artag_pose_based_vs_alg.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _artag_pose_based_vs_alg_h_
#define _artag_pose_based_vs_alg_h_

#include <iri_artag_pose_based_vs/ArtagPoseBasedVsConfig.h>
#include "mutex.h"

#include <iostream>

#include <tf/transform_listener.h>
#include <tf/transform_datatypes.h>

#include <Eigen/Dense>


#include <pose_based_vs.h>

//include artag_pose_based_vs_alg main library

using namespace Eigen;

class ArtagPoseBasedVsAlgorithm
{
  protected:
    CMutex alg_mutex_;

    // private attributes and methods

    MatrixXd current_pose_;  // Marker current pose in camera frame.
    MatrixXd desired_pose_;  // Marker desired pose in camera frame.
    MatrixXd cam_vel_;   // Camera velocities

    double dt_;
    double i_lim_; //PID integral term limit (+ and -).

    //PID
    MatrixXd p_error_last_; //Save position state for derivative state calculation.
    MatrixXd p_error_; //Position error.
    MatrixXd d_error_; //Derivative error.
    MatrixXd i_error_; //Integator error.
    MatrixXd kp_;  //Proportional gain.
    MatrixXd kd_;  //Derivative gain.
    MatrixXd ki_;  //Integral gain.
    double cmd_;     //Command to send.

  public:
    typedef iri_artag_pose_based_vs::ArtagPoseBasedVsConfig Config;

    Config config_;

    ArtagPoseBasedVsAlgorithm(void);

    void lock(void) { alg_mutex_.enter(); };

    void unlock(void) { alg_mutex_.exit(); };

    bool try_enter(void) { return alg_mutex_.try_enter(); };

    void config_update(Config& new_cfg, uint32_t level=0);

    // here define all artag_pose_based_vs_alg interface methods to retrieve and set
    // the driver parameters

    ~ArtagPoseBasedVsAlgorithm(void);

    void pose_based_vs(const MatrixXd& desired_pose,
                       const MatrixXd& current_pose,
                       const double& dt, 
                       const MatrixXd& kp,
                       const MatrixXd& kd,
                       const MatrixXd& ki,
                       const double& i_lim,
                       MatrixXd& cam_vel);

    CPose_Based_Vs pbvs;

    double updatePid(double& error,const double& dt,const double& i);
};

#endif