Small fixes

at-wat · Mar 19, 2024 · 76c12c1 · 76c12c1
1 parent 5c9e66a
commit 76c12c1
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Showing 2 changed files with 4 additions and 5 deletions.
diff --git a/planner_cspace/src/motion_cache.cpp b/planner_cspace/src/motion_cache.cpp
@@ -222,8 +222,7 @@ std::list<CyclicVecFloat<3, 2>> MotionCache::interpolatePath(const std::list<Cyc
     }
     else
     {
-      const auto& motion = motion_it->second.getInterpolatedMotion();
-      for (const auto& pos_diff : motion)
+      for (const auto& pos_diff : motion_it->second.getInterpolatedMotion())
       {
         result.push_back(CyclicVecFloat<3, 2>((*it_prev)[0] + pos_diff[0], (*it_prev)[1] + pos_diff[1], pos_diff[2]));
       }

diff --git a/planner_cspace/src/planner_3d.cpp b/planner_cspace/src/planner_3d.cpp
@@ -150,7 +150,7 @@ class Planner3dNode
   int tolerance_angle_;
   double tolerance_range_f_;
   double tolerance_angle_f_;
-  double interpolation_interval_;
+  double interpolation_resolution_;
   int unknown_cost_;
   bool overwrite_cost_;
   bool has_map_;
@@ -1201,7 +1201,7 @@ class Planner3dNode
     pnh_.param("esc_range", esc_range_f_, 0.25);
     pnh_.param("tolerance_range", tolerance_range_f_, 0.25);
     pnh_.param("tolerance_angle", tolerance_angle_f_, 0.0);
-    pnh_.param("interpolation_interval", interpolation_interval_, 0.5);
+    pnh_.param("interpolation_resolution", interpolation_resolution_, 0.5);
 
     pnh_.param("sw_wait", sw_wait_, 2.0f);
     pnh_.param("find_best", find_best_, true);
@@ -1300,7 +1300,7 @@ class Planner3dNode
             ec_,
             local_range_,
             cost_estim_cache_.gridmap(), cm_, cm_hyst_, cm_rough_,
-            cc_, range_, interpolation_interval_));
+            cc_, range_, interpolation_resolution_));
   }
 
   void cbParameter(const Planner3DConfig& config, const uint32_t /* level */)