address Gilwoo's comments

include/aikido/constraint/TSR.hpp

@@ -45,7 +45,7 @@ class TSR : public Sampleable,
       const Eigen::Matrix<double, 6, 2>& _Bw =
           Eigen::Matrix<double, 6, 2>::Zero(),
       const Eigen::Isometry3d& _Tw_e = Eigen::Isometry3d::Identity(),
-      const double _satisfiableTolerance = 1e-6);
+      const double _testableTolerance = 1e-6);
 
 
   /// Constructor with default random seed generator.
@@ -59,7 +59,7 @@ class TSR : public Sampleable,
       const Eigen::Matrix<double, 6, 2>& _Bw =
           Eigen::Matrix<double, 6, 2>::Zero(),
       const Eigen::Isometry3d& _Tw_e = Eigen::Isometry3d::Identity(),
-      const double _satisfiableTolerance = 1e-6);
+      const double _testableTolerance = 1e-6);
 
   TSR(const TSR& other);
   TSR(TSR&& other);
@@ -114,13 +114,13 @@ class TSR : public Sampleable,
   bool project(const statespace::StateSpace::State* _s,
       statespace::StateSpace::State* _out) const override;
 
-  /// Get the staisfiable tolerance for isSatisfiable.
-  /// \param[out] _out Satisfialble tolerance, double.
-  double getSatisfiableTolerance();
+  /// Get the testable tolerance used in isSatisfiable.
+  /// \param[out] _out Testable tolerance, double.
+  double getTestableTolerance();
 
-  /// Set the staisfiable tolerance for isSatisfiable.
-  /// \param _satisfiableTolerance Satisfiable tolerance to set.
-  void setSatisfiableTolerance(const double _satisfiableTolerance);
+  /// Set the testable tolerance used in isSatisfiable.
+  /// \param _testableTolerance Testable tolerance to set.
+  void setTestableTolerance(const double _testableTolerance);
 
   /// Transformation from origin frame into the TSR frame "w".
   /// "w" is usually centered at the origin of an object held by the hand
@@ -134,10 +134,9 @@ class TSR : public Sampleable,
   /// This often represent an offset from "w" to the origin of the end-effector.
   Eigen::Isometry3d mTw_e;
 
-
 private:
-  /// Tolerance for checking satisfiability
-  double mSatisfiableTolerance;
+  /// Tolerance used in isSatisfied as a testable
+  double mTestableTolerance;
   std::unique_ptr<util::RNG> mRng;
   std::shared_ptr<statespace::SE3> mStateSpace;
 };

src/constraint/TSR.cpp

@@ -80,11 +80,11 @@ class TSRSampleGenerator : public SampleGenerator
 //=============================================================================
 TSR::TSR(std::unique_ptr<util::RNG> _rng, const Eigen::Isometry3d& _T0_w,
          const Eigen::Matrix<double, 6, 2>& _Bw, const Eigen::Isometry3d& _Tw_e,
-         const double _satisfiableTolerance)
+         const double _testableTolerance)
     : mT0_w(_T0_w)
     , mBw(_Bw)
     , mTw_e(_Tw_e)
-    , mSatisfiableTolerance(_satisfiableTolerance)
+    , mTestableTolerance(_testableTolerance)
     , mRng(std::move(_rng))
     , mStateSpace(std::make_shared<SE3>())
 {
@@ -93,11 +93,11 @@ TSR::TSR(std::unique_ptr<util::RNG> _rng, const Eigen::Isometry3d& _T0_w,
 
 //=============================================================================
 TSR::TSR(const Eigen::Isometry3d& _T0_w, const Eigen::Matrix<double, 6, 2>& _Bw,
-         const Eigen::Isometry3d& _Tw_e, const double _satisfiableTolerance)
+         const Eigen::Isometry3d& _Tw_e, const double _testableTolerance)
     : mT0_w(_T0_w)
     , mBw(_Bw)
     , mTw_e(_Tw_e)
-    , mSatisfiableTolerance(_satisfiableTolerance)
+    , mTestableTolerance(_testableTolerance)
     , mRng(std::unique_ptr<util::RNG>(
           new util::RNGWrapper<std::default_random_engine>(0)))
     , mStateSpace(std::make_shared<SE3>())
@@ -110,7 +110,7 @@ TSR::TSR(const TSR& other)
     : mT0_w(other.mT0_w)
     , mBw(other.mBw)
     , mTw_e(other.mTw_e)
-    , mSatisfiableTolerance(other.mSatisfiableTolerance)
+    , mTestableTolerance(other.mTestableTolerance)
     , mRng(std::move(other.mRng->clone()))
     , mStateSpace(std::make_shared<SE3>())
 {
@@ -122,7 +122,7 @@ TSR::TSR(TSR&& other)
     : mT0_w(other.mT0_w)
     , mBw(other.mBw)
     , mTw_e(other.mTw_e)
-    , mSatisfiableTolerance(other.mSatisfiableTolerance)
+    , mTestableTolerance(other.mTestableTolerance)
     , mRng(std::move(other.mRng))
     , mStateSpace(std::make_shared<SE3>())
 {
@@ -136,7 +136,7 @@ TSR& TSR::operator=(const TSR& other)
   mT0_w = other.mT0_w;
   mBw = other.mBw;
   mTw_e = other.mTw_e;
-  mSatisfiableTolerance = other.mSatisfiableTolerance;
+  mTestableTolerance = other.mTestableTolerance;
   mRng = std::move(other.mRng->clone());
 
   // Intentionally don't assign StateSpace.
@@ -150,7 +150,7 @@ TSR& TSR::operator=(TSR&& other)
   mT0_w = std::move(other.mT0_w);
   mBw = std::move(other.mBw);
   mTw_e = std::move(other.mTw_e);
-  mSatisfiableTolerance = other.mSatisfiableTolerance;
+  mTestableTolerance = other.mTestableTolerance;
   mRng = std::move(other.mRng);
   mStateSpace = std::move(other.mStateSpace);
 
@@ -199,7 +199,7 @@ bool TSR::isSatisfied(const statespace::StateSpace::State* _s) const
 {
   Eigen::VectorXd dist;
   getValue(_s, dist);
-  return dist.norm() < mSatisfiableTolerance;
+  return dist.norm() < mTestableTolerance;
 }
 
 //=============================================================================
@@ -416,15 +416,15 @@ bool TSRSampleGenerator::sample(statespace::StateSpace::State* _state)
 }
 
 //=============================================================================
-double TSR::getSatisfiableTolerance()
+double TSR::getTestableTolerance()
 {
-  return mSatisfiableTolerance;
+  return mTestableTolerance;
 }
 
 //=============================================================================
-void TSR::setSatisfiableTolerance(const double _satisfiableTolerance)
+void TSR::setTestableTolerance(const double _testableTolerance)
 {
-  mSatisfiableTolerance = _satisfiableTolerance;
+  mTestableTolerance = _testableTolerance;
 }
 
 //=============================================================================