RefManual.cpp

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 *  Author: Dula Nad
 *  Created: 01.02.2013.
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#include <labust/control/EnablePolicy.hpp>
#include <labust/control/ManControl.hpp>
#include <labust/math/NumberManipulation.hpp>
#include <labust/tools/MatrixLoader.hpp>

#include <auv_msgs/NavSts.h>

#include <boost/thread/mutex.hpp>

namespace labust
{
        namespace control{
                template <class Enable>
                struct RefManual : public Enable
                {
                        enum {u=0,v,w,p,q,r};
                        RefManual():
                                nu_max(Eigen::Vector6d::Zero()),
                                Ts(0.1),
                                stateReady(false){this->init();};

                        void init()
                        {
                                ros::NodeHandle nh;
                                //Initialize publishers
                                stateRef = nh.advertise<auv_msgs::NavSts>("stateRef", 1);

                                //Initialize subscribers
                                stateHat = nh.subscribe<auv_msgs::NavSts>("stateHat", 1,
                                                &RefManual::onEstimate,this);
                                joyIn = nh.subscribe<sensor_msgs::Joy>("joy", 1,
                                                &RefManual::onJoy,this);

                                initialize_manual();
                        }

                        void onEstimate(const auv_msgs::NavSts::ConstPtr& state)
                        {
                                boost::mutex::scoped_lock l(cnt_mux);
                                //Switch occured
                                if (Enable::enable && !stateReady)
                                {
                                        this->baseRef.position = state->position;
                                        this->baseRef.orientation = state->orientation;
                                        this->baseRef.position.depth = -state->altitude;
                                }
                                stateReady = Enable::enable;
                        }

                        void onJoy(const sensor_msgs::Joy::ConstPtr& joy)
                        {
                                if (!stateReady) return;

                                Eigen::Vector6d mapped;
                                mapper.remap(*joy, mapped);
                                mapped = nu_max.cwiseProduct(mapped);

                                Eigen::Vector2f out, in;
                                Eigen::Matrix2f R;
                                in<<mapped[u]*nu_max[u]*Ts,mapped[v]*nu_max[v]*Ts;
                                double yaw(baseRef.orientation.yaw);
                                R<<cos(yaw),-sin(yaw),sin(yaw),cos(yaw);
                                out = R*in;

                                baseRef.header.stamp = ros::Time::now();
                                baseRef.header.frame_id = "local";

                                baseRef.position.north += out(u);
                                baseRef.position.east += out(v);
                                //baseRef.position.depth += mapped[w]*Ts*nu_max(w);
                                baseRef.position.depth += mapped[w]*Ts*nu_max(w);
                                baseRef.orientation.roll += mapped[p]*Ts*nu_max(p);
                                baseRef.orientation.pitch += mapped[q]*Ts*nu_max(q);
                                baseRef.orientation.yaw += mapped[r]*Ts*nu_max(r);
                                baseRef.body_velocity.x = mapped[u]*nu_max[u];
                                baseRef.body_velocity.y = mapped[v]*nu_max[v];
                                baseRef.body_velocity.z = mapped[w]*nu_max[w];

                                stateRef.publish(baseRef);
                        }

                        void initialize_manual()
                        {
                                ROS_INFO("Initializing manual ref controller...");

                                ros::NodeHandle nh;
                                labust::tools::getMatrixParam(nh,"ref_manual/maximum_speeds", nu_max);
                                nh.param("ref_manual/sampling_time",Ts,Ts);

                                ROS_INFO("Manual ref controller initialized.");
                        }

                private:
                        ros::Subscriber stateHat, joyIn;
                        ros::Publisher stateRef;
                        Eigen::Vector6d nu_max;
                        double Ts;
                        JoystickMapping mapper;
                        auv_msgs::NavSts baseRef;
                        boost::mutex cnt_mux;
                        bool stateReady;
                };
        }}

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

        labust::control::RefManual<labust::control::EnableServicePolicy> controller;
        ros::spin();

        return 0;
}