minor change

LiJiangnanBit · May 30, 2020 · 5490467 · 5490467
1 parent df9238f
commit 5490467
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/include/path_optimizer/reference_path_smoother/reference_path_smoother.hpp b/include/path_optimizer/reference_path_smoother/reference_path_smoother.hpp
@@ -55,7 +55,7 @@ class ReferencePathSmoother {
                         std::vector<State> *smoothed_path_display) = 0;
     void bSpline();
     // search.
-    bool modifyInputPoints();
+    bool graphSearch();
     inline bool checkExistenceInClosedSet(const APoint &point) const;
     inline double getG(const APoint &point, const APoint &parent) const;
     inline double getH(const APoint &p) const;

diff --git a/src/reference_path_smoother/reference_path_smoother.cpp b/src/reference_path_smoother/reference_path_smoother.cpp
@@ -33,7 +33,7 @@ std::unique_ptr<ReferencePathSmoother> ReferencePathSmoother::create(const std::
 bool ReferencePathSmoother::solve(PathOptimizationNS::ReferencePath *reference_path,
                                   std::vector<PathOptimizationNS::State> *smoothed_path_display) {
     bSpline();
-    if (FLAGS_enable_searching && modifyInputPoints()) {
+    if (FLAGS_enable_searching && graphSearch()) {
         // If searching process succeeded, add the searched result into reference_path.
         tk::spline searched_xs, searched_ys;
         searched_xs.set_points(s_list_, x_list_);
@@ -141,7 +141,7 @@ double ReferencePathSmoother::getG(const PathOptimizationNS::APoint &point,
     return parent.g + offset_cost + obstacle_cost;
 }
 
-bool ReferencePathSmoother::modifyInputPoints() {
+bool ReferencePathSmoother::graphSearch() {
     auto t1 = std::clock();
     if (x_list_.empty() || y_list_.empty() || s_list_.empty()) return false;
     tk::spline x_s, y_s;