UALFControl.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/PIFFController.h>
#include <labust/tools/conversions.hpp>

#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>

#include <Eigen/Dense>
#include <auv_msgs/BodyVelocityReq.h>
#include <auv_msgs/BodyForceReq.h>
#include <geometry_msgs/TransformStamped.h>
#include <geometry_msgs/Vector3Stamped.h>
#include <ros/ros.h>

namespace labust
{
        namespace control{
                struct UALFControl : DisableAxis
                {
                        UALFControl():
                                Ts(0.1),
                                aAngle(M_PI/8),
                                wh(0.2),
                                underactuated(false),
                                use_gvel(false),
                                listener(buffer){};

                        void init()
                        {
                                initialize_controller();
                        }

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

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

                void idle(const auv_msgs::NavSts& ref, const auv_msgs::NavSts& state,
                                const auv_msgs::BodyVelocityReq& track)
                {
                        //Tracking external commands while idle (bumpless)ž
                        if (!underactuated)
                        {
                                try
                                {
                                        geometry_msgs::TransformStamped dH;
                                        dH = buffer.lookupTransform("course_frame", "base_link", ros::Time(0));
                                        double roll, pitch, gamma;
                                        labust::tools::eulerZYXFromQuaternion(dH.transform.rotation,
                                                        roll, pitch, gamma);

                                        con.desired = ref.position.east;
                                        con.state = dH.transform.translation.y;
                                        Eigen::Vector2f out, in;
                                        Eigen::Matrix2f R;
                                        in<<state.body_velocity.x,state.body_velocity.y;
                                        out = R*in;
                                        con.track = out(1);
                                        PIFF_ffIdle(&con, Ts, 0);
                                }
                                catch (tf2::TransformException& ex)
                                {
                                        ROS_WARN("%s",ex.what());
                                }
                        }
                };

                        auv_msgs::BodyVelocityReqPtr step(const auv_msgs::NavSts& ref,
                                        const auv_msgs::NavSts& state)
                        {
                                auv_msgs::BodyVelocityReqPtr nu(new auv_msgs::BodyVelocityReq());

                                if (ref.header.frame_id != "course_frame")
                                {
                                        ROS_WARN("The reference frame id is not 'course_frame'.");
                                }
                                //Get the position in the line frame
                                try
                                {
                                        geometry_msgs::TransformStamped dH;
                                        dH = buffer.lookupTransform("course_frame", "base_link", ros::Time(0));
                                        double roll, pitch, gamma;
                                        labust::tools::eulerZYXFromQuaternion(dH.transform.rotation,
                                                        roll, pitch, gamma);

                                        con.desired = ref.position.east;
                                        con.state = dH.transform.translation.y;

                                        geometry_msgs::Vector3Stamped vdh;
                                        vdh.vector.y = con.state;
                                        vdh.header.stamp = ros::Time::now();
                                        dh_pub.publish(vdh);

                                        //Calculate desired yaw-rate
                                        if (underactuated)
                                        {
                                                PSatD_tune(&con,wh,aAngle,ref.body_velocity.x);
                                                double dd = -ref.body_velocity.x*sin(gamma);
                                                PSatD_dStep(&con,Ts,dd);
                                                //PSatD_step(&con,Ts);
                                                ROS_DEBUG("Limiter: %f", con.outputLimit);
                                                nu->twist.angular.z = con.output;
                                                nu->twist.linear.x = ref.body_velocity.x;
                                        }
                                        else
                                        {
                                                Eigen::Vector2f out, in;
                                                Eigen::Matrix2f R;
                                                if (use_gvel)
                                                {
                                                        in<<state.gbody_velocity.x,state.gbody_velocity.y;
                                                }
                                                else
                                                {
                                                        in<<state.body_velocity.x,state.body_velocity.y;
                                                }
                                                R<<cos(gamma),-sin(gamma),sin(gamma),cos(gamma);
                                                out = R*in;
                                                con.track = out(1);
                                                PIFF_ffStep(&con,Ts,0);
                                                double ul = ref.body_velocity.x;
                                                double vl = con.output;
                                                ROS_DEBUG("Command output: ul=%f, vl=%f", ul, vl);

                                                in<<ul,vl;
                                                ROS_DEBUG("Gamma: %f", gamma);
                                                out = R.transpose()*in;
                                                nu->twist.linear.x = out(0);
                                                nu->twist.linear.y = out(1);
                                        }

                                        ROS_DEBUG("Command output: cmd=%f, dH=%f, ac=%f", con.output, dH.transform.translation.y,
                                                        dH.transform.translation.x);
                                }
                                catch (tf2::TransformException& ex)
                                {
                                        ROS_WARN("%s",ex.what());
                                }

                                nu->header.stamp = ros::Time::now();
                                nu->goal.requester = (underactuated)?"ualf_controller":"falf_controller";
                                labust::tools::vectorToDisableAxis(disable_axis, nu->disable_axis);

                                return nu;
                        }

                        void initialize_controller()
                        {
                                ROS_INFO("Initializing LF controller...");
                                ros::NodeHandle nh, ph("~");
                                nh.param("ualf_controller/closed_loop_freq",wh,wh);
                                double surge(0.1);
                                nh.param("ualf_controller/default_surge",surge,surge);
                        nh.param("ualf_controller/approach_angle",aAngle,aAngle);
                                nh.param("ualf_controller/sampling",Ts,Ts);
                                nh.param("velocity_controller/use_ground_vel", use_gvel, use_gvel);
                                ph.param("underactuated",underactuated,underactuated);
                                dh_pub = nh.advertise<geometry_msgs::Vector3Stamped>("dh_calc",1);
                                
                                PIDBase_init(&con);

                                disable_axis[0] = 0;
                                if (underactuated)
                                {
                                        disable_axis[5] = 0;
                                        PSatD_tune(&con,wh,aAngle,surge);
                                }
                                else
                                {
                                        disable_axis[1] = 0;
                                        PIFF_tune(&con,wh);
                                }
                                //con.b = 1.0;

                                ROS_INFO("LF controller initialized.");
                        }

                private:
                        PIDBase con;
                        double Ts;
                        double aAngle, wh;
                        bool underactuated;
                        bool use_gvel;
                        tf2_ros::Buffer buffer;
                        tf2_ros::TransformListener listener;
                        ros::Publisher dh_pub;
                };
        }}

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

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

        return 0;
}