ScaleAllocation.cpp

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 *  Author: Dula Nad
 *  Created: 06.03.2013.
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#include <labust/allocation/ScaleAllocation.hpp>
#include <labust/allocation/ThrusterModels.hpp>
#include <labust/tools/conversions.hpp>

#include <pluginlib/class_list_macros.h>
#include <std_msgs/Int16MultiArray.h>

#include <boost/bind.hpp>

using namespace labust::allocation;

ScaleAllocation::ScaleAllocation(){}

void ScaleAllocation::onInit()
{
        ros::NodeHandle nh = this->getNodeHandle();

        //Setup allocation
        alloc.configure(nh);

        //Initalize publishers
        tauAch = nh.advertise<auv_msgs::BodyForceReq>("tauAch",1);
        revsAch = nh.advertise<std_msgs::Int16MultiArray>("revs",1);

        //Initialize subscribers
        tauIn = nh.subscribe<auv_msgs::BodyForceReq>("tauOut", 1,
                        boost::bind(&ScaleAllocation::onTauIn, this, _1));
}

void ScaleAllocation::onTauIn(const auv_msgs::BodyForceReq::ConstPtr tauIn)
{
        labust::simulation::vector tau;
        labust::tools::pointToVector(tauIn->wrench.force, tau);
        labust::tools::pointToVector(tauIn->wrench.torque, tau, 3);

        //Scaling allocation
        //Extract desired dofs
        Eigen::VectorXd vi(Eigen::VectorXd::Zero(alloc.dofs.size()));
        for (int i=0; i<alloc.dofs.size(); ++i) vi(i)=tau(alloc.dofs(i));

        //Calculate desired thrust for thrusters
        Eigen::VectorXd thrustAch = alloc.Binv*vi;
        Eigen::VectorXd satAch = labust::simulation::vector::Zero();

        //Find maximum scale
        double scale_max = 1;
        for (size_t i=0; i<thrustAch.rows();++i)
        {
                double scale = fabs((thrustAch(i)>0)?thrustAch(i)/alloc.tmax(i):thrustAch(i)/alloc.tmin(i));
                if (scale>scale_max) scale_max=scale;
        }
        //Normalize all to the maximum scaling
        thrustAch = thrustAch/scale_max;

        //Recover the full tau vector
        vi = alloc.B*thrustAch;
        tau = labust::simulation::vector::Zero();
        for (int i=0; i<alloc.dofs.size(); ++i) tau(alloc.dofs(i)) = vi(i);

        if (scale_max > 1) for (int i=0; i<alloc.dofs.size(); ++i) satAch(alloc.dofs(i)) = ((vi(i)>0)?1:-1);

        //Publish data
        auv_msgs::BodyForceReq::Ptr tauR(new auv_msgs::BodyForceReq());
        labust::tools::vectorToPoint(tau, tauR->wrench.force);
        labust::tools::vectorToPoint(tau, tauR->wrench.torque, 3);
        labust::tools::vectorToPoint(satAch, tauR->windup);
        labust::tools::vectorToRPY(satAch, tauR->windup, 3);
        labust::tools::vectorToDisableAxis(satAch, tauR->disable_axis);
        tauAch.publish(tauR);

        //Publish revolutions
        std_msgs::Int16MultiArray::Ptr revs(new std_msgs::Int16MultiArray());
        for (int i=0; i<thrustAch.size(); ++i) revs->data.push_back(alloc.pwmscaler*AffineModel::getRevs(thrustAch(i)));
        revsAch.publish(revs);
}

//Export the nodelet
PLUGINLIB_DECLARE_CLASS(allocation, Scaling, labust::allocation::ScaleAllocation, nodelet::Nodelet)