Commit @74bfef339dad5fc0807a5c09d96c517e26f2fd96 - yjyoon/ros2_플레이스테이션

m12watanabe1a 2023-11-24

Optimize calculations

@74bfef339dad5fc0807a5c09d96c517e26f2fd96

d1c3046

74bfef3

p9n_node/include/p9n_node/teleop_twist_joy_node.hpp

--- p9n_node/include/p9n_node/teleop_twist_joy_node.hpp

+++ p9n_node/include/p9n_node/teleop_twist_joy_node.hpp


   using Joy = sensor_msgs::msg::Joy;
 
 private:
-  float speed_factor_ = 1.0;
   double linear_max_speed_, angular_max_speed_;
 
   p9n_interface::HW_TYPE hw_type_;

d1c3046

74bfef3

p9n_node/src/teleop_twist_joy_node.cpp

--- p9n_node/src/teleop_twist_joy_node.cpp

+++ p9n_node/src/teleop_twist_joy_node.cpp


   this->timer_watchdog_->reset();
   this->p9n_if_->setJoyMsg(joy_msg);
 
-  const double PI = 3.14159;
   static bool stopped = true;
   if (this->p9n_if_->isTiltedStickL()) {
     auto twist_msg = std::make_unique<Twist>();
     twist_msg->linear.set__x(this->linear_max_speed_ * this->p9n_if_->tiltedStickLY());
 
-    if (this->p9n_if_->tiltedStickLY() > sin(PI / 8)) {
+    if (this->p9n_if_->tiltedStickLY() > sin(M_PI * 0.125)) {
       twist_msg->angular.set__z(this->angular_max_speed_ * this->p9n_if_->tiltedStickLX());
-    } else if (this->p9n_if_->tiltedStickLY() < sin(-PI / 8)) {
+    } else if (this->p9n_if_->tiltedStickLY() < sin(-M_PI * 0.125)) {
       twist_msg->angular.set__z(-this->angular_max_speed_ * this->p9n_if_->tiltedStickLX());
     } else {
       twist_msg->linear.set__x(0.0);

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...	...	@@ -32,7 +32,6 @@
32	32	using Joy = sensor_msgs::msg::Joy;
33	33
34	34	private:
35		- float speed_factor_ = 1.0;
36	35	double linear_max_speed_, angular_max_speed_;
37	36
38	37	p9n_interface::HW_TYPE hw_type_;

...	...	@@ -64,15 +64,14 @@
64	64	this->timer_watchdog_->reset();
65	65	this->p9n_if_->setJoyMsg(joy_msg);
66	66
67		- const double PI = 3.14159;
68	67	static bool stopped = true;
69	68	if (this->p9n_if_->isTiltedStickL()) {
70	69	auto twist_msg = std::make_unique<Twist>();
71	70	twist_msg->linear.set__x(this->linear_max_speed_ * this->p9n_if_->tiltedStickLY());
72	71
73		- if (this->p9n_if_->tiltedStickLY() > sin(PI / 8)) {
	72	+ if (this->p9n_if_->tiltedStickLY() > sin(M_PI * 0.125)) {
74	73	twist_msg->angular.set__z(this->angular_max_speed_ * this->p9n_if_->tiltedStickLX());
75		- } else if (this->p9n_if_->tiltedStickLY() < sin(-PI / 8)) {
	74	+ } else if (this->p9n_if_->tiltedStickLY() < sin(-M_PI * 0.125)) {
76	75	twist_msg->angular.set__z(-this->angular_max_speed_ * this->p9n_if_->tiltedStickLX());
77	76	} else {
78	77	twist_msg->linear.set__x(0.0);

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