Public Member Functions | Private Member Functions | Private Attributes
labust::control::DPControl Class Reference

#include <DPControl.hpp>

List of all members.

Public Member Functions

 DPControl ()
void onInit ()
void start ()
void step ()

Private Member Functions

void initialize_controller ()
bool onEnableControl (labust_uvapp::EnableControl::Request &req, labust_uvapp::EnableControl::Response &resp)
void onEstimate (const auv_msgs::NavSts::ConstPtr &estimate)
void onNewPoint (const geometry_msgs::PointStamped::ConstPtr &point)
void onOpenLoopSurge (const std_msgs::Float32::ConstPtr &surge)
void onTrackPoint (const auv_msgs::NavSts::ConstPtr &ref)
void onWindup (const auv_msgs::BodyForceReq::ConstPtr &tauAch)

Private Attributes

PIDController distanceController
bool enable
ros::ServiceServer enableControl
ros::Subscriber enableFlag
PIDController headingController
bool inRegion
ros::Time lastEst
ros::NodeHandle nh
ros::Publisher nuRef
ros::Subscriber openLoopSurge
ros::NodeHandle ph
ros::Subscriber refPoint
ros::Subscriber refTrack
double safetyRadius
auv_msgs::NavSts state
ros::Subscriber stateHat
double surge
double timeout
auv_msgs::NavSts trackPoint
double Ts
ros::Subscriber windup
labust::math::unwrap yaw_ref

Detailed Description

The class contains the implementation of the station keeping controller for a non-holonomic surface vehicle.

Todo:
Split into policies 2D/3D non-holonomic, 2D/3D holonomic, station keep, tracking, PID, backstepping

Definition at line 60 of file DPControl.hpp.


Constructor & Destructor Documentation

Main constructor

Definition at line 49 of file DPControl.cpp.


Member Function Documentation

Initialize the controller parameters etc.

Definition at line 246 of file DPControl.cpp.

bool DPControl::onEnableControl ( labust_uvapp::EnableControl::Request &  req,
labust_uvapp::EnableControl::Response &  resp 
) [private]

Handle the enable control request.

Definition at line 132 of file DPControl.cpp.

void DPControl::onEstimate ( const auv_msgs::NavSts::ConstPtr &  estimate) [private]

Handle incoming estimates message.

Definition at line 144 of file DPControl.cpp.

Initialize and setup controller.

Definition at line 61 of file DPControl.cpp.

void DPControl::onNewPoint ( const geometry_msgs::PointStamped::ConstPtr &  point) [private]

Handle the new point.

Definition at line 125 of file DPControl.cpp.

void DPControl::onOpenLoopSurge ( const std_msgs::Float32::ConstPtr &  surge) [private]

The open loop surge specification.

Definition at line 139 of file DPControl.cpp.

void DPControl::onTrackPoint ( const auv_msgs::NavSts::ConstPtr &  ref) [private]

Handle the new tracking point.

Definition at line 152 of file DPControl.cpp.

void DPControl::onWindup ( const auv_msgs::BodyForceReq::ConstPtr &  tauAch) [private]

Handle windup occurence.

Definition at line 158 of file DPControl.cpp.

void DPControl::start ( )

Start the controller loop.

Definition at line 241 of file DPControl.cpp.

void DPControl::step ( )

Performs one iteration.

Definition at line 189 of file DPControl.cpp.


Member Data Documentation

Definition at line 140 of file DPControl.hpp.

Enabled.

Definition at line 152 of file DPControl.hpp.

High level controller service.

Definition at line 169 of file DPControl.hpp.

Definition at line 161 of file DPControl.hpp.

The horizontal distance PD controller. It has a limit on the P output value.

Definition at line 140 of file DPControl.hpp.

Definition at line 152 of file DPControl.hpp.

Last message times.

Definition at line 125 of file DPControl.hpp.

Dynamic reconfigure callback. The safety test. Update the dynamic reconfiguration settings. The ROS node handles.

Definition at line 121 of file DPControl.hpp.

The publisher of the TAU message.

Definition at line 157 of file DPControl.hpp.

Definition at line 161 of file DPControl.hpp.

Definition at line 121 of file DPControl.hpp.

Definition at line 161 of file DPControl.hpp.

Definition at line 161 of file DPControl.hpp.

Definition at line 144 of file DPControl.hpp.

auv_msgs::NavSts labust::control::DPControl::state [private]

Last received vehicle state.

Definition at line 148 of file DPControl.hpp.

The subscribed topics.

Definition at line 161 of file DPControl.hpp.

Definition at line 144 of file DPControl.hpp.

Timeout

Definition at line 129 of file DPControl.hpp.

auv_msgs::NavSts labust::control::DPControl::trackPoint [private]

Definition at line 148 of file DPControl.hpp.

The sampling time.

Definition at line 144 of file DPControl.hpp.

Definition at line 161 of file DPControl.hpp.

The heading unwrapper.

Definition at line 165 of file DPControl.hpp.


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


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