From 17e41b50e6cc7c23a4ff4b41d0971d3bde994be6 Mon Sep 17 00:00:00 2001
From: Dave Coleman <davetcoleman@gmail.com>
Date: Fri, 26 Jul 2013 15:39:28 -0700
Subject: [PATCH] Removed const getGains function

---
 include/control_toolbox/pid.h | 8 +-------
 src/pid.cpp                   | 9 ++-------
 2 files changed, 3 insertions(+), 14 deletions(-)

diff --git a/include/control_toolbox/pid.h b/include/control_toolbox/pid.h
index fa03bf07..a1847a39 100644
--- a/include/control_toolbox/pid.h
+++ b/include/control_toolbox/pid.h
@@ -235,12 +235,6 @@ class Pid
    */
   Gains getGains();
 
-  /*!
-   * \brief Get PID gains for the const controller, without modifying the realtime buffer
-   * \return gains A struct of the PID gain values
-   */
-  Gains getGains() const;
-
   /*!
    * \brief Set PID gains for the controller.
    * \param p  The proportional gain.
@@ -346,7 +340,7 @@ class Pid
   /*!
    * \brief Print to console the current parameters
    */
-  void printValues() const;
+  void printValues();
 
   /*!
    * @brief Custom assignment operator
diff --git a/src/pid.cpp b/src/pid.cpp
index 043b5ddd..989266ce 100644
--- a/src/pid.cpp
+++ b/src/pid.cpp
@@ -182,11 +182,6 @@ Pid::Gains Pid::getGains()
   return *gains_buffer_.readFromRT();
 }
 
-Pid::Gains Pid::getGains() const
-{
-  return *gains_buffer_.readFromNonRT();
-}
-
 void Pid::setGains(double p, double i, double d, double i_max, double i_min)
 {
   Gains gains(p,i,d,i_max,i_min);
@@ -399,9 +394,9 @@ void Pid::getCurrentPIDErrors(double *pe, double *ie, double *de)
   *de = d_error_;
 }
 
-void Pid::printValues() const
+void Pid::printValues()
 {
-  const Gains gains = getGains();
+  Gains gains = getGains();
 
   ROS_INFO_STREAM_NAMED("pid","Current Values of PID Class:\n"
     << "  P Gain: " << gains.p_gain_ << "\n"