controller.h

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/*
 * Copyright 2015 Fetch Robotics Inc
 * Author: Michael Ferguson
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef FETCH_AUTO_DOCK_CONTROLLER_H
#define FETCH_AUTO_DOCK_CONTROLLER_H

#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <geometry_msgs/Twist.h>
#include <nav_msgs/Path.h>

class BaseController
{
public:
  explicit BaseController(ros::NodeHandle& nh);

  bool approach(const geometry_msgs::PoseStamped& target);

  bool backup(double distance, double rotate_distance);

  bool getCommand(geometry_msgs::Twist& command);

  void stop();

private:
  ros::Publisher cmd_vel_pub_;  // Publisher of commands
  ros::Publisher path_pub_;  // Publisher of paths

  tf::TransformListener listener_;
  geometry_msgs::Twist command_;

  /*
   * Parameters for approach controller
   */
  double k1_;  // ratio in change of theta to rate of change in r
  double k2_;  // speed at which we converge to slow system
  double min_velocity_;
  double max_velocity_;
  double max_angular_velocity_;
  double beta_;  // how fast velocity drops as k increases
  double lambda_;  // ??
  double dist_;  // used to create the tracking line

  /*
   * Parameters for backup controller
   */
  geometry_msgs::PoseStamped start_;
  bool ready_;
  bool turning_;
};

#endif  // FETCH_AUTO_DOCK_CONTROLLER_H