Merge pull request ros-controls#59 from ipa-mig/kinetic-devel

rollback API changes in PID class
huemerj · Jun 28, 2016 · 3c1ee1b · 3c1ee1b
2 parents 2852da6 + 9b76491
commit 3c1ee1b
Show file tree

Hide file tree

Showing 3 changed files with 30 additions and 5 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -58,12 +58,10 @@ add_library(${PROJECT_NAME}
   src/sinusoid.cpp
   src/limited_proxy.cpp
   )
-add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencfg) # wait for dynamic reconfigure
+add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 target_link_libraries(${PROJECT_NAME} ${TinyXML_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencpp) # wait for msgs
-
 if(CATKIN_ENABLE_TESTING)
   # Tests
   catkin_add_gtest(pid_tests test/pid_tests.cpp)

diff --git a/include/control_toolbox/pid.h b/include/control_toolbox/pid.h
@@ -123,6 +123,15 @@ class Pid
    */
   struct Gains
   {
+    // Optional constructor for passing in values without antiwindup
+    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)
+    {}
     // Optional constructor for passing in values
     Gains(double p, double i, double d, double i_max, double i_min, bool antiwindup)
       : p_gain_(p),
@@ -183,7 +192,7 @@ class Pid
    * \param i_max The max integral windup.
    * \param i_min The min integral windup.
    */
-  void initPid(double p, double i, double d, double i_max, double i_min, bool antiwindup);
+  void initPid(double p, double i, double d, double i_max, double i_min, bool antiwindup = false);
 
   /*!
    * \brief Zeros out Pid values and initialize Pid-gains and integral term limits
@@ -195,6 +204,7 @@ class Pid
    * \param i_max The max integral windup.
    * \param i_min The min integral windup.
    */
+  void initPid(double p, double i, double d, double i_max, double i_min, const ros::NodeHandle& /*node*/);
   void initPid(double p, double i, double d, double i_max, double i_min, bool antiwindup, const ros::NodeHandle& /*node*/);
 
   /*!
@@ -242,6 +252,7 @@ class Pid
    * \param i_max The max integral windup.
    * \param i_min The min integral windup.
    */
+  void getGains(double &p, double &i, double &d, double &i_max, double &i_min);
   void getGains(double &p, double &i, double &d, double &i_max, double &i_min, bool &antiwindup);
 
   /*!
@@ -258,7 +269,7 @@ class Pid
    * \param i_max The max integral windup.
    * \param i_min The min integral windup.
    */
-  void setGains(double p, double i, double d, double i_max, double i_min, bool antiwindup);
+  void setGains(double p, double i, double d, double i_max, double i_min, bool antiwindup = false);
 
   /*!
    * \brief Set PID gains for the controller.

diff --git a/src/pid.cpp b/src/pid.cpp
@@ -69,6 +69,16 @@ Pid::~Pid()
 {
 }
 
+void Pid::initPid(double p, double i, double d, double i_max, double i_min,
+  const ros::NodeHandle& /*node*/)
+{
+  initPid(p, i, d, i_max, i_min);
+
+  // Create node handle for dynamic reconfigure
+  ros::NodeHandle nh(DEFAULT_NAMESPACE);
+  initDynamicReconfig(nh);
+}
+
 void Pid::initPid(double p, double i, double d, double i_max, double i_min, bool antiwindup,
   const ros::NodeHandle& /*node*/)
 {
@@ -192,6 +202,12 @@ void Pid::reset()
   cmd_ = 0.0;
 }
 
+void Pid::getGains(double &p, double &i, double &d, double &i_max, double &i_min)
+{
+  bool antiwindup;
+  getGains(p, i, d, i_max, i_min, antiwindup);
+}
+
 void Pid::getGains(double &p, double &i, double &d, double &i_max, double &i_min, bool &antiwindup)
 {
   Gains gains = *gains_buffer_.readFromRT();