init_pid --> initialize

Co-authored-by: Sai Kishor Kothakota <[email protected]>

Author: christophfroehlich

include/control_toolbox/pid.hpp

@@ -89,7 +89,7 @@ namespace control_toolbox
 
   \verbatim
   control_toolbox::Pid pid;
-  pid.init_pid(6.0, 1.0, 2.0, 0.3, -0.3);
+  pid.initialize(6.0, 1.0, 2.0, 0.3, -0.3);
   double position_desi_ = 0.5;
   ...
   rclcpp::Time last_time = get_clock()->now();
@@ -197,7 +197,7 @@ class CONTROL_TOOLBOX_PUBLIC Pid
    *
    * \note New gains are not applied if i_min_ > i_max_
    */
-  void init_pid(double p, double i, double d, double i_max, double i_min, bool antiwindup = false);
+  void initialize(double p, double i, double d, double i_max, double i_min, bool antiwindup = false);
 
   /*!
    * \brief Zeros out Pid values and initialize Pid-gains and integral term limits
@@ -212,9 +212,9 @@ class CONTROL_TOOLBOX_PUBLIC Pid
    *
    * \note New gains are not applied if i_min_ > i_max_
    */
-  [[deprecated("Use init_pid() instead")]] void initPid(
+  [[deprecated("Use initialize() instead")]] void initPid(
     double p, double i, double d, double i_max, double i_min, bool antiwindup = false) {
-    init_pid(p, i, d, i_max, i_min, antiwindup);
+    initialize(p, i, d, i_max, i_min, antiwindup);
   }
 
   /*!

include/control_toolbox/pid_ros.hpp

@@ -101,7 +101,7 @@ class CONTROL_TOOLBOX_PUBLIC PidROS
    *
    * \note New gains are not applied if i_min_ > i_max_
    */
-  void init_pid(double p, double i, double d, double i_max, double i_min, bool antiwindup);
+  void initialize(double p, double i, double d, double i_max, double i_min, bool antiwindup);
 
   /*!
    * \brief Initialize the PID controller and set the parameters
@@ -114,9 +114,9 @@ class CONTROL_TOOLBOX_PUBLIC PidROS
    *
    * \note New gains are not applied if i_min_ > i_max_
    */
-  [[deprecated("Use init_pid() instead")]] void initPid(
+  [[deprecated("Use initialize() instead")]] void initPid(
     double p, double i, double d, double i_max, double i_min, bool antiwindup) {
-    init_pid(p, i, d, i_max, i_min, antiwindup);
+    initialize(p, i, d, i_max, i_min, antiwindup);
   }
 
   /*!
@@ -130,7 +130,7 @@ class CONTROL_TOOLBOX_PUBLIC PidROS
    * \return True if all parameters are set (p, i, d, i_min and i_max), False otherwise
    */
   [[deprecated("Use init_pid() instead")]] bool initPid() {
-    return init_pid();
+    return initialize();
   }
 
   /*!

src/pid.cpp

@@ -68,7 +68,7 @@ Pid::Pid(const Pid & source)
 
 Pid::~Pid() {}
 
-void Pid::init_pid(double p, double i, double d, double i_max, double i_min, bool antiwindup)
+void Pid::initialize(double p, double i, double d, double i_max, double i_min, bool antiwindup)
 {
   set_gains(p, i, d, i_max, i_min, antiwindup);
 

src/pid_ros.cpp

@@ -164,7 +164,7 @@ bool PidROS::get_double_param(const std::string & param_name, double & value)
   }
 }
 
-bool PidROS::init_pid()
+bool PidROS::initialize()
 {
   double p, i, d, i_min, i_max;
   p = i = d = i_min = i_max = std::numeric_limits<double>::quiet_NaN();
@@ -182,7 +182,7 @@ bool PidROS::init_pid()
     set_parameter_event_callback();
   }
 
-  pid_.init_pid(p, i, d, i_max, i_min, antiwindup);
+  pid_.initialize(p, i, d, i_max, i_min, antiwindup);
 
   return all_params_available;
 }
@@ -194,12 +194,12 @@ void PidROS::declare_param(const std::string & param_name, rclcpp::ParameterValu
   }
 }
 
-void PidROS::init_pid(double p, double i, double d, double i_max, double i_min, bool antiwindup)
+void PidROS::initialize(double p, double i, double d, double i_max, double i_min, bool antiwindup)
 {
   if (i_min > i_max) {
     RCLCPP_ERROR(node_logging_->get_logger(), "received i_min > i_max, skip new gains");
   } else {
-    pid_.init_pid(p, i, d, i_max, i_min, antiwindup);
+    pid_.initialize(p, i, d, i_max, i_min, antiwindup);
 
     declare_param(param_prefix_ + "p", rclcpp::ParameterValue(p));
     declare_param(param_prefix_ + "i", rclcpp::ParameterValue(i));

test/pid_parameters_tests.cpp

@@ -58,7 +58,7 @@ void check_set_parameters(
   const double I_MIN = -10.0;
   const bool ANTIWINDUP = true;
 
-  ASSERT_NO_THROW(pid.init_pid(P, I, D, I_MAX, I_MIN, ANTIWINDUP));
+  ASSERT_NO_THROW(pid.initialize(P, I, D, I_MAX, I_MIN, ANTIWINDUP));
 
   rclcpp::Parameter param;
 
@@ -115,7 +115,7 @@ TEST(PidParametersTest, InitPidTestBadParameter)
   const double I_MAX_BAD = -10.0;
   const double I_MIN_BAD = 10.0;
 
-  ASSERT_NO_THROW(pid.init_pid(P, I, D, I_MAX_BAD, I_MIN_BAD, false));
+  ASSERT_NO_THROW(pid.initialize(P, I, D, I_MAX_BAD, I_MIN_BAD, false));
 
   rclcpp::Parameter param;
 
@@ -216,7 +216,7 @@ TEST(PidParametersTest, SetParametersTest)
   const double I_MIN = -10.0;
   const bool ANTIWINDUP = true;
 
-  pid.init_pid(P, I, D, I_MAX, I_MIN, ANTIWINDUP);
+  pid.initialize(P, I, D, I_MAX, I_MIN, ANTIWINDUP);
 
   rcl_interfaces::msg::SetParametersResult set_result;
 
@@ -266,7 +266,7 @@ TEST(PidParametersTest, SetBadParametersTest)
   const double I_MIN_BAD = 20.0;
   const bool ANTIWINDUP = true;
 
-  pid.init_pid(P, I, D, I_MAX, I_MIN, ANTIWINDUP);
+  pid.initialize(P, I, D, I_MAX, I_MIN, ANTIWINDUP);
 
   rcl_interfaces::msg::SetParametersResult set_result;
 
@@ -314,7 +314,7 @@ TEST(PidParametersTest, GetParametersTest)
   const double I_MIN = -10.0;
   const bool ANTIWINDUP = true;
 
-  pid.init_pid(0.0, 0.0, 0.0, 0.0, 0.0, false);
+  pid.initialize(0.0, 0.0, 0.0, 0.0, 0.0, false);
   pid.set_gains(P, I, D, I_MAX, I_MIN, ANTIWINDUP);
 
   rclcpp::Parameter param;
@@ -344,7 +344,7 @@ TEST(PidParametersTest, GetParametersFromParams)
 
   TestablePidROS pid(node);
 
-  ASSERT_TRUE(pid.init_pid());
+  ASSERT_TRUE(pid.initialize());
 
   rclcpp::Parameter param_p;
   ASSERT_TRUE(node->get_parameter("p", param_p));
@@ -380,8 +380,8 @@ TEST(PidParametersTest, MultiplePidInstances)
   const double I_MAX = 10.0;
   const double I_MIN = -10.0;
 
-  ASSERT_NO_THROW(pid_1.init_pid(P, I, D, I_MAX, I_MIN, false));
-  ASSERT_NO_THROW(pid_2.init_pid(P, I, D, I_MAX, I_MIN, true));
+  ASSERT_NO_THROW(pid_1.initialize(P, I, D, I_MAX, I_MIN, false));
+  ASSERT_NO_THROW(pid_2.initialize(P, I, D, I_MAX, I_MIN, true));
 
   rclcpp::Parameter param_1, param_2;
   ASSERT_TRUE(node->get_parameter("PID_1.p", param_1));

test/pid_publisher_tests.cpp

@@ -39,7 +39,7 @@ TEST(PidPublisherTest, PublishTest)
 
   control_toolbox::PidROS pid_ros = control_toolbox::PidROS(node);
 
-  pid_ros.init_pid(1.0, 1.0, 1.0, 5.0, -5.0, false);
+  pid_ros.initialize(1.0, 1.0, 1.0, 5.0, -5.0, false);
 
   bool callback_called = false;
   control_msgs::msg::PidState::SharedPtr last_state_msg;
@@ -77,7 +77,7 @@ TEST(PidPublisherTest, PublishTestLifecycle)
       pid_ros.get_pid_state_publisher());
   // state_pub_lifecycle_->on_activate();
 
-  pid_ros.init_pid(1.0, 1.0, 1.0, 5.0, -5.0, false);
+  pid_ros.initialize(1.0, 1.0, 1.0, 5.0, -5.0, false);
 
   bool callback_called = false;
   control_msgs::msg::PidState::SharedPtr last_state_msg;