Inheritance diagram for uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner:

Public Member Functions
def	__del__ (self)

def	__init__ (self, full_dof=False, stamped_pose_only=False, thrusters_only=True)

def	generate_reference (self, t)

def	get_idle_circle_path (self, n_points, radius=30)

def	get_vehicle_rot (self)

def	go_to (self, request)

def	go_to_incremental (self, request)

def	has_finished (self)

def	has_started (self)

def	hold_vehicle (self, request)

def	init_waypoints_from_file (self, request)

def	interpolate (self, t)

def	is_automatic_on (self)

def	is_station_keeping_on (self)

def	set_automatic_mode (self, is_on=True)

def	set_station_keeping (self, is_on=True)

def	set_trajectory_running (self, is_on=True)

def	start_circle (self, request)

def	start_helix (self, request)

def	start_station_keeping (self)

def	start_waypoint_list (self, request)

def	update_vehicle_pose (self, pos, quat)

Public Attributes
	inertial_frame_id

	init_odom_event

	q_ned_to_enu

	transform_ned_to_enu

Private Member Functions
def	_apply_workspace_constraints (self, waypoint_set)

def	_calc_smooth_approach (self)

def	_calc_teleop_reference (self)

def	_publish_trajectory_info (self, event)

def	_transform_position (self, vec, target, source)

def	_transform_waypoint (self, waypoint)

def	_transform_waypoint_set (self, waypoint_set)

def	_update_teleop (self, msg)

def	_update_trajectory_from_msg (self, msg)

def	_update_trajectory_info (self)

Detailed Description

Local planner for the dynamic positioning controllers 
to interpolate trajectories and generate trajectories from 
interpolated waypoint paths.

> *Input parameters*

* `full_dof` (*type:* `bool`, *default:* `False`): If `True`, 
the reference trajectory reference will be computed for 6 DoF,
otherwise, 4 DoF `(x, y, z, yaw)`.
* `stamped_pose_only` (*type:* `bool`, *default:* `False`): If 
`True`, only stamped poses will be generated as a reference, with
velocity and acceleration reference being set to zero.
* `thrusters_only` (*type:* `bool`, *default:* `True`): If `False`,
the idle mode will be used to keep the vehicle moving. 

> *ROS parameters*

* `max_forward_speed` (*type:* `float`, *default:* `1.0`): Maximum
allowed forward speed.
* `idle_radius` (*type:* `float`, *default:* `10.0`): Radius of the circle 
path generated when an AUV is in idle mode.
* `inertial_frame_id` (*type:* `str`): Name of the inertial frame used, 
options are `world` or `world_ned`.
* `timeout_idle_mode` (*type:* `float`): Timeout at the start or after
a trajectory is finished where the AUV is set to start idle mode path.
* `look_ahead_delay` (*type:* `float`): Look ahead delay in seconds. This
parameters will offset the interpolation of the trajectory in the given
amount of seconds to compute the look-ahead target for AUVs.

!!! warning

    The parameters for the path interpolators must also be provided when 
    starting a node that includes the local planner, since the interpolators 
    are initialized by the local planner.

> *ROS publishers*

* `trajectory` (*type:* `uuv_control_msgs.Trajectory`): Generated trajectory or
stamped pose path.
* `waypoints` (*type:* `uuv_control_msgs.WaypointSet`): Set of waypoints provided
as input for the interpolator
* `station_keeping_on` (*type:* `std_msgs.Bool`): Status of the station keeping mode
* `automatic_on` (*type:* `std_msgs.Bool`): Status of automatic model. If `False`
the vehicle can receive control inputs from a teleop node.
* `trajectory_tracking_on` (*type:* `std_msgs.Bool`): Sets the output flag to `True`
when trajectory tracking is ongoing
* `interpolator_visual_markers` (*type:* `visualization_msgs.MarkerArray`): Helper
visual markers from the interpolator class.
* `time_to_target` (*type:* `std_msgs.Float64`): Estimated time to target in seconds.

> *ROS services*

* `hold_vehicle` (*type:* `uuv_control_msgs.Hold`)
* `start_waypoint_list` (*type:* `uuv_control_msgs.InitWaypointSet`)
* `start_circular_trajectory` (*type:* `uuv_control_msgs.InitCircularTrajectory`)
* `start_helical_trajectory` (*type:* `uuv_control_msgs.InitHelicalTrajectory`)
* `init_waypoints_from_file` (*type:* `uuv_control_msgs.InitWaypointsFromFile`)
* `go_to` (*type:* `uuv_control_msgs.GoTo`)
* `go_to_incremental` (*type:* `uuv_control_msgs.GoToIncremental`)

Definition at line 39 of file dp_controller_local_planner.py.

Constructor & Destructor Documentation

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.__init__	(	self,
		full_dof = `False`,
		stamped_pose_only = `False`,
		thrusters_only = `True`
	)

Definition at line 101 of file dp_controller_local_planner.py.

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.__del__ ( self )

Remove logging message handlers

Definition at line 274 of file dp_controller_local_planner.py.

Member Function Documentation

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._apply_workspace_constraints	(	self,
		waypoint_set
	)

private

Filter out waypoints that are positioned above
sea surface, namely `z > 0` if the inertial frame is
`world`, or `z < 0` if the inertial frame is `world_ned`.

> *Input arguments*

* `waypoint_set` (*type:* `uuv_waypoins.WaypointSet`): Set of waypoints

> *Returns*

`uuv_waypoins.WaypointSet`: Filtered set of waypoints

Definition at line 338 of file dp_controller_local_planner.py.

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._calc_smooth_approach ( self )

private

Add the current vehicle position as waypoint 
to allow a smooth approach to the given trajectory.

Definition at line 473 of file dp_controller_local_planner.py.

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._calc_teleop_reference ( self )

private

Compute pose and velocity reference using the 
joystick linear and angular velocity input.

Definition at line 425 of file dp_controller_local_planner.py.

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._publish_trajectory_info	(	self,
		event
	)

private

Publish messages for the waypoints, trajectory and 
debug flags.

Definition at line 362 of file dp_controller_local_planner.py.

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._transform_position	(	self,
		vec,
		target,
		source
	)

private

Transform the position vector between `world` and `world_ned`.

> *Input arguments*

* `vec` (*type:* `numpy.array`): Position vector
* `target` (*type:* `str`): Target frame
* `source` (*type:* `str`): Source frame

> *Returns*

`numpy.array`: Transformed vector

Definition at line 279 of file dp_controller_local_planner.py.

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._transform_waypoint	(	self,
		waypoint
	)

private

Transform position vector of a waypoint between 
`world` and `world_ned` frames.

> *Input arguments*

* `waypoint` (*type:* `uuv_waypoints.Waypoint`): Input waypoint

> *Returns*

`uuv_waypoints.Waypoint`: Transformed waypoint

Definition at line 299 of file dp_controller_local_planner.py.

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._transform_waypoint_set	(	self,
		waypoint_set
	)

private

Apply transformation between `world` and 'world_ned` frames
to waypoints in a waypoint set.

> *Input arguments*

* `waypoint_set` (*type:* `uuv_waypoins.WaypointSet`): Set of waypoints

> *Returns*

`uuv_waypoins.WaypointSet`: Set of transformed waypoints

Definition at line 319 of file dp_controller_local_planner.py.

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._update_teleop	(	self,
		msg
	)

private

Callback to the twist teleop subscriber.

Definition at line 398 of file dp_controller_local_planner.py.

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._update_trajectory_from_msg	(	self,
		msg
	)

private

Definition at line 582 of file dp_controller_local_planner.py.

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._update_trajectory_info ( self )

private

Update the trajectory message.

Definition at line 380 of file dp_controller_local_planner.py.

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.generate_reference	(	self,
		t
	)

Return a trajectory point computed by the interpolator for the 
timestamp `t`, in case the vehicle is on `automatic` mode. In case 
it is in station keeping, the pose is kept constant.

> *Input arguments*

* `t` (*type:* `float`): Timestamp

> *Returns*

`uuv_trajectory_generator.TrajectoryPoint`: Trajectory point

Definition at line 1003 of file dp_controller_local_planner.py.

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.get_idle_circle_path	(	self,
		n_points,
		radius = `30`
	)

Generate a waypoint set starting from the current 
position of the vehicle in the shape of a circle to 
initialize an AUVs idle mode.

> *Input arguments*

* `n_points` (*type:* `int`): Number of waypoints
* `radius` (*type:* `float`): Circle radius in meters

> *Returns*

`uuv_waypoints.WaypointSet`: Set of waypoints for idle mode

Definition at line 1022 of file dp_controller_local_planner.py.

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.get_vehicle_rot ( self )

Return the vehicle's rotation quaternion.

Definition at line 577 of file dp_controller_local_planner.py.

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.go_to	(	self,
		request
	)

Service callback function to initialize to set one target
waypoint .

> *Input arguments*

* `request` (*type:* `uuv_control_msgs.GoTo`)

Definition at line 884 of file dp_controller_local_planner.py.

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.go_to_incremental	(	self,
		request
	)

Service callback to set the command to the vehicle to move to a
relative position in the world.

> *Input arguments*

* `request` (*type:* `uuv_control_msgs.GoToIncremental`)

Definition at line 942 of file dp_controller_local_planner.py.

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.has_finished ( self )

Return `True` if the trajectory has finished.

Definition at line 558 of file dp_controller_local_planner.py.

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.has_started ( self )

Return if the trajectory interpolator has started generating
reference points.

Definition at line 551 of file dp_controller_local_planner.py.

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.hold_vehicle	(	self,
		request
	)

Service callback function to hold the vehicle's 
current position.

Definition at line 601 of file dp_controller_local_planner.py.

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.init_waypoints_from_file	(	self,
		request
	)

Service callback function to initialize the path interpolator
with a set of waypoints loaded from a YAML file.

> *Input arguments*

* `request` (*type:* `uuv_control_msgs.InitWaypointsFromFile`)

Definition at line 829 of file dp_controller_local_planner.py.

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.interpolate	(	self,
		t
	)

Function interface to the controller. Calls the interpolator to
calculate the current trajectory sample or returns a fixed position
based on the past odometry measurements for station keeping.

> *Input arguments*

* `t` (*type:* `float`): Timestamp

> *Returns*

`uuv_trajectory_generator.TrajectoryPoint`: Trajectory point

Definition at line 1065 of file dp_controller_local_planner.py.

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.is_automatic_on ( self )

Return `True` if vehicle if following a trajectory in 
automatic mode.

Definition at line 525 of file dp_controller_local_planner.py.

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.is_station_keeping_on ( self )

Return `True`, if vehicle is holding its position.

Definition at line 521 of file dp_controller_local_planner.py.

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.set_automatic_mode	(	self,
		is_on = `True`
	)

Set automatic mode flag.

Definition at line 541 of file dp_controller_local_planner.py.

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.set_station_keeping	(	self,
		is_on = `True`
	)

Set station keeping mode flag.

> *Input arguments* 

* `is_on` (*type:* `bool`, *default:* `True`): Station keeping flag

Definition at line 531 of file dp_controller_local_planner.py.

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.set_trajectory_running	(	self,
		is_on = `True`
	)

Set trajectory tracking flag.

Definition at line 546 of file dp_controller_local_planner.py.

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.start_circle	(	self,
		request
	)

Service callback function to initialize a parametrized 
circular trajectory.

> *Input arguments*

* `request` (*type:* `uuv_control_msgs.InitCircularTrajectory`)

Definition at line 668 of file dp_controller_local_planner.py.

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.start_helix	(	self,
		request
	)

Service callback function to initialize a parametrized helical
trajectory.

> *Input arguments*

* `request` (*type:* `uuv_control_msgs.InitHelicalTrajectory`)

Definition at line 744 of file dp_controller_local_planner.py.

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.start_station_keeping ( self )

Start station keeping mode by setting the pose
set-point of the vehicle as the last pose before the 
vehicle finished automatic mode.

Definition at line 588 of file dp_controller_local_planner.py.

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.start_waypoint_list	(	self,
		request
	)

Service callback function to follow a set of waypoints

> *Input arguments*

* `request` (*type:* `uuv_control_msgs.InitWaypointSet`)

Definition at line 611 of file dp_controller_local_planner.py.

def uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.update_vehicle_pose	(	self,
		pos,
		quat
	)

Update the vehicle's pose information.

> *Input arguments*

* `pos` (*type:* `numpy.array`): Position vector
* `quat` (*type:* `numpy.array`): Quaternion as `(qx, qy, qz, qw)`

Definition at line 562 of file dp_controller_local_planner.py.

Member Data Documentation

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._automatic_control_pub

private

Definition at line 216 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._dt

private

Definition at line 180 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._idle_circle_center

private

Definition at line 112 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._idle_radius

private

Definition at line 117 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._idle_z

private

Definition at line 113 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._input_trajectory_sub

private

Definition at line 234 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._interp_visual_markers

private

Definition at line 224 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._is_automatic

private

Definition at line 244 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._is_teleop_active

private

Definition at line 184 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._is_underactuated

private

Definition at line 123 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._last_teleop_update

private

Definition at line 182 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._lock

private

Definition at line 104 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._logger

private

Definition at line 102 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._look_ahead_delay

private

Definition at line 197 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._max_forward_speed

private

Definition at line 110 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._max_time_pub

private

Definition at line 237 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._services

private

Definition at line 256 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._smooth_approach_on

private

Definition at line 252 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._stamp_trajectory_received

private

Definition at line 254 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._start_count_idle

private

Definition at line 192 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._station_keeping_center

private

Definition at line 201 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._station_keeping_on

private

Definition at line 242 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._station_keeping_pub

private

Definition at line 212 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._teleop_sub

private

Definition at line 228 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._teleop_vel_ref

private

Definition at line 186 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._this_ref_pnt

private

Definition at line 250 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._thrusters_only

private

Definition at line 194 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._timeout_idle_mode

private

Definition at line 191 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._traj_info_update_timer

private

Definition at line 239 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._traj_interpolator

private

Definition at line 106 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._traj_running

private

Definition at line 246 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._traj_tracking_pub

private

Definition at line 220 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._trajectory_msg

private

Definition at line 231 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._trajectory_pub

private

Definition at line 204 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._vehicle_pose

private

Definition at line 248 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._waypoints_msg

private

Definition at line 230 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner._waypoints_pub

private

Definition at line 208 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.inertial_frame_id

Definition at line 125 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.init_odom_event

Definition at line 188 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.q_ned_to_enu

Definition at line 127 of file dp_controller_local_planner.py.

uuv_control_interfaces.dp_controller_local_planner.DPControllerLocalPlanner.transform_ned_to_enu

Definition at line 126 of file dp_controller_local_planner.py.

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

dp_controller_local_planner.py

Private Attributes
	_automatic_control_pub

	_dt

	_idle_circle_center

	_idle_radius

	_idle_z

	_input_trajectory_sub

	_interp_visual_markers

	_is_automatic

	_is_teleop_active

	_is_underactuated

	_last_teleop_update

	_lock

	_logger

	_look_ahead_delay

	_max_forward_speed

	_max_time_pub

	_services

	_smooth_approach_on

	_stamp_trajectory_received

	_start_count_idle

	_station_keeping_center

	_station_keeping_on

	_station_keeping_pub

	_teleop_sub

	_teleop_vel_ref

	_this_ref_pnt

	_thrusters_only

	_timeout_idle_mode

	_traj_info_update_timer

	_traj_interpolator

	_traj_running

	_traj_tracking_pub

	_trajectory_msg

	_trajectory_pub

	_vehicle_pose

	_waypoints_msg

	_waypoints_pub

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation