PitchControl.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/PSatDController.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 PitchControl : DisableAxis
{
        enum {x=0,y};

        PitchControl():Ts(0.1), useIP(false){};

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

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

        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 = ref.orientation.pitch;
                con.output = con.internalState = track.twist.angular.y;
                con.lastState = con.state = state.orientation.pitch;
                con.lastError = con.desired - con.output;
                con.track = state.orientation_rate.pitch;
        };

        void reset(const auv_msgs::NavSts& ref, const auv_msgs::NavSts& state)
        {
                con.internalState = 0;
                con.lastState = state.orientation.pitch;
        };

        auv_msgs::BodyVelocityReqPtr step(const auv_msgs::NavSts& ref,
                        const auv_msgs::NavSts& state)
        {
                con.desired = ref.orientation.pitch;
                con.state = state.orientation.pitch;
                con.track = state.orientation_rate.pitch;

                //Zero feed-forward
                //PIFF_ffStep(&con,Ts,0);
                //\todo Check the derivative sign
                if (useIP)
                {
                        IPFF_ffStep(&con, Ts, 0);
                        ROS_INFO("Current state=%f, desired=%f, windup=%d", con.state, con.desired, con.windup);
                }
                else
                {
                        PSatD_dStep(&con, Ts, 0);
                        ROS_INFO("Current state=%f, desired=%f", con.state, con.desired);
                }

                auv_msgs::BodyVelocityReqPtr nu(new auv_msgs::BodyVelocityReq());
                nu->header.stamp = ros::Time::now();
                nu->goal.requester = "pitch_controller";
                labust::tools::vectorToDisableAxis(disable_axis, nu->disable_axis);

                nu->twist.angular.y = con.output;

                return nu;
        }

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

                ros::NodeHandle nh;
                double closedLoopFreq(1);
                nh.param("pitch_controller/closed_loop_freq", closedLoopFreq, closedLoopFreq);
                nh.param("pitch_controller/sampling",Ts,Ts);
                nh.param("pitch_controller/use_ip",useIP,useIP);

                disable_axis[4] = 0;

                PIDBase_init(&con);
                //PIFF_tune(&con, float(closedLoopFreq));
                if (useIP)
                {
                        IPFF_tune(&con, float(closedLoopFreq));
                }
                else
                {
                        PSatD_tune(&con, float(closedLoopFreq), 0, 1);
                        con.outputLimit = 1;
                }

                ROS_INFO("Pitch controller initialized.");
        }

private:
        ros::Subscriber Pitch_sub;
        PIDBase con;
        double Ts;
        bool useIP;
};
}}

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

        labust::control::HLControl<labust::control::PitchControl,
        labust::control::EnableServicePolicy,
        labust::control::WindupPolicy<auv_msgs::BodyForceReq> > controller;

        ros::spin();

        return 0;
}