Revert "Don't use const&"

This reverts commit 15c94a4.
ros-controls · Jan 29, 2025 · 2a336f1 · 2a336f1
1 parent c607dda
commit 2a336f1
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Showing 2 changed files with 4 additions and 6 deletions.
diff --git a/include/control_toolbox/pid_ros.hpp b/include/control_toolbox/pid_ros.hpp
@@ -188,8 +188,7 @@ class PidROS
    *
    * \returns PID command
    */
-  // TODO(christophfroehlich): add const& for duration -> breaks ABI
-  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
@@ -215,8 +214,7 @@ class PidROS
    *
    * \returns PID command
    */
-  // TODO(christophfroehlich): add const& for duration -> breaks ABI
-  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_ros.cpp b/src/pid_ros.cpp
@@ -237,14 +237,14 @@ 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);
   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);