From 23a86a4f79c271cb2cd95e9d9dccc1baac089458 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Wed, 1 Jan 2025 22:07:53 +0000 Subject: [PATCH] Update comments and remove default constructor --- include/control_toolbox/pid.hpp | 11 ++++------- 1 file changed, 4 insertions(+), 7 deletions(-) diff --git a/include/control_toolbox/pid.hpp b/include/control_toolbox/pid.hpp index a71bae3..db9dcf7 100644 --- a/include/control_toolbox/pid.hpp +++ b/include/control_toolbox/pid.hpp @@ -117,7 +117,6 @@ class CONTROL_TOOLBOX_PUBLIC Pid * \param i_max The max integral windup. * \param i_min The min integral windup. * - * \throws An std::invalid_argument exception is thrown if i_min > i_max */ 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_(true) @@ -134,16 +133,14 @@ class CONTROL_TOOLBOX_PUBLIC Pid * \param i_min The min integral windup. * \param antiwindup If true, antiwindup is enabled and i_max/i_min are enforced * - * \throws An std::invalid_argument exception is thrown if i_min > i_max */ - Gains(double p, double i, double d, double i_max, double i_min, bool antiwindup) + Gains( + double p = 0.0, double i = 0.0, double d = 0.0, double i_max = 0.0, double i_min = 0.0, + bool antiwindup = false) : p_gain_(p), i_gain_(i), d_gain_(d), i_max_(i_max), i_min_(i_min), antiwindup_(antiwindup) { } - // Default constructor - Gains() : p_gain_(0.0), i_gain_(0.0), d_gain_(0.0), i_max_(0.0), i_min_(0.0), antiwindup_(false) - { - } + double p_gain_; /**< Proportional gain. */ double i_gain_; /**< Integral gain. */ double d_gain_; /**< Derivative gain. */