FADPControl.cpp

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 *  Author: Dula Nad
 *  Created: 01.02.2013.
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#include <labust/control/HLControl.hpp>
#include <labust/control/EnablePolicy.hpp>
#include <labust/control/WindupPolicy.hpp>
#include <labust/control/PIFFController.h>
#include <labust/control/IPFFController.h>
#include <labust/math/NumberManipulation.hpp>
#include <labust/tools/MatrixLoader.hpp>
#include <labust/tools/conversions.hpp>

#include <Eigen/Dense>
#include <auv_msgs/BodyForceReq.h>
#include <std_msgs/Float32.h>
#include <ros/ros.h>

namespace labust
{
        namespace control{
                struct FADPControl : DisableAxis
                {
                        enum {x=0,y};

                        FADPControl():Ts(0.1),use_gvel(false),manRefNorthFlag(true),manRefEastFlag(true){};

                        void init()
                        {
                                ros::NodeHandle nh;
                                manRefNorthSub = nh.subscribe<std_msgs::Bool>("manRefNorthPosition",1,&FADPControl::onManNorthRef,this);
                                manRefEastSub = nh.subscribe<std_msgs::Bool>("manRefEastPosition",1,&FADPControl::onManEastRef,this);

                                initialize_controller();
                        }

                        void onManNorthRef(const std_msgs::Bool::ConstPtr& state)
                        {
                                manRefNorthFlag = state->data;
                        }

                        void onManEastRef(const std_msgs::Bool::ConstPtr& state)
                        {
                                manRefEastFlag = state->data;
                        }


                        void windup(const auv_msgs::BodyForceReq& tauAch)
                        {
                                //Copy into controller
                                bool joint_windup = tauAch.windup.x || tauAch.windup.y;
                                con[x].extWindup = joint_windup;
                                con[y].extWindup = joint_windup;
                        };

                        void idle(const auv_msgs::NavSts& ref, const auv_msgs::NavSts& state,
                                                        const auv_msgs::BodyVelocityReq& track)
                        {
                                //Tracking external commands while idle (bumpless)
                                Eigen::Vector2f out, in;
                                Eigen::Matrix2f R;
                                in<<track.twist.linear.x,track.twist.linear.y;
                                double yaw(state.orientation.yaw);
                                R<<cos(yaw),-sin(yaw),sin(yaw),cos(yaw);
                                out = R*in;
                                con[x].desired = state.position.north;
                                con[y].desired = state.position.east;
                                con[x].track = out(0);
                                con[y].track = out(1);
                                con[x].state = state.position.north;
                                con[y].state = state.position.east;

                                in<<ref.body_velocity.x,ref.body_velocity.y;
                                yaw = ref.orientation.yaw;
                                R<<cos(yaw),-sin(yaw),sin(yaw),cos(yaw);
                                out = R*in;
                                PIFF_ffIdle(&con[x],Ts, float(out(x)));
                                PIFF_ffIdle(&con[y],Ts, float(out(y)));
                        };

                        void reset(const auv_msgs::NavSts& ref, const auv_msgs::NavSts& state)
                        {
                                //UNUSED
                        };

                        auv_msgs::BodyVelocityReqPtr step(const auv_msgs::NavSts& ref,
                                                        const auv_msgs::NavSts& state)
                        {
                                con[x].desired = ref.position.north;
                                con[y].desired = ref.position.east;
                                con[x].state = state.position.north;
                                con[y].state = state.position.east;
                                //Calculate tracking values
                                Eigen::Vector2f out, in;
                                Eigen::Matrix2f Rb,Rr;
                                if (use_gvel)
                                {
                                        in<<state.gbody_velocity.x,state.gbody_velocity.y;
                                }
                                else
                                {
                                        in<<state.body_velocity.x,state.body_velocity.y;
                                }
                                double yaw(state.orientation.yaw);
                                Rb<<cos(yaw),-sin(yaw),sin(yaw),cos(yaw);
                                out = Rb*in;
                                con[x].track = out(x);
                                con[y].track = out(y);
                                //Calculate feed forward
                                in<<ref.body_velocity.x,ref.body_velocity.y;
                                yaw = ref.orientation.yaw;
                                Rr<<cos(yaw),-sin(yaw),sin(yaw),cos(yaw);
                                out = Rr*in;
                                //Make step

                                //Publish commands
                                double tmp_output_x, tmp_output_y;
                                auv_msgs::BodyVelocityReqPtr nu(new auv_msgs::BodyVelocityReq());

                                if(manRefNorthFlag)
                                {
                                        PIFF_ffStep(&con[x], Ts, float(out(x)));
                                        tmp_output_x = con[x].output;
                                }
                                else
                                {
                                        PIFF_ffIdle(&con[x],Ts, float(out(x)));
                                        tmp_output_x = out(x);
                                }

                                if(manRefEastFlag){
                                        PIFF_ffStep(&con[y], Ts, float(out(y)));
                                        tmp_output_y = con[y].output;
                                }
                                else
                                {
                                        PIFF_ffIdle(&con[y],Ts, float(out(y)));
                                        tmp_output_y = out(y);
                                }

                                //Publish commands
                                nu->header.stamp = ros::Time::now();
                                nu->goal.requester = "fadp_controller";
                                labust::tools::vectorToDisableAxis(disable_axis, nu->disable_axis);
                                in<<tmp_output_x,tmp_output_y;
                                out = Rb.transpose()*in;

                                nu->twist.linear.x = out[0];
                                nu->twist.linear.y = out[1];

                                return nu;
                        }

                        void initialize_controller()
                        {
                                ROS_INFO("Initializing dynamic positioning controller...");

                                ros::NodeHandle nh;
                                Eigen::Vector3d closedLoopFreq(Eigen::Vector3d::Ones());
                                labust::tools::getMatrixParam(nh,"dp_controller/closed_loop_freq", closedLoopFreq);
                                nh.param("dp_controller/sampling",Ts,Ts);
                                nh.param("velocity_controller/use_ground_vel", use_gvel, use_gvel);

                                disable_axis[x] = 0;
                                disable_axis[y] = 0;

                                for (size_t i=0; i<2;++i)
                                {
                                        PIDBase_init(&con[i]);
                                        PIFF_tune(&con[i], float(closedLoopFreq(i)));
                                }

                                ROS_INFO("Dynamic positioning controller initialized.");
                        }

                private:
                        PIDBase con[2];
                        double Ts;
                        bool use_gvel;
                        ros::Subscriber manRefNorthSub, manRefEastSub;
                        bool manRefNorthFlag, manRefEastFlag;

                };
        }}

int main(int argc, char* argv[])
{
        ros::init(argc,argv,"fadp_control");

        labust::control::HLControl<labust::control::FADPControl,
        labust::control::EnableServicePolicy,
        labust::control::WindupPolicy<auv_msgs::BodyForceReq> > controller;
        ros::spin();

        return 0;
}