LFControl.hpp
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00034 *  Created on: 03.05.2013.
00035 *  Author: Dula Nad
00036 *********************************************************************/
00037 #ifndef LFCONTROL_HPP_
00038 #define LFCONTROL_HPP_
00039 #include <labust/control/PIDController.hpp>
00040 #include <labust/control/PIDController.h>
00041 #include <labust/navigation/LFModel.hpp>
00042 #include <labust_uvapp/EnableControl.h>
00043 
00044 #include <auv_msgs/NavSts.h>
00045 #include <geometry_msgs/PointStamped.h>
00046 #include <std_msgs/Bool.h>
00047 #include <std_msgs/Float32.h>
00048 #include <auv_msgs/BodyForceReq.h>
00049 #include <ros/ros.h>
00050 
00051 namespace labust
00052 {
00053         namespace control
00054         {
00063                 class LFControl
00064                 {
00065                 public:
00069                         LFControl();
00073                         void onInit();
00077                         void step();
00081                         void start();
00082 
00083                 private:
00087                         void onNewPoint(const geometry_msgs::PointStamped::ConstPtr& ref);
00091                         void onEstimate(const auv_msgs::NavSts::ConstPtr& estimate);
00095                         bool onEnableControl(labust_uvapp::EnableControl::Request& req,
00096                                         labust_uvapp::EnableControl::Response& resp);
00100                         void onOpenLoopSurge(const std_msgs::Float32::ConstPtr& surge);
00104                         //void dynrec_cb(labust_uvapp::VelConConfig& config, uint32_t level);
00108                         //void safetyTest();
00112                         //void updateDynRecConfig();
00116                         ros::NodeHandle nh,ph;
00120                         ros::Time lastEst;
00124                         double timeout, LFKp;
00125 
00129                         void initialize_controller();
00133                         void adjustDH();
00134 
00139                         lfPD dh_controller;
00143                         double Ts, surge, currSurge, wh, currYaw;
00147                         labust::navigation::LFModel::Line line;
00151                         labust::navigation::LFModel::vector T0,Tt;
00155                         bool enable, useHeadingCnt;
00159                         void onWindup(const auv_msgs::BodyForceReq::ConstPtr& tauAch);
00160 
00164                         ros::Publisher nuRef;
00168                         ros::Subscriber stateHat, refPoint, openLoopSurge, windup;
00172                         ros::ServiceServer enableControl;
00176                         //labust_uvapp::VelConConfig config;
00180                   //dynamic_reconfigure::Server<labust_uvapp::VelConConfig> server;
00185                         ::PIDController headingController;
00186                 };
00187         }
00188 }
00189 
00190 /* VELOCITYCONTROL_HPP_ */
00191 #endif


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