labust::control::DPControl Class Reference

#include <DPControl.hpp>

List of all members.

Public Member Functions
	DPControl ()
void	onInit ()
void	start ()
void	step ()
Private Member Functions
void	initialize_controller ()
bool	onEnableControl (labust_uvapp::EnableControl::Request &req, labust_uvapp::EnableControl::Response &resp)
void	onEstimate (const auv_msgs::NavSts::ConstPtr &estimate)
void	onNewPoint (const geometry_msgs::PointStamped::ConstPtr &point)
void	onOpenLoopSurge (const std_msgs::Float32::ConstPtr &surge)
void	onTrackPoint (const auv_msgs::NavSts::ConstPtr &ref)
void	onWindup (const auv_msgs::BodyForceReq::ConstPtr &tauAch)
Private Attributes
PIDController	distanceController
bool	enable
ros::ServiceServer	enableControl
ros::Subscriber	enableFlag
PIDController	headingController
bool	inRegion
ros::Time	lastEst
ros::NodeHandle	nh
ros::Publisher	nuRef
ros::Subscriber	openLoopSurge
ros::NodeHandle	ph
ros::Subscriber	refPoint
ros::Subscriber	refTrack
double	safetyRadius
auv_msgs::NavSts	state
ros::Subscriber	stateHat
double	surge
double	timeout
auv_msgs::NavSts	trackPoint
double	Ts
ros::Subscriber	windup
labust::math::unwrap	yaw_ref

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Detailed Description

The class contains the implementation of the station keeping controller for a non-holonomic surface vehicle.

Todo:

Split into policies 2D/3D non-holonomic, 2D/3D holonomic, station keep, tracking, PID, backstepping

Definition at line 60 of file DPControl.hpp.

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Constructor & Destructor Documentation

DPControl::DPControl

(

)

Main constructor

Definition at line 49 of file DPControl.cpp.

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Member Function Documentation

void DPControl::initialize_controller

(

)

[private]

Initialize the controller parameters etc.

Definition at line 246 of file DPControl.cpp.

bool DPControl::onEnableControl	(	labust_uvapp::EnableControl::Request &	req,
		labust_uvapp::EnableControl::Response &	resp
	)		[private]

Handle the enable control request.

Definition at line 132 of file DPControl.cpp.

void DPControl::onEstimate

(

const auv_msgs::NavSts::ConstPtr &

estimate

)

[private]

Handle incoming estimates message.

Definition at line 144 of file DPControl.cpp.

void DPControl::onInit

(

)

Initialize and setup controller.

Definition at line 61 of file DPControl.cpp.

void DPControl::onNewPoint

(

const geometry_msgs::PointStamped::ConstPtr &

point

)

[private]

Handle the new point.

Definition at line 125 of file DPControl.cpp.

void DPControl::onOpenLoopSurge

(

const std_msgs::Float32::ConstPtr &

surge

)

[private]

The open loop surge specification.

Definition at line 139 of file DPControl.cpp.

void DPControl::onTrackPoint

(

const auv_msgs::NavSts::ConstPtr &

ref

)

[private]

Handle the new tracking point.

Definition at line 152 of file DPControl.cpp.

void DPControl::onWindup

(

const auv_msgs::BodyForceReq::ConstPtr &

tauAch

)

[private]

Handle windup occurence.

Definition at line 158 of file DPControl.cpp.

void DPControl::start

(

)

Start the controller loop.

Definition at line 241 of file DPControl.cpp.

void DPControl::step

(

)

Performs one iteration.

Definition at line 189 of file DPControl.cpp.

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Member Data Documentation

PIDController labust::control::DPControl::distanceController [private]

Definition at line 140 of file DPControl.hpp.

bool labust::control::DPControl::enable [private]

Enabled.

Definition at line 152 of file DPControl.hpp.

ros::ServiceServer labust::control::DPControl::enableControl [private]

High level controller service.

Definition at line 169 of file DPControl.hpp.

ros::Subscriber labust::control::DPControl::enableFlag [private]

Definition at line 161 of file DPControl.hpp.

PIDController labust::control::DPControl::headingController [private]

The horizontal distance PD controller. It has a limit on the P output value.

Definition at line 140 of file DPControl.hpp.

bool labust::control::DPControl::inRegion [private]

Definition at line 152 of file DPControl.hpp.

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

Last message times.

Definition at line 125 of file DPControl.hpp.

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

Dynamic reconfigure callback. The safety test. Update the dynamic reconfiguration settings. The ROS node handles.

Definition at line 121 of file DPControl.hpp.

ros::Publisher labust::control::DPControl::nuRef [private]

The publisher of the TAU message.

Definition at line 157 of file DPControl.hpp.

ros::Subscriber labust::control::DPControl::openLoopSurge [private]

Definition at line 161 of file DPControl.hpp.

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

Definition at line 121 of file DPControl.hpp.

ros::Subscriber labust::control::DPControl::refPoint [private]

Definition at line 161 of file DPControl.hpp.

ros::Subscriber labust::control::DPControl::refTrack [private]

Definition at line 161 of file DPControl.hpp.

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

Definition at line 144 of file DPControl.hpp.

auv_msgs::NavSts labust::control::DPControl::state [private]

Last received vehicle state.

Definition at line 148 of file DPControl.hpp.

ros::Subscriber labust::control::DPControl::stateHat [private]

The subscribed topics.

Definition at line 161 of file DPControl.hpp.

double labust::control::DPControl::surge [private]

Definition at line 144 of file DPControl.hpp.

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

Timeout

Definition at line 129 of file DPControl.hpp.

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

Definition at line 148 of file DPControl.hpp.

double labust::control::DPControl::Ts [private]

The sampling time.

Definition at line 144 of file DPControl.hpp.

ros::Subscriber labust::control::DPControl::windup [private]

Definition at line 161 of file DPControl.hpp.

labust::math::unwrap labust::control::DPControl::yaw_ref [private]

The heading unwrapper.

Definition at line 165 of file DPControl.hpp.

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

• DPControl.hpp
• DPControl.cpp