Program Listing for File controller_base.hpp
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/********************************************************************************************
* \file controller_base.hpp
* \brief Declares the as2_controller_plugin_base class which is the base
*class for all controller plugins.
*
* \authors Miguel Fernández Cortizas
* Rafael Pérez Seguí
* Pedro Arias Pérez
* David Pérez Saura
*
* \copyright Copyright (c) 2022 Universidad Politécnica de Madrid
* All Rights Reserved
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of the copyright holder nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
* OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
********************************************************************************/
#ifndef CONTROLLER_BASE_HPP
#define CONTROLLER_BASE_HPP
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>
#include <rclcpp/rclcpp.hpp>
#include "as2_core/node.hpp"
#include "as2_msgs/msg/control_mode.hpp"
#include "as2_msgs/msg/thrust.hpp"
#include "as2_msgs/msg/trajectory_point.hpp"
namespace as2_controller_plugin_base {
class ControllerBase {
public:
/*
* @brief Constructor
*/
ControllerBase(){};
/*
* @brief Initialize the controller plugin, since it is a plugin the Constructor must not have
* parameters
* @param node_ptr as2::Node pointer to be used by the controller plugin
*/
void initialize(as2::Node* node_ptr) {
node_ptr_ = node_ptr;
ownInitialize();
};
/*
* @brief Own initialize function to be implemented by the controller plugin
*/
virtual void ownInitialize(){};
/*
* @brief Update the State obtained from the sensors to be used by the controller plugin
* @param pose_msg geometry_msgs::msg::PoseStamped message with the current pose of the robot in
* the "odom" frame
* @param twist_msg geometry_msgs::msg::TwistStamped message with the current twist of the robot
* in the "base_link" frame
*/
virtual void updateState(const geometry_msgs::msg::PoseStamped& pose_msg,
const geometry_msgs::msg::TwistStamped& twist_msg) = 0;
/*
* @brief Update the pose reference to be used by the controller plugin
* @param ref geometry_msgs::msg::PoseStamped message with the current pose of the robot in
* the "odom" frame
*/
virtual void updateReference(const geometry_msgs::msg::PoseStamped& ref){};
/*
* @brief Update the speedreference to be used by the controller plugin
* @param ref geometry_msgs::msg::TwistStamped message with the current twist of the robot in the
* "base_link" frame
*/
virtual void updateReference(const geometry_msgs::msg::TwistStamped& ref){};
/*
* @brief Update the reference to be used by the controller plugin
* @param ref as2_msgs::msg::TrajectoryPoint message with the current reference of
* the robot in the "odom" frame
*/
virtual void updateReference(const as2_msgs::msg::TrajectoryPoint& ref){};
// virtual void updateReference(const as2_msgs::msg::Thrust& ref){};
/*
* @brief Compute the output signal of the controller plugin
* @param pose geometry_msgs::msg::PoseStamped message with the output pose of the robot. The
* frame will depend on the output control mode
* @param twist geometry_msgs::msg::TwistStamped message with the output twist of the robot. The
* frame will depend on the output control mode
* @param thrust as2_msgs::msg::Thrust message with the output thrust of the robot
*/
virtual bool computeOutput(double dt,
geometry_msgs::msg::PoseStamped& pose,
geometry_msgs::msg::TwistStamped& twist,
as2_msgs::msg::Thrust& thrust) = 0;
/*
* @brief Update the control mode to be used by the controller plugin
* @param mode_in as2_msgs::msg::ControlMode message with the desired input control mode
* @param mode_out as2_msgs::msg::ControlMode message with the desired output control mode
* @return bool true if the in-out control mode configuration is valid, false otherwise
*/
virtual bool setMode(const as2_msgs::msg::ControlMode& mode_in,
const as2_msgs::msg::ControlMode& mode_out) = 0;
/*
* @brief Update the parameters of the controller plugin
* @param params std::vector<std::string> vector with the parameters of the Controller Manager
* Node
* @return bool true if the parameters are updated correctly, false otherwise
*/
virtual bool updateParams(const std::vector<std::string>& _params_list) = 0;
/*
* @brief Reset the internal state of the controller plugin
*/
virtual void reset() = 0;
/*
* @brief Get the desired frame_id of the state and reference pose msgs
* By default it is "odom"
*/
virtual std::string getDesiredPoseFrameId() { return "odom"; }
/*
* @brief Get the desired frame_id of the state and reference twist msgs
* By default it is "base_link"
*/
virtual std::string getDesiredTwistFrameId() { return "base_link"; }
/*
* @brief Destructor
*/
virtual ~ControllerBase(){};
protected:
/* @brief as2::Node pointer to be used by the controller plugin */
inline as2::Node* getNodePtr() { return node_ptr_; }
as2::Node* node_ptr_;
}; // ControllerBase
}; // namespace as2_controller_plugin_base
#endif // CONTROLLER_BASE_HPP