LFControl.hpp
Go to the documentation of this file.
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2010, LABUST, UNIZG-FER
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the LABUST nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *
00034 *  Created on: 03.05.2013.
00035 *  Author: Dula Nad
00036 *********************************************************************/
00037 #ifndef LFCONTROL_HPP_
00038 #define LFCONTROL_HPP_
00039 #include <labust/control/PIDController.hpp>
00040 #include <labust/control/PIDController.h>
00041 #include <labust/navigation/LFModel.hpp>
00042 #include <labust_uvapp/EnableControl.h>
00043 
00044 #include <auv_msgs/NavSts.h>
00045 #include <geometry_msgs/PointStamped.h>
00046 #include <std_msgs/Bool.h>
00047 #include <std_msgs/Float32.h>
00048 #include <auv_msgs/BodyForceReq.h>
00049 #include <ros/ros.h>
00050 
00051 namespace labust
00052 {
00053         namespace control
00054         {
00063                 class LFControl
00064                 {
00065                 public:
00069                         LFControl();
00073                         void onInit();
00077                         void step();
00081                         void start();
00082 
00083                 private:
00087                         void onNewPoint(const geometry_msgs::PointStamped::ConstPtr& ref);
00091                         void onEstimate(const auv_msgs::NavSts::ConstPtr& estimate);
00095                         bool onEnableControl(labust_uvapp::EnableControl::Request& req,
00096                                         labust_uvapp::EnableControl::Response& resp);
00100                         void onOpenLoopSurge(const std_msgs::Float32::ConstPtr& surge);
00104                         //void dynrec_cb(labust_uvapp::VelConConfig& config, uint32_t level);
00108                         //void safetyTest();
00112                         //void updateDynRecConfig();
00116                         ros::NodeHandle nh,ph;
00120                         ros::Time lastEst;
00124                         double timeout, LFKp;
00125 
00129                         void initialize_controller();
00133                         void adjustDH();
00134 
00139                         lfPD dh_controller;
00143                         double Ts, surge, currSurge, wh, currYaw;
00147                         labust::navigation::LFModel::Line line;
00151                         labust::navigation::LFModel::vector T0,Tt;
00155                         bool enable, useHeadingCnt;
00159                         void onWindup(const auv_msgs::BodyForceReq::ConstPtr& tauAch);
00160 
00164                         ros::Publisher nuRef;
00168                         ros::Subscriber stateHat, refPoint, openLoopSurge, windup;
00172                         ros::ServiceServer enableControl;
00176                         //labust_uvapp::VelConConfig config;
00180                   //dynamic_reconfigure::Server<labust_uvapp::VelConConfig> server;
00185                         ::PIDController headingController;
00186                 };
00187         }
00188 }
00189 
00190 /* VELOCITYCONTROL_HPP_ */
00191 #endif


labust_uvapp
Author(s): Dula Nad
autogenerated on Sun Mar 1 2015 12:12:22