update

Signed-off-by: Takayuki Murooka <[email protected]>
tier4 · Sep 11, 2023 · 343b340 · 343b340
1 parent ee9c27c
commit 343b340
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/...e_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp b/...e_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp
@@ -185,7 +185,7 @@ class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node
   Trajectory::ConstSharedPtr current_trajectory_ptr_;
   bool simulate_motion_;  //!< stop vehicle motion simulation if false
   ControlModeReport current_control_mode_;
-  bool consider_ego_pitch_angle_;
+  bool enable_road_slope_simulation_;
 
   /* frame_id */
   std::string simulated_frame_id_;  //!< @brief simulated vehicle frame id

diff --git a/...imple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp b/...imple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp
@@ -102,7 +102,7 @@ SimplePlanningSimulator::SimplePlanningSimulator(const rclcpp::NodeOptions & opt
   origin_frame_id_ = declare_parameter("origin_frame_id", "odom");
   add_measurement_noise_ = declare_parameter("add_measurement_noise", false);
   simulate_motion_ = declare_parameter<bool>("initial_engage_state");
-  consider_ego_pitch_angle_ = declare_parameter("consider_ego_pitch_angle", false);
+  enable_road_slope_simulation_ = declare_parameter("enable_road_slope_simulation", false);
 
   using rclcpp::QoS;
   using std::placeholders::_1;
@@ -324,7 +324,8 @@ void SimplePlanningSimulator::on_timer()
 
   // calculate longitudinal acceleration by slope
   const double ego_pitch_angle = calculate_ego_pitch();
-  const double acc_by_slope = consider_ego_pitch_angle_ ? -9.81 * std::sin(ego_pitch_angle) : 0.0;
+  const double acc_by_slope =
+    enable_road_slope_simulation_ ? -9.81 * std::sin(ego_pitch_angle) : 0.0;
 
   // update vehicle dynamics
   {