speed.h
Go to the documentation of this file.00001 /* -*- mode: C++ -*- 00002 * 00003 * Copyright (C) 2005, 2007, 2009, 2011 Austin Robot Technology 00004 * License: Modified BSD Software License Agreement 00005 * 00006 * $Id: speed.h 1539 2011-05-09 04:09:20Z jack.oquin $ 00007 */ 00008 00024 #ifndef __SPEED_H_ 00025 #define __SPEED_H_ 00026 00027 #include <ros/ros.h> 00028 #include <art/pid2.h> 00029 #include <art_pilot/PilotConfig.h> 00030 00031 // epsilon values for brake and throttle requests 00032 #define EPSILON_BRAKE 0.01 00033 #define EPSILON_THROTTLE 0.01 00034 00036 class SpeedControl 00037 { 00038 public: 00039 00040 SpeedControl() 00041 { 00042 // initialize private node handle for getting parameter settings 00043 node_ = ros::NodeHandle("~"); 00044 }; 00045 00055 virtual void adjust(float speed, float error, 00056 float *brake_req, float *throttle_req) = 0; 00057 00059 virtual void configure(art_pilot::PilotConfig &newconfig) = 0; 00060 00062 virtual void reset(void) = 0; 00063 00064 virtual void set_brake_position(float position) 00065 { 00066 brake_position_ = position; 00067 } 00068 virtual void set_throttle_position(float position) 00069 { 00070 throttle_position_ = position; 00071 } 00072 00073 protected: 00074 00075 ros::NodeHandle node_; // private node handle for parameters 00076 float brake_position_; 00077 float throttle_position_; 00078 }; 00079 00081 class SpeedControlMatrix: public SpeedControl 00082 { 00083 public: 00084 00085 SpeedControlMatrix(); 00086 virtual ~SpeedControlMatrix(); 00087 virtual void adjust(float speed, float error, 00088 float *brake_req, float *throttle_req); 00089 virtual void configure(art_pilot::PilotConfig &newconfig); 00090 virtual void reset(void); 00091 00092 private: 00093 00094 boost::shared_ptr<Pid> velpid_; // velocity PID control 00095 }; 00096 00098 class SpeedControlPID: public SpeedControl 00099 { 00100 public: 00101 00102 SpeedControlPID(); 00103 virtual ~SpeedControlPID(); 00104 virtual void adjust(float speed, float error, 00105 float *brake_req, float *throttle_req); 00106 virtual void configure(art_pilot::PilotConfig &newconfig); 00107 virtual void reset(void); 00108 00109 private: 00110 00111 // When true, brake is the controlling device, otherwise throttle. 00112 bool braking_; 00113 00114 boost::shared_ptr<Pid> brake_pid_; // Brake_Pilot control PID 00115 boost::shared_ptr<Pid> throttle_pid_; // Throttle control PID 00116 }; 00117 00118 #endif // __SPEED_H_