labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType, ReferenceType > Class Template Reference

#include <HLControl.hpp>

List of all members.

Public Member Functions
	HLControl ()
void	onInit ()
Private Types
enum	{ TIMEOUT = 2 }
Private Member Functions
void	onEstimate (const typename InputType::ConstPtr &estimate)
void	onRef (const typename ReferenceType::ConstPtr &ref)
void	onTrack (const typename OutputType::ConstPtr &ext)
Private Attributes
boost::mutex	cnt_mux
bool	disabled_axis [6]
OutputType	ext
	The external achieved reference.
ros::Subscriber	extSub
bool	lastEn
ros::Publisher	outPub
ReferenceType	ref
bool	refOk
ros::Subscriber	stateSub
ros::Subscriber	trackState

---

Detailed Description

template<class Controller, class Enable = NoEnable, class Windup = NoWindup, class OutputType = auv_msgs::BodyVelocityReq, class InputType = auv_msgs::NavSts, class ReferenceType = auv_msgs::NavSts>
class labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType, ReferenceType >

The class contains the ROS template for high level controllers.

Todo:

Add windup type. Convert into template. EnablePolicy add service, topic option selection.

Consider joining the windup type and output type - this will require republishing of windup up the cascade ?

Definition at line 108 of file HLControl.hpp.

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Member Enumeration Documentation

template<class Controller , class Enable = NoEnable, class Windup = NoWindup, class OutputType = auv_msgs::BodyVelocityReq, class InputType = auv_msgs::NavSts, class ReferenceType = auv_msgs::NavSts>

anonymous enum [private]

Enumerator:

TIMEOUT

Definition at line 110 of file HLControl.hpp.

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Constructor & Destructor Documentation

template<class Controller , class Enable = NoEnable, class Windup = NoWindup, class OutputType = auv_msgs::BodyVelocityReq, class InputType = auv_msgs::NavSts, class ReferenceType = auv_msgs::NavSts>

labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType, ReferenceType >::HLControl

(

)

[inline]

Main constructor

Definition at line 115 of file HLControl.hpp.

---

Member Function Documentation

template<class Controller , class Enable = NoEnable, class Windup = NoWindup, class OutputType = auv_msgs::BodyVelocityReq, class InputType = auv_msgs::NavSts, class ReferenceType = auv_msgs::NavSts>

void labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType, ReferenceType >::onEstimate

(

const typename InputType::ConstPtr &

estimate

)

[inline, private]

Definition at line 156 of file HLControl.hpp.

template<class Controller , class Enable = NoEnable, class Windup = NoWindup, class OutputType = auv_msgs::BodyVelocityReq, class InputType = auv_msgs::NavSts, class ReferenceType = auv_msgs::NavSts>

void labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType, ReferenceType >::onInit

(

)

[inline]

Initialize and setup controller.

Definition at line 124 of file HLControl.hpp.

template<class Controller , class Enable = NoEnable, class Windup = NoWindup, class OutputType = auv_msgs::BodyVelocityReq, class InputType = auv_msgs::NavSts, class ReferenceType = auv_msgs::NavSts>

void labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType, ReferenceType >::onRef

(

const typename ReferenceType::ConstPtr &

ref

)

[inline, private]

Definition at line 143 of file HLControl.hpp.

template<class Controller , class Enable = NoEnable, class Windup = NoWindup, class OutputType = auv_msgs::BodyVelocityReq, class InputType = auv_msgs::NavSts, class ReferenceType = auv_msgs::NavSts>

void labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType, ReferenceType >::onTrack

(

const typename OutputType::ConstPtr &

ext

)

[inline, private]

Definition at line 150 of file HLControl.hpp.

---

Member Data Documentation

template<class Controller , class Enable = NoEnable, class Windup = NoWindup, class OutputType = auv_msgs::BodyVelocityReq, class InputType = auv_msgs::NavSts, class ReferenceType = auv_msgs::NavSts>

boost::mutex labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType, ReferenceType >::cnt_mux [private]

Control locker.

Definition at line 200 of file HLControl.hpp.

template<class Controller , class Enable = NoEnable, class Windup = NoWindup, class OutputType = auv_msgs::BodyVelocityReq, class InputType = auv_msgs::NavSts, class ReferenceType = auv_msgs::NavSts>

bool labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType, ReferenceType >::disabled_axis[6] [private]

The disabled axis.

Definition at line 196 of file HLControl.hpp.

template<class Controller , class Enable = NoEnable, class Windup = NoWindup, class OutputType = auv_msgs::BodyVelocityReq, class InputType = auv_msgs::NavSts, class ReferenceType = auv_msgs::NavSts>

OutputType labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType, ReferenceType >::ext [private]

The external achieved reference.

Definition at line 192 of file HLControl.hpp.

template<class Controller , class Enable = NoEnable, class Windup = NoWindup, class OutputType = auv_msgs::BodyVelocityReq, class InputType = auv_msgs::NavSts, class ReferenceType = auv_msgs::NavSts>

ros::Subscriber labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType, ReferenceType >::extSub [private]

Definition at line 186 of file HLControl.hpp.

template<class Controller , class Enable = NoEnable, class Windup = NoWindup, class OutputType = auv_msgs::BodyVelocityReq, class InputType = auv_msgs::NavSts, class ReferenceType = auv_msgs::NavSts>

bool labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType, ReferenceType >::lastEn [private]

Definition at line 196 of file HLControl.hpp.

template<class Controller , class Enable = NoEnable, class Windup = NoWindup, class OutputType = auv_msgs::BodyVelocityReq, class InputType = auv_msgs::NavSts, class ReferenceType = auv_msgs::NavSts>

ros::Publisher labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType, ReferenceType >::outPub [private]

The publisher of the TAU message.

Definition at line 182 of file HLControl.hpp.

template<class Controller , class Enable = NoEnable, class Windup = NoWindup, class OutputType = auv_msgs::BodyVelocityReq, class InputType = auv_msgs::NavSts, class ReferenceType = auv_msgs::NavSts>

ReferenceType labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType, ReferenceType >::ref [private]

The desired state to track.

Definition at line 190 of file HLControl.hpp.

template<class Controller , class Enable = NoEnable, class Windup = NoWindup, class OutputType = auv_msgs::BodyVelocityReq, class InputType = auv_msgs::NavSts, class ReferenceType = auv_msgs::NavSts>

bool labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType, ReferenceType >::refOk [private]

Definition at line 196 of file HLControl.hpp.

template<class Controller , class Enable = NoEnable, class Windup = NoWindup, class OutputType = auv_msgs::BodyVelocityReq, class InputType = auv_msgs::NavSts, class ReferenceType = auv_msgs::NavSts>

ros::Subscriber labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType, ReferenceType >::stateSub [private]

The subscribed topics.

Definition at line 186 of file HLControl.hpp.

template<class Controller , class Enable = NoEnable, class Windup = NoWindup, class OutputType = auv_msgs::BodyVelocityReq, class InputType = auv_msgs::NavSts, class ReferenceType = auv_msgs::NavSts>

ros::Subscriber labust::control::HLControl< Controller, Enable, Windup, OutputType, InputType, ReferenceType >::trackState [private]

Definition at line 186 of file HLControl.hpp.

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The documentation for this class was generated from the following file:

• HLControl.hpp