Fix legacy clamping limit -0/0

christophfroehlich · christophfroehlich · commit dfac1d4679a8 · 2025-10-10T07:49:55.000Z
diff --git a/control_toolbox/include/control_toolbox/pid.hpp b/control_toolbox/include/control_toolbox/pid.hpp
@@ -135,11 +135,11 @@ struct AntiWindupStrategy
         "AntiWindupStrategy 'back_calculation' requires a valid positive tracking time constant "
         "(tracking_time_constant)");
     }
-    if (i_min >= i_max)
+    if (i_min > i_max)
     {
       throw std::invalid_argument(
         fmt::format(
-          "PID requires i_min < i_max if limits are finite (i_min: {}, i_max: {})", i_min, i_max));
+          "PID requires i_min <= i_max if limits are finite (i_min: {}, i_max: {})", i_min, i_max));
     }
     if (
       type != NONE && type != UNDEFINED && type != LEGACY && type != BACK_CALCULATION &&

Original file line number	Diff line number	Diff line change
`@@ -135,11 +135,11 @@ struct AntiWindupStrategy`
`135`	`135`	`"AntiWindupStrategy 'back_calculation' requires a valid positive tracking time constant "`
`136`	`136`	`"(tracking_time_constant)");`
`137`	`137`	`}`
`138`		`- if (i_min >= i_max)`
	`138`	`+ if (i_min > i_max)`
`139`	`139`	`{`
`140`	`140`	`throw std::invalid_argument(`
`141`	`141`	`fmt::format(`
`142`		`- "PID requires i_min < i_max if limits are finite (i_min: {}, i_max: {})", i_min, i_max));`
	`142`	`+ "PID requires i_min <= i_max if limits are finite (i_min: {}, i_max: {})", i_min, i_max));`
`143`	`143`	`}`
`144`	`144`	`if (`
`145`	`145`	`type != NONE && type != UNDEFINED && type != LEGACY && type != BACK_CALCULATION &&`