00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, LABUST, UNIZG-FER 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the LABUST nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * Created on: 03.05.2013. 00035 * Author: Dula Nad 00036 *********************************************************************/ 00037 #ifndef DPCONTROL_HPP_ 00038 #define DPCONTROL_HPP_ 00039 #include <labust/control/PIDController.h> 00040 #include <labust/math/NumberManipulation.hpp> 00041 #include <labust_uvapp/EnableControl.h> 00042 00043 #include <auv_msgs/NavSts.h> 00044 #include <auv_msgs/BodyForceReq.h> 00045 #include <geometry_msgs/PointStamped.h> 00046 #include <std_msgs/Float32.h> 00047 #include <std_msgs/Bool.h> 00048 #include <ros/ros.h> 00049 00050 namespace labust 00051 { 00052 namespace control 00053 { 00060 class DPControl 00061 { 00062 public: 00066 DPControl(); 00070 void onInit(); 00074 void step(); 00078 void start(); 00079 00080 private: 00084 void onNewPoint(const geometry_msgs::PointStamped::ConstPtr& point); 00088 void onTrackPoint(const auv_msgs::NavSts::ConstPtr& ref); 00092 void onEstimate(const auv_msgs::NavSts::ConstPtr& estimate); 00096 void onWindup(const auv_msgs::BodyForceReq::ConstPtr& tauAch); 00100 bool onEnableControl(labust_uvapp::EnableControl::Request& req, 00101 labust_uvapp::EnableControl::Response& resp); 00105 void onOpenLoopSurge(const std_msgs::Float32::ConstPtr& surge); 00109 //void dynrec_cb(labust_uvapp::VelConConfig& config, uint32_t level); 00113 //void safetyTest(); 00117 //void updateDynRecConfig(); 00121 ros::NodeHandle nh,ph; 00125 ros::Time lastEst; 00129 double timeout; 00130 00134 void initialize_controller(); 00135 00140 PIDController headingController, distanceController; 00144 double Ts, safetyRadius, surge; 00148 auv_msgs::NavSts state, trackPoint; 00152 bool enable, inRegion; 00153 00157 ros::Publisher nuRef; 00161 ros::Subscriber stateHat, refPoint, refTrack, enableFlag, windup, openLoopSurge; 00165 labust::math::unwrap yaw_ref; 00169 ros::ServiceServer enableControl; 00173 //labust_uvapp::VelConConfig config; 00177 //dynamic_reconfigure::Server<labust_uvapp::VelConConfig> server; 00178 }; 00179 } 00180 } 00181 00182 /* VELOCITYCONTROL_HPP_ */ 00183 #endif