From 300dea5b493364783a034fe1377b6e21e2f4bca5 Mon Sep 17 00:00:00 2001 From: Joseph Duchesne Date: Thu, 1 Jul 2021 14:40:57 -0400 Subject: [PATCH] Fixed some comment errors and typos --- docs/included_plugins/diff_drive.rst | 4 ++-- docs/included_plugins/tricycle_drive.rst | 4 ++-- flatland_plugins/test/dynamics_limits_test.cpp | 6 +++--- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/docs/included_plugins/diff_drive.rst b/docs/included_plugins/diff_drive.rst index 448fec63..a4c9b6b0 100644 --- a/docs/included_plugins/diff_drive.rst +++ b/docs/included_plugins/diff_drive.rst @@ -97,12 +97,12 @@ velocities and odometries are w.r.t. the robot origin # sets dynamics constraints on angular velocity, acceleration (in rads/sec; rads/sec/sec) angular_dynamics: acceleration_limit: 0.0 # max acceleration (away from 0), in rads/s/s; 0.0 means "no limit" - deceleration_limit: 0.0 # max deceleration (towards 0), in rads/s/s; 0.0 means "no limit"; left blank, will default to acceleration_limit value + deceleration_limit: 0.0 # max deceleration (towards 0), in rads/s/s; 0.0 means "no limit"; left blank, will default to acceleration_limit value velocity_limit: 0.0 # max absolute velocity in rads/s; 0.0 means "no limit" # optional, defaults each parameter to 0.0 which means "no limit" # sets dynamics constraints on linear velocity, acceleration (in m/s; m/s/s) linear_dynamics: acceleration_limit: 0.0 # max acceleration (away from 0), in m/s/s; 0.0 means "no limit" - deceleration_limit: 0.0 # max deceleration (towards 0), in m/s/s; 0.0 means "no limit"; left blank, will default to acceleration_limit value + deceleration_limit: 0.0 # max deceleration (towards 0), in m/s/s; 0.0 means "no limit"; left blank, will default to acceleration_limit value velocity_limit: 0.0 # max absolute velocity in m/s; 0.0 means "no limit" \ No newline at end of file diff --git a/docs/included_plugins/tricycle_drive.rst b/docs/included_plugins/tricycle_drive.rst index b57ad1b9..371ccb1e 100644 --- a/docs/included_plugins/tricycle_drive.rst +++ b/docs/included_plugins/tricycle_drive.rst @@ -126,14 +126,14 @@ has no effect on the actual motion of the robot. # sets dynamics constraints on angular velocity, acceleration (in rads/sec; rads/sec/sec) angular_dynamics: acceleration_limit: 0.0 # max acceleration (away from 0), in rads/s/s; 0.0 means "no limit" - deceleration_limit: 0.0 # max deceleration (towards 0), in rads/s/s; 0.0 means "no limit"; left blank, will default to acceleration_limit value + deceleration_limit: 0.0 # max deceleration (towards 0), in rads/s/s; 0.0 means "no limit"; left blank, will default to acceleration_limit value velocity_limit: 0.0 # max absolute velocity in rads/s; 0.0 means "no limit" # optional, defaults each parameter to 0.0 which means "no limit" # sets dynamics constraints on linear velocity, acceleration (in m/s; m/s/s) linear_dynamics: acceleration_limit: 0.0 # max acceleration (away from 0), in m/s/s; 0.0 means "no limit" - deceleration_limit: 0.0 # max deceleration (towards 0), in m/s/s; 0.0 means "no limit"; left blank, will default to acceleration_limit value + deceleration_limit: 0.0 # max deceleration (towards 0), in m/s/s; 0.0 means "no limit"; left blank, will default to acceleration_limit value velocity_limit: 0.0 # max absolute velocity in m/s; 0.0 means "no limit" diff --git a/flatland_plugins/test/dynamics_limits_test.cpp b/flatland_plugins/test/dynamics_limits_test.cpp index a1f04db2..18c31013 100644 --- a/flatland_plugins/test/dynamics_limits_test.cpp +++ b/flatland_plugins/test/dynamics_limits_test.cpp @@ -92,7 +92,7 @@ TEST(DynamicsLimitsTest, test_Configure_two_params) { // Ensure defaults are zero EXPECT_NEAR(0.1, dynamics_limits.acceleration_limit_, 1e-3); - // deccelleration cap defaults to accleration cap if not set + // deceleration cap defaults to accleration cap if not set EXPECT_NEAR(0.1, dynamics_limits.deceleration_limit_, 1e-3); EXPECT_NEAR(2.0, dynamics_limits.velocity_limit_, 1e-3); } @@ -192,9 +192,9 @@ TEST(DynamicsLimitsTest, test_Limit_acceleration) { EXPECT_NEAR(0.45, result, 1e-3); result = dynamics_limits.Limit(1.0, 0.0, 0.05); // Try to decelerate at -20m/s/s, when the limit is 9 EXPECT_NEAR(0.55, result, 1e-3); - result = dynamics_limits.Limit(10.0, 0.0, 0.05); // Try to decelerate at -20m/s/s, when the limit is 9 + result = dynamics_limits.Limit(10.0, 0.0, 0.05); // Try to decelerate at -200m/s/s, when the limit is 9 EXPECT_NEAR(9.55, result, 1e-3); - result = dynamics_limits.Limit(-10.0, 0.0, 0.05); // Try to decelerate at 20m/s/s, when the limit is 9 + result = dynamics_limits.Limit(-10.0, 0.0, 0.05); // Try to decelerate at 200m/s/s, when the limit is 9 EXPECT_NEAR(-9.55, result, 1e-3); result = dynamics_limits.Limit(5, -5, 0.05); // Try to decelerate at 20m/s/s, when the limit is 9 EXPECT_NEAR(4.55, result, 1e-3);