Apply suggestions from code review

Co-authored-by: Dr. Denis <[email protected]>

include/control_toolbox/pid.hpp

@@ -113,7 +113,7 @@ class CONTROL_TOOLBOX_PUBLIC Pid
    */
   struct Gains
   {
-    // Optional constructor for passing in values without antiwindup/save i-term
+    // Optional constructor for passing in values without antiwindup and save i-term
     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),
       save_iterm_(false)

src/pid.cpp

@@ -90,7 +90,10 @@ void Pid::reset()
   cmd_ = 0.0;
 
   // If last integral error is already zero, just return
-  if (std::fabs(i_error_) < std::numeric_limits<double>::epsilon()) return;
+  if (std::fabs(i_error_) < std::numeric_limits<double>::epsilon()) 
+  {
+    return;
+  }
 
   // Get the gain parameters from the realtime buffer
   Gains gains = *gains_buffer_.readFromRT();
@@ -111,7 +114,7 @@ void Pid::getGains(double & p, double & i, double & d, double & i_max, double &
 
 void Pid::getGains(
   double & p, double & i, double & d, double & i_max, double & i_min, bool & antiwindup,
-  bool &save_iterm)
+  bool & save_iterm)
 {
   Gains gains = *gains_buffer_.readFromRT();