LFControl.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/PSatDController.h>
#include <std_msgs/Float32.h>
#include <labust/math/Line.hpp>

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

namespace labust
{
        namespace control{
                struct LFControl
                {
                        LFControl():Ts(0.1),surge(0),aAngle(M_PI/8),wh(0.5){};

                        void init()
                        {
                                ros::NodeHandle nh;
                                openLoopSurge = nh.subscribe<std_msgs::Float32>("open_loop_surge", 1,
                                                                &LFControl::onOpenLoopSurge,this);

                                initialize_controller();
                        }

                        void onOpenLoopSurge(const std_msgs::Float32::ConstPtr& surge)
                        {
                                this->surge = surge->data;
                        }

                        void reset(const auv_msgs::NavSts& ref, const auv_msgs::NavSts& state){};

                        auv_msgs::BodyVelocityReqPtr step(const auv_msgs::NavSts& ref,
                                        const auv_msgs::NavSts& state)
                        {
                                //Calculate new line if target changed
                                Eigen::Vector3d T0;
                                T0<<ref.position.north,
                                                ref.position.east,
                                                ref.position.depth;

                                if (T0 != line.getT2())
                                {
                                        Eigen::Vector3d T1;
                                        T1<<state.position.north,
                                                        state.position.east,
                                                        state.position.depth;
                                        line.setLine(T1,T0);
                                }

                                //Calculate desired yaw-rate
                                PSatD_tune(&con,wh,aAngle,surge);
                                double dd = -surge*sin(state.orientation.yaw- line.gamma());
                                con.desired=0;
                                con.state = -line.calculatedH(T0(0),T0(1),T0(2));
                                PSatD_dStep(&con,Ts,dd);
                                auv_msgs::BodyVelocityReqPtr nu(new auv_msgs::BodyVelocityReq());
                                nu->twist.angular.z = con.output;

                                return nu;
                        }

                        void initialize_controller()
                        {
                                ROS_INFO("Initializing LF controller...");
                                ros::NodeHandle nh;
                                nh.param("lf_controller/closed_loop_freq",wh,wh);
                                nh.param("lf_controller/default_surge",surge,surge);
                                nh.param("lf_controller/approach_angle",aAngle,aAngle);
                                nh.param("lf_controller/sampling",Ts,Ts);

                                PIDBase_init(&con);
                                PSatD_tune(&con,wh,aAngle,surge);

                                ROS_INFO("LF controller initialized.");
                        }

                private:
                        PIDBase con;
                        ros::Subscriber openLoopSurge;
                        double Ts;
                        double surge, aAngle, wh;
                        labust::math::Line line;
                };
        }}

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

        labust::control::HLControl<labust::control::LFControl,
        labust::control::EnableServicePolicy> controller;
        ros::spin();

        return 0;
}