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[ros1]Correct of uninitialized buffer size in angular_velocity_offset_stop #325

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Mar 29, 2024
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[ros1]Correct of uninitialized buffer size in angular_velocity_offset_stop #325

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1 change: 0 additions & 1 deletion eagleye_core/navigation/include/navigation/angular_velocity_offset_stop.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -86,7 +86,6 @@ class AngularVelocityOffsetStopEstimator
// Angular velocity
Eigen::Vector3d estimated_offset_stop_;
std::deque<Eigen::Vector3d> angular_velocity_buffer_;
size_t buffer_size_;
double angular_stop_judgement_threshold_;

// Velocity
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6 changes: 3 additions & 3 deletions eagleye_core/navigation/src/angular_velocity_offset_stop.cpp
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Expand Up @@ -77,16 +77,16 @@ AngularVelocityOffsetStopStatus AngularVelocityOffsetStopEstimator::imuCallback(
angular_velocity_buffer_.push_back(angular_velocity);

// Remove element if buffer size is exceeded
if (angular_velocity_buffer_.size() > buffer_size_)
if (angular_velocity_buffer_.size() > param_.buffer_size)
{
angular_velocity_buffer_.pop_front();
}

// Estimate offset stop if buffer is full
if (angular_velocity_buffer_.size() == buffer_size_)
if (angular_velocity_buffer_.size() == param_.buffer_size)
{
Eigen::Vector3d sum = std::accumulate(angular_velocity_buffer_.begin(), angular_velocity_buffer_.end(), Eigen::Vector3d(0.0, 0.0, 0.0));
estimated_offset_stop_ = - sum / static_cast<double>(buffer_size_);
estimated_offset_stop_ = - sum / static_cast<double>(param_.buffer_size);
is_estimation_started_ = true;
status.is_estimated_now = true;
}
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