refactor(ego_entity_simulation): rename flag name for considering slo…

…pe in ego entity simulation Signed-off-by: Kotaro Yoshimoto <[email protected]>
tier4 · Feb 2, 2024 · a4ef2cd · a4ef2cd
1 parent ada5f90
commit a4ef2cd
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/...or_simulator/include/simple_sensor_simulator/vehicle_simulation/ego_entity_simulation.hpp b/...or_simulator/include/simple_sensor_simulator/vehicle_simulation/ego_entity_simulation.hpp
@@ -60,7 +60,7 @@ class EgoEntitySimulation
 
   traffic_simulator_msgs::msg::EntityStatus status_;
 
-  bool consider_road_slope_ = false;
+  const bool consider_acceleration_by_road_slope_;
 
 public:
   const std::shared_ptr<hdmap_utils::HdMapUtils> hdmap_utils_ptr_;

diff --git a/simulation/simple_sensor_simulator/src/vehicle_simulation/ego_entity_simulation.cpp b/simulation/simple_sensor_simulator/src/vehicle_simulation/ego_entity_simulation.cpp
@@ -39,7 +39,8 @@ EgoEntitySimulation::EgoEntitySimulation(
   vehicle_model_type_(getVehicleModelType()),
   vehicle_model_ptr_(makeSimulationModel(vehicle_model_type_, step_time, parameters)),
   hdmap_utils_ptr_(hdmap_utils),
-  consider_road_slope_(getParameter<bool>("consider_road_slope", false))
+  consider_acceleration_by_road_slope_(
+    getParameter<bool>("consider_acceleration_by_road_slope", false))
 {
 }
 
@@ -264,7 +265,7 @@ void EgoEntitySimulation::update(
     } else {
       auto input = Eigen::VectorXd(vehicle_model_ptr_->getDimU());
 
-      auto acceleration_by_slope = not consider_road_slope_ ? 0.0 : [this]() {
+      auto acceleration_by_slope = not consider_acceleration_by_road_slope_ ? 0.0 : [this]() {
         // calculate longitudinal acceleration by slope
         constexpr double gravity_acceleration = -9.81;
         const double ego_pitch_angle = calculateEgoPitch();