HDGControl.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/Bool.h>
#include <ros/ros.h>

namespace labust
{
        namespace control{
                struct HDGControl : DisableAxis
                {
                        enum {N=5};

                        HDGControl():Ts(0.1),yawRefPast(0.0),manRefFlag(false){};

                        void init()
                        {
                                ros::NodeHandle nh;
                                manRefSub = nh.subscribe<std_msgs::Bool>("manRefHeading",1,&HDGControl::onManRef,this);
                                initialize_controller();
                        }

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


                        void windup(const auv_msgs::BodyForceReq& tauAch)
                        {
                                //Copy into controller
                                con.extWindup = tauAch.windup.yaw;
                        };


                        void idle(const auv_msgs::NavSts& ref, const auv_msgs::NavSts& state,
                                        const auv_msgs::BodyVelocityReq& track)
                        {
                                //Tracking external commands while idle (bumpless)
                                con.desired = labust::math::wrapRad(state.orientation.yaw);
                                con.state = unwrap(state.orientation.yaw);
                                con.track = track.twist.angular.z;

                                float werror = labust::math::wrapRad(con.desired - con.state);
                                float wperror = con.b*werror + (con.b-1)*con.state;
                                PIFF_wffIdle(&con, Ts, werror, wperror, ref.orientation_rate.yaw);
                        };

                        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)
                        {
                                double a = 0;
                                //Populate variables
                                //con.desired = labust::math::wrapRad(ref.orientation.yaw);
                                yawRefPast = labust::math::wrapRad((1-a)*ref.orientation.yaw + (a)*yawRefPast);
                                con.desired = yawRefPast;
                                //yawRefPast = ref.orientation.yaw;
                                con.state = unwrap(state.orientation.yaw);
                                con.track = state.orientation_rate.yaw;

                                float werror = labust::math::wrapRad(con.desired - con.state);
                                float wperror = con.b*werror + (con.b-1)*con.state;

                                if(manRefFlag)
                                {
                                        PIFF_wffStep(&con,Ts, werror, wperror, 0*ref.orientation_rate.yaw);

                                        //Publish output
                                        auv_msgs::BodyVelocityReqPtr nu(new auv_msgs::BodyVelocityReq());
                                        nu->header.stamp = ros::Time::now();
                                        nu->goal.requester = "hdg_controller";
                                        labust::tools::vectorToDisableAxis(disable_axis, nu->disable_axis);
                                        nu->twist.angular.z = con.output;
                                        return nu;

                                }
                                else
                                {
                                        con.track = ref.orientation_rate.yaw;

                                        PIFF_wffIdle(&con, Ts, werror, wperror,  ref.orientation_rate.yaw);

                                        //Publish output
                                        auv_msgs::BodyVelocityReqPtr nu(new auv_msgs::BodyVelocityReq());
                                        nu->header.stamp = ros::Time::now();
                                        nu->goal.requester = "hdg_controller";
                                        labust::tools::vectorToDisableAxis(disable_axis, nu->disable_axis);
                                        /*** Publish only feed forward speed ***/
                                        nu->twist.angular.z = ref.orientation_rate.yaw;
                                        return nu;
                                }
                        }

                        void initialize_controller()
                        {
                                ROS_INFO("Initializing heading controller...");

                                ros::NodeHandle nh;
                                double closedLoopFreq(1);
                                nh.param("hdg_controller/closed_loop_freq", closedLoopFreq, closedLoopFreq);
                                nh.param("hdg_controller/sampling",Ts,Ts);
                                double overshoot(1.5);
                                nh.param("hdg_controller/overshoot",overshoot,overshoot);

                                disable_axis[N] = 0;

                                PIDBase_init(&con);
                                PIFF_tune(&con, float(closedLoopFreq), overshoot);

                                ROS_INFO("Heading controller initialized.");
                        }

                private:
                        PIDBase con;
                        double Ts;
                        labust::math::unwrap unwrap;
                        double yawRefPast;
                        ros::Subscriber manRefSub;
                        bool manRefFlag;
                };
        }}

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

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

        return 0;
}