.gains.joints_map.at(params_.joints[i]);
     if (gains.normalize_error)
     {
       // TODO(anyone): Remove deprecation warning in the end of 2023
       RCLCPP_INFO(logger, "`normalize_error` is deprecated, use `angle_wraparound` instead!");
-      normalize_joint_error_[i] = gains.normalize_error;
+      joints_angle_wraparound_[i] = gains.normalize_error;
     }
     else
     {
-      normalize_joint_error_[i] = gains.angle_wraparound;
+      joints_angle_wraparound_[i] = gains.angle_wraparound;
     }
   }