chore: use common flag name

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
autowarefoundation · Aug 19, 2022 · f7bf15a · f7bf15a
1 parent f4935a2
commit f7bf15a
Show file tree

Hide file tree

Showing 2 changed files with 18 additions and 13 deletions.
diff --git a/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp b/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp
@@ -703,13 +703,14 @@ inline boost::optional<geometry_msgs::msg::Point> calcLongitudinalOffsetPoint(
  * @param points points of trajectory, path, ...
  * @param src_idx index of source point
  * @param offset length of offset from source point
- * @param use_slerp_for_orientation set orientation by spherical interpolation if true
+ * @param set_orientation_from_position_direction set orientation by spherical interpolation if
+ * false
  * @return offset pose
  */
 template <class T>
 inline boost::optional<geometry_msgs::msg::Pose> calcLongitudinalOffsetPose(
   const T & points, const size_t src_idx, const double offset,
-  const bool use_slerp_for_orientation = false, const bool throw_exception = false)
+  const bool set_orientation_from_position_direction = true, const bool throw_exception = false)
 {
   try {
     validateNonEmpty(points);
@@ -751,7 +752,8 @@ inline boost::optional<geometry_msgs::msg::Pose> calcLongitudinalOffsetPose(
       const auto dist_res = -offset - dist_sum;
       if (dist_res <= 0.0) {
         return tier4_autoware_utils::calcInterpolatedPose(
-          p_back, p_front, std::abs(dist_res / dist_segment), !use_slerp_for_orientation);
+          p_back, p_front, std::abs(dist_res / dist_segment),
+          set_orientation_from_position_direction);
       }
     }
   } else {
@@ -767,7 +769,8 @@ inline boost::optional<geometry_msgs::msg::Pose> calcLongitudinalOffsetPose(
       const auto dist_res = offset - dist_sum;
       if (dist_res <= 0.0) {
         return tier4_autoware_utils::calcInterpolatedPose(
-          p_front, p_back, 1.0 - std::abs(dist_res / dist_segment), !use_slerp_for_orientation);
+          p_front, p_back, 1.0 - std::abs(dist_res / dist_segment),
+          set_orientation_from_position_direction);
       }
     }
   }
@@ -781,13 +784,14 @@ inline boost::optional<geometry_msgs::msg::Pose> calcLongitudinalOffsetPose(
  * @param points points of trajectory, path, ...
  * @param src_point source point
  * @param offset length of offset from source point
- * @param use_slerp_for_orientation set orientation by spherical interpolation if true
+ * @param set_orientation_from_position_direction set orientation by spherical interpolation if
+ * false
  * @return offset pase
  */
 template <class T>
 inline boost::optional<geometry_msgs::msg::Pose> calcLongitudinalOffsetPose(
   const T & points, const geometry_msgs::msg::Point & src_point, const double offset,
-  const bool use_slerp_for_orientation = false)
+  const bool set_orientation_from_position_direction = true)
 {
   try {
     validateNonEmpty(points);
@@ -801,7 +805,8 @@ inline boost::optional<geometry_msgs::msg::Pose> calcLongitudinalOffsetPose(
     calcLongitudinalOffsetToSegment(points, src_seg_idx, src_point);
 
   return calcLongitudinalOffsetPose(
-    points, src_seg_idx, offset + signed_length_src_offset, use_slerp_for_orientation);
+    points, src_seg_idx, offset + signed_length_src_offset,
+    set_orientation_from_position_direction);
 }
 
 /**

diff --git a/common/motion_utils/test/src/trajectory/test_trajectory.cpp b/common/motion_utils/test/src/trajectory/test_trajectory.cpp
@@ -1339,7 +1339,7 @@ TEST(trajectory, calcLongitudinalOffsetPoseFromIndex_quatSphericalInterpolation)
 
   // Found pose(forward)
   for (double len = 0.0; len < total_length; len += 0.1) {
-    const auto p_out = calcLongitudinalOffsetPose(traj.points, 0, len, true);
+    const auto p_out = calcLongitudinalOffsetPose(traj.points, 0, len, false);
     // ratio between two points
     const auto ratio = len / total_length;
     const auto ans_quat =
@@ -1357,7 +1357,7 @@ TEST(trajectory, calcLongitudinalOffsetPoseFromIndex_quatSphericalInterpolation)
 
   // Found pose(backward)
   for (double len = total_length; 0.0 < len; len -= 0.1) {
-    const auto p_out = calcLongitudinalOffsetPose(traj.points, 1, -len, true);
+    const auto p_out = calcLongitudinalOffsetPose(traj.points, 1, -len, false);
     // ratio between two points
     const auto ratio = len / total_length;
     const auto ans_quat =
@@ -1375,7 +1375,7 @@ TEST(trajectory, calcLongitudinalOffsetPoseFromIndex_quatSphericalInterpolation)
 
   // Boundary condition
   {
-    const auto p_out = calcLongitudinalOffsetPose(traj.points, 0, total_length, true);
+    const auto p_out = calcLongitudinalOffsetPose(traj.points, 0, total_length, false);
     const auto ans_quat = createQuaternionFromRPY(deg2rad(0.0), deg2rad(0.0), deg2rad(0.0));
 
     EXPECT_NE(p_out, boost::none);
@@ -1390,7 +1390,7 @@ TEST(trajectory, calcLongitudinalOffsetPoseFromIndex_quatSphericalInterpolation)
 
   // Boundary condition
   {
-    const auto p_out = calcLongitudinalOffsetPose(traj.points, 1, 0.0, true);
+    const auto p_out = calcLongitudinalOffsetPose(traj.points, 1, 0.0, false);
     const auto ans_quat = createQuaternionFromRPY(deg2rad(0.0), deg2rad(0.0), deg2rad(0.0));
 
     EXPECT_NE(p_out, boost::none);
@@ -1601,7 +1601,7 @@ TEST(trajectory, calcLongitudinalOffsetPoseFromPoint_quatSphericalInterpolation)
     const auto src_offset = calcLongitudinalOffsetToSegment(traj.points, 0, p_src);
 
     for (double len = -src_offset; len < total_length - src_offset; len += 0.1) {
-      const auto p_out = calcLongitudinalOffsetPose(traj.points, p_src, len, true);
+      const auto p_out = calcLongitudinalOffsetPose(traj.points, p_src, len, false);
       // ratio between two points
       const auto ratio = (src_offset + len) / total_length;
       const auto ans_quat =
@@ -1628,7 +1628,7 @@ TEST(trajectory, calcLongitudinalOffsetPoseFromPoint_quatSphericalInterpolation)
     const auto src_offset = calcLongitudinalOffsetToSegment(traj.points, 0, p_src);
 
     const auto p_out =
-      calcLongitudinalOffsetPose(traj.points, p_src, total_length - src_offset, true);
+      calcLongitudinalOffsetPose(traj.points, p_src, total_length - src_offset, false);
     const auto ans_quat = createQuaternionFromRPY(deg2rad(0.0), deg2rad(0.0), deg2rad(0.0));
 
     EXPECT_NE(p_out, boost::none);