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Fixed Rate limiter's Asymmetric Initialization #549

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Fixed Rate limiter's Asymmetric Initialization #549

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75f3ebd
Refactor: Fixed rate_limiter.hpp initialization.
thedevmystic Nov 29, 2025
2df6fbc
Refactor: Fixed validation logic.
thedevmystic Nov 29, 2025
c9472fc
Merge branch 'master' into fix/rate_limiter_initialization
thedevmystic Dec 2, 2025
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10 changes: 7 additions & 3 deletions control_toolbox/include/control_toolbox/rate_limiter.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -207,15 +207,19 @@ void RateLimiter<T>::set_params(
}
if (has_first_derivative_limits_)
{
bool asym_given =
!std::isnan(min_first_derivative_pos) ||
!std::isnan(max_first_derivative_neg);
if (std::isnan(max_first_derivative_neg_))
{
max_first_derivative_neg_ = max_first_derivative_pos_;
max_first_derivative_neg_ = -max_first_derivative_pos_;
}
if (std::isnan(min_first_derivative_pos_))
{
min_first_derivative_pos_ = min_first_derivative_neg_;
min_first_derivative_pos_ = -min_first_derivative_neg_;
}
if (has_first_derivative_limits_ && min_first_derivative_pos_ > max_first_derivative_neg_)
if (has_first_derivative_limits_ && asym_given &&
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@thedevmystic thedevmystic Nov 29, 2025

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I didn't removed it, instead I patched it.

But I suggest this is redundant. As we already has set the min_first_derivative_pos_ and, max_first_derivative_neg_.

This is just my opinion, and I welcome yours too.

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@christophfroehlich christophfroehlich Nov 30, 2025

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I don't think the new criterion is necessary?

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@christophfroehlich christophfroehlich Nov 30, 2025

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Suggested change
if (has_first_derivative_limits_ && asym_given &&
if (asym_given &&

Isn't this redundant, too? (L208)

min_first_derivative_pos_ > max_first_derivative_neg_)
{
throw std::invalid_argument("Invalid first derivative limits");
}
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