From 81972ba7a4bf41755af799e97e1a518c90bac3b6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Fri, 12 Aug 2022 15:43:29 +0200
Subject: [PATCH] Add comment
---
source/armarx/navigation/local_planning/TimedElasticBands.cpp | 4 ++--
source/armarx/navigation/local_planning/ros_conversions.cpp | 2 +-
2 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/source/armarx/navigation/local_planning/TimedElasticBands.cpp b/source/armarx/navigation/local_planning/TimedElasticBands.cpp
index dc02d4c5..de0514f6 100644
--- a/source/armarx/navigation/local_planning/TimedElasticBands.cpp
+++ b/source/armarx/navigation/local_planning/TimedElasticBands.cpp
@@ -98,8 +98,8 @@ namespace armarx::navigation::local_planning
const core::Pose currentPose{scene.robot->getGlobalPose()};
// prune global trajectory
- const auto& [prunedGoal, planToDest] =
- goal.getSubTrajectory(currentPose.translation(), params.cfg.planning_distance * 1000);
+ const auto& [prunedGoal, planToDest] = goal.getSubTrajectory(
+ currentPose.translation(), params.cfg.planning_distance * 1000); // [m] to [mm]
const teb_local_planner::TimedElasticBand globalPath = conv::toRos(prunedGoal);
teb_globalPath = globalPath.poses();
diff --git a/source/armarx/navigation/local_planning/ros_conversions.cpp b/source/armarx/navigation/local_planning/ros_conversions.cpp
index 3ad81d9c..c23adf1a 100644
--- a/source/armarx/navigation/local_planning/ros_conversions.cpp
+++ b/source/armarx/navigation/local_planning/ros_conversions.cpp
@@ -18,7 +18,7 @@ namespace armarx::navigation::conv
Eigen::Vector2d
toRos(const Eigen::Vector3f& vec)
{
- return conv::to2D(vec).cast<double>() / 1000;
+ return conv::to2D(vec).cast<double>() / 1000; // [mm] to [m]
}
--
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