uvt_control.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/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 <auv_msgs/FSPathInfo.h>
#include <ros/ros.h>

namespace labust
{
        namespace control{
                struct UVTControl : DisableAxis
                {
                        enum {u=0,r=5};

                        UVTControl():
                                Ts(0.1),
                                k1(1.0),
                                k2(1.0),
                                kpsi(1.0),
                                psia(M_PI/4){};

                        void init()
                        {
                                initializeController();
                        }

                        void idle(const auv_msgs::FSPathInfo& ref, const auv_msgs::NavSts& state,
                                                        const auv_msgs::BodyVelocityReq& track){};

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

                        auv_msgs::BodyVelocityReqPtr step(const auv_msgs::FSPathInfo& ref,
                                                        const auv_msgs::NavSts& state)
                        {
                                con.desired = ref.orientation.yaw;
                                con.state = (useIP?unwrap(state.orientation.yaw):state.orientation.yaw);
                                con.track = state.orientation_rate.yaw;

                                float errorWrap = labust::math::wrapRad(
                                                                con.desired - con.state);
                                //Zero feed-forward
                                if (useIP)
                                {
                                        IPFF_wffStep(&con,Ts, errorWrap, ref.orientation_rate.yaw);
                                }
                                else
                                {
                                        PIFF_wffStep(&con,Ts, errorWrap, ref.orientation_rate.yaw);
                                }


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

                                double ddelta = -psia*kpsi*(-ref.curvature* sdot * s1 + vt*sin(psi))/cosh(kpsi*y1)^2;
                                nu->twist.angular.z = ddelta - k1*(psi-delta) + 1/radius*sdot;

                                return nu;
                        }

                        void initializeController()
                        {
                                ros::NodeHandle nh;
                                nh.param("uvt_controller/closed_loop_freq", closedLoopFreq, closedLoopFreq);
                                nh.param("uvt_controller/sampling",Ts,Ts);

                                disable_axis[r] = 0;
                                disable_axis[u] = 0;

                                ROS_INFO("Heading controller initialized.");
                        }

                private:
                        double Ts;
                        double k1;
                        double k2;
                        double kpsi;
                        double psia;
                };
        }}

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

        labust::control::HLControl<labust::control::UVTControl,
        labust::control::EnableServicePolicy,
        labust::control::NoWindup,
        auv_msgs::BodyVelocityReq,
        auv_msgs::NavSts,
        auv_msgs::SFPathInfo> controller;


        ros::spin();

        return 0;
}