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fixed documentation and function name #37

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merged 3 commits into from
Nov 23, 2017
Merged

fixed documentation and function name #37

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3ac2f25
fixed documentation and function name
YiRenAvidbots Nov 21, 2017
e90ef37
fixed format error
YiRenAvidbots Nov 21, 2017
bb4c8f0
fixed missing function declaraction
YiRenAvidbots Nov 21, 2017
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12 changes: 6 additions & 6 deletions flatland_plugins/include/flatland_plugins/world_modifier.h
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Original file line number Diff line number Diff line change
Expand Up @@ -96,15 +96,15 @@ struct WorldModifier {
Pose robot_ini_pose_;

/*
* @brief add wall depend on different orientation of the original wall and the
* robot
* @param[in] double d, calculated to determine which side of the old wall will
* the new be at
* @brief based on the info regard old wall and d, calculate new obstacle's
* vertices
* @param[in] double d, the sign of this value determine which side of the wall
* will the new obstacle be added
* @param[in] b2Vec2 vertex1, old wall's vertex1
* @param[in] b2Vec2 vertex2, old wall's vertex2
* @param[out] b2EdgeShape new_wall, reference passed in to set the vertexs
* @param[out] b2EdgeShape new_wall, reference passed in to set the vertices
*/
void GetWallDirection(double d, b2Vec2 vertex1, b2Vec2 vertex2,
void CalculateNewWall(double d, b2Vec2 vertex1, b2Vec2 vertex2,
b2EdgeShape &new_wall);

/*
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6 changes: 3 additions & 3 deletions flatland_plugins/src/world_modifier.cpp
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Expand Up @@ -89,7 +89,7 @@ WorldModifier::WorldModifier(flatland_server::World *world,
double_wall_(double_wall),
robot_ini_pose_(robot_ini_pose) {}

void WorldModifier::GetWallDirection(double d, b2Vec2 vertex1, b2Vec2 vertex2,
void WorldModifier::CalculateNewWall(double d, b2Vec2 vertex1, b2Vec2 vertex2,
b2EdgeShape &new_wall) {
b2Vec2 new_wall_v1;
b2Vec2 new_wall_v2;
Expand Down Expand Up @@ -182,13 +182,13 @@ void WorldModifier::AddFullWall(b2EdgeShape *wall) {

// add the main wall
b2EdgeShape new_wall;
GetWallDirection(d, vertex1, vertex2, new_wall);
CalculateNewWall(d, vertex1, vertex2, new_wall);
AddWall(new_wall);
// add the sidewall
AddSideWall(*wall, new_wall);

if (double_wall_) { // if add walls on both side
GetWallDirection(-d, vertex1, vertex2, new_wall);
CalculateNewWall(-d, vertex1, vertex2, new_wall);
AddWall(new_wall);
// add the sidewall
AddSideWall(*wall, new_wall);
Expand Down