IRI ROS Specific Algorithm Class. More...

#include <uncalibvs_alg_node.h>

Inheritance diagram for UncalibvsAlgNode:

Public Member Functions
	UncalibvsAlgNode (void)
	Constructor.
	~UncalibvsAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
Private Member Functions
void	height_callback (const mav_msgs::Height::ConstPtr &msg)
void	imu_callback (const sensor_msgs::Imu::ConstPtr &msg)
void	input_tag_callback (const ar_pose::ARMarkers::ConstPtr &msg)
void	ll_status_callback (const asctec_msgs::LLStatus::ConstPtr &msg)
void	model_state_callback (const asctec_msgs::IMUCalcData::ConstPtr &msg)
Private Attributes
bool	activate_
double	angle_pitch_
double	angle_roll_
geometry_msgs::Twist	body_twist_msg_
ros::Publisher	body_twist_publisher_
std_msgs::Bool	Bool_msg_
double	buff_speed_
bool	calibrated_ctrl_
std_msgs::Float64	cmd_pitch_msg_
ros::Publisher	cmd_pitch_publisher_
std_msgs::Float64	cmd_roll_msg_
ros::Publisher	cmd_roll_publisher_
std_msgs::Float64	cmd_thrust_msg_
ros::Publisher	cmd_thrust_publisher_
std_msgs::Float64	cmd_yaw_msg_
ros::Publisher	cmd_yaw_publisher_
double	ctrl_ref_
double	ENUyaw_
double	ENUyaw_fix_
Eigen::MatrixXf	error_
bool	estop_
ros::Publisher	ESTOP_publisher_
double	final_z_
double	height_
double	height_fix_
CMutex	height_mutex_
ros::Subscriber	height_subscriber_
CMutex	imu_mutex_
ros::Subscriber	imu_subscriber_
bool	init_
CMutex	input_tag_mutex_
ros::Subscriber	input_tag_subscriber_
double	lambda_
CMutex	ll_status_mutex_
ros::Subscriber	ll_status_subscriber_
CMutex	model_state_mutex_
ros::Subscriber	model_state_subscriber_
bool	output_files_
std::string	path_
control_toolbox::Pid	pid_pitch_
control_toolbox::Pid	pid_roll_
control_toolbox::Pid	pid_thrust_
control_toolbox::Pid	pid_yaw_
iri_uncalibvs::control	pitch_control_msg_
ros::Publisher	pitch_control_publisher_
double	pitch_kd_
double	pitch_kp_
bool	quadrotor_
bool	random_points_
iri_uncalibvs::control	roll_control_msg_
ros::Publisher	roll_control_publisher_
double	roll_kd_
double	roll_kp_
int	rollpitch_div_
double	rollpitch_sat_max_
double	rollpitch_sat_min_
Eigen::Matrix3f	Rquad_inertial_
double	sat_max_
double	sat_min_
bool	serial_
ros::Publisher	state_publisher_
mav_msgs::Status	Status_msg_
Eigen::MatrixXf	tag_error_
control_toolbox::Pid	tag_pid_pitch_
control_toolbox::Pid	tag_pid_roll_
control_toolbox::Pid	tag_pid_thrust_
control_toolbox::Pid	tag_pid_yaw_
double	tag_pitch_kd_
double	tag_pitch_kp_
double	tag_roll_kd_
double	tag_roll_kp_
double	tag_thrust_kd_
double	tag_thrust_kp_
double	tag_yaw_kd_
double	tag_yaw_kp_
iri_uncalibvs::control	thrust_control_msg_
ros::Publisher	thrust_control_publisher_
double	thrust_kd_
double	thrust_kp_
ros::Time	time_
ros::Time	time_last_
bool	traditional_
double	trimm_x_
double	trimm_y_
geometry_msgs::Twist	twist_ctrl_out_
geometry_msgs::Twist	twist_quad_
geometry_msgs::Twist	twist_quad_asctec_
Uncalibvs_Algorithm	uncalib_vs_alg_
iri_uncalibvs::control	yaw_control_msg_
ros::Publisher	yaw_control_publisher_
double	yaw_kd_
double	yaw_kp_
double	yaw_sat_max_
double	yaw_sat_min_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 62 of file uncalibvs_alg_node.h.

Constructor & Destructor Documentation

UncalibvsAlgNode::UncalibvsAlgNode ( void )

Constructor.

This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.

Definition at line 3 of file uncalibvs_alg_node.cpp.

UncalibvsAlgNode::~UncalibvsAlgNode ( void )

Destructor.

This destructor frees all necessary dynamic memory allocated within this this class.

Definition at line 100 of file uncalibvs_alg_node.cpp.

Member Function Documentation

void UncalibvsAlgNode::addNodeDiagnostics ( void ) [protected, virtual]

node add diagnostics

In this abstract function additional ROS diagnostics applied to the specific algorithms may be added.

Implements algorithm_base::IriBaseAlgorithm< Uncalibvs_Algorithm >.

Definition at line 715 of file uncalibvs_alg_node.cpp.

void UncalibvsAlgNode::height_callback ( const mav_msgs::Height::ConstPtr & msg ) [private]

Definition at line 190 of file uncalibvs_alg_node.cpp.

void UncalibvsAlgNode::imu_callback ( const sensor_msgs::Imu::ConstPtr & msg ) [private]

Definition at line 209 of file uncalibvs_alg_node.cpp.

void UncalibvsAlgNode::input_tag_callback ( const ar_pose::ARMarkers::ConstPtr & msg ) [private]

Temp to put control without marker only on Z axis

Pose-based Control

Image-based Control

Definition at line 409 of file uncalibvs_alg_node.cpp.

void UncalibvsAlgNode::ll_status_callback ( const asctec_msgs::LLStatus::ConstPtr & msg ) [private]

Definition at line 147 of file uncalibvs_alg_node.cpp.

void UncalibvsAlgNode::mainNodeThread ( void ) [protected, virtual]

main node thread

This is the main thread node function. Code written here will be executed in every node loop while the algorithm is on running state. Loop frequency can be tuned by modifying loop_rate attribute.

Here data related to the process loop or to ROS topics (mainly data structs related to the MSG and SRV files) must be updated. ROS publisher objects must publish their data in this process. ROS client servers may also request data to the corresponding server topics.

Implements algorithm_base::IriBaseAlgorithm< Uncalibvs_Algorithm >.

Definition at line 105 of file uncalibvs_alg_node.cpp.

void UncalibvsAlgNode::model_state_callback ( const asctec_msgs::IMUCalcData::ConstPtr & msg ) [private]

Definition at line 336 of file uncalibvs_alg_node.cpp.

void UncalibvsAlgNode::node_config_update	(	Config &	config,
		uint32_t	level
	)		`[protected, virtual]`

dynamic reconfigure server callback

This method is called whenever a new configuration is received through the dynamic reconfigure. The derivated generic algorithm class must implement it.

Parameters:

config	an object with new configuration from all algorithm parameters defined in the config file.
level	integer referring the level in which the configuration has been changed.

Implements algorithm_base::IriBaseAlgorithm< Uncalibvs_Algorithm >.

Definition at line 653 of file uncalibvs_alg_node.cpp.