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Fix rst errors #447

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Merged
christophfroehlich merged 1 commit into from
Aug 13, 2025
Merged

Fix rst errors #447

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18 changes: 9 additions & 9 deletions control_toolbox/CHANGELOG.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -357,9 +357,9 @@ Changelog for package control_toolbox
* catkinizing, could still be cleaned up
* Fixing doc errors in PID
* Changing @ commands to \ commands
* Enforcing i_min_ <= 0 and i_max_ >= 0 in integral bound parameters, reducing duplicated code
* Enforcing ``i_min_`` <= 0 and ``i_max_`` >= 0 in integral bound parameters, reducing duplicated code
* Merge pull request `#14 <https://github.com/ros-controls/control_toolbox/issues/14>`_ from bobholmberg/fix-PID-unbounded-i_error
Using zero i_gain_ to turn off integral control did unsavory things.
Using zero ``i_gain_`` to turn off integral control did unsavory things.
* Adding alternative name for new pid command computation API
* Fixing merge error
* Merge branch 'fix-pid-backwards-compatibility' into fix-PID-unbounded-i_error
Expand All @@ -376,13 +376,13 @@ Changelog for package control_toolbox
* Specifying div-by-zero test, adding other integral term tests
* Merge branch 'test-bad-integral-bounds' into fix-PID-unbounded-i_error
* Adding test to expose Pid class zero-division vulnerability
* If the user did not want integral control and set i_gain_ to zero,
then dividing by i_gain_ would set i_error_ to NaN. This is not
desired. Instead, replace the use of division to create i_term
with direct integration of i_term_.
Replace private member i_error_ with i_term_.
In getCurrentPIDErrors() create & return i_error_ with the same old meaning and units.
NOTE: i_error_ is not needed internally anywhere else.
* If the user did not want integral control and set ``i_gain_`` to zero,
then dividing by ``i_gain_`` would set ``i_error_`` to NaN. This is not
desired. Instead, replace the use of division to create ``i_term``
with direct integration of ``i_term_``.
Replace private member ``i_error_`` with ``i_term_``.
In ``getCurrentPIDErrors()`` create & return ``i_error_`` with the same old meaning and units.
NOTE: ``i_error_`` is not needed internally anywhere else.
* Cleaning up documentation, making argument names in function declaration match those in the implementation
* adding doxygen deprecation flags
* Fixing documentation
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