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Minor code cleanups and clarifications

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This commit is contained in:
Oleg Kalachev 2024-10-21 03:41:47 +03:00
parent 84a329cca7
commit b0b6eb9a97
2 changed files with 3 additions and 3 deletions
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2
flix/quaternion.h
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@ -75,7 +75,7 @@ public:
float sqz = z * z; float sqz = z * z;
float sqw = w * w; float sqw = w * w;
// Cases derived from https://orbitalstation.wordpress.com/tag/quaternion/ // 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) { if (sarg <= -0.99999) {
euler.x = 0; euler.x = 0;
euler.y = -0.5 * PI; euler.y = -0.5 * PI;

4
gazebo/wifi.h
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@ -18,7 +18,7 @@ int wifiSocket;
void setupWiFi() { void setupWiFi() {
wifiSocket = socket(AF_INET, SOCK_DGRAM, 0); wifiSocket = socket(AF_INET, SOCK_DGRAM, 0);
sockaddr_in addr; sockaddr_in addr; // local address
addr.sin_family = AF_INET; addr.sin_family = AF_INET;
addr.sin_addr.s_addr = INADDR_ANY; addr.sin_addr.s_addr = INADDR_ANY;
addr.sin_port = htons(WIFI_UDP_PORT_LOCAL); addr.sin_port = htons(WIFI_UDP_PORT_LOCAL);
@ -30,7 +30,7 @@ void setupWiFi() {
void sendWiFi(const uint8_t *buf, int len) { void sendWiFi(const uint8_t *buf, int len) {
if (wifiSocket == 0) setupWiFi(); if (wifiSocket == 0) setupWiFi();
sockaddr_in addr; sockaddr_in addr; // remote address
addr.sin_family = AF_INET; addr.sin_family = AF_INET;
addr.sin_addr.s_addr = INADDR_BROADCAST; // send UDP broadcast addr.sin_addr.s_addr = INADDR_BROADCAST; // send UDP broadcast
addr.sin_port = htons(WIFI_UDP_PORT_REMOTE); addr.sin_port = htons(WIFI_UDP_PORT_REMOTE);