shanges in time step names

Author: anbit-adhi

guidance/los_guidance/include/los_guidance/lib/adaptive_los.hpp

@@ -26,7 +26,7 @@ struct AdaptiveLosParams {
     double lookahead_distance_v{};
     double adaptation_gain_h{};
     double adaptation_gain_v{};
-    double time_step{};
+    double time_step_s{};
 };
 
 /**

guidance/los_guidance/include/los_guidance/lib/integral_los.hpp

@@ -22,7 +22,7 @@ struct IntegralLosParams {
     double proportional_gain_v{};
     double integral_gain_h{};
     double integral_gain_v{};
-    double time_step{};
+    double time_step_s{};
 };
 
 /**

guidance/los_guidance/include/los_guidance/lib/vector_field_los.hpp

@@ -22,7 +22,7 @@ struct VectorFieldLosParams {
     double max_approach_angle_v{};
     double proportional_gain_h{};
     double proportional_gain_v{};
-    double time_step{};
+    double time_step_s{};
 };
 
 /**

guidance/los_guidance/src/lib/adaptive_los.cpp

@@ -8,7 +8,7 @@ AdaptiveLOSGuidance::AdaptiveLOSGuidance(const AdaptiveLosParams& params)
     : params_{params} {
     if (params.lookahead_distance_h <= 0.0 ||
         params.lookahead_distance_v <= 0.0 || params.adaptation_gain_h <= 0.0 ||
-        params.adaptation_gain_v <= 0.0 || params.time_step <= 0.0) {
+        params.adaptation_gain_v <= 0.0 || params.time_step_s <= 0.0) {
         throw std::invalid_argument(
             "AdaptiveLOSGuidance: all params must be > 0");
     }
@@ -58,8 +58,8 @@ void AdaptiveLOSGuidance::update_adaptive_estimates(
                              (params_.lookahead_distance_v / denom_v) *
                              cross_track_error.z_e;
 
-    beta_c_hat_ += beta_dot * params_.time_step;
-    alpha_c_hat_ += alpha_dot * params_.time_step;
+    beta_c_hat_ += beta_dot * params_.time_step_s;
+    alpha_c_hat_ += alpha_dot * params_.time_step_s;
 }
 
 types::GuidanceOutputs AdaptiveLOSGuidance::calculate_outputs(

guidance/los_guidance/src/lib/guidance_manager.cpp

@@ -65,7 +65,7 @@ void LosGuidanceStateManager::emplace_los_for_method(
                     c["proportional_gain_v"].as<double>();
                 params.integral_gain_h = c["integral_gain_h"].as<double>();
                 params.integral_gain_v = c["integral_gain_v"].as<double>();
-                params.time_step = time_step_s_;
+                params.time_step_s = time_step_s_;
                 los_method_.emplace<IntegralLOSGuidance>(params);
                 break;
             }
@@ -78,7 +78,7 @@ void LosGuidanceStateManager::emplace_los_for_method(
                     c["lookahead_distance_v"].as<double>();
                 params.adaptation_gain_h = c["adaptation_gain_h"].as<double>();
                 params.adaptation_gain_v = c["adaptation_gain_v"].as<double>();
-                params.time_step = time_step_s_;
+                params.time_step_s = time_step_s_;
                 los_method_.emplace<AdaptiveLOSGuidance>(params);
                 break;
             }
@@ -93,7 +93,7 @@ void LosGuidanceStateManager::emplace_los_for_method(
                     c["proportional_gain_h"].as<double>();
                 params.proportional_gain_v =
                     c["proportional_gain_v"].as<double>();
-                params.time_step = time_step_s_;
+                params.time_step_s = time_step_s_;
                 los_method_.emplace<VectorFieldLOSGuidance>(params);
                 break;
             }

guidance/los_guidance/src/lib/integral_los.cpp

@@ -7,7 +7,7 @@ IntegralLOSGuidance::IntegralLOSGuidance(const IntegralLosParams& params)
     : m_params(params) {
     if (params.proportional_gain_h <= 0.0 ||
         params.proportional_gain_v <= 0.0 || params.integral_gain_h <= 0.0 ||
-        params.integral_gain_v <= 0.0 || params.time_step <= 0.0) {
+        params.integral_gain_v <= 0.0 || params.time_step_s <= 0.0) {
         throw std::invalid_argument(
             "IntegralLOSGuidance: all params must be > 0");
     }
@@ -47,8 +47,9 @@ types::GuidanceOutputs IntegralLOSGuidance::calculate_outputs(
     const types::CrossTrackError cross_track_error =
         calculate_crosstrack_error(inputs);
 
-    integrated_horizontal_error_ += cross_track_error.y_e * m_params.time_step;
-    integrated_vertical_error_ += cross_track_error.z_e * m_params.time_step;
+    integrated_horizontal_error_ +=
+        cross_track_error.y_e * m_params.time_step_s;
+    integrated_vertical_error_ += cross_track_error.z_e * m_params.time_step_s;
 
     const double u_h = m_params.proportional_gain_h * cross_track_error.y_e +
                        m_params.integral_gain_h * integrated_horizontal_error_;

guidance/los_guidance/src/lib/vector_field_los.cpp

@@ -9,7 +9,7 @@ VectorFieldLOSGuidance::VectorFieldLOSGuidance(
     if (params.max_approach_angle_h <= 0.0 ||
         params.max_approach_angle_v <= 0.0 ||
         params.proportional_gain_h <= 0.0 ||
-        params.proportional_gain_v <= 0.0 || params.time_step <= 0.0) {
+        params.proportional_gain_v <= 0.0 || params.time_step_s <= 0.0) {
         throw std::invalid_argument(
             "VectorFieldLOSGuidance: all params must be > 0");
     }

guidance/los_guidance/test/adaptive_los_test.cpp

@@ -13,7 +13,7 @@ class AdaptiveLosTest : public ::testing::Test {
         p.lookahead_distance_v = 1.4;
         p.adaptation_gain_h = 0.03;
         p.adaptation_gain_v = 0.02;
-        p.time_step = 0.01;
+        p.time_step_s = 0.01;
         return p;
     }
 

guidance/los_guidance/test/integral_los_test.cpp

@@ -14,7 +14,7 @@ class IntegralLosTest : public ::testing::Test {
         params.integral_gain_v = 0.5;
         params.proportional_gain_h = 0.1;
         params.proportional_gain_v = 0.1;
-        params.time_step = 0.01;
+        params.time_step_s = 0.01;
         return params;
     }
 

guidance/los_guidance/test/los_invalid_params_test.cpp

@@ -14,7 +14,7 @@ TEST(LosInvalidParamsTest, AdaptiveLosRejectsNegativeLookaheadDistance) {
     params.lookahead_distance_v = 1.4;
     params.adaptation_gain_h = 0.03;
     params.adaptation_gain_v = 0.02;
-    params.time_step = 0.01;
+    params.time_step_s = 0.01;
 
     EXPECT_THROW(
         { AdaptiveLOSGuidance guidance(params); }, std::invalid_argument);
@@ -35,7 +35,7 @@ TEST(LosInvalidParamsTest, IntegralLosRejectsZeroTimeStep) {
     params.proportional_gain_v = 0.5;
     params.integral_gain_h = 0.1;
     params.integral_gain_v = 0.1;
-    params.time_step = 0.0;
+    params.time_step_s = 0.0;
 
     EXPECT_THROW(
         { IntegralLOSGuidance guidance(params); }, std::invalid_argument);
@@ -47,7 +47,7 @@ TEST(LosInvalidParamsTest, VectorFieldLosRejectsNegativeApproachAngle) {
     params.max_approach_angle_v = 1.0;
     params.proportional_gain_h = 1.5;
     params.proportional_gain_v = 0.9;
-    params.time_step = 0.01;
+    params.time_step_s = 0.01;
 
     EXPECT_THROW(
         { VectorFieldLOSGuidance guidance(params); }, std::invalid_argument);