From 49e192f4b334a55265dfbe88b4ffd0cab692e070 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Tue, 17 Dec 2024 19:59:00 +0000
Subject: [PATCH] Make dt arguments const &

---
 include/control_toolbox/pid.hpp     | 17 +++++++++--------
 include/control_toolbox/pid_ros.hpp |  4 ++--
 src/pid.cpp                         | 16 ++++++++--------
 src/pid_ros.cpp                     |  4 ++--
 4 files changed, 21 insertions(+), 20 deletions(-)

diff --git a/include/control_toolbox/pid.hpp b/include/control_toolbox/pid.hpp
index 86156ba..e08b901 100644
--- a/include/control_toolbox/pid.hpp
+++ b/include/control_toolbox/pid.hpp
@@ -343,7 +343,7 @@ class CONTROL_TOOLBOX_PUBLIC Pid
    *
    * \returns PID command
    */
-  [[nodiscard]] double compute_command(double error, double dt_s);
+  [[nodiscard]] double compute_command(double error, const double & dt_s);
 
   /*!
    * \brief Set the PID error and compute the PID command with nonuniform time
@@ -370,7 +370,7 @@ class CONTROL_TOOLBOX_PUBLIC Pid
    *
    * \returns PID command
    */
-  [[nodiscard]] double compute_command(double error, rcl_duration_value_t dt_ns);
+  [[nodiscard]] double compute_command(double error, const rcl_duration_value_t & dt_ns);
 
   /*!
    * \brief Set the PID error and compute the PID command with nonuniform time
@@ -382,7 +382,7 @@ class CONTROL_TOOLBOX_PUBLIC Pid
    *
    * \returns PID command
    */
-  [[nodiscard]] double compute_command(double error, rclcpp::Duration dt);
+  [[nodiscard]] double compute_command(double error, const rclcpp::Duration & dt);
 
   /*!
    * \brief Set the PID error and compute the PID command with nonuniform time
@@ -394,7 +394,7 @@ class CONTROL_TOOLBOX_PUBLIC Pid
    *
    * \returns PID command
    */
-  [[nodiscard]] double compute_command(double error, std::chrono::nanoseconds dt_ns);
+  [[nodiscard]] double compute_command(double error, const std::chrono::nanoseconds & dt_ns);
 
   /*!
    * \brief Set the PID error and compute the PID command with nonuniform
@@ -407,7 +407,7 @@ class CONTROL_TOOLBOX_PUBLIC Pid
    *
    * \returns PID command
    */
-  [[nodiscard]] double compute_command(double error, double error_dot, double dt_s);
+  [[nodiscard]] double compute_command(double error, double error_dot, const double & dt_s);
 
   /*!
    * \brief Set the PID error and compute the PID command with nonuniform
@@ -436,7 +436,8 @@ class CONTROL_TOOLBOX_PUBLIC Pid
    *
    * \returns PID command
    */
-  [[nodiscard]] double compute_command(double error, double error_dot, rcl_duration_value_t dt_ns);
+  [[nodiscard]] double compute_command(
+    double error, double error_dot, const rcl_duration_value_t & dt_ns);
 
   /*!
    * \brief Set the PID error and compute the PID command with nonuniform
@@ -449,7 +450,7 @@ class CONTROL_TOOLBOX_PUBLIC Pid
    *
    * \returns PID command
    */
-  [[nodiscard]] double compute_command(double error, double error_dot, rclcpp::Duration dt);
+  [[nodiscard]] double compute_command(double error, double error_dot, const rclcpp::Duration & dt);
 
   /*!
    * \brief Set the PID error and compute the PID command with nonuniform
@@ -463,7 +464,7 @@ class CONTROL_TOOLBOX_PUBLIC Pid
    * \returns PID command
    */
   [[nodiscard]] double compute_command(
-      double error, double error_dot, std::chrono::nanoseconds dt_ns);
+      double error, double error_dot, const std::chrono::nanoseconds & dt_ns);
 
   /*!
    * \brief Set current command for this PID controller
diff --git a/include/control_toolbox/pid_ros.hpp b/include/control_toolbox/pid_ros.hpp
index 7978ba5..b453601 100644
--- a/include/control_toolbox/pid_ros.hpp
+++ b/include/control_toolbox/pid_ros.hpp
@@ -148,7 +148,7 @@ class CONTROL_TOOLBOX_PUBLIC PidROS
    *
    * \returns PID command
    */
-  double compute_command(double error, rclcpp::Duration dt);
+  double compute_command(double error, const rclcpp::Duration & dt);
 
   /*!
    * \brief Set the PID error and compute the PID command with nonuniform time
@@ -176,7 +176,7 @@ class CONTROL_TOOLBOX_PUBLIC PidROS
    *
    * \returns PID command
    */
-  double compute_command(double error, double error_dot, rclcpp::Duration dt);
+  double compute_command(double error, double error_dot, const rclcpp::Duration & dt);
 
   /*!
    * \brief Set the PID error and compute the PID command with nonuniform
diff --git a/src/pid.cpp b/src/pid.cpp
index 1beaafb..732387a 100644
--- a/src/pid.cpp
+++ b/src/pid.cpp
@@ -122,7 +122,7 @@ void Pid::set_gains(const Gains & gains)
   }
 }
 
-double Pid::compute_command(double error, double dt_s)
+double Pid::compute_command(double error, const double & dt_s)
 {
   if (dt_s <= 0.0 || !std::isfinite(error)) {
     return 0.0;
@@ -135,32 +135,32 @@ double Pid::compute_command(double error, double dt_s)
   return compute_command(error, d_error_, dt_s);
 }
 
-double Pid::compute_command(double error, rcl_duration_value_t dt_ns) {
+double Pid::compute_command(double error, const rcl_duration_value_t & dt_ns) {
   return compute_command(error, static_cast<double>(dt_ns)/1.e9);
 }
 
-double Pid::compute_command(double error, rclcpp::Duration dt) {
+double Pid::compute_command(double error, const rclcpp::Duration & dt) {
   return compute_command(error, dt.seconds());
 }
 
-double Pid::compute_command(double error, std::chrono::nanoseconds dt_ns) {
+double Pid::compute_command(double error, const std::chrono::nanoseconds & dt_ns) {
   return compute_command(error, static_cast<double>(dt_ns.count())/1.e9);
 }
 
-double Pid::compute_command(double error, double error_dot, rcl_duration_value_t dt_ns) {
+double Pid::compute_command(double error, double error_dot, const rcl_duration_value_t & dt_ns) {
   return compute_command(error, error_dot, static_cast<double>(dt_ns)/1.e9);
 }
 
-double Pid::compute_command(double error, double error_dot, rclcpp::Duration dt) {
+double Pid::compute_command(double error, double error_dot, const rclcpp::Duration & dt) {
   return compute_command(error, error_dot, dt.seconds());
 }
 
 double Pid::compute_command(
-    double error, double error_dot, std::chrono::nanoseconds dt_ns) {
+    double error, double error_dot, const std::chrono::nanoseconds & dt_ns) {
   return compute_command(error, error_dot, static_cast<double>(dt_ns.count())/1.e9);
 }
 
-double Pid::compute_command(double error, double error_dot, double dt_s)
+double Pid::compute_command(double error, double error_dot, const double & dt_s)
 {
   // Get the gain parameters from the realtime buffer
   Gains gains = *gains_buffer_.readFromRT();
diff --git a/src/pid_ros.cpp b/src/pid_ros.cpp
index 8c9f0d9..2d7b035 100644
--- a/src/pid_ros.cpp
+++ b/src/pid_ros.cpp
@@ -219,7 +219,7 @@ std::shared_ptr<rclcpp::Publisher<control_msgs::msg::PidState>> PidROS::get_pid_
   return state_pub_;
 }
 
-double PidROS::compute_command(double error, rclcpp::Duration dt)
+double PidROS::compute_command(double error, const rclcpp::Duration & dt)
 {
   double cmd = pid_.compute_command(error, dt);
   publish_pid_state(cmd, error, dt);
@@ -227,7 +227,7 @@ double PidROS::compute_command(double error, rclcpp::Duration dt)
   return cmd;
 }
 
-double PidROS::compute_command(double error, double error_dot, rclcpp::Duration dt)
+double PidROS::compute_command(double error, double error_dot, const rclcpp::Duration & dt)
 {
   double cmd = pid_.compute_command(error, error_dot, dt);
   publish_pid_state(cmd, error, dt);