HDGControlDirect.cpp

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 *  Author: Dula Nad
 *  Created: 01.02.2013.
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#include <labust/control/HLControl.hpp>
#include <labust/control/EnablePolicy.hpp>
#include <labust/control/WindupPolicy.hpp>
#include <labust/control/PIDFFController.h>
#include <labust/control/IPDFFController.h>
#include <labust/simulation/DynamicsParams.hpp>
#include <labust/tools/DynamicsLoader.hpp>
#include <labust/math/NumberManipulation.hpp>
#include <labust/tools/MatrixLoader.hpp>
#include <labust/tools/conversions.hpp>

#include <Eigen/Dense>
#include <auv_msgs/BodyForceReq.h>
#include <ros/ros.h>

namespace labust
{
        namespace control{
                struct HDGControlDirect : DisableAxis
                {
                        enum {x=0,y};

                        HDGControlDirect():Ts(0.1),useIP(false){};

                        void init()
                        {
                                ros::NodeHandle nh;
                                initialize_controller();
                        }

                void windup(const auv_msgs::BodyForceReq& tauAch)
                        {
                                //Copy into controller
                                //con.windup = tauAch.disable_axis.yaw;
                        };

                void reset(const auv_msgs::NavSts& ref, const auv_msgs::NavSts& state)
                {
                        con.internalState = 0;
                        con.lastState = useIP?unwrap(state.orientation.yaw):state.orientation.yaw;
                };

                        auv_msgs::BodyForceReqPtr step(const auv_msgs::NavSts& ref,
                                        const auv_msgs::NavSts& state)
                        {
                                con.desired = ref.orientation.yaw;
                                con.state = (useIP?unwrap(state.orientation.yaw):state.orientation.yaw);

                                float errorWrap = labust::math::wrapRad(
                                        con.desired - con.state);
                                //Zero feed-forward
                                if (useIP)
                                {
                                        IPDFF_dwffStep(&con,Ts, errorWrap, 0, state.orientation_rate.yaw);
                                }
                                else
                                {
                                        PIDFF_wffStep(&con,Ts, errorWrap, 0);
                                }

                                auv_msgs::BodyForceReqPtr nu(new auv_msgs::BodyForceReq());
                                nu->header.stamp = ros::Time::now();
                                nu->goal.requester = "hdg_controller_direct";
                                labust::tools::vectorToDisableAxis(disable_axis, nu->disable_axis);

                                nu->wrench.torque.z = con.output;

                                ROS_INFO("Current PID state: windup=%d, out=%f, out_c=%f, error=%f",con.windup, con.internalState, con.output,errorWrap);

                                return nu;
                        }

                        void initialize_controller()
                        {
                                ROS_INFO("Initializing heading controller direct...");

                                ros::NodeHandle nh;
                                labust::simulation::DynamicsParams model;
                                labust::tools::loadDynamicsParams(nh,model);

                                double closedLoopFreq(1), max(100);
                                nh.param("hdg_controller/closed_loop_freq", closedLoopFreq, closedLoopFreq);
                                nh.param("hdg_controller/sampling",Ts,Ts);
                                nh.param("hdg_controller/use_ip",useIP,useIP);
                                nh.param("hdg_controller/max_n",max,max);

                                disable_axis[5] = 0;

                                PT1Model m;
                                m.alpha = model.Io(2,2) + model.Ma(2,2);
                                m.beta = model.Dlin(5,5);

                                PIDBase_init(&con);
                                //PIFF_tune(&con, float(closedLoopFreq));
                                PIDFF_modelTune(&con, &m, float(closedLoopFreq));
                                con.autoWindup=1;
                                con.outputLimit = max;

                                ROS_INFO("Heading controller direct initialized.");
                        }

                private:
                        ros::Subscriber alt_sub;
                        PIDBase con;
                        double Ts;
                        bool useIP;
                        labust::math::unwrap unwrap;
                };
        }}

int main(int argc, char* argv[])
{
        ros::init(argc,argv,"hdg_control");

        labust::control::HLControl<labust::control::HDGControlDirect,
        labust::control::EnableServicePolicy,
        labust::control::NoWindup,
        auv_msgs::BodyForceReq > controller;
        ros::spin();

        return 0;
}