From e01554ae7102e21b7c94c0c56381a89847f150aa Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Fri, 22 Nov 2024 20:37:04 +0000
Subject: [PATCH] Fix templated class member variable types

---
 include/control_toolbox/rate_limiter.hpp | 48 ++++++++++++------------
 1 file changed, 24 insertions(+), 24 deletions(-)

diff --git a/include/control_toolbox/rate_limiter.hpp b/include/control_toolbox/rate_limiter.hpp
index bbac2fd3..f5ec96eb 100644
--- a/include/control_toolbox/rate_limiter.hpp
+++ b/include/control_toolbox/rate_limiter.hpp
@@ -49,14 +49,14 @@ class RateLimiter
    * If min_first_derivative_pos/max_first_derivative_neg values are NAN, symmetric limits are used
    */
   RateLimiter(
-    T min_value = std::numeric_limits<double>::quiet_NaN(),
-    T max_value = std::numeric_limits<double>::quiet_NaN(),
-    T min_first_derivative_neg = std::numeric_limits<double>::quiet_NaN(),
-    T max_first_derivative_pos = std::numeric_limits<double>::quiet_NaN(),
-    T min_first_derivative_pos = std::numeric_limits<double>::quiet_NaN(),
-    T max_first_derivative_neg = std::numeric_limits<double>::quiet_NaN(),
-    T min_second_derivative = std::numeric_limits<double>::quiet_NaN(),
-    T max_second_derivative = std::numeric_limits<double>::quiet_NaN());
+    T min_value = std::numeric_limits<T>::quiet_NaN(),
+    T max_value = std::numeric_limits<T>::quiet_NaN(),
+    T min_first_derivative_neg = std::numeric_limits<T>::quiet_NaN(),
+    T max_first_derivative_pos = std::numeric_limits<T>::quiet_NaN(),
+    T min_first_derivative_pos = std::numeric_limits<T>::quiet_NaN(),
+    T max_first_derivative_neg = std::numeric_limits<T>::quiet_NaN(),
+    T min_second_derivative = std::numeric_limits<T>::quiet_NaN(),
+    T max_second_derivative = std::numeric_limits<T>::quiet_NaN());
 
   /**
    * \brief Limit the value and first_derivative
@@ -114,14 +114,14 @@ class RateLimiter
    * If min_first_derivative_pos/max_first_derivative_neg values are NAN, symmetric limits are used
    */
   void set_params(
-    T min_value = std::numeric_limits<double>::quiet_NaN(),
-    T max_value = std::numeric_limits<double>::quiet_NaN(),
-    T min_first_derivative_neg = std::numeric_limits<double>::quiet_NaN(),
-    T max_first_derivative_pos = std::numeric_limits<double>::quiet_NaN(),
-    T min_first_derivative_pos = std::numeric_limits<double>::quiet_NaN(),
-    T max_first_derivative_neg = std::numeric_limits<double>::quiet_NaN(),
-    T min_second_derivative = std::numeric_limits<double>::quiet_NaN(),
-    T max_second_derivative = std::numeric_limits<double>::quiet_NaN());
+    T min_value = std::numeric_limits<T>::quiet_NaN(),
+    T max_value = std::numeric_limits<T>::quiet_NaN(),
+    T min_first_derivative_neg = std::numeric_limits<T>::quiet_NaN(),
+    T max_first_derivative_pos = std::numeric_limits<T>::quiet_NaN(),
+    T min_first_derivative_pos = std::numeric_limits<T>::quiet_NaN(),
+    T max_first_derivative_neg = std::numeric_limits<T>::quiet_NaN(),
+    T min_second_derivative = std::numeric_limits<T>::quiet_NaN(),
+    T max_second_derivative = std::numeric_limits<T>::quiet_NaN());
 
 private:
   // Enable/Disable value/first_derivative/second_derivative limits:
@@ -130,18 +130,18 @@ class RateLimiter
   bool has_second_derivative_limits_ = true;
 
   // value limits:
-  T min_value_ = std::numeric_limits<double>::quiet_NaN();
-  T max_value_ = std::numeric_limits<double>::quiet_NaN();
+  T min_value_ = std::numeric_limits<T>::quiet_NaN();
+  T max_value_ = std::numeric_limits<T>::quiet_NaN();
 
   // first_derivative limits:
-  T min_first_derivative_neg_ = std::numeric_limits<double>::quiet_NaN();
-  T max_first_derivative_pos_ = std::numeric_limits<double>::quiet_NaN();
-  T min_first_derivative_pos_ = std::numeric_limits<double>::quiet_NaN();
-  T max_first_derivative_neg_ = std::numeric_limits<double>::quiet_NaN();
+  T min_first_derivative_neg_ = std::numeric_limits<T>::quiet_NaN();
+  T max_first_derivative_pos_ = std::numeric_limits<T>::quiet_NaN();
+  T min_first_derivative_pos_ = std::numeric_limits<T>::quiet_NaN();
+  T max_first_derivative_neg_ = std::numeric_limits<T>::quiet_NaN();
 
   // second_derivative limits:
-  T min_second_derivative_ = std::numeric_limits<double>::quiet_NaN();
-  T max_second_derivative_ = std::numeric_limits<double>::quiet_NaN();
+  T min_second_derivative_ = std::numeric_limits<T>::quiet_NaN();
+  T max_second_derivative_ = std::numeric_limits<T>::quiet_NaN();
 };
 
 template <typename T>