fix_naming

prime-slam · Oct 23, 2023 · b4c8445 · b4c8445
1 parent 3584da7
commit b4c8445
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Showing 4 changed files with 7 additions and 7 deletions.
diff --git a/octreelib/grid/grid_base.py b/octreelib/grid/grid_base.py
@@ -17,7 +17,7 @@ class GridConfigBase(ABC):
 
     octree_type: type of Octree used
     octree_config: config to be forwarded to the octrees
-    min_voxel_size: size of a minimal possible voxel, the octree will be able to subdivide to
+    grid_voxel_edge_length: size of a minimal possible voxel, the octree will be able to subdivide to
     corner: corner of a grid
     debug: debug mode
     """

diff --git a/octreelib/grid/grid_with_points.py b/octreelib/grid/grid_with_points.py
@@ -104,8 +104,8 @@ def _get_voxel_for_point(self, point: Point) -> Point:
         :param point: Point.
         :return: Corner of the voxel in the grid, where an appropriate octree for the point resides.
         """
-        min_voxel_size = self.grid_config.min_voxel_size
-        return point // min_voxel_size * min_voxel_size
+        grid_voxel_edge_length = self.grid_config.grid_voxel_edge_length
+        return point // grid_voxel_edge_length * grid_voxel_edge_length
 
     def insert_points(self, pose_number: int, points: List[Point]):
         # register pose if it is not registered yet
@@ -129,7 +129,7 @@ def insert_points(self, pose_number: int, points: List[Point]):
                 self.octrees[voxel_coordinates_hashable] = self.grid_config.octree_type(
                     self.grid_config.octree_config,
                     voxel_coordinates,
-                    self.grid_config.min_voxel_size,
+                    self.grid_config.grid_voxel_edge_length,
                 )
 
             self.octrees[voxel_coordinates_hashable].insert_points([point])

diff --git a/octreelib/grid/static_grid.py b/octreelib/grid/static_grid.py
@@ -59,8 +59,8 @@ def get_points(self, pose_number: int) -> List[Point]:
         return self.octrees[pose_number].get_points()
 
     def _floor_point(self, x: Point) -> Point:
-        min_voxel_size = self.grid_config.grid_voxel_edge_length
-        return x // min_voxel_size * min_voxel_size
+        grid_voxel_edge_length = self.grid_config.grid_voxel_edge_length
+        return x // grid_voxel_edge_length * grid_voxel_edge_length
 
     def _ceil_point(self, x: Point) -> Point:
         return self._floor_point(x) + 1

diff --git a/test/grid/test_grid_with_points.py b/test/grid/test_grid_with_points.py
@@ -15,7 +15,7 @@ def generated_grid():
         GridWithPointsConfig(
             octree_type=MultiPoseOctree,
             octree_config=MultiPoseOctreeConfig(),
-            min_voxel_size=5,
+            grid_voxel_edge_length=5,
         )
     )
     points_0 = [