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Add string() methods to get the printable information #547

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Add string() methods to get the printable information #547

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14de0ad
Add string() methods to get the printable information
saikishor Nov 19, 2025
cae03d8
reuse information in print
saikishor Nov 19, 2025
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20 changes: 12 additions & 8 deletions control_toolbox/include/control_toolbox/pid.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -139,11 +139,13 @@ struct AntiWindupStrategy
}
}

void print() const
void print() const { std::cout << string() << std::endl; }

std::string string() const
{
std::cout << "antiwindup_strat: " << to_string() << "\ti_max: " << i_max << ", i_min: " << i_min
<< "\ttracking_time_constant: " << tracking_time_constant
<< "\terror_deadband: " << error_deadband << std::endl;
return fmt::format(
"antiwindup_strat: {}\ti_max: {}\ti_min: {}\ttracking_time_constant: {}\terror_deadband: {}",
to_string(), i_max, i_min, tracking_time_constant, error_deadband);
}

operator std::string() const { return to_string(); }
Expand Down Expand Up @@ -319,11 +321,13 @@ class Pid
return true;
}

void print() const
void print() const { std::cout << string() << std::endl; }

std::string string() const
{
std::cout << "Gains: p: " << p_gain_ << ", i: " << i_gain_ << ", d: " << d_gain_
<< ", u_max: " << u_max_ << ", u_min: " << u_min_ << std::endl;
antiwindup_strat_.print();
return fmt::format(
"Gains(p: {}, i: {}, d: {}, u_max: {}, u_min: {}, antiwindup_strat: '{}')", p_gain_,
i_gain_, d_gain_, u_max_, u_min_, antiwindup_strat_.string());
}

double p_gain_ = 0.0; /**< Proportional gain. */
Expand Down