chore: change variable name to match convention

and fix wrong documentation about it
tidewise · Jan 28, 2025 · 4c8e3b4 · 4c8e3b4
1 parent defb0b6
commit 4c8e3b4
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Showing 3 changed files with 25 additions and 21 deletions.
diff --git a/src/AIS.cpp b/src/AIS.cpp
@@ -155,11 +155,11 @@ std::pair<Eigen::Quaterniond, ais_base::PositionCorrectionStatus> vesselToWorldO
     }
 }
 
-base::Vector3d sensorToVesselInWorldPose(base::Vector3d sensor2vessel_pos,
+base::Vector3d sensorToVesselInWorldPose(base::Vector3d sensor2vessel_in_vessel_pos,
     Eigen::Quaterniond vessel2world_ori)
 {
     base::Vector3d sensor2vessel_in_world_pos;
-    sensor2vessel_in_world_pos = vessel2world_ori * sensor2vessel_pos;
+    sensor2vessel_in_world_pos = vessel2world_ori * sensor2vessel_in_vessel_pos;
 
     return sensor2vessel_in_world_pos;
 }
@@ -203,7 +203,7 @@ std::pair<base::Angle, base::Angle> convertUTMToGPSInWorldFrame(
 }
 
 ais_base::Position AIS::applyPositionCorrection(ais_base::Position const& position,
-    base::Vector3d const& vessel_reference_position,
+    base::Vector3d const& sensor2vessel_in_vessel_pos,
     gps_base::UTMConverter utm_converter)
 {
     if (std::isnan(position.yaw.getRad()) &&
@@ -226,7 +226,7 @@ ais_base::Position AIS::applyPositionCorrection(ais_base::Position const& positi
     }
 
     auto sensor2vessel_in_world_pos =
-        sensorToVesselInWorldPose(vessel_reference_position, vessel2world_ori);
+        sensorToVesselInWorldPose(sensor2vessel_in_vessel_pos, vessel2world_ori);
 
     auto [latitude, longitude] =
         convertUTMToGPSInWorldFrame(convertGPSToUTM(position, utm_converter),

diff --git a/src/AIS.hpp b/src/AIS.hpp
@@ -54,16 +54,16 @@ namespace nmea0183 {
          * offset
          *
          * @param position the AIS position to be corrected
-         * @param vessel_reference_position The position of the vessel’s reference point
-         * relative to the sensor
+         * @param sensor2vessel_in_vessel_pos The position of the sensor relative to the
+         * vessel
          * @param utm_converter The UTM converter
          *
          * @return The corrected AIS position with updated latitude, longitude, and
          * correction status
          */
         static ais_base::Position applyPositionCorrection(
             ais_base::Position const& position,
-            base::Vector3d const& vessel_reference_position,
+            base::Vector3d const& sensor2vessel_in_vessel_pos,
             gps_base::UTMConverter utm_converter);
 
         static ais_base::Position getPosition(marnav::ais::message_01 const& message);

diff --git a/test/test_AIS.cpp b/test/test_AIS.cpp
@@ -274,11 +274,12 @@ TEST_F(AISTest, it_corrects_position_using_yaw)
     msg.set_hdg(90);
     auto position = AIS::getPosition(msg);
 
-    base::Vector3d vessel_reference_position(100.0, 50.0, 0.0);
+    base::Vector3d sensor2vessel_in_vessel_pos(100.0, 50.0, 0.0);
     gps_base::UTMConverter utm_converter = createUTMConverter();
 
-    ais_base::Position corrected_position =
-        AIS::applyPositionCorrection(position, vessel_reference_position, utm_converter);
+    ais_base::Position corrected_position = AIS::applyPositionCorrection(position,
+        sensor2vessel_in_vessel_pos,
+        utm_converter);
 
     ASSERT_NEAR(corrected_position.latitude.getDeg(), 44.9991, 1e-4);
     ASSERT_NEAR(corrected_position.longitude.getDeg(), -119.9993, 1e-4);
@@ -295,11 +296,12 @@ TEST_F(AISTest, it_corrects_position_using_cog)
     msg.set_cog(90);
     auto position = AIS::getPosition(msg);
 
-    base::Vector3d vessel_reference_position(100.0, 50.0, 0.0);
+    base::Vector3d sensor2vessel_in_vessel_pos(100.0, 50.0, 0.0);
     gps_base::UTMConverter utm_converter = createUTMConverter();
 
-    ais_base::Position corrected_position =
-        AIS::applyPositionCorrection(position, vessel_reference_position, utm_converter);
+    ais_base::Position corrected_position = AIS::applyPositionCorrection(position,
+        sensor2vessel_in_vessel_pos,
+        utm_converter);
 
     ASSERT_NEAR(corrected_position.latitude.getDeg(), 44.9991, 1e-4);
     ASSERT_NEAR(corrected_position.longitude.getDeg(), -119.9993, 1e-4);
@@ -315,11 +317,12 @@ TEST_F(AISTest, it_does_no_correction_if_both_yaw_and_cog_are_missing)
     msg.set_sog(0);
     auto position = AIS::getPosition(msg);
 
-    base::Vector3d vessel_reference_position(100.0, 50.0, 0.0);
+    base::Vector3d sensor2vessel_in_vessel_pos(100.0, 50.0, 0.0);
     gps_base::UTMConverter utm_converter = createUTMConverter();
 
-    ais_base::Position corrected_position =
-        AIS::applyPositionCorrection(position, vessel_reference_position, utm_converter);
+    ais_base::Position corrected_position = AIS::applyPositionCorrection(position,
+        sensor2vessel_in_vessel_pos,
+        utm_converter);
     ASSERT_EQ(corrected_position.correction_status,
         ais_base::PositionCorrectionStatus::POSITION_RAW);
 }
@@ -333,22 +336,23 @@ TEST_F(AISTest, it_does_no_correction_if_yaw_is_missing_and_sog_is_below_thresho
     msg.set_cog(90);
     auto position = AIS::getPosition(msg);
 
-    base::Vector3d vessel_reference_position(100.0, 50.0, 0.0);
+    base::Vector3d sensor2vessel_in_vessel_pos(100.0, 50.0, 0.0);
     gps_base::UTMConverter utm_converter = createUTMConverter();
 
-    ais_base::Position corrected_position =
-        AIS::applyPositionCorrection(position, vessel_reference_position, utm_converter);
+    ais_base::Position corrected_position = AIS::applyPositionCorrection(position,
+        sensor2vessel_in_vessel_pos,
+        utm_converter);
     ASSERT_EQ(corrected_position.correction_status,
         ais_base::PositionCorrectionStatus::POSITION_RAW);
 }
 
 TEST_F(AISTest, it_throws_runtime_error_if_position_has_no_value)
 {
-    base::Vector3d vessel_reference_position(100.0, 50.0, 0.0);
+    base::Vector3d sensor2vessel_in_vessel_pos(100.0, 50.0, 0.0);
     gps_base::UTMConverter utm_converter = createUTMConverter();
 
     try {
-        AIS::applyPositionCorrection({}, vessel_reference_position, utm_converter);
+        AIS::applyPositionCorrection({}, sensor2vessel_in_vessel_pos, utm_converter);
     }
     catch (const std::runtime_error& e) {
         ASSERT_STREQ(e.what(), "Position data is unavailable.");