Some variable names are unclear

nobleo / path_tracking_pid

Path Tracking PID offers a tuneable PID control loop, decouling steering and forward velocity

Apache License 2.0

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Some variable names are unclear #87

Open rokusottervanger opened 2 years ago

rokusottervanger commented 2 years ago

There is a number of variables that represent dimensions and quantities that are referenced in the explanation of the control strategy in the README. Naming of these variables is not consistent, though. Some variables are just unclear in what they represent from their names. This holds for (but is not limited to):

l: the lookahead distance (not mentioned as such in the README yet)
current_tf
some of the controller state members, such as current_x_vel (which is the setpoint, I suppose)

Timple commented 2 years ago

Some variable names are also present in the pictures in the README.md.

I propose to name them according to the pictures.