From 295913880f50b6449dfdbc8b1c983914e356e1fb Mon Sep 17 00:00:00 2001
From: TiaSinghania <samanvita.singhania@gmail.com>
Date: Wed, 18 Dec 2024 23:02:03 -0800
Subject: [PATCH] cleaned up constants class

---
 rb_ws/src/buggy/buggy/simulator/engine.py | 18 +++++++++++-------
 rb_ws/src/buggy/buggy/util.py             |  2 +-
 2 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/rb_ws/src/buggy/buggy/simulator/engine.py b/rb_ws/src/buggy/buggy/simulator/engine.py
index 912ec56..0d68462 100644
--- a/rb_ws/src/buggy/buggy/simulator/engine.py
+++ b/rb_ws/src/buggy/buggy/simulator/engine.py
@@ -1,5 +1,6 @@
 #! /usr/bin/env python3
 import threading
+import sys
 import rclpy
 from rclpy.node import Node
 from geometry_msgs.msg import Pose, Twist, PoseWithCovariance, TwistWithCovariance
@@ -8,17 +9,20 @@
 from nav_msgs.msg import Odometry
 import numpy as np
 import utm
-from util import Utils
+sys.path.append("/rb_ws/src/buggy/buggy")
+from util import Constants
 
 class Simulator(Node):
 
+
     def __init__(self):
         super().__init__('sim_single')
         self.get_logger().info('INITIALIZED.')
 
+
         self.starting_poses = {
-            "Hill1_NAND": (Utils.UTM_EAST_ZERO + 0, Utils.UTM_NORTH_ZERO + 0, -110),
-            "Hill1_SC": (Utils.UTM_EAST_ZERO + 20, Utils.UTM_NORTH_ZERO + 30, -110),
+            "Hill1_NAND": (Constants.UTM_EAST_ZERO + 0, Constants.UTM_NORTH_ZERO + 0, -110),
+            "Hill1_SC": (Constants.UTM_EAST_ZERO + 20, Constants.UTM_NORTH_ZERO + 30, -110),
             "WESTINGHOUSE": (589647, 4477143, -150),
             "UC_TO_PURNELL": (589635, 4477468, 160),
             "UC": (589681, 4477457, 160),
@@ -56,12 +60,12 @@ def __init__(self):
         if (self.get_namespace() == "/SC"):
             self.buggy_name = "SC"
             self.declare_parameter('pose', "Hill1_SC")
-            self.wheelbase = Utils.WHEELBASE_SC
+            self.wheelbase = Constants.WHEELBASE_SC
 
         if (self.get_namespace() == "/NAND"):
             self.buggy_name = "NAND"
             self.declare_parameter('pose', "Hill1_NAND")
-            self.wheelbase = Utils.WHEELBASE_NAND
+            self.wheelbase = Constants.WHEELBASE_NAND
 
         self.velocity = self.get_parameter("velocity").value
         init_pose_name = self.get_parameter("pose").value
@@ -135,8 +139,8 @@ def publish(self):
         (lat, long) = utm.to_latlon(
             p.position.x,
             p.position.y,
-            Utils.UTM_ZONE_NUM,
-            Utils.UTM_ZONE_LETTER,
+            Constants.UTM_ZONE_NUM,
+            Constants.UTM_ZONE_LETTER,
         )
 
         lat_noisy = lat + np.random.normal(0, 1e-6)
diff --git a/rb_ws/src/buggy/buggy/util.py b/rb_ws/src/buggy/buggy/util.py
index b5e78e1..0bdfc8e 100644
--- a/rb_ws/src/buggy/buggy/util.py
+++ b/rb_ws/src/buggy/buggy/util.py
@@ -1,4 +1,4 @@
-class Utils:
+class Constants:
     UTM_EAST_ZERO = 589702.87
     UTM_NORTH_ZERO = 4477172.947
     UTM_ZONE_NUM = 17