FADP_3DControl.cpp

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/*********************************************************************
 * FADP_3DControl.cpp
 *
 *  Created on: Apr 16, 2015
 *      Author: Dula Nad, Filip Mandic
 *
 ********************************************************************/

/*********************************************************************
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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, z};

                        FADPControl():Ts(0.1){};

                        void init()
                        {
                                ros::NodeHandle nh;
                                initialize_controller();
                        }

                        void windup(const auv_msgs::BodyForceReq& tauAch)
                        {
                                bool joint_windup = tauAch.windup.x || tauAch.windup.y;
                                con[x].extWindup = joint_windup;
                                con[y].extWindup = joint_windup;
                                con[z].extWindup = tauAch.windup.z;

                        };

                        void idle(const auv_msgs::NavSts& ref, const auv_msgs::NavSts& state,
                                                        const auv_msgs::BodyVelocityReq& track)
                        {
                                //Tracking external commands while idle (bumpless)
                                Eigen::Quaternion<float> q;
                                Eigen::Vector3f in, out;
                                labust::tools::quaternionFromEulerZYX(
                                                state.orientation.roll,
                                                state.orientation.pitch,
                                                state.orientation.yaw, q);
                                in<<track.twist.linear.x,track.twist.linear.y,track.twist.linear.z;
                                out = q.matrix()*in;
                                con[x].desired = state.position.north;
                                con[y].desired = state.position.east;
                                con[z].desired = state.position.depth;
                                con[x].track = out(x);
                                con[y].track = out(y);
                                con[z].track = out(z);
                                con[x].state = state.position.north;
                                con[y].state = state.position.east;
                                con[z].state = state.position.depth;

                                labust::tools::quaternionFromEulerZYX(
                                                ref.orientation.roll,
                                                ref.orientation.pitch,
                                                ref.orientation.yaw, q);
                                in<<ref.body_velocity.x,ref.body_velocity.y,ref.body_velocity.z;
                                out = q.matrix()*in;

                                PIFF_ffIdle(&con[x], Ts, float(out(x)));
                                PIFF_ffIdle(&con[y], Ts, float(out(y)));
                                PIFF_ffIdle(&con[z], Ts, float(out(z)));
                        };

                        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[z].desired = ref.position.depth;
                                con[x].state = state.position.north;
                                con[y].state = state.position.east;
                                con[z].state = state.position.depth;
                                //Calculate tracking values
                                Eigen::Quaternion<float> qs,qr;
                                Eigen::Vector3f in, out;
                                labust::tools::quaternionFromEulerZYX(
                                                state.orientation.roll,
                                                state.orientation.pitch,
                                                state.orientation.yaw, qs);
                                in<<state.body_velocity.x,state.body_velocity.y,state.body_velocity.z;
                                out = qs.matrix()*in;
                                con[x].track = out(x);
                                con[x].track = out(y);
                                con[x].track = out(z);
                                //Calculate feed forward
                                ROS_DEBUG("Position desired: %f %f %f", ref.position.north, ref.position.east, ref.position.depth);
                                labust::tools::quaternionFromEulerZYX(
                                                ref.orientation.roll,
                                                ref.orientation.pitch,
                                                ref.orientation.yaw, qr);
                                in<<ref.body_velocity.x,ref.body_velocity.y,ref.body_velocity.z;
                                out = qr.matrix()*in;
                                //Make step
                                PIFF_ffStep(&con[x], Ts, float(out(x)));
                                PIFF_ffStep(&con[y], Ts, float(out(y)));
                                PIFF_ffStep(&con[z], Ts, float(out(z)));

                                //Publish commands
                                auv_msgs::BodyVelocityReqPtr nu(new auv_msgs::BodyVelocityReq());
                                nu->header.stamp = ros::Time::now();
                                nu->goal.requester = "fadp_3d_controller";
                                labust::tools::vectorToDisableAxis(disable_axis, nu->disable_axis);
                                in<<con[x].output,con[y].output,con[z].output;
                                out = qs.matrix()*in;
                                nu->twist.linear.x = out[x];
                                nu->twist.linear.y = out[y];
                                nu->twist.linear.z = out[z];

                                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);

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


                                enum {Kp=0, Ki, Kd, Kt};
                                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[3];
                        double Ts;
                };
        }}

int main(int argc, char* argv[])
{
        ros::init(argc,argv,"fadp_3d_control");

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

        return 0;
}