{"action":"created","issue":{"url":"https://api.github.com/repos/fetchrobotics/robot_controllers/issues/21","repository_url":"https://api.github.com/repos/fetchrobotics/robot_controllers","labels_url":"https://api.github.com/repos/fetchrobotics/robot_controllers/issues/21/labels{/name}","comments_url":"https://api.github.com/repos/fetchrobotics/robot_controllers/issues/21/comments","events_url":"https://api.github.com/repos/fetchrobotics/robot_controllers/issues/21/events","html_url":"https://github.com/fetchrobotics/robot_controllers/issues/21","id":160065779,"number":21,"title":"Member  variable updated after return statement","user":{"login":"cpitts1","id":15253641,"avatar_url":"https://avatars.githubusercontent.com/u/15253641?v=3","gravatar_id":"","url":"https://api.github.com/users/cpitts1","html_url":"https://github.com/cpitts1","followers_url":"https://api.github.com/users/cpitts1/followers","following_url":"https://api.github.com/users/cpitts1/following{/other_user}","gists_url":"https://api.github.com/users/cpitts1/gists{/gist_id}","starred_url":"https://api.github.com/users/cpitts1/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/cpitts1/subscriptions","organizations_url":"https://api.github.com/users/cpitts1/orgs","repos_url":"https://api.github.com/users/cpitts1/repos","events_url":"https://api.github.com/users/cpitts1/events{/privacy}","received_events_url":"https://api.github.com/users/cpitts1/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/fetchrobotics/robot_controllers/labels/bug","name":"bug","color":"fc2929"}],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2016-06-13T23:19:19Z","updated_at":"2016-06-14T09:24:54Z","closed_at":null,"body":"I was looking through robot controllers and was trying to understand the code contained in the file pid.cpp. I found that the member variable error_last_ was updated after a return statement:\r\n\r\nhttps://github.com/fetchrobotics/robot_controllers/blob/indigo-devel/robot_controllers/src/pid.cpp#L161\r\n\r\nThis seemed like a problem to me unless there is a C++ trick that I don't know about"},"comment":{"url":"https://api.github.com/repos/fetchrobotics/robot_controllers/issues/comments/225827044","html_url":"https://github.com/fetchrobotics/robot_controllers/issues/21#issuecomment-225827044","issue_url":"https://api.github.com/repos/fetchrobotics/robot_controllers/issues/21","id":225827044,"user":{"login":"mikeferguson","id":899410,"avatar_url":"https://avatars.githubusercontent.com/u/899410?v=3","gravatar_id":"","url":"https://api.github.com/users/mikeferguson","html_url":"https://github.com/mikeferguson","followers_url":"https://api.github.com/users/mikeferguson/followers","following_url":"https://api.github.com/users/mikeferguson/following{/other_user}","gists_url":"https://api.github.com/users/mikeferguson/gists{/gist_id}","starred_url":"https://api.github.com/users/mikeferguson/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mikeferguson/subscriptions","organizations_url":"https://api.github.com/users/mikeferguson/orgs","repos_url":"https://api.github.com/users/mikeferguson/repos","events_url":"https://api.github.com/users/mikeferguson/events{/privacy}","received_events_url":"https://api.github.com/users/mikeferguson/received_events","type":"User","site_admin":false},"created_at":"2016-06-14T09:24:54Z","updated_at":"2016-06-14T09:24:54Z","body":"No magic -- this is just plain wrong. A quick look through repos shows that this isn't actually being used anywhere quite yet:\r\n\r\n * our gazebo sim mainly uses the control_toolbox implementation\r\n * our gazebo parallel gripper controller does use this but has d-gain of 0.0\r\n * Cartesian controllers use this, but aren't even configured for Fetch\r\n\r\nAs such, we can fix it without much issue -- go ahead an open a PR when you get a chance."}}
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