From 838107ae3aab4c941f1894bfcc7e7ae5feada271 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Sat, 7 Dec 2024 09:11:29 +0000
Subject: [PATCH] Add specializations for duration types

---
 include/control_toolbox/pid.hpp | 59 +++++++++++++++++++++++++++++++++
 1 file changed, 59 insertions(+)

diff --git a/include/control_toolbox/pid.hpp b/include/control_toolbox/pid.hpp
index b00321c..6cfcd0f 100644
--- a/include/control_toolbox/pid.hpp
+++ b/include/control_toolbox/pid.hpp
@@ -38,6 +38,7 @@
 #include <stdexcept>
 #include <string>
 
+#include "rclcpp/duration.hpp"
 #include "realtime_tools/realtime_buffer.h"
 
 #include "control_toolbox/visibility_control.hpp"
@@ -275,6 +276,34 @@ class CONTROL_TOOLBOX_PUBLIC Pid
    */
   [[nodiscard]] double computeCommand(double error, uint64_t dt_ns);
 
+  /*!
+   * \brief Set the PID error and compute the PID command with nonuniform time
+   * step size. The derivative error is computed from the change in the error
+   * and the timestep \c dt.
+   *
+   * \param error  Error since last call (error = target - state)
+   * \param dt Change in time since last call
+   *
+   * \returns PID command
+   */
+  [[nodiscard]] double computeCommand(double error, rcl_duration_value_t dt) {
+    return computeCommand(error, static_cast<uint64_t>(dt));
+  }
+
+  /*!
+   * \brief Set the PID error and compute the PID command with nonuniform time
+   * step size. The derivative error is computed from the change in the error
+   * and the timestep \c dt.
+   *
+   * \param error  Error since last call (error = target - state)
+   * \param dt Change in time since last call
+   *
+   * \returns PID command
+   */
+  [[nodiscard]] double computeCommand(double error, std::chrono::nanoseconds dt_ns) {
+    return computeCommand(error, static_cast<uint64_t>(dt_ns.count()));
+  }
+
   /*!
    * \brief Set the PID error and compute the PID command with nonuniform
    * time step size. This also allows the user to pass in a precomputed
@@ -301,6 +330,36 @@ class CONTROL_TOOLBOX_PUBLIC Pid
    */
   [[nodiscard]] double computeCommand(double error, double error_dot, uint64_t dt_ns);
 
+  /*!
+   * \brief Set the PID error and compute the PID command with nonuniform
+   * time step size. This also allows the user to pass in a precomputed
+   * derivative error.
+   *
+   * \param error Error since last call (error = target - state)
+   * \param error_dot d(Error)/dt since last call
+   * \param dt Change in time since last call
+   *
+   * \returns PID command
+   */
+  [[nodiscard]] double computeCommand(double error, double error_dot, rcl_duration_value_t dt) {
+    return computeCommand(error, error_dot, static_cast<uint64_t>(dt));
+  }
+
+  /*!
+   * \brief Set the PID error and compute the PID command with nonuniform
+   * time step size. This also allows the user to pass in a precomputed
+   * derivative error.
+   *
+   * \param error Error since last call (error = target - state)
+   * \param error_dot d(Error)/dt since last call
+   * \param dt Change in time since last call
+   *
+   * \returns PID command
+   */
+  [[nodiscard]] double computeCommand(double error, double error_dot, std::chrono::nanoseconds dt_ns) {
+    return computeCommand(error, error_dot, static_cast<uint64_t>(dt_ns.count()));
+  }
+
   /*!
    * \brief Set current command for this PID controller
    */