fixup! RateLimiter: Don't update parameters before input checks #437

Author: hjh059

control_toolbox/include/control_toolbox/rate_limiter.hpp

@@ -171,83 +171,72 @@ void RateLimiter<T>::set_params(
   T min_first_derivative_pos, T max_first_derivative_neg, T min_second_derivative,
   T max_second_derivative)
 {
-  T tmp_min_value = min_value;
-  T tmp_max_value = max_value;
-  T tmp_min_first_derivative_neg = min_first_derivative_neg;
-  T tmp_max_first_derivative_pos = max_first_derivative_pos;
-  T tmp_min_first_derivative_pos = min_first_derivative_pos;
-  T tmp_max_first_derivative_neg = max_first_derivative_neg;
-  T tmp_min_second_derivative = min_second_derivative;
-  T tmp_max_second_derivative = max_second_derivative;
   auto tmp_has_value_limits = has_value_limits_;
   auto tmp_has_first_derivative_limits = has_first_derivative_limits_;
   auto tmp_has_second_derivative_limits = has_second_derivative_limits_;
 
-  if (std::isnan(tmp_max_value))
+  if (std::isnan(max_value))
   {
     tmp_has_value_limits = false;
   }
-  if (std::isnan(tmp_min_value))
+  if (std::isnan(min_value))
   {
-    tmp_min_value = -tmp_max_value;
+    min_value = -max_value;
   }
-  if (tmp_has_value_limits && tmp_min_value > tmp_max_value)
+  if (tmp_has_value_limits && min_value > max_value)
   {
     throw std::invalid_argument("Invalid value limits");
   }
 
-  if (std::isnan(tmp_max_first_derivative_pos))
+  if (std::isnan(max_first_derivative_pos))
   {
     tmp_has_first_derivative_limits = false;
   }
-  if (std::isnan(tmp_min_first_derivative_neg))
+  if (std::isnan(min_first_derivative_neg))
   {
-    tmp_min_first_derivative_neg = -tmp_max_first_derivative_pos;
+    min_first_derivative_neg = -max_first_derivative_pos;
   }
-  if (
-    tmp_has_first_derivative_limits && tmp_min_first_derivative_neg > tmp_max_first_derivative_pos)
+  if (tmp_has_first_derivative_limits && min_first_derivative_neg > max_first_derivative_pos)
   {
     throw std::invalid_argument("Invalid first derivative limits");
   }
   if (tmp_has_first_derivative_limits)
   {
-    if (std::isnan(tmp_max_first_derivative_neg))
+    if (std::isnan(max_first_derivative_neg))
     {
-      tmp_max_first_derivative_neg = tmp_max_first_derivative_pos;
+      max_first_derivative_neg = max_first_derivative_pos;
     }
-    if (std::isnan(tmp_min_first_derivative_pos))
+    if (std::isnan(min_first_derivative_pos))
     {
-      tmp_min_first_derivative_pos = tmp_min_first_derivative_neg;
+      min_first_derivative_pos = min_first_derivative_neg;
     }
-    if (
-      tmp_has_first_derivative_limits &&
-      tmp_min_first_derivative_pos > tmp_max_first_derivative_neg)
+    if (tmp_has_first_derivative_limits && min_first_derivative_pos > max_first_derivative_neg)
     {
       throw std::invalid_argument("Invalid first derivative limits");
     }
   }
 
-  if (std::isnan(tmp_max_second_derivative))
+  if (std::isnan(max_second_derivative))
   {
     tmp_has_second_derivative_limits = false;
   }
-  if (std::isnan(tmp_min_second_derivative))
+  if (std::isnan(min_second_derivative))
   {
-    tmp_min_second_derivative = -tmp_max_second_derivative;
+    min_second_derivative = -max_second_derivative;
   }
-  if (tmp_has_second_derivative_limits && tmp_min_second_derivative > tmp_max_second_derivative)
+  if (tmp_has_second_derivative_limits && min_second_derivative > max_second_derivative)
   {
     throw std::invalid_argument("Invalid second derivative limits");
   }
 
-  min_value_ = tmp_min_value;
-  max_value_ = tmp_max_value;
-  min_first_derivative_neg_ = tmp_min_first_derivative_neg;
-  max_first_derivative_pos_ = tmp_max_first_derivative_pos;
-  min_first_derivative_pos_ = tmp_min_first_derivative_pos;
-  max_first_derivative_neg_ = tmp_max_first_derivative_neg;
-  min_second_derivative_ = tmp_min_second_derivative;
-  max_second_derivative_ = tmp_max_second_derivative;
+  min_value_ = min_value;
+  max_value_ = max_value;
+  min_first_derivative_neg_ = min_first_derivative_neg;
+  max_first_derivative_pos_ = max_first_derivative_pos;
+  min_first_derivative_pos_ = min_first_derivative_pos;
+  max_first_derivative_neg_ = max_first_derivative_neg;
+  min_second_derivative_ = min_second_derivative;
+  max_second_derivative_ = max_second_derivative;
   has_value_limits_ = tmp_has_value_limits;
   has_first_derivative_limits_ = tmp_has_first_derivative_limits;
   has_second_derivative_limits_ = tmp_has_second_derivative_limits;