From b0b6eb9a9764d056192d8eabb4f8eef3d844dd0c Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Mon, 21 Oct 2024 03:41:47 +0300
Subject: [PATCH] Minor code cleanups and clarifications

---
 flix/quaternion.h | 2 +-
 gazebo/wifi.h     | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/flix/quaternion.h b/flix/quaternion.h
index c644156..755fa0f 100644
--- a/flix/quaternion.h
+++ b/flix/quaternion.h
@@ -75,7 +75,7 @@ public:
 		float sqz = z * z;
 		float sqw = w * w;
 		// Cases derived from https://orbitalstation.wordpress.com/tag/quaternion/
-		float sarg = -2 * (x * z - w * y) / (sqx + sqy + sqz + sqw); /* normalization added from urdfom_headers */
+		float sarg = -2 * (x * z - w * y) / (sqx + sqy + sqz + sqw);
 		if (sarg <= -0.99999) {
 			euler.x = 0;
 			euler.y = -0.5 * PI;
diff --git a/gazebo/wifi.h b/gazebo/wifi.h
index 5d55b03..282544b 100644
--- a/gazebo/wifi.h
+++ b/gazebo/wifi.h
@@ -18,7 +18,7 @@ int wifiSocket;
 
 void setupWiFi() {
 	wifiSocket = socket(AF_INET, SOCK_DGRAM, 0);
-	sockaddr_in addr;
+	sockaddr_in addr; // local address
 	addr.sin_family = AF_INET;
 	addr.sin_addr.s_addr = INADDR_ANY;
 	addr.sin_port = htons(WIFI_UDP_PORT_LOCAL);
@@ -30,7 +30,7 @@ void setupWiFi() {
 
 void sendWiFi(const uint8_t *buf, int len) {
 	if (wifiSocket == 0) setupWiFi();
-	sockaddr_in addr;
+	sockaddr_in addr; // remote address
 	addr.sin_family = AF_INET;
 	addr.sin_addr.s_addr = INADDR_BROADCAST; // send UDP broadcast
 	addr.sin_port = htons(WIFI_UDP_PORT_REMOTE);