From 6e8ef072f31f29fc75f643e3e8fa1a80592762ba Mon Sep 17 00:00:00 2001
From: uquzq <ventsi@DESKTOP-J41TDPJ>
Date: Sat, 22 Jun 2024 15:35:35 +0200
Subject: [PATCH] Improve readability of code
---
.../forward_kinematics_node_2dof_1.py | 12 ++++++------
.../forward_kinematics_node_2dof_2.py | 6 +++---
.../simple_robot_2dof/reference_node_2dof.py | 4 ++--
3 files changed, 11 insertions(+), 11 deletions(-)
diff --git a/ros2_ws/src/simple_robot_2dof/simple_robot_2dof/forward_kinematics_node_2dof_1.py b/ros2_ws/src/simple_robot_2dof/simple_robot_2dof/forward_kinematics_node_2dof_1.py
index 7a835aa..ee5e6dd 100644
--- a/ros2_ws/src/simple_robot_2dof/simple_robot_2dof/forward_kinematics_node_2dof_1.py
+++ b/ros2_ws/src/simple_robot_2dof/simple_robot_2dof/forward_kinematics_node_2dof_1.py
@@ -43,7 +43,7 @@ class Forward_Kinematics_Node_2Dof(Node):
h_fraction = self.phi * h
# Define the vector
- vector = np.array([-1.0, 0.0, 0.0, 1.0])
+ start_vector = np.array([-1.0, 0.0, 0.0, 1.0])
# Define the matrix
intermediate_rotation = np.array([
@@ -54,18 +54,18 @@ class Forward_Kinematics_Node_2Dof(Node):
])
# Calculate the intermediate vectors
- intermediate_vector = np.matmul(intermediate_rotation, vector)
+ intermediate_vector = np.matmul(intermediate_rotation, start_vector)
self.construct_path(intermediate_vector)
- def construct_path(self, vector_path):
+ def construct_path(self, vector):
# RViz
pose = PoseStamped()
pose.header.frame_id = "map"
pose.header.stamp = self.get_clock().now().to_msg()
- pose.pose.position.x = vector_path[0]
- pose.pose.position.y = vector_path[1]
- pose.pose.position.z = vector_path[2]
+ pose.pose.position.x = vector[0]
+ pose.pose.position.y = vector[1]
+ pose.pose.position.z = vector[2]
pose.pose.orientation.w = 1.0
#If the path is completed clear it
diff --git a/ros2_ws/src/simple_robot_2dof/simple_robot_2dof/forward_kinematics_node_2dof_2.py b/ros2_ws/src/simple_robot_2dof/simple_robot_2dof/forward_kinematics_node_2dof_2.py
index ee5f2aa..4b4688d 100644
--- a/ros2_ws/src/simple_robot_2dof/simple_robot_2dof/forward_kinematics_node_2dof_2.py
+++ b/ros2_ws/src/simple_robot_2dof/simple_robot_2dof/forward_kinematics_node_2dof_2.py
@@ -50,7 +50,7 @@ class Forward_Kinematics_Node_2Dof(Node):
theta_fraction = self.phi * theta
# Define the vector
- vector = np.array([-1.0, 0.0, 0.0, 1.0])
+ start_vector = np.array([-1.0, 0.0, 0.0, 1.0])
# define the matrix
intermediate_rotation = np.array([
@@ -67,10 +67,10 @@ class Forward_Kinematics_Node_2Dof(Node):
])
# calculate the intermediate vectors
- rotated_intermediate_vector = np.matmul(intermediate_rotation, vector)
+ rotated_intermediate_vector = np.matmul(intermediate_rotation, start_vector)
# calculate the end vector
- self.end_vector = np.matmul(rotation, vector)
+ self.end_vector = np.matmul(rotation, start_vector)
# construct the path of the rotation
self.construct_path(rotated_intermediate_vector)
diff --git a/ros2_ws/src/simple_robot_2dof/simple_robot_2dof/reference_node_2dof.py b/ros2_ws/src/simple_robot_2dof/simple_robot_2dof/reference_node_2dof.py
index 680fca0..ae03518 100644
--- a/ros2_ws/src/simple_robot_2dof/simple_robot_2dof/reference_node_2dof.py
+++ b/ros2_ws/src/simple_robot_2dof/simple_robot_2dof/reference_node_2dof.py
@@ -6,7 +6,7 @@ from geometry_msgs.msg import Point, PoseStamped
import time
-class Reference_Node_1DoF(Node):
+class Reference_Node_2DoF(Node):
def __init__(self):
super().__init__('reference_node_1dof')
@@ -38,7 +38,7 @@ class Reference_Node_1DoF(Node):
def main(args = None):
rclpy.init(args = args)
- node = Reference_Node_1DoF()
+ node = Reference_Node_2DoF()
rclpy.spin(node)
node.destroy_node()
rclpy.shutdown()
--
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