[PID] Update pid documentation to match src code #132
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huemerj
changed the title
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I've only spotted this PR after I merged #138 Could you please check if the current state is satisfsctory or this PR still has changes to add? |
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damn, sorry. Miscommunication between @huemerj and myself. Credits go to him for finding it ;) |
Current state is totally fine, thank you 👍 |
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I updated the documentation for the PID-control class in include/control_toolbox/pid.hpp to match the actual behavior from src/pid.cpp.
In PID-control literature, the error is typically defined as 'error=target-state' and the computeCommand function is also used in this way (e.g. https://github.com/ros-controls/ros2_controllers/blob/a49a87da1df40851a80507d61931d12c969cb015/joint_trajectory_controller/src/joint_trajectory_controller.cpp#L245).
Related to #39