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Fix steering controllers library code documentation and naming (backport #1149) #1164

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merged 1 commit into from
Jun 5, 2024

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@mergify mergify bot commented Jun 5, 2024

A follow-up to #1118, using consistent nomenclature introduced in #954

My commits do not change any logic or behavior, just make the code more readable.


This is an automatic backport of pull request #1149 done by Mergify.

* Update documentation and consolidate variable names

* Simplify private methods and further update docs

* Rename methods

* Rename method and variables

* Rename convert method

* Rename variables and improve doc

* Rename local variables

* Use std::isfinite instead of !isnan

Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>

* Use a lowercase theta for heading

Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>

* Make some temporary variables const

* Let update_from_position call update_from_velocity

* Explicitly set variables with 0 in constructor

* Fix docstring

* Apply consistent variable naming

Co-authored-by:  Quique Llorente <ellorent@redhat.com>

---------

Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Co-authored-by: Quique Llorente <ellorent@redhat.com>
(cherry picked from commit b245155)
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codecov bot commented Jun 5, 2024

Codecov Report

Attention: Patch coverage is 74.35897% with 20 lines in your changes missing coverage. Please review.

Project coverage is 86.63%. Comparing base (8b9c2e2) to head (80ef36c).
Report is 1 commits behind head on humble.

Additional details and impacted files
@@            Coverage Diff             @@
##           humble    #1164      +/-   ##
==========================================
- Coverage   86.82%   86.63%   -0.20%     
==========================================
  Files          86       86              
  Lines        7499     7487      -12     
  Branches      620      618       -2     
==========================================
- Hits         6511     6486      -25     
- Misses        753      767      +14     
+ Partials      235      234       -1     
Flag Coverage Δ
unittests 86.63% <74.35%> (-0.20%) ⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files Coverage Δ
...g_controller/src/ackermann_steering_controller.cpp 80.00% <100.00%> (ø)
...steering_controllers_library/steering_odometry.hpp 100.00% <ø> (ø)
...ng_controller/src/tricycle_steering_controller.cpp 78.57% <100.00%> (ø)
...ing_controller/src/bicycle_steering_controller.cpp 75.00% <75.00%> (ø)
...ring_controllers_library/src/steering_odometry.cpp 73.79% <70.76%> (+4.76%) ⬆️

... and 3 files with indirect coverage changes

@christophfroehlich christophfroehlich merged commit deeb9d0 into humble Jun 5, 2024
11 of 12 checks passed
@christophfroehlich christophfroehlich deleted the mergify/bp/humble/pr-1149 branch June 5, 2024 20:33
henrygerardmoore pushed a commit to henrygerardmoore/ros2_controllers that referenced this pull request Jul 19, 2024
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