From a803d2d8ba9b6812bbb712b70e5fae73cc5ef40c Mon Sep 17 00:00:00 2001 From: Matteo Pancotti <matteopancotti@Matteos-MacBook-Air.local> Date: Sun, 9 Feb 2025 03:21:22 +0100 Subject: [PATCH] chage of some names in PropagatorState structure --- src/shared/algorithms/Propagator/Propagator.cpp | 8 ++++---- src/shared/algorithms/Propagator/PropagatorData.h | 12 ++++++------ 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/src/shared/algorithms/Propagator/Propagator.cpp b/src/shared/algorithms/Propagator/Propagator.cpp index 3df6e642a..3c4c50439 100644 --- a/src/shared/algorithms/Propagator/Propagator.cpp +++ b/src/shared/algorithms/Propagator/Propagator.cpp @@ -58,17 +58,17 @@ void Propagator::step() { // checking that last two states are not propagated if(state.nPropagations == 0 && oldState.nPropagations == 0) - state.setAProp((state.getVProp() - oldState.getVProp()) / updatePeriod); + state.setAcceleration((state.getVelocity() - oldState.getVelocity()) / updatePeriod); - state.setVProp((state.getVProp() + state.getAProp()) * updatePeriod); - state.setXProp((state.getXProp() + state.getVProp()) * updatePeriod); + state.setVelocity((state.getVelocity() + state.getAcceleration()) * updatePeriod); + state.setPosition((state.getPosition() + state.getVelocity()) * updatePeriod); state.nPropagations++; state.timestamp = TimestampTimer::getTimestamp(); } else // Update Position propagating assuming costant velocity { - state.setXProp(state.getXProp() + state.getVProp() * updatePeriod); + state.setPosition(state.getPosition() + state.getVelocity() * updatePeriod); state.nPropagations++; state.timestamp = TimestampTimer::getTimestamp(); } diff --git a/src/shared/algorithms/Propagator/PropagatorData.h b/src/shared/algorithms/Propagator/PropagatorData.h index 7422e9919..63389f511 100644 --- a/src/shared/algorithms/Propagator/PropagatorData.h +++ b/src/shared/algorithms/Propagator/PropagatorData.h @@ -72,12 +72,12 @@ struct PropagatorState * * @return Eigen::Vector3f the NED position vector */ - Eigen::Vector3f getXProp() { return Eigen::Vector3f(nas.n, nas.e, nas.d); } + Eigen::Vector3f getPosition() { return Eigen::Vector3f(nas.n, nas.e, nas.d); } /** * @brief Setter for the vector of positions NED */ - void setXProp(Eigen::Vector3f xProp) + void setPosition(Eigen::Vector3f xProp) { nas.n = xProp(0); nas.e = xProp(1); @@ -89,7 +89,7 @@ struct PropagatorState * * @return Eigen::Vector3f the NED velocities vector */ - Eigen::Vector3f getVProp() + Eigen::Vector3f getVelocity() { return Eigen::Vector3f(nas.vn, nas.ve, nas.vd); } @@ -97,7 +97,7 @@ struct PropagatorState /** * @brief Setter for the vector of velocities NED */ - void setVProp(Eigen::Vector3f vProp) + void setVelocity(Eigen::Vector3f vProp) { nas.vn = vProp(0); nas.ve = vProp(1); @@ -107,7 +107,7 @@ struct PropagatorState /** * @brief Setter for the vector acceleration */ - void setAProp(Eigen::Vector3f aProp) + void setAcceleration(Eigen::Vector3f aProp) { acceleration = aProp; } @@ -117,7 +117,7 @@ struct PropagatorState * * @return Eigen::Vector3f acceleration */ - Eigen::Vector3f getAProp() const + Eigen::Vector3f getAcceleration() const { return acceleration; } -- GitLab