Change parameter name

at-wat · Sep 12, 2023 · f2a3f38 · f2a3f38
1 parent 8b992e2
commit f2a3f38
Show file tree

Hide file tree

Showing 4 changed files with 18 additions and 16 deletions.
diff --git a/costmap_cspace/include/costmap_cspace/costmap_3d_layer/footprint.h b/costmap_cspace/include/costmap_cspace/costmap_3d_layer/footprint.h
@@ -60,7 +60,7 @@ class Costmap3dLayerFootprint : public Costmap3dLayerBase
   geometry_msgs::PolygonStamped footprint_;
   float linear_expand_;
   float linear_spread_;
-  int cutoff_cost_;
+  int linear_spread_min_cost_;
   Polygon footprint_p_;
   bool keep_unknown_;
 
@@ -72,18 +72,19 @@ class Costmap3dLayerFootprint : public Costmap3dLayerBase
   Costmap3dLayerFootprint()
     : linear_expand_(0.0)
     , linear_spread_(0.0)
-    , cutoff_cost_(0)
+    , linear_spread_min_cost_(0)
     , keep_unknown_(false)
     , range_max_(0)
   {
   }
   void loadConfig(XmlRpc::XmlRpcValue config)
   {
-    const int cutoff_cost = config.hasMember("cutoff_cost") ? static_cast<int>(config["cutoff_cost"]) : 0;
+    const int linear_spread_min_cost =
+        config.hasMember("linear_spread_min_cost") ? static_cast<int>(config["linear_spread_min_cost"]) : 0;
     setExpansion(
         static_cast<double>(config["linear_expand"]),
         static_cast<double>(config["linear_spread"]),
-        cutoff_cost);
+        linear_spread_min_cost);
     setFootprint(costmap_cspace::Polygon(config["footprint"]));
     if (config.hasMember("keep_unknown"))
       setKeepUnknown(config["keep_unknown"]);
@@ -95,18 +96,18 @@ class Costmap3dLayerFootprint : public Costmap3dLayerBase
   void setExpansion(
       const float linear_expand,
       const float linear_spread,
-      const int cutoff_cost = 0)
+      const int linear_spread_min_cost = 0)
   {
     linear_expand_ = linear_expand;
     linear_spread_ = linear_spread;
-    cutoff_cost_ = cutoff_cost;
+    linear_spread_min_cost_ = linear_spread_min_cost;
 
     ROS_ASSERT(linear_expand >= 0.0);
     ROS_ASSERT(std::isfinite(linear_expand));
     ROS_ASSERT(linear_spread >= 0.0);
     ROS_ASSERT(std::isfinite(linear_spread));
-    ROS_ASSERT(cutoff_cost_ >= 0);
-    ROS_ASSERT(cutoff_cost_ < 100);
+    ROS_ASSERT(linear_spread_min_cost_ >= 0);
+    ROS_ASSERT(linear_spread_min_cost_ < 100);
   }
   void setFootprint(const Polygon footprint)
   {
@@ -170,11 +171,11 @@ class Costmap3dLayerFootprint : public Costmap3dLayerBase
             }
             else if (d < linear_expand_ + linear_spread_)
             {
-              cs_template_.e(x, y, yaw) = 100 - (d - linear_expand_) * (100 - cutoff_cost_) / linear_spread_;
+              cs_template_.e(x, y, yaw) = 100 - (d - linear_expand_) * (100 - linear_spread_min_cost_) / linear_spread_;
             }
             else if (std::abs(linear_expand_ + linear_spread_ - d) < eps)
             {
-              cs_template_.e(x, y, yaw) = cutoff_cost_;
+              cs_template_.e(x, y, yaw) = linear_spread_min_cost_;
             }
             else
             {

diff --git a/costmap_cspace/include/costmap_cspace/costmap_3d_layer/plain.h b/costmap_cspace/include/costmap_cspace/costmap_3d_layer/plain.h
@@ -59,11 +59,12 @@ class Costmap3dLayerPlain : public Costmap3dLayerFootprint
   }
   void loadConfig(XmlRpc::XmlRpcValue config)
   {
-    const int cutoff_cost = config.hasMember("cutoff_cost") ? static_cast<int>(config["cutoff_cost"]) : 0;
+    const int linear_spread_min_cost =
+        config.hasMember("linear_spread_min_cost") ? static_cast<int>(config["linear_spread_min_cost"]) : 0;
     setExpansion(
         static_cast<double>(config["linear_expand"]),
         static_cast<double>(config["linear_spread"]),
-        cutoff_cost);
+        linear_spread_min_cost);
   }
 };
 }  // namespace costmap_cspace

diff --git a/costmap_cspace/src/costmap_3d.cpp b/costmap_cspace/src/costmap_3d.cpp
@@ -213,9 +213,9 @@ class Costmap3DOFNode
     float linear_spread;
     pnh_.param("linear_expand", linear_expand, 0.2f);
     pnh_.param("linear_spread", linear_spread, 0.5f);
-    int cutoff_cost;
-    pnh_.param("cutoff_cost", cutoff_cost, 0);
-    root_layer->setExpansion(linear_expand, linear_spread, cutoff_cost);
+    int linear_spread_min_cost;
+    pnh_.param("linear_spread_min_cost", linear_spread_min_cost, 0);
+    root_layer->setExpansion(linear_expand, linear_spread, linear_spread_min_cost);
     root_layer->setFootprint(footprint);
 
     if (pnh_.hasParam("static_layers"))

diff --git a/costmap_cspace/test/src/test_costmap_3d.cpp b/costmap_cspace/test/src/test_costmap_3d.cpp
@@ -1021,7 +1021,7 @@ TEST(Costmap3dLayerFootprint, PlainOnFootprint)
   }
 }
 
-TEST(Costmap3dLayerOutput, CutoffCost)
+TEST(Costmap3dLayerOutput, LinearSpreadMinCost)
 {
   // clang-format off
   const std::vector<int8_t> input_base(49, 0);