From eea99411e5375d5ae80cf4121750e602072c4c16 Mon Sep 17 00:00:00 2001
From: uquzq <ventsi@DESKTOP-J41TDPJ>
Date: Sat, 22 Jun 2024 15:43:57 +0200
Subject: [PATCH] Improve readability of code
---
.../forward_kinematics_node_3dof_1.py | 12 ++++++------
.../forward_kinematics_node_3dof_2.py | 14 +++++++-------
.../forward_kinematics_node_3dof_3.py | 14 +++++++-------
3 files changed, 20 insertions(+), 20 deletions(-)
diff --git a/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_1.py b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_1.py
index 0483127..6fd4b40 100644
--- a/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_1.py
+++ b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_1.py
@@ -48,7 +48,7 @@ class Forward_Kinematics_Node_3Dof(Node):
d_fraction = self.phi * d
# Define the vector
- vector = np.array([-1.0, 0.0, 0.0, 1.0])
+ strart_vector = np.array([-1.0, 0.0, 0.0, 1.0])
# Define the matrix
intermediate_translation = np.array([
@@ -59,18 +59,18 @@ class Forward_Kinematics_Node_3Dof(Node):
])
# Calculate the intermediate vectors
- intermediate_vector = np.matmul(intermediate_translation, vector)
+ intermediate_vector = np.matmul(intermediate_translation, strart_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_3dof/simple_robot_3dof/forward_kinematics_node_3dof_2.py b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_2.py
index bda75e6..b770add 100644
--- a/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_2.py
+++ b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_2.py
@@ -75,7 +75,7 @@ class Forward_Kinematics_Node_3Dof(Node):
d_fraction = self.phi * d
# 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 translation matrix
intermediate_translation = np.array([
@@ -93,22 +93,22 @@ class Forward_Kinematics_Node_3Dof(Node):
])
# calculate the intermediate vectors
- translated_vector = np.matmul(intermediate_translation, vector)
+ translated_vector = np.matmul(intermediate_translation, start_vector)
# calculate the end vector
- self.end_vector = np.matmul(translation_matrix, vector)
+ self.end_vector = np.matmul(translation_matrix, start_vector)
# construct the path of the translation
self.construct_path(translated_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_3dof/simple_robot_3dof/forward_kinematics_node_3dof_3.py b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_3.py
index 1bd8bf6..e302fd1 100644
--- a/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_3.py
+++ b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_3.py
@@ -55,7 +55,7 @@ class Forward_Kinematics_Node_3Dof(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_translation = np.array([
@@ -73,9 +73,9 @@ class Forward_Kinematics_Node_3Dof(Node):
])
# calculate the intermediate vectors
- rotated_intermediate_vector = np.matmul(intermediate_translation, vector)
+ rotated_intermediate_vector = np.matmul(intermediate_translation, start_vector)
- self.end_vector = np.matmul(translation_matrix, vector)
+ self.end_vector = np.matmul(translation_matrix, start_vector)
# construct the path of the rotation
self.construct_path(rotated_intermediate_vector)
@@ -100,14 +100,14 @@ class Forward_Kinematics_Node_3Dof(Node):
# construct the path of the translation
self.construct_path(rotated_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
--
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