kinton_vs_control_alg_node.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg 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/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _kinton_vs_control_alg_node_h_
#define _kinton_vs_control_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "kinton_vs_control_alg.h"

// [publisher subscriber headers]
#include <geometry_msgs/TwistWithCovariance.h>
#include <geometry_msgs/Twist.h>
#include <nav_msgs/Odometry.h>

#include <std_msgs/Float64.h>
#include <std_msgs/Bool.h>
#include <asctec_msgs/LLStatus.h>

#include <bitset>
#include <Eigen/Dense>
#include <control_toolbox/pid.h>

#include <tf/transform_listener.h>


// [service client headers]

// [action server client headers]

class KintonVsControlAlgNode : public algorithm_base::IriBaseAlgorithm<KintonVsControlAlgorithm>
{
  private:
    // [publisher attributes]
    // Control commands 4DOF
    ros::Publisher cmd_yaw_publisher_;
    std_msgs::Float64 cmd_yaw_msg_;
    ros::Publisher cmd_pitch_publisher_;
    std_msgs::Float64 cmd_pitch_msg_;
    ros::Publisher cmd_roll_publisher_;
    std_msgs::Float64 cmd_roll_msg_;
    ros::Publisher cmd_thrust_publisher_;
    std_msgs::Float64 cmd_thrust_msg_;
    //Emergency Stop
    ros::Publisher ESTOP_publisher_;
    std_msgs::Bool Bool_msg_;

    // [subscriber attributes]
    //Camera velocity
    ros::Subscriber cam_vel_subscriber_;
    void cam_vel_callback(const geometry_msgs::TwistWithCovariance::ConstPtr& msg);
    CMutex cam_vel_mutex_;
    //Odometry
    ros::Subscriber odom_subscriber_;
    void odom_callback(const nav_msgs::Odometry::ConstPtr& msg);
    CMutex odom_mutex_;
    //Low level Kinton Information (to check serial switch)
    ros::Subscriber ll_status_subscriber_;
    void ll_status_callback(const asctec_msgs::LLStatus::ConstPtr& msg);
    CMutex ll_status_mutex_;

    Eigen::MatrixXd cam_twist_; //Actual velocity of the camera from the visual servo

    bool activate_; //Activates the servoing
    bool estop_; //Emergency stop
    bool serial_; //Serial enabled
    bool marker_ctrl_; //Indicates that cam velocities are correct from the marker (marker visible)

    double height_,height_fix_; //Current Height and Height reference in case of height control
    double ctrl_ref_, sat_min_, sat_max_, trimm_x_, trimm_y_, rollpitch_sat_max_, rollpitch_sat_min_, yaw_sat_max_, yaw_sat_min_; 
    double nm_thrust_kp_, nm_thrust_kd_, nm_roll_kp_, nm_roll_kd_, nm_pitch_kp_, nm_pitch_kd_, nm_yaw_kp_, nm_yaw_kd_;
    ros::Time time_, time_last_;

    //No marker control PIDs (Height control)
    control_toolbox::Pid nm_pid_roll_, nm_pid_pitch_, nm_pid_yaw_, nm_pid_thrust_; 

    Eigen::Matrix4d T_quad_to_cam_; //Homogenous transform between Quadrotor and camera frames


    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]

  public:
    KintonVsControlAlgNode(void);

    ~KintonVsControlAlgNode(void);

  protected:
    void mainNodeThread(void);

    Eigen::MatrixXd cam_to_quad_vel();

    Eigen::Matrix4d getTransform(const tf::StampedTransform& transform);    

    Eigen::MatrixXd signal_adapt(const Eigen::MatrixXd& cmd_raw);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    // [test functions]
};

#endif