Changelog for package control_toolbox

1.19.0 (2022-05-10)

Switch to std::bind
Increased integral gains & windup limits from +-1000 to +-100000
Update README build status badge
Remove Travis CI config
Add GH actions CI workflow
Update include/control_toolbox/pid.h
code review fixes
Allow smoother resets 1. Currently after a reset (or init), since p_error_last is_ set to 0, the first computeCommand is calculating a false large derivative error. Proposed fix: only calculate error_dot if p_error_last_ contains a real value. The PR leaves reset() behavior untouched, and provides an additional reset function that allows setting the initial values for d_error and i_error 2. Allow setting initial i_error. This allows PID to be used in a smoother manner in systems switching from manual to automatic modes. See: http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-initialization/ 3. Improve cases where dt==0 or invalid errors were given (return last cmd_ instead of 0)
Contributors: Jochen Sprickerhof, Koby Aizer, Matt Reynolds, Steve Golton, Bence Magyar

1.18.2 (2020-06-04)

Python 3 compat part II
Contributors: Tobias Fischer

1.18.1 (2020-06-01)

Python 3 compat
Migrate to new industrial_ci
Contributors: Matt Reynolds, Tobias Fischer

1.18.0 (2020-03-27)

Bump CMake version to avoid CMP0048 warning
add static method to generate non-deterministic seed
migrate to STL random library
Contributors: James Xu, Shane Loretz, ahcorde

1.17.0 (2019-01-31)

update anti windup clamping
update negativeIntegrationAntiwindupTest
Address catkin_lint issues
Add executable flag
convert to package xml format 2
Remove doc header
Contributors: Bence Magyar, Cong, Gennaro Raiola

1.16.0 (2017-11-30)

switched to industrial_ci
Add control_msgs to CATKIN_DEPENDS.
Contributors: Bence Magyar, Mathias Luedtke, Mike Purvis

1.15.0 (2016-06-28)

avoid ABI breaks in PID class
fix add_dependencies call
rollback API changes in PID class
cfg: removed rosbuild support related error handling
Contributors: Bence Magyar, Igor Napolskikh, ipa-mig

1.14.0 (2016-05-03)

Fix negative gains issue and add tests; update gains setting through DynamicReconfig
Add antiwindup and tests to PID controller; rename old behaviour 'clamping'
Move message to control_toolbox
Add optional state publishing to PID controller, for logging/debugging/etc
Fix some typos in comments
changed the range of dynamic reconfigure to allow negative ones
Address -Wunused-parameter warnings
Factor out updatePid as negative calls to computeCommand
Increasing covergae of PID class test suite.
Chain calls of computeCommand and updatePid for code reuse
Contributors: Adolfo Rodriguez Tsouroukdissian, Bence Magyar, Carlos Rosales, Guillaume Walck, Paul Bovbel, VahidAminZ

1.13.2 (2015-05-22)

CRITICAL BUGFIX: Fix broken PID command computation.
Contributors: Adolfo Rodriguez Tsouroukdissian, Paul Bovbel

1.13.1 (2015-04-30)

Improvement in integral contribution implementation. Resolve #32.
Contributors: Adolfo Rodriguez Tsouroukdissian, Carlos Rosales

1.13.0 (2014-10-31)

Harmonize pid gain names between rosparam and dynamic_reconfigure
Read i_clamp_min and i_clamp_max form parameter server - if available
Contributors: Adolfo Rodriguez Tsouroukdissian, Dave Coleman, ipa-fxm

1.12.1 (2014-06-12)

Remove broken test code. Hotfix for #18.
Contributors: Adolfo Rodriguez Tsouroukdissian

1.12.0 (2014-06-12)

pid: Adding quiet flag to suppress error message
Contributors: Jonathan Bohren

1.11.0 (2014-05-12)

Remove rosbuild artifacts
Cleaned up CMake and removed unnecessary dependencies
Made default value negative to match valid range
Fix for i_clamp_min to be negative in dynamic reconfigure
Fix abs/fabs problem with Clang and libc++
Contributors: Adolfo Rodriguez Tsouroukdissian, Dave Coleman, Marco Esposito

1.10.4 (2014-02-05)

Added Travis support
Renamed manifest.xml so it doesn't break rosdep
Expanded range of PID and windup gains for certain applications.
Expanded range of PID and windup gains for certain applications. Lowered default integral and derivative gain
check for CATKIN_ENABLE_TESTING
Add some comments to Parameters.cfg
Add support for dynamic_reconfigure for rosbuild
Contributors: Austin Hendrix, Dave Coleman, Lukas Bulwahn, Paul Dinh

1.10.3 (2013-08-02)

Fix bug in copy constructor.
Contributors: Austin Hendrix

1.10.2 (2013-07-29)

Fix copy constructor.
Merge pull request #1 from davetcoleman/hydro-devel Added dynamic reconfigure for PID gains
Removed const getGains function
Small fixes
Compatibility changes for realtime_tools, tweaked getests
Made realtime_buffer copiable
Added test for getting/settings gains, copying/assigning pid class
Removed const read, added copy constructor and print values function
Added new function getGainsConst that allows one to get the PID gains from a const PID class
Added realtime_tools as a dependency in package.xml and CMakeLists
Added realtime buffer to PID, re-ordered functions to more logical order and to match header file
Fixes per Austin review
Updated CMakeLists.txt and made fixes per Adolfo
Merged hydro-devel
Added dynamic reconfigure for PID gains
Tests build.
Contributors: Austin Hendrix, Dave Coleman

1.10.1 (2013-06-26)

Add dependency on tinyxml.
Contributors: Austin Hendrix

1.10.0 (2013-06-25)

Version 1.10.0
comment format consistentcy
Fixing comment in pid source code
Install tune_pid.py under catkin.
adding install targets
adding missing manifests
merging CMakeLists.txt files from rosbuild and catkin
adding hybrid-buildsystem makefiles
Merging from master, re-adding manifest.xml files
using more standard way of depending on gencpp
Add .gitignore file.
Fixing library export
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
Merge pull request #14 from bobholmberg/fix-PID-unbounded-i_error 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
Removing lie from documentation
Adding Bob's fixes to the backwards-compatibility API
Merge branch 'fix-pid-backwards-compatibility' into fix-PID-unbounded-i_error
bringing back old updatePid function contents
adding documentation warning
This makes the internal computations of updatePid() keep the same sign that they did before the API change
Merge typo
Resolving conflict from new Pid API
Merge branch 'master' into test-bad-integral-bounds
Merge branch 'test-bad-integral-bounds' into fix-PID-unbounded-i_error
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.
Cleaning up documentation, making argument names in function declaration match those in the implementation
adding doxygen deprecation flags
Fixing documentation
Merging changes from other branch
Adding conventional PID computation
Fixing inconsistent formatting, and reducing some duplicated code
remove .svn folder
move control_toolbox into ros_control
Contributors: Adolfo Rodriguez Tsouroukdissian, Austin Hendrix, Bob Holmberg, Jonathan Bohren, Wim Meeussen, wmeeusse

Docutils System Messages

System Message: ERROR/3 (<string>, line 174); backlink

Unknown target name: "i_min".

System Message: ERROR/3 (<string>, line 174); backlink

Unknown target name: "i_max".

System Message: ERROR/3 (<string>, line 175); backlink

Unknown target name: "i_gain".