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 LFCONTROL_HPP_ 00038 #define LFCONTROL_HPP_ 00039 #include <labust/control/PIDController.hpp> 00040 #include <labust/control/PIDController.h> 00041 #include <labust/navigation/LFModel.hpp> 00042 #include <labust_uvapp/EnableControl.h> 00043 00044 #include <auv_msgs/NavSts.h> 00045 #include <geometry_msgs/PointStamped.h> 00046 #include <std_msgs/Bool.h> 00047 #include <std_msgs/Float32.h> 00048 #include <auv_msgs/BodyForceReq.h> 00049 #include <ros/ros.h> 00050 00051 namespace labust 00052 { 00053 namespace control 00054 { 00063 class LFControl 00064 { 00065 public: 00069 LFControl(); 00073 void onInit(); 00077 void step(); 00081 void start(); 00082 00083 private: 00087 void onNewPoint(const geometry_msgs::PointStamped::ConstPtr& ref); 00091 void onEstimate(const auv_msgs::NavSts::ConstPtr& estimate); 00095 bool onEnableControl(labust_uvapp::EnableControl::Request& req, 00096 labust_uvapp::EnableControl::Response& resp); 00100 void onOpenLoopSurge(const std_msgs::Float32::ConstPtr& surge); 00104 //void dynrec_cb(labust_uvapp::VelConConfig& config, uint32_t level); 00108 //void safetyTest(); 00112 //void updateDynRecConfig(); 00116 ros::NodeHandle nh,ph; 00120 ros::Time lastEst; 00124 double timeout, LFKp; 00125 00129 void initialize_controller(); 00133 void adjustDH(); 00134 00139 lfPD dh_controller; 00143 double Ts, surge, currSurge, wh, currYaw; 00147 labust::navigation::LFModel::Line line; 00151 labust::navigation::LFModel::vector T0,Tt; 00155 bool enable, useHeadingCnt; 00159 void onWindup(const auv_msgs::BodyForceReq::ConstPtr& tauAch); 00160 00164 ros::Publisher nuRef; 00168 ros::Subscriber stateHat, refPoint, openLoopSurge, windup; 00172 ros::ServiceServer enableControl; 00176 //labust_uvapp::VelConConfig config; 00180 //dynamic_reconfigure::Server<labust_uvapp::VelConConfig> server; 00185 ::PIDController headingController; 00186 }; 00187 } 00188 } 00189 00190 /* VELOCITYCONTROL_HPP_ */ 00191 #endif