Public Member Functions | Private Attributes | List of all members
Controller Class Reference

#include <controller.h>

Public Member Functions

bool activate_control_service (std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &resp)
 
void console_update (const ros::TimerEvent &event)
 
void control_update (const ros::TimerEvent &event)
 
 Controller (ros::NodeHandle &n)
 
void course_callback (const heron_msgs::Course msg)
 
double fvel_compensator ()
 
void fwd_vel_mapping ()
 
void helm_callback (const heron_msgs::Helm msg)
 
void odom_callback (const nav_msgs::Odometry msg)
 
void twist_callback (const geometry_msgs::Twist msg)
 
void update_fwd_vel_control ()
 
void update_yaw_control ()
 
void update_yaw_rate_control ()
 
void wrench_callback (const geometry_msgs::Wrench msg)
 
double y_compensator ()
 
double yr_compensator ()
 
 ~Controller ()
 

Private Attributes

ros::ServiceServer active_control_srv
 
int control_mode
 
double course_cmd_time_
 
double course_cmd_timeout_
 
ForceCompensator * force_compensator_
 
geometry_msgs::Wrench force_output_
 
double fvel_cmd_
 
ros::Publisher fvel_dbg_pub_
 
double fvel_imax_
 
double fvel_imin_
 
double fvel_kd_
 
double fvel_kf_
 
double fvel_ki_
 
double fvel_kp_
 
double fvel_meas_
 
control_toolbox::Pid fvel_pid_
 
double helm_cmd_time_
 
double helm_cmd_timeout_
 
double imu_cov_limit_
 
double imu_data_time_
 
double imu_data_timeout_
 
bool imu_timeout_
 
bool is_active_control
 
double max_bck_force_
 
double max_bck_vel_
 
double max_fwd_force_
 
double max_fwd_vel_
 
ros::NodeHandle node_
 
double twist_cmd_time_
 
double twist_cmd_timeout_
 
double vel_cov_limit_
 
double vel_data_time_
 
double vel_data_timeout_
 
bool vel_timeout_
 
double wrench_cmd_time_
 
double wrench_cmd_timeout_
 
double y_cmd_
 
ros::Publisher y_dbg_pub_
 
double y_imax_
 
double y_imin_
 
double y_kd_
 
double y_kf_
 
double y_ki_
 
double y_kp_
 
double y_meas_
 
control_toolbox::Pid y_pid_
 
double yr_cmd_
 
ros::Publisher yr_dbg_pub_
 
double yr_imax_
 
double yr_imin_
 
double yr_kd_
 
double yr_kf_
 
double yr_ki_
 
double yr_kp_
 
double yr_meas_
 
control_toolbox::Pid yr_pid_
 

Detailed Description

Definition at line 41 of file controller.h.

Constructor & Destructor Documentation

◆ Controller()

Controller::Controller ( ros::NodeHandle &  n)

Definition at line 26 of file controller.cpp.

◆ ~Controller()

Controller::~Controller ( )
inline

Definition at line 88 of file controller.h.

Member Function Documentation

◆ activate_control_service()

bool Controller::activate_control_service ( std_srvs::SetBool::Request &  req,
std_srvs::SetBool::Response &  resp 
)

Definition at line 417 of file controller.cpp.

◆ console_update()

void Controller::console_update ( const ros::TimerEvent &  event)

Definition at line 314 of file controller.cpp.

◆ control_update()

void Controller::control_update ( const ros::TimerEvent &  event)

Definition at line 350 of file controller.cpp.

◆ course_callback()

void Controller::course_callback ( const heron_msgs::Course  msg)

Definition at line 244 of file controller.cpp.

◆ fvel_compensator()

double Controller::fvel_compensator ( )

Definition at line 128 of file controller.cpp.

◆ fwd_vel_mapping()

void Controller::fwd_vel_mapping ( )

Definition at line 198 of file controller.cpp.

◆ helm_callback()

void Controller::helm_callback ( const heron_msgs::Helm  msg)

Definition at line 257 of file controller.cpp.

◆ odom_callback()

void Controller::odom_callback ( const nav_msgs::Odometry  msg)

Definition at line 275 of file controller.cpp.

◆ twist_callback()

void Controller::twist_callback ( const geometry_msgs::Twist  msg)

Definition at line 220 of file controller.cpp.

◆ update_fwd_vel_control()

void Controller::update_fwd_vel_control ( )

Definition at line 206 of file controller.cpp.

◆ update_yaw_control()

void Controller::update_yaw_control ( )

Definition at line 214 of file controller.cpp.

◆ update_yaw_rate_control()

void Controller::update_yaw_rate_control ( )

Definition at line 210 of file controller.cpp.

◆ wrench_callback()

void Controller::wrench_callback ( const geometry_msgs::Wrench  msg)

Definition at line 237 of file controller.cpp.

◆ y_compensator()

double Controller::y_compensator ( )

Definition at line 158 of file controller.cpp.

◆ yr_compensator()

double Controller::yr_compensator ( )

Definition at line 143 of file controller.cpp.

Member Data Documentation

◆ active_control_srv

ros::ServiceServer Controller::active_control_srv
private

Definition at line 83 of file controller.h.

◆ control_mode

int Controller::control_mode
private

Definition at line 81 of file controller.h.

◆ course_cmd_time_

double Controller::course_cmd_time_
private

Definition at line 56 of file controller.h.

◆ course_cmd_timeout_

double Controller::course_cmd_timeout_
private

Definition at line 56 of file controller.h.

◆ force_compensator_

ForceCompensator* Controller::force_compensator_
private

Definition at line 44 of file controller.h.

◆ force_output_

geometry_msgs::Wrench Controller::force_output_
private

Definition at line 45 of file controller.h.

◆ fvel_cmd_

double Controller::fvel_cmd_
private

Definition at line 64 of file controller.h.

◆ fvel_dbg_pub_

ros::Publisher Controller::fvel_dbg_pub_
private

Definition at line 62 of file controller.h.

◆ fvel_imax_

double Controller::fvel_imax_
private

Definition at line 63 of file controller.h.

◆ fvel_imin_

double Controller::fvel_imin_
private

Definition at line 63 of file controller.h.

◆ fvel_kd_

double Controller::fvel_kd_
private

Definition at line 63 of file controller.h.

◆ fvel_kf_

double Controller::fvel_kf_
private

Definition at line 63 of file controller.h.

◆ fvel_ki_

double Controller::fvel_ki_
private

Definition at line 63 of file controller.h.

◆ fvel_kp_

double Controller::fvel_kp_
private

Definition at line 63 of file controller.h.

◆ fvel_meas_

double Controller::fvel_meas_
private

Definition at line 64 of file controller.h.

◆ fvel_pid_

control_toolbox::Pid Controller::fvel_pid_
private

Definition at line 61 of file controller.h.

◆ helm_cmd_time_

double Controller::helm_cmd_time_
private

Definition at line 57 of file controller.h.

◆ helm_cmd_timeout_

double Controller::helm_cmd_timeout_
private

Definition at line 57 of file controller.h.

◆ imu_cov_limit_

double Controller::imu_cov_limit_
private

Definition at line 52 of file controller.h.

◆ imu_data_time_

double Controller::imu_data_time_
private

Definition at line 52 of file controller.h.

◆ imu_data_timeout_

double Controller::imu_data_timeout_
private

Definition at line 52 of file controller.h.

◆ imu_timeout_

bool Controller::imu_timeout_
private

Definition at line 53 of file controller.h.

◆ is_active_control

bool Controller::is_active_control
private

Definition at line 84 of file controller.h.

◆ max_bck_force_

double Controller::max_bck_force_
private

Definition at line 79 of file controller.h.

◆ max_bck_vel_

double Controller::max_bck_vel_
private

Definition at line 79 of file controller.h.

◆ max_fwd_force_

double Controller::max_fwd_force_
private

Definition at line 79 of file controller.h.

◆ max_fwd_vel_

double Controller::max_fwd_vel_
private

Definition at line 79 of file controller.h.

◆ node_

ros::NodeHandle Controller::node_
private

Definition at line 43 of file controller.h.

◆ twist_cmd_time_

double Controller::twist_cmd_time_
private

Definition at line 59 of file controller.h.

◆ twist_cmd_timeout_

double Controller::twist_cmd_timeout_
private

Definition at line 59 of file controller.h.

◆ vel_cov_limit_

double Controller::vel_cov_limit_
private

Definition at line 48 of file controller.h.

◆ vel_data_time_

double Controller::vel_data_time_
private

Definition at line 48 of file controller.h.

◆ vel_data_timeout_

double Controller::vel_data_timeout_
private

Definition at line 48 of file controller.h.

◆ vel_timeout_

bool Controller::vel_timeout_
private

Definition at line 49 of file controller.h.

◆ wrench_cmd_time_

double Controller::wrench_cmd_time_
private

Definition at line 58 of file controller.h.

◆ wrench_cmd_timeout_

double Controller::wrench_cmd_timeout_
private

Definition at line 58 of file controller.h.

◆ y_cmd_

double Controller::y_cmd_
private

Definition at line 76 of file controller.h.

◆ y_dbg_pub_

ros::Publisher Controller::y_dbg_pub_
private

Definition at line 74 of file controller.h.

◆ y_imax_

double Controller::y_imax_
private

Definition at line 75 of file controller.h.

◆ y_imin_

double Controller::y_imin_
private

Definition at line 75 of file controller.h.

◆ y_kd_

double Controller::y_kd_
private

Definition at line 75 of file controller.h.

◆ y_kf_

double Controller::y_kf_
private

Definition at line 75 of file controller.h.

◆ y_ki_

double Controller::y_ki_
private

Definition at line 75 of file controller.h.

◆ y_kp_

double Controller::y_kp_
private

Definition at line 75 of file controller.h.

◆ y_meas_

double Controller::y_meas_
private

Definition at line 76 of file controller.h.

◆ y_pid_

control_toolbox::Pid Controller::y_pid_
private

Definition at line 73 of file controller.h.

◆ yr_cmd_

double Controller::yr_cmd_
private

Definition at line 70 of file controller.h.

◆ yr_dbg_pub_

ros::Publisher Controller::yr_dbg_pub_
private

Definition at line 68 of file controller.h.

◆ yr_imax_

double Controller::yr_imax_
private

Definition at line 69 of file controller.h.

◆ yr_imin_

double Controller::yr_imin_
private

Definition at line 69 of file controller.h.

◆ yr_kd_

double Controller::yr_kd_
private

Definition at line 69 of file controller.h.

◆ yr_kf_

double Controller::yr_kf_
private

Definition at line 69 of file controller.h.

◆ yr_ki_

double Controller::yr_ki_
private

Definition at line 69 of file controller.h.

◆ yr_kp_

double Controller::yr_kp_
private

Definition at line 69 of file controller.h.

◆ yr_meas_

double Controller::yr_meas_
private

Definition at line 70 of file controller.h.

◆ yr_pid_

control_toolbox::Pid Controller::yr_pid_
private

Definition at line 67 of file controller.h.

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

heron_controller
Author(s): Prasenjit Mukherjee
autogenerated on Mon Feb 28 2022 22:30:11