PID: Improve the API docs and change default value of antiwindup #202
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Contributor
christophfroehlich
commented
May 24, 2024
christophfroehlich
commented
- improve function docs
- add [[nodiscard]] to computeCommand
github-actions
bot
requested review from
aprotyas,
arne48,
bijoua29,
bmagyar,
destogl,
fmauch and
jaron-l
include/control_toolbox/pid.hpp
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| Gains(double p, double i, double d, double i_max, double i_min) | ||
| : p_gain_(p), i_gain_(i), d_gain_(d), i_max_(i_max), i_min_(i_min), antiwindup_(false) | ||
| { | ||
| } |
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does this constructor make sense at all? shouldn't be andiwindup_ set to true? Otherwise i_max and i_min doesn't have any effect.
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I think it is good to change it to true as well by default
Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## ros2-master #202 +/- ##
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Coverage 50.41% 50.41%
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Files 9 9
Lines 486 486
Branches 63 62 -1
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Hits 245 245
Misses 215 215
Partials 26 26
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christophfroehlich
requested review from
saikishor
and removed request for
jaron-l
saikishor
previously approved these changes
Jul 18, 2024
include/control_toolbox/pid.hpp
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Comment on lines
127
to
130
| Gains(double p, double i, double d, double i_max, double i_min) | ||
| : p_gain_(p), i_gain_(i), d_gain_(d), i_max_(i_max), i_min_(i_min), antiwindup_(false) | ||
| { | ||
| } |
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I think it is good to change it to true as well by default
saikishor
approved these changes
Jul 18, 2024
christophfroehlich
changed the title
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