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fix issue #28: i_clamp/i_clamp_min/i_clamp_max reconfigure inconsistency #29

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merged 1 commit into from
Oct 20, 2014
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fix issue #28: i_clamp/i_clamp_min/i_clamp_max reconfigure inconsistency #29

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11 changes: 11 additions & 0 deletions src/pid.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -113,6 +113,17 @@ bool Pid::init(const ros::NodeHandle &node, const bool quiet)
nh.param("i_clamp", i_clamp, 0.0);
gains.i_max_ = std::abs(i_clamp);
gains.i_min_ = -std::abs(i_clamp);
if(nh.hasParam("i_clamp_min"))
{
nh.param("i_clamp_min", gains.i_min_, gains.i_min_); // use i_clamp_min parameter, otherwise keep -i_clamp
gains.i_min_ = -std::abs(gains.i_min_); // make sure the value is <= 0
}
if(nh.hasParam("i_clamp_max"))
{
nh.param("i_clamp_max", gains.i_max_, gains.i_max_); // use i_clamp_max parameter, otherwise keep i_clamp
gains.i_max_ = std::abs(gains.i_max_); // make sure the value is >= 0
}

setGains(gains);

reset();
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