Public Member Functions | Private Types | Private Member Functions | Private Attributes | Static Private Attributes
labust::control::VelocityControl Class Reference

#include <VelocityControl.hpp>

List of all members.

Public Member Functions

void onInit ()
void start ()
void step ()
 VelocityControl ()

Private Types

enum  {
  u = 0, v, w, p,
  q, r
}
enum  {
  X = 0, Y, Z, K,
  M, N
}
enum  { alpha = 0, beta, betaa }
enum  { Kp = 0, Ki, Kd, Kt }
enum  {
  disableAxis = 0, manualAxis = 1, controlAxis = 2, identAxis = 3,
  directAxis = 4
}

Private Member Functions

double doIdentification (int i)
void dynrec_cb (labust_uvapp::VelConConfig &config, uint32_t level)
bool handleEnableControl (labust_uvapp::EnableControl::Request &req, labust_uvapp::EnableControl::Response &resp)
void handleEstimates (const auv_msgs::NavSts::ConstPtr &estimate)
void handleExt (const auv_msgs::BodyForceReq::ConstPtr &tau)
void handleManual (const sensor_msgs::Joy::ConstPtr &joy)
void handleMeasurement (const auv_msgs::NavSts::ConstPtr &meas)
void handleModelUpdate (const navcon_msgs::ModelParamsUpdate::ConstPtr &update)
void handleReference (const auv_msgs::BodyVelocityReq::ConstPtr &ref)
bool handleServerConfig (labust_uvapp::ConfigureVelocityController::Request &req, labust_uvapp::ConfigureVelocityController::Response &resp)
void handleWindup (const auv_msgs::BodyForceReq::ConstPtr &tau)
void initialize_controller ()
void safetyTest ()
void updateDynRecConfig ()

Private Attributes

boost::array< int32_t, r+1 > axis_control
labust_uvapp::VelConConfig config
PIDController controller [r+1]
bool doSafetyTest
ros::ServiceServer enableControl
bool externalIdent
ros::ServiceServer highLevelSelect
boost::shared_ptr
< SOIdentification > 
ident [r+1]
ros::Subscriber identExt
double joy_scale
ros::Time lastEst
ros::Time lastMan
ros::Time lastMeas
ros::Time lastRef
ros::Subscriber manualIn
ros::Subscriber measSub
double measurement [r+1]
ros::Subscriber modelUpdate
ros::NodeHandle nh
ros::NodeHandle ph
dynamic_reconfigure::Server
< labust_uvapp::VelConConfig > 
server
boost::recursive_mutex serverMux
ros::Subscriber stateHat
bool suspend_axis [r+1]
ros::Subscriber tauAch
ros::Publisher tauAchW
float tauExt [N+1]
float tauManual [N+1]
ros::Publisher tauOut
double timeout
double Ts
ros::Subscriber velocityRef

Static Private Attributes

static const std::string dofName [r+1]

Detailed Description

The class contains the implementation of the velocity controller, manual control manager and model identification.

Todo:

Add separate joystick scaling for all DOFs

Add identification

Definition at line 63 of file VelocityControl.hpp.


Member Enumeration Documentation

anonymous enum [private]
Enumerator:
u 
v 
w 
p 
q 
r 

Definition at line 65 of file VelocityControl.hpp.

anonymous enum [private]
Enumerator:
X 
Y 
Z 
K 
M 
N 

Definition at line 66 of file VelocityControl.hpp.

anonymous enum [private]
Enumerator:
alpha 
beta 
betaa 

Definition at line 67 of file VelocityControl.hpp.

anonymous enum [private]
Enumerator:
Kp 
Ki 
Kd 
Kt 

Definition at line 68 of file VelocityControl.hpp.

anonymous enum [private]
Enumerator:
disableAxis 
manualAxis 
controlAxis 
identAxis 
directAxis 

Definition at line 69 of file VelocityControl.hpp.


Constructor & Destructor Documentation

Main constructor

Definition at line 57 of file VelocityControl.cpp.


Member Function Documentation

double VelocityControl::doIdentification ( int  i) [private]

Perform the identification step.

Definition at line 310 of file VelocityControl.cpp.

void VelocityControl::dynrec_cb ( labust_uvapp::VelConConfig &  config,
uint32_t  level 
) [private]

Dynamic reconfigure callback.

Definition at line 211 of file VelocityControl.cpp.

bool VelocityControl::handleEnableControl ( labust_uvapp::EnableControl::Request &  req,
labust_uvapp::EnableControl::Response &  resp 
) [private]

Handle the enable control request.

Definition at line 123 of file VelocityControl.cpp.

void VelocityControl::handleEstimates ( const auv_msgs::NavSts::ConstPtr &  estimate) [private]

Handle incoming estimates message.

Definition at line 252 of file VelocityControl.cpp.

void VelocityControl::handleExt ( const auv_msgs::BodyForceReq::ConstPtr &  tau) [private]

Handle external identification input.

Definition at line 246 of file VelocityControl.cpp.

void VelocityControl::handleManual ( const sensor_msgs::Joy::ConstPtr &  joy) [private]

Handle incoming estimates message.

Definition at line 181 of file VelocityControl.cpp.

void VelocityControl::handleMeasurement ( const auv_msgs::NavSts::ConstPtr &  meas) [private]

Handle incoming estimates message.

Definition at line 269 of file VelocityControl.cpp.

void VelocityControl::handleModelUpdate ( const navcon_msgs::ModelParamsUpdate::ConstPtr &  update) [private]

Handle incoming estimates message.

Definition at line 192 of file VelocityControl.cpp.

void VelocityControl::handleReference ( const auv_msgs::BodyVelocityReq::ConstPtr &  ref) [private]

Handle incoming reference message.

Definition at line 166 of file VelocityControl.cpp.

bool VelocityControl::handleServerConfig ( labust_uvapp::ConfigureVelocityController::Request &  req,
labust_uvapp::ConfigureVelocityController::Response &  resp 
) [private]

Handle server request for configuration.

Definition at line 151 of file VelocityControl.cpp.

void VelocityControl::handleWindup ( const auv_msgs::BodyForceReq::ConstPtr &  tau) [private]

Handle incoming estimates message.

Definition at line 229 of file VelocityControl.cpp.

Initialize the controller parameters etc.

Definition at line 480 of file VelocityControl.cpp.

Initialize and setup controller.

Definition at line 72 of file VelocityControl.cpp.

void VelocityControl::safetyTest ( ) [private]

The safety test.

Definition at line 286 of file VelocityControl.cpp.

Start the controller loop.

Definition at line 468 of file VelocityControl.cpp.

Performs one iteration.

Definition at line 370 of file VelocityControl.cpp.

Update the dynamic reconfiguration settings.

Definition at line 135 of file VelocityControl.cpp.


Member Data Documentation

boost::array<int32_t,r+1> labust::control::VelocityControl::axis_control [private]

Enable/disable controllers, external windup flag.

Definition at line 188 of file VelocityControl.hpp.

labust_uvapp::VelConConfig labust::control::VelocityControl::config [private]

The dynamic reconfigure parameters.

Definition at line 213 of file VelocityControl.hpp.

PIDController labust::control::VelocityControl::controller[r+1] [private]

The velocity controllers.

Definition at line 168 of file VelocityControl.hpp.

const std::string VelocityControl::dofName [static, private]
Initial value:
{"Surge","Sway","Heave","Roll","Pitch","Yaw"}

Variable access helper mass.

Definition at line 221 of file VelocityControl.hpp.

Safety test flag.

Definition at line 225 of file VelocityControl.hpp.

Definition at line 209 of file VelocityControl.hpp.

Definition at line 192 of file VelocityControl.hpp.

High level controller service.

Definition at line 209 of file VelocityControl.hpp.

boost::shared_ptr<SOIdentification> labust::control::VelocityControl::ident[r+1] [private]

The identification controllers.

Definition at line 172 of file VelocityControl.hpp.

Definition at line 205 of file VelocityControl.hpp.

Joystick scaling.

Definition at line 184 of file VelocityControl.hpp.

Definition at line 155 of file VelocityControl.hpp.

Definition at line 155 of file VelocityControl.hpp.

Definition at line 155 of file VelocityControl.hpp.

Last message times.

Definition at line 155 of file VelocityControl.hpp.

Definition at line 205 of file VelocityControl.hpp.

Definition at line 205 of file VelocityControl.hpp.

The mesurement needed for identification.

Definition at line 176 of file VelocityControl.hpp.

Definition at line 205 of file VelocityControl.hpp.

The ROS node handles.

Definition at line 151 of file VelocityControl.hpp.

Definition at line 151 of file VelocityControl.hpp.

dynamic_reconfigure::Server<labust_uvapp::VelConConfig> labust::control::VelocityControl::server [private]

The dynamic reconfigure server.

Definition at line 217 of file VelocityControl.hpp.

boost::recursive_mutex labust::control::VelocityControl::serverMux [private]

Dynamic reconfigure server.

Definition at line 196 of file VelocityControl.hpp.

Definition at line 205 of file VelocityControl.hpp.

Timeout management.

Definition at line 192 of file VelocityControl.hpp.

Definition at line 205 of file VelocityControl.hpp.

Definition at line 201 of file VelocityControl.hpp.

Definition at line 180 of file VelocityControl.hpp.

Joystick message.

Definition at line 180 of file VelocityControl.hpp.

The publisher of the TAU message.

Definition at line 201 of file VelocityControl.hpp.

Timeout

Definition at line 159 of file VelocityControl.hpp.

Definition at line 184 of file VelocityControl.hpp.

The subscribed topics.

Definition at line 205 of file VelocityControl.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