reorder clipping functions (velocity first, jerk last)

ros-controls · Nov 27, 2024 · 4ab7b76 · 4ab7b76
1 parent 9a6ffe7
commit 4ab7b76
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/include/control_toolbox/rate_limiter.hpp b/include/control_toolbox/rate_limiter.hpp
@@ -236,9 +236,9 @@ T RateLimiter<T>::limit(T & v, T v0, T v1, T dt)
 {
   const T tmp = v;
 
-  limit_second_derivative(v, v0, v1, dt);
-  limit_first_derivative(v, v0, dt);
   limit_value(v);
+  limit_first_derivative(v, v0, dt);
+  limit_second_derivative(v, v0, v1, dt);
 
   return tmp != static_cast<T>(0.0) ? v / tmp : static_cast<T>(1.0);
 }