pose_based_vs_alg.h

Go to the documentation of this file.

// 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 _pose_based_vs_alg_h_
#define _pose_based_vs_alg_h_

#include <iri_pose_based_vs/PoseBasedVsConfig.h>
#include "mutex.h"

#include <vector>
#include <iostream>

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

#include <Eigen/Dense>
#include <Eigen/Eigenvalues>

//include pose_based_vs_alg main library

class PoseBasedVsAlgorithm
{
  protected:
    CMutex alg_mutex_;

    // private attributes and methods

    std::vector<double> current_pose_,desired_pose_,cam_vel_;

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

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

  public:
    typedef iri_pose_based_vs::PoseBasedVsConfig Config;

    Config config_;

    PoseBasedVsAlgorithm(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 pose_based_vs_alg interface methods to retrieve and set
    // the driver parameters

    ~PoseBasedVsAlgorithm(void);

    void pose_vs(const std::vector<double>& current_pose,const std::vector<double>& desired_pose,const std::vector<double>& kp,const std::vector<double>& kd,const std::vector<double>& ki,const double& i_lim,const double& dt,std::vector<double>& cam_vel);

    double updatePid(double error, double dt, double i);

};

#endif