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Fix Code Style On pid_error #2329

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merged 1 commit into from
Jan 29, 2025
Merged

Fix Code Style On pid_error #2329

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13 changes: 6 additions & 7 deletions soccer/src/soccer/control/motion_control.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7,11 +7,9 @@
#include <rj_geometry/util.hpp>
#include <rj_utils/logging.hpp>


#include "game_state.hpp"
#include "planning/instant.hpp"


namespace control {

using planning::RobotInstant;
Expand Down Expand Up @@ -77,10 +75,12 @@ MotionControl::MotionControl(int shell_id, rclcpp::Node* node)
play_state_ = rj_convert::convert_from_ros(*play_state_msg).state();
});

error_x_pub_ = node->create_publisher<std_msgs::msg::Float64>("motion_control/pose_error_x", 10);
error_y_pub_ = node->create_publisher<std_msgs::msg::Float64>("motion_control/pose_error_y", 10);
error_heading_pub_ = node->create_publisher<std_msgs::msg::Float64>("motion_control/pose_error_heading", 10);

error_x_pub_ =
node->create_publisher<std_msgs::msg::Float64>("motion_control/pose_error_x", 10);
error_y_pub_ =
node->create_publisher<std_msgs::msg::Float64>("motion_control/pose_error_y", 10);
error_heading_pub_ =
node->create_publisher<std_msgs::msg::Float64>("motion_control/pose_error_heading", 10);
}

void MotionControl::run(const RobotState& state, const planning::Trajectory& trajectory,
Expand Down Expand Up @@ -144,7 +144,6 @@ void MotionControl::run(const RobotState& state, const planning::Trajectory& tra
std_msgs::msg::Float64 error_heading_msg;
error_heading_msg.data = error.heading();
error_heading_pub_->publish(error_heading_msg);


correction = Twist(position_x_controller_.run(static_cast<float>(error.position().x())),
position_y_controller_.run(static_cast<float>(error.position().y())),
Expand Down
6 changes: 3 additions & 3 deletions soccer/src/soccer/control/motion_control.hpp
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Original file line number Diff line number Diff line change
@@ -1,20 +1,20 @@
#pragma once

#include <rclcpp/rclcpp.hpp>

#include <context.hpp>
#include <rj_common/time.hpp>
#include <rj_constants/topic_names.hpp>
#include <rj_geometry/point.hpp>
#include <rj_param_utils/param.hpp>
#include <std_msgs/msg/float64.hpp>

#include "control/motion_setpoint.hpp"
#include "game_state.hpp"
#include "ros_debug_drawer.hpp"

#include <rc-fshare/pid.hpp>

#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/float64.hpp>

namespace control {

DECLARE_FLOAT64(params::kMotionControlParamModule, max_acceleration);
Expand Down