#include <HLManager.hpp>

Public Member Functions
	HLManager ()
void	onInit ()
void	start ()
Private Types
enum	{ bArt = 0, cArt }
enum	{ stop = 0, manual, gotoPoint, stationKeeping, circle, heading, headingSurge, vtManual, lastMode }
typedef std::map< std::string, bool >	ControllerMap
Private Member Functions
void	bArtStep ()
void	calculateBArtPoint (double heading)
bool	configureControllers ()
void	disableControllerMap ()
bool	fullStop ()
void	onGPSData (const sensor_msgs::NavSatFix::ConstPtr &fix)
void	onImuMeas (const sensor_msgs::Imu::ConstPtr &imu)
void	onLaunch (const std_msgs::Bool::ConstPtr &isLaunched)
void	onVehicleEstimates (const auv_msgs::NavSts::ConstPtr &estimate)
void	onVTTwist (const geometry_msgs::TwistStamped::ConstPtr &twist)
void	safetyTest ()
bool	setHLMode (navcon_msgs::SetHLMode::Request &req, navcon_msgs::SetHLMode::Response &resp)
void	step ()
Private Attributes
tf::TransformBroadcaster	broadcaster
double	circleRadius
ControllerMap	controllers
ros::Publisher	curMode
sensor_msgs::NavSatFix	fix
bool	fixValidated
ros::Subscriber	gpsData
double	gyroYaw
navcon_msgs::HLMessage	hlDiagnostics
ros::Publisher	hlMessagePub
ros::Subscriber	imuMeas
ros::Time	lastEst
ros::Time	lastFix
ros::Subscriber	launch
bool	launchDetected
ros::Time	launchTime
int32_t	mode
ros::ServiceServer	modeServer
ros::NodeHandle	nh
ros::Publisher	openLoopSurge
double	originLat
double	originLon
ros::NodeHandle	ph
geometry_msgs::PointStamped	point
ros::Publisher	refHeading
ros::Publisher	refPoint
ros::Publisher	refTrack
double	s
double	safetyDistance
double	safetyRadius
double	safetyTime
double	safetyTime2
ros::Publisher	sfPub
ros::Subscriber	state
auv_msgs::NavSts	stateHat
double	timeout
auv_msgs::NavSts	trackPoint
double	turnDir
int32_t	type
ros::Subscriber	virtualTargetTwist

Detailed Description

The class implements the mission manager for the B-Art and C-Art vehicles.

Todo:

Look into ROS actionlib to replace this in a more generic resuable way ?

Add controller registration and checking that neccessary controllers run.

Consider making everything async ?

Extract and generalize the path generation (Bezier curves from NURC)

Add support for external surge selection

Add support for external radius selection

Definition at line 68 of file HLManager.hpp.

Member Typedef Documentation

typedef std::map<std::string,bool> labust::control::HLManager::ControllerMap [private]

Definition at line 74 of file HLManager.hpp.

Member Enumeration Documentation

anonymous enum [private]

Enumerator:

bArt
cArt

Definition at line 70 of file HLManager.hpp.

anonymous enum [private]

Enumerator:

stop
manual
gotoPoint
stationKeeping
circle
heading
headingSurge
vtManual
lastMode

Definition at line 71 of file HLManager.hpp.

Constructor & Destructor Documentation

HLManager::HLManager ( )

Main constructor

Definition at line 50 of file HLManager.cpp.

Member Function Documentation

void HLManager::bArtStep ( ) [private]

The B-art behaviour.

Definition at line 399 of file HLManager.cpp.

void HLManager::calculateBArtPoint ( double heading ) [private]

Helper method for point calculation.

Definition at line 376 of file HLManager.cpp.

bool HLManager::configureControllers ( ) [private]

Configure controllers.

Definition at line 268 of file HLManager.cpp.

void HLManager::disableControllerMap ( ) [private]

Set all controller enable signals to false.

Definition at line 239 of file HLManager.cpp.

bool HLManager::fullStop ( ) [private]

The full stop mode.

Definition at line 248 of file HLManager.cpp.

void HLManager::onGPSData ( const sensor_msgs::NavSatFix::ConstPtr & fix ) [private]

On GPS data.

Definition at line 338 of file HLManager.cpp.

void HLManager::onImuMeas ( const sensor_msgs::Imu::ConstPtr & imu ) [private]

Update the virutal target twist.

Definition at line 318 of file HLManager.cpp.

void HLManager::onInit ( )

Initialize and setup the manager.

Definition at line 69 of file HLManager.cpp.

void HLManager::onLaunch ( const std_msgs::Bool::ConstPtr & isLaunched ) [private]

Handle launch detection.

Definition at line 352 of file HLManager.cpp.

void HLManager::onVehicleEstimates ( const auv_msgs::NavSts::ConstPtr & estimate ) [private]

Handle vehicle position updates.

Definition at line 332 of file HLManager.cpp.

void HLManager::onVTTwist ( const geometry_msgs::TwistStamped::ConstPtr & twist ) [private]

Update the virutal target twist.

Definition at line 287 of file HLManager.cpp.

void HLManager::safetyTest ( ) [private]

The safety test.

Definition at line 385 of file HLManager.cpp.

bool HLManager::setHLMode	(	navcon_msgs::SetHLMode::Request &	req,
		navcon_msgs::SetHLMode::Response &	resp
	)		`[private]`

The C-Art service handler.

Definition at line 114 of file HLManager.cpp.

void HLManager::start ( )

Start the manager.

Definition at line 468 of file HLManager.cpp.

void HLManager::step ( ) [private]

Make one action step.

Definition at line 439 of file HLManager.cpp.

Member Data Documentation

tf::TransformBroadcaster labust::control::HLManager::broadcaster [private]

Local origin.

Definition at line 192 of file HLManager.hpp.

double labust::control::HLManager::circleRadius [private]

Circle parameters

Definition at line 188 of file HLManager.hpp.

ControllerMap labust::control::HLManager::controllers [private]

The highlevel controller set.

Definition at line 214 of file HLManager.hpp.

ros::Publisher labust::control::HLManager::curMode [private]

Definition at line 201 of file HLManager.hpp.

sensor_msgs::NavSatFix labust::control::HLManager::fix [private]

The last GPS fix.

Definition at line 175 of file HLManager.hpp.

bool labust::control::HLManager::fixValidated [private]

GPS fix validated.

Definition at line 179 of file HLManager.hpp.

ros::Subscriber labust::control::HLManager::gpsData [private]

Definition at line 206 of file HLManager.hpp.

double labust::control::HLManager::gyroYaw [private]

Definition at line 184 of file HLManager.hpp.

navcon_msgs::HLMessage labust::control::HLManager::hlDiagnostics [private]

The HL status message.

Definition at line 218 of file HLManager.hpp.

ros::Publisher labust::control::HLManager::hlMessagePub [private]

Definition at line 201 of file HLManager.hpp.

ros::Subscriber labust::control::HLManager::imuMeas [private]

Definition at line 206 of file HLManager.hpp.

ros::Time labust::control::HLManager::lastEst [private]

Last message times.

Definition at line 151 of file HLManager.hpp.

ros::Time labust::control::HLManager::lastFix [private]

Definition at line 151 of file HLManager.hpp.

ros::Subscriber labust::control::HLManager::launch [private]

Definition at line 206 of file HLManager.hpp.

bool labust::control::HLManager::launchDetected [private]

Launch detected flag.

Definition at line 155 of file HLManager.hpp.

ros::Time labust::control::HLManager::launchTime [private]

Definition at line 151 of file HLManager.hpp.

int32_t labust::control::HLManager::mode [private]

The operation mode and vehicle type.

Definition at line 163 of file HLManager.hpp.

ros::ServiceServer labust::control::HLManager::modeServer [private]

Mode selector service server.

Definition at line 210 of file HLManager.hpp.

ros::NodeHandle labust::control::HLManager::nh [private]

The ROS node handles.

Definition at line 147 of file HLManager.hpp.

ros::Publisher labust::control::HLManager::openLoopSurge [private]

Definition at line 201 of file HLManager.hpp.

double labust::control::HLManager::originLat [private]

Lat-Lon origin position.

Definition at line 196 of file HLManager.hpp.

double labust::control::HLManager::originLon [private]

Definition at line 196 of file HLManager.hpp.

ros::NodeHandle labust::control::HLManager::ph [private]

Definition at line 147 of file HLManager.hpp.

geometry_msgs::PointStamped labust::control::HLManager::point [private]

The reference point.

Definition at line 167 of file HLManager.hpp.

ros::Publisher labust::control::HLManager::refHeading [private]

Definition at line 201 of file HLManager.hpp.

ros::Publisher labust::control::HLManager::refPoint [private]

The publisher of the TAU message.

Definition at line 201 of file HLManager.hpp.

ros::Publisher labust::control::HLManager::refTrack [private]

Definition at line 201 of file HLManager.hpp.

double labust::control::HLManager::s [private]

Definition at line 188 of file HLManager.hpp.

double labust::control::HLManager::safetyDistance [private]

Definition at line 184 of file HLManager.hpp.

double labust::control::HLManager::safetyRadius [private]

The safety radius, distance and time for B-Art.

Definition at line 184 of file HLManager.hpp.

double labust::control::HLManager::safetyTime [private]

Definition at line 184 of file HLManager.hpp.

double labust::control::HLManager::safetyTime2 [private]

Definition at line 184 of file HLManager.hpp.

ros::Publisher labust::control::HLManager::sfPub [private]

Definition at line 201 of file HLManager.hpp.

ros::Subscriber labust::control::HLManager::state [private]

The subscribed topics.

Definition at line 206 of file HLManager.hpp.

auv_msgs::NavSts labust::control::HLManager::stateHat [private]

The last vehicle state and trajectory specs.

Definition at line 171 of file HLManager.hpp.

double labust::control::HLManager::timeout [private]

Timeout

Definition at line 159 of file HLManager.hpp.

auv_msgs::NavSts labust::control::HLManager::trackPoint [private]

Definition at line 171 of file HLManager.hpp.

double labust::control::HLManager::turnDir [private]

Definition at line 188 of file HLManager.hpp.

int32_t labust::control::HLManager::type [private]

Definition at line 163 of file HLManager.hpp.

ros::Subscriber labust::control::HLManager::virtualTargetTwist [private]

Definition at line 206 of file HLManager.hpp.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation