From 7612e4c523c93d67652a21a2b4ec5b9b69133955 Mon Sep 17 00:00:00 2001
From: Tim-Desktop <timothee.freville@mil.be*>
Date: Fri, 22 Sep 2023 15:22:55 +0200
Subject: [PATCH] param fixed

---
 .vscode/c_cpp_properties.json | 19 +++++++++++++++++++
 CMakeLists.txt                |  2 +-
 package.xml                   |  2 +-
 src/potentialF.cpp            | 29 ++++++++++++++---------------
 4 files changed, 35 insertions(+), 17 deletions(-)
 create mode 100644 .vscode/c_cpp_properties.json

diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
new file mode 100644
index 0000000..7af989a
--- /dev/null
+++ b/.vscode/c_cpp_properties.json
@@ -0,0 +1,19 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceFolder}/**",
+                "/opt/ros/foxy/include/**",
+                "/opt/ros/noetic/include/**"
+            
+            ],
+            "defines": [],
+            "compilerPath": "/usr/bin/clang",
+            "cStandard": "c17",
+            "cppStandard": "c++14",
+            "intelliSenseMode": "linux-clang-x64"
+        }
+    ],
+    "version": 4
+}
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f7017d9..a0e2e9e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -47,4 +47,4 @@ install(DIRECTORY
   launch
   DESTINATION share/${PROJECT_NAME}/)
 
-ament_package()
+ament_package()
\ No newline at end of file
diff --git a/package.xml b/package.xml
index 5263db5..6641453 100644
--- a/package.xml
+++ b/package.xml
@@ -20,4 +20,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-</package>
+</package>
\ No newline at end of file
diff --git a/src/potentialF.cpp b/src/potentialF.cpp
index 1d0c294..c6b7f31 100644
--- a/src/potentialF.cpp
+++ b/src/potentialF.cpp
@@ -18,7 +18,7 @@ using std::placeholders::_1;
 class PotentialField : public rclcpp::Node
 {
   public:
-    PotentialField(float x_goal, float y_goal)
+    PotentialField(char* x_goal, char* y_goal)
     : Node("potential_field_node")
 
     {
@@ -36,7 +36,11 @@ class PotentialField : public rclcpp::Node
       // Create Publihser of the Final vector
       fin_pub  = this->create_publisher<geometry_msgs::msg::PoseStamped>("Final_Vector",1);
 
-      goal = {x_goal, y_goal};
+      RCLCPP_INFO(this->get_logger(), "x = %s and y = %s", x_goal,y_goal);
+
+      goal_x = atof(x_goal);
+      goal_y = atof(y_goal);
+
 
     }
 
@@ -191,8 +195,11 @@ class PotentialField : public rclcpp::Node
 
       //RCLCPP_INFO(this->get_logger(), "Odometry : x = %f | y = %f | theta = %f" , x , y, theta);
 
-      ComputeAttraction(goal[0],goal[1]);        
+      ComputeAttraction(goal_x,goal_y);  
+
     }
+
+
     void scan_callback(sensor_msgs::msg::LaserScan::SharedPtr _msg)
     {
       float angle_min = _msg->angle_min;
@@ -274,25 +281,17 @@ class PotentialField : public rclcpp::Node
     // Replusion vector
     std::vector<float> V_repulsion ;
     //
-    std::vector<float> goal;
+    float goal_x = 0;
+    float goal_y = 0;
 
 };
 
 int main(int argc, char * argv[])
-{
-
-    printf("You have entered %d arguments:\n", argc);
- 
-    for (int i = 0; i < argc; i++) {
-        printf("%s\n", argv[i]);
-    }
-  int x = atoi(argv[0]);
-  int y = atoi(argv[1]);
-  
+{  
   // init node
   rclcpp::init(argc, argv);
   // init class
-  auto node = std::make_shared<PotentialField>(x,y);
+  auto node = std::make_shared<PotentialField>(argv[1],argv[2]);
   rclcpp::spin(node);
   // shutdown once finished
   rclcpp::shutdown();