From ad0f9f5adaabd8214d0bf3f58baa5ea4b0072a1d Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Mon, 30 Jul 2018 15:13:52 +0200
Subject: [PATCH] pid controller: added missing allocation of vectors
---
source/RobotAPI/libraries/core/MultiDimPIDController.h | 8 +++++++-
1 file changed, 7 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/libraries/core/MultiDimPIDController.h b/source/RobotAPI/libraries/core/MultiDimPIDController.h
index 8c97be3dd..4186cb9b1 100644
--- a/source/RobotAPI/libraries/core/MultiDimPIDController.h
+++ b/source/RobotAPI/libraries/core/MultiDimPIDController.h
@@ -71,6 +71,12 @@ namespace armarx
void update(const double deltaSec, const PIDVectorX& measuredValue, const PIDVectorX& targetValue)
{
ScopedRecursiveLockPtr lock = getLock();
+ if (stackAllocations.zeroVec.rows() == 0)
+ {
+ preallocate(measuredValue.rows());
+ }
+ ARMARX_CHECK_EQUAL(measuredValue.rows(), targetValue.rows());
+ ARMARX_CHECK_EQUAL(measuredValue.rows(), stackAllocations.zeroVec.rows());
processValue = measuredValue;
target = targetValue;
@@ -96,7 +102,7 @@ namespace armarx
if (!firstRun)
{
integral += error * deltaSec;
- integral = std::min(integral,maxIntegral);
+ integral = std::min(integral, maxIntegral);
if (deltaSec > 0.0)
{
derivative = (error - previousError) / deltaSec;
--
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