Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Added LeadLag controller #68

Open
wants to merge 2 commits into
base: kinetic-devel
Choose a base branch
from

Conversation

progtologist
Copy link
Member

Continues #60

@@ -400,9 +400,6 @@ double Pid::getCurrentCmd()

void Pid::getCurrentPIDErrors(double *pe, double *ie, double *de)
{
// Get the gain parameters from the realtime buffer
Gains gains = *gains_buffer_.readFromRT();
Copy link
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

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.

Copy link
Member Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Fixed ;)

*/

#include <control_toolbox/lead_lag.h>
#include <tinyxml.h>
Copy link
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

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...

Copy link
Member Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

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);

@bmagyar
Copy link
Member

bmagyar commented Nov 30, 2017

Don't worry about the test that's failing now, it's due to our source-based test that lacks dependencies on Lunar.

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
None yet
Projects
None yet
Development

Successfully merging this pull request may close these issues.

2 participants