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RateLimiter: Don't update parameters before input checks #437 #554

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8f8b22e
RateLimiter: Don't update parameters before input checks #437
hjh059 Dec 14, 2025
be681a0
fixup! RateLimiter: Don't update parameters before input checks #437
hjh059 Dec 15, 2025
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65 changes: 36 additions & 29 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 @@ -171,68 +171,75 @@ void RateLimiter<T>::set_params(
T min_first_derivative_pos, T max_first_derivative_neg, T min_second_derivative,
T max_second_derivative)
{
min_value_ = min_value;
max_value_ = max_value;
min_first_derivative_neg_ = min_first_derivative_neg;
max_first_derivative_pos_ = max_first_derivative_pos;
min_first_derivative_pos_ = min_first_derivative_pos;
max_first_derivative_neg_ = max_first_derivative_neg;
min_second_derivative_ = min_second_derivative;
max_second_derivative_ = max_second_derivative;
auto tmp_has_value_limits = has_value_limits_;
auto tmp_has_first_derivative_limits = has_first_derivative_limits_;
auto tmp_has_second_derivative_limits = has_second_derivative_limits_;

if (std::isnan(max_value_))
if (std::isnan(max_value))
{
has_value_limits_ = false;
tmp_has_value_limits = false;
}
if (std::isnan(min_value_))
if (std::isnan(min_value))
{
min_value_ = -max_value_;
min_value = -max_value;
}
if (has_value_limits_ && min_value_ > max_value_)
if (tmp_has_value_limits && min_value > max_value)
{
throw std::invalid_argument("Invalid value limits");
}

if (std::isnan(max_first_derivative_pos_))
if (std::isnan(max_first_derivative_pos))
{
has_first_derivative_limits_ = false;
tmp_has_first_derivative_limits = false;
}
if (std::isnan(min_first_derivative_neg_))
if (std::isnan(min_first_derivative_neg))
{
min_first_derivative_neg_ = -max_first_derivative_pos_;
min_first_derivative_neg = -max_first_derivative_pos;
}
if (has_first_derivative_limits_ && min_first_derivative_neg_ > max_first_derivative_pos_)
if (tmp_has_first_derivative_limits && min_first_derivative_neg > max_first_derivative_pos)
{
throw std::invalid_argument("Invalid first derivative limits");
}
if (has_first_derivative_limits_)
if (tmp_has_first_derivative_limits)
{
if (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_))
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 (tmp_has_first_derivative_limits && min_first_derivative_pos > max_first_derivative_neg)
{
throw std::invalid_argument("Invalid first derivative limits");
}
}

if (std::isnan(max_second_derivative_))
if (std::isnan(max_second_derivative))
{
has_second_derivative_limits_ = false;
tmp_has_second_derivative_limits = false;
}
if (std::isnan(min_second_derivative_))
if (std::isnan(min_second_derivative))
{
min_second_derivative_ = -max_second_derivative_;
min_second_derivative = -max_second_derivative;
}
if (has_second_derivative_limits_ && min_second_derivative_ > max_second_derivative_)
if (tmp_has_second_derivative_limits && min_second_derivative > max_second_derivative)
{
throw std::invalid_argument("Invalid second derivative limits");
}

min_value_ = min_value;
max_value_ = max_value;
min_first_derivative_neg_ = min_first_derivative_neg;
max_first_derivative_pos_ = max_first_derivative_pos;
min_first_derivative_pos_ = min_first_derivative_pos;
max_first_derivative_neg_ = max_first_derivative_neg;
min_second_derivative_ = min_second_derivative;
max_second_derivative_ = max_second_derivative;
has_value_limits_ = tmp_has_value_limits;
has_first_derivative_limits_ = tmp_has_first_derivative_limits;
has_second_derivative_limits_ = tmp_has_second_derivative_limits;
}

template <typename T>
Expand Down
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