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DCO 1.1 Signed-off-by: Tatsuya Ishihara <[email protected]>
CMU-cabot · Nov 18, 2024 · 6f7f65c · 6f7f65c
1 parent 33ab115
commit 6f7f65c
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/cabot_navigation2/include/cabot_navigation2/grid_map_ground_filter_node.hpp b/cabot_navigation2/include/cabot_navigation2/grid_map_ground_filter_node.hpp
@@ -72,7 +72,7 @@ class GridMapGroundFilterNode : public AbstractGroundFilterNode
   float ground_confidence_interpolate_decay_;
 
   static const int livox_num_points_;
-  static const float lixox_tan_fov_angle_;
+  static const float livox_tan_fov_angle_;
 
   std::vector<int64_t> grid_half_patch_sizes_;
   float log_odds_prior_;

diff --git a/cabot_navigation2/src/grid_map_ground_filter_node.cpp b/cabot_navigation2/src/grid_map_ground_filter_node.cpp
@@ -34,7 +34,7 @@ namespace cabot_navigation2
 
 // https://www.livoxtech.com/mid-70/specs
 const int GridMapGroundFilterNode::livox_num_points_ = 100000;
-const float GridMapGroundFilterNode::lixox_tan_fov_angle_ = std::tan(M_PI * (70.4 / 2.0) / 180.0);
+const float GridMapGroundFilterNode::livox_tan_fov_angle_ = std::tan(M_PI * (70.4 / 2.0) / 180.0);
 
 GridMapGroundFilterNode::GridMapGroundFilterNode(const rclcpp::NodeOptions & options)
 : AbstractGroundFilterNode("grid_map_ground_filter_node", options),
@@ -163,7 +163,7 @@ void GridMapGroundFilterNode::odomCallback(const nav_msgs::msg::Odometry::Shared
 
 int GridMapGroundFilterNode::calcLivoxGridEstimatedNumPoints(float distance, float resolution)
 {
-  const float fov_radius = distance * lixox_tan_fov_angle_;
+  const float fov_radius = distance * livox_tan_fov_angle_;
   const float fov_area = M_PI * std::pow(fov_radius, 2.0);
   return livox_num_points_ * std::pow(resolution, 2.0) / fov_area;
 }