Rename save_iterm to save_i_term (#285)

include/control_toolbox/pid.hpp

@@ -240,9 +240,9 @@ class Pid
   /*!
    * \brief Reset the state of this PID controller
    *
-   * \param save_iterm boolean indicating if integral term is retained on reset()
+   * \param save_i_term boolean indicating if integral term is retained on reset()
    */
-  void reset(bool save_iterm);
+  void reset(bool save_i_term);
 
   /*!
    * \brief Clear the saved integrator output of this controller

include/control_toolbox/pid_ros.hpp

@@ -130,12 +130,12 @@ class PidROS
    * \param i_max The max integral windup.
    * \param i_min The min integral windup.
    * \param antiwindup antiwindup.
-   * \param save_iterm save integrator output between resets.
+   * \param save_i_term save integrator output between resets.
    *
    * \note New gains are not applied if i_min_ > i_max_
    */
   void initialize_from_args(
-    double p, double i, double d, double i_max, double i_min, bool antiwindup, bool save_iterm);
+    double p, double i, double d, double i_max, double i_min, bool antiwindup, bool save_i_term);
 
   /*!
    * \brief Initialize the PID controller and set the parameters
@@ -145,12 +145,12 @@ class PidROS
    * \param i_max The max integral windup.
    * \param i_min The min integral windup.
    * \param antiwindup antiwindup.
-   * \param save_iterm save integrator output between resets.
+   * \param save_i_term save integrator output between resets.
    *
    * \note New gains are not applied if i_min_ > i_max_
    */
   [[deprecated("Use initialize_from_args() instead")]] void initPid(double p, double i, double d,
-    double i_max, double i_min, bool antiwindup, bool save_iterm);
+    double i_max, double i_min, bool antiwindup, bool save_i_term);
 
   /*!
    * \brief Initialize the PID controller based on already set parameters
@@ -167,16 +167,16 @@ class PidROS
   /*!
    * \brief Reset the state of this PID controller
    *
-   * @note save_iterm parameter is read from ROS parameters
+   * @note save_i_term parameter is read from ROS parameters
    */
   void reset();
 
   /*!
    * \brief Reset the state of this PID controller
    *
-   * \param save_iterm boolean indicating if integral term is retained on reset()
+   * \param save_i_term boolean indicating if integral term is retained on reset()
    */
-  void reset(bool save_iterm);
+  void reset(bool save_i_term);
 
   /*!
    * \brief Set the PID error and compute the PID command with nonuniform time

src/pid.cpp

@@ -92,7 +92,7 @@ void Pid::reset()
   reset(false);
 }
 
-void Pid::reset(bool save_iterm)
+void Pid::reset(bool save_i_term)
 {
   p_error_last_ = 0.0;
   p_error_ = 0.0;
@@ -107,7 +107,7 @@ void Pid::reset(bool save_iterm)
   cmd_ = 0.0;
 
   // Check to see if we should reset integral error here
-  if (!save_iterm) clear_saved_iterm();
+  if (!save_i_term) clear_saved_iterm();
 }
 
 void Pid::clear_saved_iterm()

src/pid_ros.cpp

@@ -177,7 +177,7 @@ bool PidROS::initialize_from_ros_parameters()
   all_params_available &= get_double_param(param_prefix_ + "i_clamp_min", i_min);
 
   get_boolean_param(param_prefix_ + "antiwindup", antiwindup);
-  declare_param(param_prefix_ + "save_iterm", rclcpp::ParameterValue(false));
+  declare_param(param_prefix_ + "save_i_term", rclcpp::ParameterValue(false));
 
   if (all_params_available) {
     set_parameter_event_callback();
@@ -202,7 +202,7 @@ void PidROS::initialize_from_args(double p, double i, double d, double i_max, do
 }
 
 void PidROS::initialize_from_args(double p, double i, double d, double i_max, double i_min,
-  bool antiwindup, bool save_iterm)
+  bool antiwindup, bool save_i_term)
 {
   if (i_min > i_max) {
     RCLCPP_ERROR(node_logging_->get_logger(), "received i_min > i_max, skip new gains");
@@ -215,21 +215,21 @@ void PidROS::initialize_from_args(double p, double i, double d, double i_max, do
     declare_param(param_prefix_ + "i_clamp_max", rclcpp::ParameterValue(i_max));
     declare_param(param_prefix_ + "i_clamp_min", rclcpp::ParameterValue(i_min));
     declare_param(param_prefix_ + "antiwindup", rclcpp::ParameterValue(antiwindup));
-    declare_param(param_prefix_ + "save_iterm", rclcpp::ParameterValue(save_iterm));
+    declare_param(param_prefix_ + "save_i_term", rclcpp::ParameterValue(save_i_term));
 
     set_parameter_event_callback();
   }
 }
 
 void PidROS::reset() {
-  bool save_iterm = false;
-  get_boolean_param(param_prefix_ + "save_iterm", save_iterm);
-  reset(save_iterm);
+  bool save_i_term = false;
+  get_boolean_param(param_prefix_ + "save_i_term", save_i_term);
+  reset(save_i_term);
 }
 
-void PidROS::reset(bool save_iterm)
+void PidROS::reset(bool save_i_term)
 {
-  pid_.reset(save_iterm);
+  pid_.reset(save_i_term);
 }
 
 std::shared_ptr<rclcpp::Publisher<control_msgs::msg::PidState>> PidROS::get_pid_state_publisher()
@@ -401,8 +401,8 @@ void PidROS::initPid(
 }
 
 void PidROS::initPid(double p, double i, double d,
-  double i_max, double i_min, bool antiwindup, bool save_iterm) {
-  initialize_from_args(p, i, d, i_max, i_min, antiwindup, save_iterm);
+  double i_max, double i_min, bool antiwindup, bool save_i_term) {
+  initialize_from_args(p, i, d, i_max, i_min, antiwindup, save_i_term);
 }
 
 bool PidROS::initPid() {

test/pid_ros_parameters_tests.cpp

@@ -57,9 +57,9 @@ void check_set_parameters(
   const double I_MAX = 10.0;
   const double I_MIN = -10.0;
   const bool ANTIWINDUP = true;
-  const bool SAVE_ITERM = true;
+  const bool SAVE_I_TERM = true;
 
-  ASSERT_NO_THROW(pid.initialize_from_args(P, I, D, I_MAX, I_MIN, ANTIWINDUP, SAVE_ITERM));
+  ASSERT_NO_THROW(pid.initialize_from_args(P, I, D, I_MAX, I_MIN, ANTIWINDUP, SAVE_I_TERM));
 
   rclcpp::Parameter param;
 
@@ -82,8 +82,8 @@ void check_set_parameters(
   ASSERT_TRUE(node->get_parameter(prefix + "antiwindup", param));
   ASSERT_EQ(param.get_value<bool>(), ANTIWINDUP);
 
-  ASSERT_TRUE(node->get_parameter(prefix + "save_iterm", param));
-  ASSERT_EQ(param.get_value<bool>(), SAVE_ITERM);
+  ASSERT_TRUE(node->get_parameter(prefix + "save_i_term", param));
+  ASSERT_EQ(param.get_value<bool>(), SAVE_I_TERM);
 
   // check gains were set
   control_toolbox::Pid::Gains gains = pid.get_gains();
@@ -219,9 +219,9 @@ TEST(PidParametersTest, SetParametersTest)
   const double I_MAX = 10.0;
   const double I_MIN = -10.0;
   const bool ANTIWINDUP = true;
-  const bool SAVE_ITERM = false;
+  const bool SAVE_I_TERM = false;
 
-  pid.initialize_from_args(P, I, D, I_MAX, I_MIN, ANTIWINDUP, SAVE_ITERM);
+  pid.initialize_from_args(P, I, D, I_MAX, I_MIN, ANTIWINDUP, SAVE_I_TERM);
 
   rcl_interfaces::msg::SetParametersResult set_result;
 
@@ -242,7 +242,7 @@ TEST(PidParametersTest, SetParametersTest)
   ASSERT_TRUE(set_result.successful);
   ASSERT_NO_THROW(set_result = node->set_parameter(rclcpp::Parameter("antiwindup", ANTIWINDUP)));
   ASSERT_TRUE(set_result.successful);
-  ASSERT_NO_THROW(set_result = node->set_parameter(rclcpp::Parameter("save_iterm", SAVE_ITERM)));
+  ASSERT_NO_THROW(set_result = node->set_parameter(rclcpp::Parameter("save_i_term", SAVE_I_TERM)));
   ASSERT_TRUE(set_result.successful);
 
   // process callbacks
@@ -344,7 +344,7 @@ TEST(PidParametersTest, GetParametersTest)
   ASSERT_TRUE(node->get_parameter("antiwindup", param));
   ASSERT_EQ(param.get_value<bool>(), ANTIWINDUP);
 
-  ASSERT_TRUE(node->get_parameter("save_iterm", param));
+  ASSERT_TRUE(node->get_parameter("save_i_term", param));
   ASSERT_EQ(param.get_value<bool>(), false);
 }
 

test/pid_tests.cpp

@@ -351,7 +351,7 @@ TEST(CommandTest, integralOnlyTest)
   cmd = pid.compute_command(-0.5, 1.0);
   // Then expect command = error
   EXPECT_EQ(-0.5, cmd);
-  // after reset without argument (save_iterm=false)
+  // after reset without argument (save_i_term=false)
   // we expect the command to be 0 if update is called error = 0
   pid.reset();
   cmd = pid.compute_command(0.0, 1.0);
@@ -361,7 +361,7 @@ TEST(CommandTest, integralOnlyTest)
   cmd = pid.compute_command(-0.5, 1.0);
   // Then expect command = error
   EXPECT_EQ(-0.5, cmd);
-  // after reset with argument (save_iterm=false)
+  // after reset with argument (save_i_term=false)
   // we expect the command to be 0 if update is called error = 0
   pid.reset(false);
   cmd = pid.compute_command(0.0, 1.0);
@@ -371,7 +371,7 @@ TEST(CommandTest, integralOnlyTest)
   cmd = pid.compute_command(-0.5, 1.0);
   // Then expect command = error
   EXPECT_EQ(-0.5, cmd);
-  // after reset with save_iterm=true
+  // after reset with save_i_term=true
   // we expect still the same command if update is called error = 0
   pid.reset(true);
   cmd = pid.compute_command(0.0, 1.0);