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Redefine the antiwindup strategy and their parameters interfacing #400

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Merged
merged 45 commits into from
Jun 17, 2025
Merged

Redefine the antiwindup strategy and their parameters interfacing #400

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4045cd0
Add UNDEFINED, INTEGRATOR_CLAMPING types
saikishor Jun 9, 2025
ce86e2c
Modify AntiwindupStrategy to use as options at every level
saikishor Jun 9, 2025
29f0b14
first compilable version
saikishor Jun 10, 2025
9a4362c
Fix logic to fix the tests
saikishor Jun 11, 2025
ae3f445
Remove tracking time constant in the Gains struct
saikishor Jun 11, 2025
45fb303
Fix the compilation of the PidROS tests
saikishor Jun 11, 2025
0ca2cd6
fix tests
saikishor Jun 11, 2025
73d8b7b
fix the tests of pid_ros_publisher_tests
saikishor Jun 11, 2025
574b497
use const reference for the antiwindup_strat argument
saikishor Jun 12, 2025
87c7cec
Remove newly introduced get_gains method
saikishor Jun 12, 2025
60c0a1c
deprecate the antiwindup_ member variable
saikishor Jun 12, 2025
fcb5b3a
Remove default AntiwindupStrategy initialization
saikishor Jun 12, 2025
5a9fee8
Update docs
saikishor Jun 12, 2025
fad998b
update the default constructor
saikishor Jun 12, 2025
edd03cb
Merge branch 'ros2-master' into redefine/antiwindup/strategy
saikishor Jun 12, 2025
2ec2d25
Change the default antiwindup strategy to declare to "legacy"
saikishor Jun 12, 2025
2ead217
Change the default to NaNs in the AntiwindupStrategy
saikishor Jun 12, 2025
39d5325
Add more checks and fix the missing .type
saikishor Jun 12, 2025
956578a
disallow the undefined state of the antiwindup strategy
saikishor Jun 12, 2025
f4244eb
fix typo
saikishor Jun 12, 2025
cb4c4b6
Add more checks to validate
saikishor Jun 12, 2025
1cae28a
Add return value boolean to check if the return is valid value or not
saikishor Jun 12, 2025
04f8242
Fix docs
saikishor Jun 12, 2025
13e489b
Add `validate` method to validate the Gains and to reuse checks
saikishor Jun 12, 2025
e6d311d
Rename AntiwindupStrategy to AntiWindupStrategy
saikishor Jun 15, 2025
0cb8dbc
Rename trk_tc to tracking_time_constant
saikishor Jun 15, 2025
e59b1cd
remove the INTEGRATOR_CLAMPING method
saikishor Jun 15, 2025
75b9239
Address PR comments
saikishor Jun 16, 2025
3f6f505
Simplify the if condition in compute_command
saikishor Jun 16, 2025
48a5141
throw exception on invalid antiwindup type
saikishor Jun 16, 2025
74aa005
Add error_deadband option to the AntiWindupStrategy
saikishor Jun 16, 2025
723c60d
remove changing anti-windup strategy at runtime
saikishor Jun 16, 2025
dafcd30
Fix GCC pragma's
saikishor Jun 16, 2025
ae372d3
Address MR review comments
saikishor Jun 16, 2025
ccefe79
Apply suggestions from code review
saikishor Jun 16, 2025
9c2a4a2
Fix pre-commit
saikishor Jun 16, 2025
b79acda
Update control_toolbox/include/control_toolbox/pid.hpp
saikishor Jun 16, 2025
edc4ef0
Update control_toolbox/src/pid.cpp
saikishor Jun 16, 2025
b21533a
Address MR review comments
saikishor Jun 16, 2025
4ba2219
add deprecation for valid i_min and i_max
saikishor Jun 16, 2025
df2ff65
add deprecation for valid i_min and i_max
saikishor Jun 16, 2025
3c40f42
readd validation
saikishor Jun 16, 2025
3955eac
Apply suggestions from code review
saikishor Jun 17, 2025
17a98ec
readd the > condition for backward compatibility
saikishor Jun 17, 2025
4d3fec5
Fix tests for the updated condition
saikishor Jun 17, 2025
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