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Added LeadLag controller #68
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Added LeadLag controller #68
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@@ -400,9 +400,6 @@ double Pid::getCurrentCmd() | |||
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void Pid::getCurrentPIDErrors(double *pe, double *ie, double *de) | |||
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// Get the gain parameters from the realtime buffer | |||
Gains gains = *gains_buffer_.readFromRT(); |
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I remember this frmo the previous PR. Reading the code suggests that really nothing happens here, right?
Could you please put this change into a different commit? It doesn't belong with the LeadLag stuff. Could still pass within the same PR as a minor fix.
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Fixed ;)
*/ | ||
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#include <control_toolbox/lead_lag.h> | ||
#include <tinyxml.h> |
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Do we really need tinyxml here? Could you check if the PID class also needs it? I had a look today and it didn't seem so...
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Yes, I don't really know if anyone uses it, but it is part of the public API for the PID class as well here
bool initXml(TiXmlElement *config);
Don't worry about the test that's failing now, it's due to our source-based test that lacks dependencies on Lunar. |
* Was not being used inside the scope of the method
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Continues #60