HeadingControl_test.hpp
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00034 *  Author: Dula Nad
00035 *  Created: 01.02.2013.
00036 *********************************************************************/
00037 #ifndef HEADINGCONTROL_TEST_HPP_
00038 #define HEADINGCONTROL_TEST_HPP_
00039 #include <labust/control/HLControl.hpp>
00040 #include <labust/control/PIDController.h>
00041 #include <labust/math/NumberManipulation.hpp>
00042 #include <std_msgs/Float32.h>
00043 
00044 struct HeadingControl
00045 {
00046         HeadingControl():Ts(0.1){};
00047 
00048         void init()
00049         {
00050                 ros::NodeHandle nh;
00051                 headingRef = nh.subscribe<std_msgs::Float32>("heading_ref", 1,
00052                                         &HeadingControl::onHeadingRef,this);
00053 
00054                 initialize_controller();
00055         }
00056 
00057         void onHeadingRef(const std_msgs::Float32::ConstPtr& ref)
00058         {
00059                 headingController.desired = ref->data;
00060         };
00061 
00062         void windup(const auv_msgs::BodyForceReq& tauAch)
00063         {
00064                 //Copy into controller
00065                 headingController.windup = tauAch.disable_axis.yaw;
00066         };
00067 
00068         void step(const auv_msgs::NavSts::ConstPtr& state, auv_msgs::BodyVelocityReqPtr nu)
00069         {
00070                 //if (!enable) return;
00071                 //this->safetyTest();
00072                 headingController.state = labust::math::wrapRad(state->orientation.yaw);
00073                 float errorWrap = labust::math::wrapRad(headingController.desired - headingController.state);
00074                 PIFFExtController_stepWrap(&headingController,Ts, errorWrap);
00075 
00076                 nu->header.stamp = ros::Time::now();
00077                 nu->goal.requester = "heading_controller";
00078                 nu->twist.angular.z = headingController.output;
00079         }
00080 
00081         void initialize_controller()
00082         {
00083                 ROS_INFO("Initializing heading controller...");
00084 
00085                 double w(1);
00086                 ros::NodeHandle nh;
00087                 nh.param("heading_control/heading_closed_loop_freq", w,w);
00088                 nh.param("heading_control/sampling",Ts,Ts);
00089 
00090                 enum {Kp=0, Ki, Kd, Kt};
00091                 PIDController_init(&headingController);
00092                 headingController.gains[Kp] = 2*w;
00093                 headingController.gains[Ki] = w*w;
00094                 headingController.autoTracking = 0;
00095 
00096                 ROS_INFO("Heading controller initialized.");
00097         }
00098 
00099 private:
00100         PIDController headingController;
00101         ros::Subscriber headingRef;
00102         double Ts;
00103 };
00104 
00105 #endif
00106 
00107 
00108 


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