refactor: fix comment (#52)

* refactor: fix comments Signed-off-by: Masahiro Kubota <[email protected]> * refactor: fix comments Signed-off-by: Masahiro Kubota <[email protected]> * refactor: fix comment Signed-off-by: Masahiro Kubota <[email protected]> --------- Signed-off-by: Masahiro Kubota <[email protected]>
AutomotiveAIChallenge · Jul 19, 2024 · 561b099 · 561b099
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Showing 3 changed files with 8 additions and 4 deletions.
diff --git a/src/autoware_practice_course/src/velocity_planning/longitudinal_controller.cpp b/src/autoware_practice_course/src/velocity_planning/longitudinal_controller.cpp
@@ -61,7 +61,7 @@ void LongitudinalControllerNode::update_target_velocity(const Trajectory & msg)
 void LongitudinalControllerNode::update_current_state(const Odometry & msg)
 {
   current_velocity_ = msg.twist.twist.linear.x;
-  current_pose_ = msg.pose.pose.position;  // 現在の車両の位置を更新する
+  current_pose_ = msg.pose.pose.position;
 };
 
 void LongitudinalControllerNode::on_timer()
@@ -71,10 +71,11 @@ void LongitudinalControllerNode::on_timer()
   AckermannControlCommand command;
   command.stamp = stamp;
 
+  // The AckermannControlCommand can contain both longitudinal acceleration and velocity commands, but the vehicle
+  // interface only accepts longitudinal acceleration.
   double velocity_error = target_velocity_ - current_velocity_;
   command.longitudinal.acceleration = kp_ * velocity_error;
-  command.longitudinal.speed = target_velocity_;  // メッセージ型としてはspeedがあるが、vehiclle
-                                                  // interface側では加速度しか受け取っていない。
+  command.longitudinal.speed = target_velocity_;
 
   command.lateral.steering_tire_angle = 0.0;
 

diff --git a/src/autoware_practice_course/src/velocity_planning/p_controller.cpp b/src/autoware_practice_course/src/velocity_planning/p_controller.cpp
@@ -44,6 +44,8 @@ void PControllerNode::on_timer()
   AckermannControlCommand command;
   command.stamp = stamp;
 
+  // The AckermannControlCommand can contain both longitudinal acceleration and velocity commands, but the vehicle
+  // interface only accepts longitudinal acceleration.
   double velocity_error = target_velocity_ - current_velocity_;
   command.longitudinal.acceleration = kp_ * velocity_error;
   command.longitudinal.speed = target_velocity_;

diff --git a/src/autoware_practice_course/src/velocity_planning/trajectory_follower.cpp b/src/autoware_practice_course/src/velocity_planning/trajectory_follower.cpp
@@ -64,6 +64,7 @@ void TrajectoryFollowerNode::update_target_velocity(const Trajectory & msg)
   target_velocity_ = msg.points[closest_point_index_].longitudinal_velocity_mps;
 };
 
+// Retrieves the value of the specified parameter from the YAML file
 double TrajectoryFollowerNode::load_parameters(const std::string & param_file, const std::string & param_tag)
 {
   std::ifstream file(param_file);
@@ -120,6 +121,7 @@ double TrajectoryFollowerNode::lateral_controller()
   double min_distance = std::numeric_limits<double>::max();
   size_t lookahead_point_index = closest_point_index_;
   min_distance = std::numeric_limits<double>::max();
+
   // Find the lookahead point
   for (size_t i = closest_point_index_; i < trajectory_.points.size(); ++i) {
     double dx = trajectory_.points[i].pose.position.x - current_position_.x;
@@ -145,7 +147,6 @@ double TrajectoryFollowerNode::lateral_controller()
 
 double TrajectoryFollowerNode::calculate_yaw_from_quaternion(const geometry_msgs::msg::Quaternion & q)
 {
-  // Convert quaternion to Euler angles
   double siny_cosp = 2 * (q.w * q.z + q.x * q.y);
   double cosy_cosp = 1 - 2 * (q.y * q.y + q.z * q.z);
   double yaw = std::atan2(siny_cosp, cosy_cosp);