Update API of PID class (#1437)

Author: christophfroehlich

gripper_controllers/include/gripper_controllers/hardware_interface_adapter.hpp

@@ -165,8 +165,7 @@ class HardwareInterfaceAdapter<hardware_interface::HW_IF_EFFORT>
     // Time since the last call to update
     const auto period = std::chrono::steady_clock::now() - last_update_time_;
     // Update PIDs
-    double command =
-      pid_->computeCommand(error_position, error_velocity, static_cast<uint64_t>(period.count()));
+    double command = pid_->compute_command(error_position, error_velocity, period);
     command = std::min<double>(
       fabs(max_allowed_effort), std::max<double>(-fabs(max_allowed_effort), command));
     joint_handle_->get().set_value(command);

joint_trajectory_controller/src/joint_trajectory_controller.cpp

@@ -290,9 +290,8 @@ controller_interface::return_type JointTrajectoryController::update(
           for (auto i = 0ul; i < dof_; ++i)
           {
             tmp_command_[i] = (command_next_.velocities[i] * ff_velocity_scale_[i]) +
-                              pids_[i]->computeCommand(
-                                state_error_.positions[i], state_error_.velocities[i],
-                                (uint64_t)period.nanoseconds());
+                              pids_[i]->compute_command(
+                                state_error_.positions[i], state_error_.velocities[i], period);
           }
         }
 
@@ -1582,7 +1581,7 @@ void JointTrajectoryController::update_pids()
     if (pids_[i])
     {
       // update PIDs with gains from ROS parameters
-      pids_[i]->setGains(gains.p, gains.i, gains.d, gains.i_clamp, -gains.i_clamp);
+      pids_[i]->set_gains(gains.p, gains.i, gains.d, gains.i_clamp, -gains.i_clamp);
     }
     else
     {

joint_trajectory_controller/test/test_trajectory_controller.cpp

@@ -325,7 +325,7 @@ TEST_P(TrajectoryControllerTestParameterized, update_dynamic_parameters)
   if (traj_controller_->use_closed_loop_pid_adapter())
   {
     EXPECT_EQ(pids.size(), 3);
-    auto gain_0 = pids.at(0)->getGains();
+    auto gain_0 = pids.at(0)->get_gains();
     EXPECT_EQ(gain_0.p_gain_, 0.0);
 
     double kp = 1.0;
@@ -334,7 +334,7 @@ TEST_P(TrajectoryControllerTestParameterized, update_dynamic_parameters)
 
     pids = traj_controller_->get_pids();
     EXPECT_EQ(pids.size(), 3);
-    gain_0 = pids.at(0)->getGains();
+    gain_0 = pids.at(0)->get_gains();
     EXPECT_EQ(gain_0.p_gain_, kp);
   }
   else

pid_controller/src/pid_controller.cpp

@@ -140,7 +140,7 @@ controller_interface::CallbackReturn PidController::configure_parameters()
     // prefix should be interpreted as parameters prefix
     pids_[i] =
       std::make_shared<control_toolbox::PidROS>(get_node(), "gains." + params_.dof_names[i], true);
-    if (!pids_[i]->initPid())
+    if (!pids_[i]->initialize_from_ros_parameters())
     {
       return CallbackReturn::FAILURE;
     }
@@ -539,19 +539,19 @@ controller_interface::return_type PidController::update_and_write_commands(
           !std::isnan(measured_state_values_[dof_ + i]))
         {
           // use calculation with 'error' and 'error_dot'
-          tmp_command += pids_[i]->computeCommand(
+          tmp_command += pids_[i]->compute_command(
             error, reference_interfaces_[dof_ + i] - measured_state_values_[dof_ + i], period);
         }
         else
         {
           // Fallback to calculation with 'error' only
-          tmp_command += pids_[i]->computeCommand(error, period);
+          tmp_command += pids_[i]->compute_command(error, period);
         }
       }
       else
       {
         // use calculation with 'error' only
-        tmp_command += pids_[i]->computeCommand(error, period);
+        tmp_command += pids_[i]->compute_command(error, period);
       }
 
       // write calculated values