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default value initialization to avoid redundant variable assignment #678

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merged 14 commits into from
Jun 26, 2023
Merged

default value initialization to avoid redundant variable assignment #678

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b6271a2
update order of wavefield parameters message
tejalbarnwal Jun 10, 2023
d56e6fe
added wavefield parameters to practice_2023_worlds_follow_path sdf files
tejalbarnwal Jun 13, 2023
56a0909
added default values for unneeded variables
tejalbarnwal Jun 20, 2023
f42a243
updated sydney_regatta world file
tejalbarnwal Jun 20, 2023
17aa66e
Merge branch 'main' into tejal/avoid_unneeded_variable
caguero Jun 20, 2023
bfc3884
Merge branch 'main' into tejal/avoid_unneeded_variable
M1chaelM Jun 21, 2023
47044e9
Merge branch 'main' into tejal/avoid_unneeded_variable
M1chaelM Jun 22, 2023
feedd84
removed unneeded variables from sdf world files
tejalbarnwal Jun 23, 2023
9a8185c
updated difficult practice worlds with gain 2 and period 2
tejalbarnwal Jun 23, 2023
7605e2f
removed debug print statement
tejalbarnwal Jun 23, 2023
e022061
updated default values inside header file
tejalbarnwal Jun 23, 2023
53fc266
Merge branch 'main' into tejal/avoid_unneeded_variable
M1chaelM Jun 25, 2023
9909ea3
refactored with minor formatting adjustments
tejalbarnwal Jun 26, 2023
f78da3b
updated the steepness to its original value
tejalbarnwal Jun 26, 2023
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76 changes: 52 additions & 24 deletions vrx_gz/src/Wavefield.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,8 @@
#include <gz/math/Vector2.hh>
#include <gz/math/Vector3.hh>

#include <iostream>
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Do we need this #include?

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@tejalbarnwal tejalbarnwal Jun 26, 2023 •
edited
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sorry, I forgot to remove that
I used it to debug initially, will remove it


#include "Wavefield.hh"

using namespace gz;
Expand All @@ -48,21 +50,21 @@ class vrx::WavefieldPrivate
{
/// \brief Constructor.
public: WavefieldPrivate():
size({1000, 1000}),
cellCount({50, 50}),
size({6000, 6000}),
cellCount({300, 300}),
model("PMS"),
number(1),
scale(2),
angle(2.0*M_PI/10.0),
steepness(1.0),
number(3),
scale(1.1),
angle(0.4),
steepness(0.0),
amplitude(0.0),
period(1.0),
period(5.0),
phase(0.0),
direction(1, 0),
angularFrequency(2.0*M_PI),
wavelength(2 * M_PI / this->DeepWaterDispersionToWavenumber(2.0 * M_PI)),
wavenumber(this->DeepWaterDispersionToWavenumber(2.0 * M_PI)),
tau(1.0),
tau(2.0),
gain(1.0)
{
}
Expand Down Expand Up @@ -469,22 +471,48 @@ void Wavefield::Load(const msgs::Param &_msg)
{
auto params = _msg.params();

this->data->size = {params["size"].vector3d_value().x(),
params["size"].vector3d_value().y()};
this->data->cellCount = {params["cell_count"].vector3d_value().x(),
params["cell_count"].vector3d_value().y()};
this->data->number = params["number"].int_value();
this->data->scale = params["scale"].double_value();
this->data->angle = params["angle"].double_value();
this->data->steepness = params["steepness"].double_value();
this->data->amplitude = params["amplitude"].double_value();
this->data->period = params["period"].double_value();
this->data->phase = params["phase"].double_value();
this->data->direction = {params["direction"].vector3d_value().x(),
params["direction"].vector3d_value().y()};
this->data->model = params["model"].string_value();
this->data->gain = params["gain"].double_value();
this->data->tau = params["tau"].double_value();
if (params.count("size") > 0){
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nitpick: Could you move the open bracket to the next line to be consistent with the Gazebo style?

if (params.count("size") > 0)
{
  this->data->size = {params["size"].vector3d_value().x(),
    params["size"].vector3d_value().y()};
}

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sure, i will update them

this->data->size = {params["size"].vector3d_value().x(),
params["size"].vector3d_value().y()};
}
if (params.count("cell_count") > 0){
this->data->cellCount = {params["cell_count"].vector3d_value().x(),
params["cell_count"].vector3d_value().y()};
}
if (params.count("number") > 0){
this->data->number = params["number"].int_value();
}
if (params.count("scale") > 0){
this->data->scale = params["scale"].double_value();
}
if (params.count("angle") > 0){
this->data->angle = params["angle"].double_value();
}
if (params.count("steepness") > 0){
this->data->steepness = params["steepness"].double_value();
}
if (params.count("amplitude") > 0){
this->data->amplitude = params["amplitude"].double_value();
}
if (params.count("period") > 0){
this->data->period = params["period"].double_value();
}
if (params.count("phase") > 0){
this->data->phase = params["phase"].double_value();
}
if (params.count("direction") > 0){
this->data->direction = {params["direction"].vector3d_value().x(),
params["direction"].vector3d_value().y()};
}
if (params.count("model") > 0){
this->data->model = params["model"].string_value();
}
if (params.count("gain") > 0){
this->data->gain = params["gain"].double_value();
}
if (params.count("tau") > 0){
this->data->tau = params["tau"].double_value();
}

this->data->FillParameters();
this->data->Recalculate();
Expand Down
16 changes: 8 additions & 8 deletions vrx_gz/src/Wavefield.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -77,31 +77,31 @@ namespace vrx
/// * `<topic>` (string, default: "/wavefield/parameters")
/// The topic for publishing wave field updates.
///
/// * `<size>` (Vector2D, default: (1000 1000))
/// * `<size>` (Vector2D, default: (6000 6000))
/// A two component vector for the size of the wave field in each direction.
///
/// * `<cell_count>` (int, default: (50 50))
/// * `<cell_count>` (int, default: (300 300))
/// A two component vector for the number of grid cells in each direction.
///
/// * `<number>` (int, default: 1)
/// * `<number>` (int, default: 3)
/// The number of component waves.
///
/// * `<scale>` (double, default: 2.0)
/// * `<scale>` (double, default: 1.1)
/// The scale between the mean and largest / smallest component waves.
///
/// * `<angle>` (double, default: 2*pi/10)
/// * `<angle>` (double, default: 0.4)
/// The angle between the mean wave direction and the
/// largest / smallest component waves.
///
/// * `<steepness>` (double, default: 1.0)
/// * `<steepness>` (double, default: 0.0)
/// A parameter in [0, 1] controlling the wave steepness with
/// 1 being steepest.
///
/// * `<amplitude>` (double, default: 0.0)
/// The amplitude of the mean wave in [m]. This parameter is only used when
/// model is CWR.
///
/// * `<period>` (double, default: 1.0)
/// * `<period>` (double, default: 5.0)
/// The period of the mean wave in [s].
///
/// * `<phase>` (double, default: 0.0)
Expand All @@ -117,7 +117,7 @@ namespace vrx
/// * `<gain>` (double, default: 1.0)
/// For PMS, the multiplier applied to component amplitudes.
///
/// * `<tau>` (double, default: 1.0)
/// * `<tau>` (double, default: 2.0)
/// Time constant used to gradually increase wavefield at startup.
///
/// ## SDF parameters in secondary mode:
Expand Down
69 changes: 0 additions & 69 deletions vrx_gz/worlds/2023_practice/practice_2023_acoustic_perception0_task.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -479,30 +479,6 @@
<plugin filename="libPublisherPlugin.so" name="vrx::PublisherPlugin">
<message type="gz.msgs.Param" topic="/vrx/wavefield/parameters"
every="2.0">
params {
key: "amplitude"
value {
type: DOUBLE
double_value: 0
}
}
params {
key: "angle"
value {
type: DOUBLE
double_value: 0.4
}
}
params {
key: "cell_count"
value {
type: VECTOR3D
vector3d_value {
x: 300
y: 300
}
}
}
params {
key: "direction"
value {
Expand All @@ -519,65 +495,20 @@
double_value: 0.3
}
}
params {
key: "model"
value {
type: STRING
string_value: "PMS"
}
}
params {
key: "number"
value {
type: INT32
int_value: 3
}
}
params {
key: "period"
value {
type: DOUBLE
double_value: 5
}
}
params {
key: "phase"
value {
type: DOUBLE
double_value: 0
}
}
params {
key: "scale"
value {
type: DOUBLE
double_value: 1.1
}
}
params {
key: "size"
value {
type: VECTOR3D
vector3d_value {
x: 6000
y: 6000
}
}
}
params {
key: "steepness"
value {
type: DOUBLE
double_value: 0
}
}
params {
key: "tau"
value {
type: DOUBLE
double_value: 2
}
}
</message>
</plugin>

Expand Down
69 changes: 0 additions & 69 deletions vrx_gz/worlds/2023_practice/practice_2023_acoustic_perception1_task.sdf
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -479,30 +479,6 @@
<plugin filename="libPublisherPlugin.so" name="vrx::PublisherPlugin">
<message type="gz.msgs.Param" topic="/vrx/wavefield/parameters"
every="2.0">
params {
key: "amplitude"
value {
type: DOUBLE
double_value: 0
}
}
params {
key: "angle"
value {
type: DOUBLE
double_value: 0.4
}
}
params {
key: "cell_count"
value {
type: VECTOR3D
vector3d_value {
x: 300
y: 300
}
}
}
params {
key: "direction"
value {
Expand All @@ -519,65 +495,20 @@
double_value: 0.5
}
}
params {
key: "model"
value {
type: STRING
string_value: "PMS"
}
}
params {
key: "number"
value {
type: INT32
int_value: 3
}
}
params {
key: "period"
value {
type: DOUBLE
double_value: 5
}
}
params {
key: "phase"
value {
type: DOUBLE
double_value: 0
}
}
params {
key: "scale"
value {
type: DOUBLE
double_value: 1.1
}
}
params {
key: "size"
value {
type: VECTOR3D
vector3d_value {
x: 6000
y: 6000
}
}
}
params {
key: "steepness"
value {
type: DOUBLE
double_value: 0
}
}
params {
key: "tau"
value {
type: DOUBLE
double_value: 2
}
}
</message>
</plugin>

Expand Down
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