class Point {
private:
- double x_ = 0.0;
- double y_ = 0.0;
+ double _x = 0.0;
+ double _y = 0.0;
public:
Point();
Point(double x, double y);
class Line {
private:
- Point b_;
- Point e_;
- Point i1_;
- Point i2_;
+ Point _b;
+ Point _e;
+ Point _i1;
+ Point _i2;
public:
Line(Point const& fp, Point const& lp);
/*! Store coordinates `x`, `y`, and heading `h`. */
class Pose : public virtual Point {
private:
- double h_ = 0.0;
+ double _h = 0.0;
public:
using Point::Point;
Pose(double x, double y, double h);
class PoseRange : public virtual Pose {
private:
- Pose bp_;
- Pose ep_;
+ Pose _bp;
+ Pose _ep;
void set_xyh();
public:
PoseRange(Pose bp, Pose ep);
*/
class CarSize {
private:
- double curb_to_curb_ = 10.802166641822163;
- double width_ = 1.945; // including mirrors
- double wheelbase_ = 2.588;
- double distance_to_front_ = 3.427;
- double length_ = 4.084;
+ double _curb_to_curb = 10.802166641822163;
+ double _width = 1.945; // including mirrors
+ double _wheelbase = 2.588;
+ double _distance_to_front = 3.427;
+ double _length = 4.084;
double _front_track = 1.511;
public:
/*! Get curb-to-curb distance. */
* Please, note that the method returns really _minimum turning radius_,
* which is the distance from the rear axle center to the center of
* left or right rotation given by the kinematics constrants, i.e.
- * _wheelbase_ and _curb-to-curb_ distance.
+ * _wheelbase and _curb-to-curb_ distance.
*
- * Sometimes _minimum turning radius_ is not radius, not minimum, or not
- * turning. In this method, _minimum turning radius_ is minimum turning
+ * Sometimes _minimum turning _radius is not radius, not minimum, or not
+ * turning. In this method, _minimum turning _radius is minimum turning
* radius.
*/
double mtr() const;
/*! Store car motion. */
class CarMove {
private:
- double speed_ = 0.0;
- double steer_ = 0.0;
+ double _speed = 0.0;
+ double _steer = 0.0;
public:
/*! Get speed. */
double sp() const;