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Add comment about element that may confuse readers
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Signed-off-by: yamacir-kit <[email protected]>
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yamacir-kit committed Dec 9, 2024
1 parent ff7d869 commit 3218308
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Expand Up @@ -598,6 +598,14 @@ class SimulatorCore
template <typename... Ts>
static auto evaluateSpeed(Ts &&... xs)
{
/*
The function name "evaluateSpeed" stands for "evaluate SpeedCondition"
and is a part used to implement `SpeedCondition::evaluate`.
SpeedCondition can be evaluated in three directions: longitudinal,
lateral, and vertical, based on the attribute direction. Therefore,
please note that this function returns velocity, that is, a vector,
rather than speed, contrary to the name "evaluateSpeed".
*/
const auto linear = core->getCurrentTwist(std::forward<decltype(xs)>(xs)...).linear;
return Eigen::Vector3d(linear.x, linear.y, linear.z);
}
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