nav_sat_fix_origin variable refactor

autowarefoundation · Jun 10, 2022 · 67b8795 · 67b8795
1 parent a12da56
commit 67b8795
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/sensing/gnss_poser/include/gnss_poser/convert.hpp b/sensing/gnss_poser/include/gnss_poser/convert.hpp
@@ -59,14 +59,14 @@ double EllipsoidHeight2OrthometricHeight(
 }
 GNSSStat NavSatFix2LocalCartesian(
   const sensor_msgs::msg::NavSatFix & nav_sat_fix_msg,
-  sensor_msgs::msg::NavSatFix nav_sat_fix_origin, const rclcpp::Logger & logger)
+  sensor_msgs::msg::NavSatFix nav_sat_fix_origin_, const rclcpp::Logger & logger)
 {
   GNSSStat local_cartesian;
   local_cartesian.coordinate_system = CoordinateSystem::LOCAL_CARTESIAN;
 
   try {
     GeographicLib::LocalCartesian localCartesian_origin(
-      nav_sat_fix_origin.latitude, nav_sat_fix_origin.longitude, nav_sat_fix_origin.altitude);
+      nav_sat_fix_origin_.latitude, nav_sat_fix_origin_.longitude, nav_sat_fix_origin_.altitude);
     localCartesian_origin.Forward(
       nav_sat_fix_msg.latitude, nav_sat_fix_msg.longitude, nav_sat_fix_msg.altitude,
       local_cartesian.x, local_cartesian.y, local_cartesian.z);

diff --git a/sensing/gnss_poser/src/gnss_poser_core.cpp b/sensing/gnss_poser/src/gnss_poser_core.cpp
@@ -36,9 +36,9 @@ GNSSPoser::GNSSPoser(const rclcpp::NodeOptions & node_options)
     declare_parameter("coordinate_system", static_cast<int>(CoordinateSystem::MGRS));
   coordinate_system_ = static_cast<CoordinateSystem>(coordinate_system);
 
-  nav_sat_fix_origin.latitude = declare_parameter("latitude", 0.0);
-  nav_sat_fix_origin.longitude = declare_parameter("longitude", 0.0);
-  nav_sat_fix_origin.altitude = declare_parameter("altitude", 0.0);
+  nav_sat_fix_origin_.latitude = declare_parameter("latitude", 0.0);
+  nav_sat_fix_origin_.longitude = declare_parameter("longitude", 0.0);
+  nav_sat_fix_origin_.altitude = declare_parameter("altitude", 0.0);
 
   int buff_epoch = declare_parameter("buff_epoch", 1);
   position_buffer_.set_capacity(buff_epoch);
@@ -171,7 +171,7 @@ GNSSStat GNSSPoser::convert(
   } else if (coordinate_system == CoordinateSystem::PLANE) {
     gnss_stat = NavSatFix2PLANE(nav_sat_fix_msg, plane_zone_, this->get_logger());
   } else if (coordinate_system == CoordinateSystem::LOCAL_CARTESIAN) {
-    gnss_stat = NavSatFix2LocalCartesian(nav_sat_fix_msg, nav_sat_fix_origin, this->get_logger());
+    gnss_stat = NavSatFix2LocalCartesian(nav_sat_fix_msg, nav_sat_fix_origin_, this->get_logger());
   } else {
     RCLCPP_ERROR_STREAM_THROTTLE(
       this->get_logger(), *this->get_clock(), std::chrono::milliseconds(1000).count(),