VirtualTarget.hpp
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00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00034 *  Created on: 03.05.2013.
00035 *  Author: Dula Nad
00036 *********************************************************************/
00037 #ifndef VIRTUALTARGET_HPP_
00038 #define VIRTUALTARGET_HPP_
00039 #include <labust/control/PIDController.h>
00040 #include <labust/math/NumberManipulation.hpp>
00041 #include <labust_uvapp/EnableControl.h>
00042 
00043 #include <auv_msgs/NavSts.h>
00044 #include <auv_msgs/BodyForceReq.h>
00045 #include <geometry_msgs/PointStamped.h>
00046 #include <geometry_msgs/TwistStamped.h>
00047 #include <std_msgs/Bool.h>
00048 #include <std_msgs/Float32.h>
00049 #include <tf2_ros/buffer.h>
00050 #include <tf2_ros/transform_listener.h>
00051 #include <ros/ros.h>
00052 
00053 namespace labust
00054 {
00055         namespace control
00056         {
00060                 class VirtualTarget
00061                 {
00062                 public:
00066                         VirtualTarget();
00070                         void onInit();
00074                         void step();
00078                         void start();
00079 
00080                 private:
00084                         //void onNewPoint(const geometry_msgs::PointStamped::ConstPtr& point);
00088                         //void onTrackPoint(const auv_msgs::NavSts::ConstPtr& ref);
00092                         void onEstimate(const auv_msgs::NavSts::ConstPtr& estimate);
00096                         void onFlowTwist(const geometry_msgs::TwistStamped::ConstPtr& flowtwist);
00100                         void onWindup(const auv_msgs::BodyForceReq::ConstPtr& tauAch);
00104                         bool onEnableControl(labust_uvapp::EnableControl::Request& req,
00105                                         labust_uvapp::EnableControl::Response& resp);
00109                         void onOpenLoopSurge(const std_msgs::Float32::ConstPtr& surge);
00113                         //void dynrec_cb(labust_uvapp::VelConConfig& config, uint32_t level);
00117                         //void safetyTest();
00121                         //void updateDynRecConfig();
00125                         ros::NodeHandle nh,ph;
00129                         ros::Time lastEst;
00133                         double timeout;
00134 
00138                         void initialize_controller();
00139 
00144                         PIDController headingController;
00148                         double Ts, safetyRadius, surge, flowSurgeEstimate, K1, K2, gammaARad;
00152                         auv_msgs::NavSts state;//, trackPoint;
00156                         bool enable, use_flow_frame;
00160                         boost::mutex dataMux;
00161 
00165                         ros::Publisher nuRef, vtTwist;
00169                         ros::Subscriber stateHat, enableFlag, windup, flowTwist, openLoopSurge;
00173                         labust::math::unwrap yaw_ref;
00177                         ros::ServiceServer enableControl;
00181                         //labust_uvapp::VelConConfig config;
00185                   //dynamic_reconfigure::Server<labust_uvapp::VelConConfig> server;
00189                         tf2_ros::Buffer transBuffer;
00193                         tf2_ros::TransformListener listener;
00194                 };
00195         }
00196 }
00197 
00198 /* VIRTUALTARGET_HPP_ */
00199 #endif


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