Added LeadLag controller#68
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| void Pid::getCurrentPIDErrors(double *pe, double *ie, double *de) | ||
| { | ||
| // 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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| #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);
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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
progtologist
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This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete. |
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This pull request is in conflict. Could you fix it @progtologist? |
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@progtologist, all pull requests must be targeted towards the |
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Needs to be ported to ROS 2 |
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This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete. |
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Continues #60