Improve PID parameter validation

[christophfroehlich]

#507 (comment)

[codecov-commenter]

Codecov Report

❌ Patch coverage is 84.21053% with 3 lines in your changes missing coverage. Please review.
✅ Project coverage is 82.69%. Comparing base (b37cf44) to head (e74ec11).

Files with missing lines	Patch %	Lines
control_toolbox/include/control_toolbox/pid.hpp	57.14%	0 Missing and 3 partials ⚠️

Additional details and impacted files

@@               Coverage Diff               @@
##           ros2-master     #510      +/-   ##
===============================================
+ Coverage        82.35%   82.69%   +0.33%     
===============================================
  Files               29       29              
  Lines             1984     1982       -2     
  Branches           114      113       -1     
===============================================
+ Hits              1634     1639       +5     
+ Misses             281      274       -7     
  Partials            69       69              

Flag	Coverage Δ
unittests	82.69% <84.21%> (+0.33%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...ontrol_toolbox/include/control_toolbox/pid_ros.hpp	100.00% <ø> (ø)
control_toolbox/src/pid.cpp	83.73% <100.00%> (ø)
control_toolbox/src/pid_ros.cpp	83.77% <100.00%> (ø)
control_toolbox/test/pid_ros_parameters_tests.cpp	99.02% <100.00%> (+0.02%)	⬆️
control_toolbox/test/pid_tests.cpp	100.00% <ø> (ø)
control_toolbox/include/control_toolbox/pid.hpp	65.75% <57.14%> (+4.77%)	⬆️

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[christophfroehlich]

@bijoua29 @ViktorCVS maybe you can have a quick look please, do you agree?

[bijoua29]

Have you checked if i_min=i_max=0, that it is internally consistent?

[christophfroehlich]

Have you checked if i_min=i_max=0, that it is internally consistent?

From: https://en.cppreference.com/w/cpp/algorithm/clamp.html

If lo is greater than hi, the behavior is undefined.

If it equals, then std::clamp will just force it to zero, right?