Dev

[Rui-Xiaoyu]

Summary by Sourcery

Clean up headers and naming and adjust power calculation for the power control application.

Bug Fixes:

• Correct available power computation in PowerControl by removing an extra fixed power subtraction term.

Enhancements:

• Reorder Eigen header inclusion and minor formatting cleanups in the RLS estimator header.
• Rename the SuperPower pointer parameter in PowerControl for clearer semantics and consistency.

[sourcery-ai]

Reviewer's guide (collapsed on small PRs)

Reviewer's Guide

This PR makes minor refactors and a small logic adjustment: it tidies the RLS estimator header include/whitespace, renames a PowerControl constructor parameter and member initializer for clarity, and removes a hard-coded 3.0 offset from the available power calculation so it now only subtracts chassis static power loss from max power.

Class diagram for updated PowerControl constructor and members

classDiagram
  class LibXR_Application

  class SuperPower

  class PowerControl {
    +PowerControl(hw, app, super_power, is_helm, chassis_static_power_loss, motor_count_3508, motor_count_6020)
    -uint32_t MAX_MOTOR_COUNT
    -SuperPower* superpower_
    -bool is_helm_
    -RLS rls_
    -float k3_chassis_
    -int motor_count_3508_
    -int motor_count_6020_
    -float motor_power_3508_[MAX_MOTOR_COUNT]
    -float motor_power_6020_[MAX_MOTOR_COUNT]
  }

  PowerControl --|> LibXR_Application
  PowerControl --> SuperPower

  class RLS {
    +RLS(delta, lambda)
  }

  PowerControl --> RLS

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Flow diagram for updated available power calculation

flowchart TD
  A[max_power] --> C[Compute available_power]
  B[k3_chassis_] --> C[Compute available_power]
  C --> D[available_power = max_power - k3_chassis_]
  D --> E[Use available_power for motor power allocation]

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File-Level Changes

Change	Details	Files
Tidy RLS estimator header formatting and organization.	Move Eigen/Core include to follow the pragma once directive to standardize header layout Normalize spacing in the Reset() call comment Remove an unnecessary blank line in the private section to tighten formatting	RLS.hpp
Clarify PowerControl constructor parameter naming and adjust available power computation logic.	Rename SuperPower* constructor parameter from superpower to super_power and update the member initializer accordingly for clearer naming Change the available power calculation to subtract only chassis static power loss from max_power by removing the extra constant 3.0 offset	PowerControl.hpp

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[sourcery-ai]

Hey - I've left some high level feedback:

• The constructor parameter rename from superpower to super_power while keeping the member superpower_ makes the naming slightly inconsistent; consider aligning the member name with the parameter (e.g., super_power_) for clarity.
• The change to available_power removes the hard-coded - 3.0 offset; if this constant represents a known baseline loss, consider replacing it with a named constant or configuration value rather than removing it silently, so the intent of the change is explicit in the code.

Prompt for AI Agents

Please address the comments from this code review:

## Overall Comments
- The constructor parameter rename from `superpower` to `super_power` while keeping the member `superpower_` makes the naming slightly inconsistent; consider aligning the member name with the parameter (e.g., `super_power_`) for clarity.
- The change to `available_power` removes the hard-coded `- 3.0` offset; if this constant represents a known baseline loss, consider replacing it with a named constant or configuration value rather than removing it silently, so the intent of the change is explicit in the code.

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