HeadingControl.hpp
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00034 *  Created on: 03.05.2013.
00035 *  Author: Dula Nad
00036 *********************************************************************/
00037 #ifndef HEADINGCONTROL_HPP_
00038 #define HEADINGCONTROL_HPP_
00039 #include <labust/control/PIDController.h>
00040 #include <labust/math/NumberManipulation.hpp>
00041 #include <labust_uvapp/EnableControl.h>
00042 
00043 #include <auv_msgs/NavSts.h>
00044 #include <auv_msgs/BodyForceReq.h>
00045 #include <geometry_msgs/PointStamped.h>
00046 #include <std_msgs/Bool.h>
00047 #include <std_msgs/Float32.h>
00048 #include <tf/transform_listener.h>
00049 #include <ros/ros.h>
00050 
00051 namespace labust
00052 {
00053         namespace control
00054         {
00058                 class HeadingControl
00059                 {
00060                 public:
00064                         HeadingControl();
00068                         void onInit();
00072                         void step();
00076                         void start();
00077 
00078                 private:
00082                         void onHeadingRef(const std_msgs::Float32::ConstPtr& ref);
00086                         //void onTrackPoint(const auv_msgs::NavSts::ConstPtr& ref);
00090                         void onEstimate(const auv_msgs::NavSts::ConstPtr& estimate);
00094                         //void onFlowTwist(const geometry_msgs::TwistStamped::ConstPtr& flowtwist);
00098                         void onWindup(const auv_msgs::BodyForceReq::ConstPtr& tauAch);
00102                         bool onEnableControl(labust_uvapp::EnableControl::Request& req,
00103                                         labust_uvapp::EnableControl::Response& resp);
00107                         void onOpenLoopSurge(const std_msgs::Float32::ConstPtr& surge);
00111                         //void dynrec_cb(labust_uvapp::VelConConfig& config, uint32_t level);
00115                         //void safetyTest();
00119                         //void updateDynRecConfig();
00123                         ros::NodeHandle nh,ph;
00127                         ros::Time lastEst;
00131                         double timeout;
00132 
00136                         void initialize_controller();
00137 
00142                         PIDController headingController;
00146                         double Ts, safetyRadius, surge, flowSurgeEstimate, K1, K2, gammaARad;
00150                         auv_msgs::NavSts state;//, trackPoint;
00154                         bool enable;
00158                         boost::mutex dataMux;
00159 
00163                         ros::Publisher nuRef, vtTwist;
00167                         ros::Subscriber stateHat, enableFlag, windup, flowTwist, openLoopSurge, headingRef;
00171                         labust::math::unwrap yaw_ref;
00175                         ros::ServiceServer enableControl;
00179                         //labust_uvapp::VelConConfig config;
00183                   //dynamic_reconfigure::Server<labust_uvapp::VelConConfig> server;
00187                         tf::TransformListener listener;
00188                 };
00189         }
00190 }
00191 
00192 /* HEADINGCONTROL_HPP_ */
00193 #endif


labust_uvapp
Author(s): Dula Nad
autogenerated on Fri Feb 7 2014 11:36:37