From f694d57313a3b9c57864931173ed86dcc5e85211 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 18 Dec 2024 12:15:06 +0000
Subject: [PATCH] Rename initialize methods

---
 include/control_toolbox/pid_ros.hpp | 11 ++++++-----
 src/pid_ros.cpp                     |  6 +++---
 test/pid_parameters_tests.cpp       |  2 +-
 3 files changed, 10 insertions(+), 9 deletions(-)

diff --git a/include/control_toolbox/pid_ros.hpp b/include/control_toolbox/pid_ros.hpp
index b453601..c5c7802 100644
--- a/include/control_toolbox/pid_ros.hpp
+++ b/include/control_toolbox/pid_ros.hpp
@@ -123,14 +123,14 @@ class CONTROL_TOOLBOX_PUBLIC PidROS
    * \brief Initialize the PID controller based on already set parameters
    * \return True if all parameters are set (p, i, d, i_min and i_max), False otherwise
    */
-  bool initialize();
+  bool initialize_from_ros_parameters();
 
   /*!
    * \brief Initialize the PID controller based on already set parameters
    * \return True if all parameters are set (p, i, d, i_min and i_max), False otherwise
    */
-  [[deprecated("Use initialize() instead")]] bool initPid() {
-    return initialize();
+  [[deprecated("Use initialize_from_ros_parameters() instead")]] bool initPid() {
+    return initialize_from_ros_parameters();
   }
 
   /*!
@@ -362,12 +362,13 @@ class CONTROL_TOOLBOX_PUBLIC PidROS
   bool get_boolean_param(const std::string & param_name, bool & value);
 
   /*!
-   * \param topic_prefix prefix to add to the pid parameters.
+   * \brief Set prefix for topic and parameter names
+   * \param[in] topic_prefix prefix to add to the pid parameters.
    *               Per default is prefix interpreted as prefix for topics.
    *               If not stated explicitly using "/" or "~", prefix is interpreted as global, i.e.,
    *               "/" will be added in front of topic prefix
    */
-  void initialize(std::string topic_prefix);
+  void set_prefixes(std::string topic_prefix);
 
   rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr parameter_callback_;
 
diff --git a/src/pid_ros.cpp b/src/pid_ros.cpp
index 2d7b035..6628a8d 100644
--- a/src/pid_ros.cpp
+++ b/src/pid_ros.cpp
@@ -83,7 +83,7 @@ PidROS::PidROS(
   }
   else
   {
-    initialize(prefix);
+    set_prefixes(prefix);
   }
 
   state_pub_ = rclcpp::create_publisher<control_msgs::msg::PidState>(
@@ -92,7 +92,7 @@ PidROS::PidROS(
     new realtime_tools::RealtimePublisher<control_msgs::msg::PidState>(state_pub_));
 }
 
-void PidROS::initialize(std::string topic_prefix)
+void PidROS::set_prefixes(std::string topic_prefix)
 {
   param_prefix_ = topic_prefix;
   // If it starts with a "~", remove it
@@ -164,7 +164,7 @@ bool PidROS::get_double_param(const std::string & param_name, double & value)
   }
 }
 
-bool PidROS::initialize()
+bool PidROS::initialize_from_ros_parameters()
 {
   double p, i, d, i_min, i_max;
   p = i = d = i_min = i_max = std::numeric_limits<double>::quiet_NaN();
diff --git a/test/pid_parameters_tests.cpp b/test/pid_parameters_tests.cpp
index 63affa7..2904586 100644
--- a/test/pid_parameters_tests.cpp
+++ b/test/pid_parameters_tests.cpp
@@ -344,7 +344,7 @@ TEST(PidParametersTest, GetParametersFromParams)
 
   TestablePidROS pid(node);
 
-  ASSERT_TRUE(pid.initialize());
+  ASSERT_TRUE(pid.initialize_from_ros_parameters());
 
   rclcpp::Parameter param_p;
   ASSERT_TRUE(node->get_parameter("p", param_p));