Fix comments

Author: ViktorCVS

control_toolbox/include/control_toolbox/pid.hpp

@@ -390,7 +390,7 @@ class Pid
         tracking_time_constant parameter to tune the anti-windup behavior.
    * \return True if all parameters are successfully set, False otherwise.
    *
-   * \note New gains are not applied if u_min > u_max.
+   * \note New gains are not applied if i_min_ > i_max_ or u_min_ > u_max_.
    */
   bool initialize(
     double p, double i, double d, double u_max, double u_min,
@@ -460,7 +460,7 @@ class Pid
         tracking_time_constant parameter to tune the anti-windup behavior.
    * \return True if all parameters are successfully set, False otherwise.
    *
-   * \note New gains are not applied if u_min > u_max
+   * \note New gains are not applied if i_min_ > i_max_ or u_min_ > u_max_.
    * \note This method is not RT safe
    */
   bool set_gains(
@@ -469,11 +469,11 @@ class Pid
 
   /*!
    * \brief Set PID gains for the controller.
-   * \param gains A struct of the PID gain values
+   * \param gains A struct of the PID gain values.
    * \return True if all parameters are successfully set, False otherwise.
    *
-   * \note New gains are not applied if gains.i_min_ > gains.i_max_
-   * \note This method is not RT safe
+   * \note New gains are not applied if gains.i_min_ > gains.i_max_ or gains.u_min_ > gains.u_max_
+   * \note This method is not RT safe.
    */
   bool set_gains(const Gains & gains);
 
@@ -483,7 +483,7 @@ class Pid
    * and the timestep \c dt_s.
    *
    * \param error  Error since last call (error = target - state)
-   * \param dt_s Change in time since last call in seconds
+   * \param dt_s Change in time since last call in seconds.
    *
    * \returns PID command
    */

control_toolbox/include/control_toolbox/pid_ros.hpp

@@ -169,7 +169,7 @@ class PidROS
    * \param save_i_term save integrator output between resets.
    * \return True if all parameters are successfully set, False otherwise.
    *
-   * \note New gains are not applied if u_min_ > u_max_.
+   * \note New gains are not applied if i_min_ > i_max_ or u_min_ > u_max_.
    */
   bool initialize_from_args(
     double p, double i, double d, double u_max, double u_min,
@@ -242,7 +242,7 @@ class PidROS
         tracking_time_constant parameter to tune the anti-windup behavior.
    * \return True if all parameters are successfully set, False otherwise.
    *
-   * \note New gains are not applied if u_min > u_max.
+   * \note New gains are not applied if i_min_ > i_max_ or u_min_ > u_max_.
    * \note This method is not RT safe
    */
   bool set_gains(