Minor code cleanups and clarifications

okalachev · Oct 21, 2024 · fa59d4f · fa59d4f
1 parent 25487c6
commit fa59d4f
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/flix/quaternion.h b/flix/quaternion.h
@@ -75,7 +75,7 @@ class Quaternion : public Printable {
 		float sqz = z * z;
 		float sqw = w * w;
 		// 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) {
 			euler.x = 0;
 			euler.y = -0.5 * PI;

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