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Add three new anti-windup techniques and a Saturation feature #298
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Merged
christophfroehlich
merged 40 commits into
ros-controls:ros2-master
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ViktorCVS:ros2-master
Jun 6, 2025
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d0698b0
Resolving conflicts
ViktorCVS 172d008
Add unit tests
ViktorCVS a62ed65
Resolving conflicts
ViktorCVS 3805a65
Add unit tests
ViktorCVS deca4e4
Adjust unit tests for new parameters
ViktorCVS 1c04553
Modify cmd eq. to keep the anti-windup behavior
ViktorCVS 6977d98
Fix license comments
ViktorCVS b026fd8
Separate i_bounds and u_bounds conditions
ViktorCVS c7c6919
Fix code style: use consistent brace styles
ViktorCVS f728af1
Remove and update comments
ViktorCVS 9d915bd
Separate i_bounds and u_bounds conditions
ViktorCVS 8e517ba
Move comment closer to corresponding equation
ViktorCVS 246384f
Add helper function for zero comparisons
ViktorCVS c4c2ce6
Discard unused comments and fix comment formatting
ViktorCVS 927a19b
Explicitly initialize variables to 0 in header
ViktorCVS 437b555
Remove deprecated comment
ViktorCVS a5b8bda
add Doxygen trailing comments to Gains members
ViktorCVS d198843
add Doxygen trailing comments to Gains members
ViktorCVS 78b0545
Add comment for gains_buffer_ in pid.hpp
ViktorCVS 1138785
Add comment for gains_buffer_ in pid.hpp
ViktorCVS 97f4d8d
Add comment for gains_buffer_ in pid.hpp
ViktorCVS 28f9939
Add comment for gains_buffer_ in pid.hpp
ViktorCVS f4abce3
Add default value for trk_tc
ViktorCVS d603abc
remove is_not_zero() function
ViktorCVS ad16f36
Refactor PID antiwindup strategy variable
ViktorCVS c5096d5
Add deprecated message for the old anti-windup
ViktorCVS 60f35fb
Add deprecated message for the old anti-windup
ViktorCVS 560276e
Calculate tracking time constant in set_gains
ViktorCVS 98f7ad7
Discard unused comments and fix comment formatting
ViktorCVS dd9be8c
Add comment for gains_buffer_ in pid.hpp
ViktorCVS 7d7311a
Add comment for gains_buffer_ in pid.hpp
ViktorCVS 47b8639
Add comment for gains_buffer_ in pid.hpp
ViktorCVS 9610d41
Remove CONDITIONING_TECHNIQUE from all files
ViktorCVS 5b3b630
Remove CONDITIONING_TECHNIQUE from all files
ViktorCVS a61cf71
Use iszero(x) to compare variables
ViktorCVS 46f0e46
Add release note for this pull request
ViktorCVS 1c15588
Add release note for this pull request
ViktorCVS 7cc756b
Update doc/release_notes.rst
christophfroehlich 4706ede
Merge branch 'ros2-master' into ros2-master
ViktorCVS 257fb57
Deprecate old APIs and silence warnings
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