#include <VelocityControl.hpp>

Public Member Functions
void	onInit ()
void	start ()
void	step ()
	VelocityControl ()
Private Types
enum	{ u = 0, v, w, p, q, r }
enum	{ X = 0, Y, Z, K, M, N }
enum	{ alpha = 0, beta, betaa }
enum	{ Kp = 0, Ki, Kd, Kt }
enum	{ disableAxis = 0, manualAxis = 1, controlAxis = 2, identAxis = 3, directAxis = 4 }
Private Member Functions
double	doIdentification (int i)
void	dynrec_cb (labust_uvapp::VelConConfig &config, uint32_t level)
bool	handleEnableControl (labust_uvapp::EnableControl::Request &req, labust_uvapp::EnableControl::Response &resp)
void	handleEstimates (const auv_msgs::NavSts::ConstPtr &estimate)
void	handleExt (const auv_msgs::BodyForceReq::ConstPtr &tau)
void	handleManual (const sensor_msgs::Joy::ConstPtr &joy)
void	handleMeasurement (const auv_msgs::NavSts::ConstPtr &meas)
void	handleModelUpdate (const navcon_msgs::ModelParamsUpdate::ConstPtr &update)
void	handleReference (const auv_msgs::BodyVelocityReq::ConstPtr &ref)
bool	handleServerConfig (labust_uvapp::ConfigureVelocityController::Request &req, labust_uvapp::ConfigureVelocityController::Response &resp)
void	handleWindup (const auv_msgs::BodyForceReq::ConstPtr &tau)
void	initialize_controller ()
void	safetyTest ()
void	updateDynRecConfig ()
Private Attributes
boost::array< int32_t, r+1 >	axis_control
labust_uvapp::VelConConfig	config
PIDController	controller [r+1]
bool	doSafetyTest
ros::ServiceServer	enableControl
bool	externalIdent
ros::ServiceServer	highLevelSelect
boost::shared_ptr < SOIdentification >	ident [r+1]
ros::Subscriber	identExt
double	joy_scale
ros::Time	lastEst
ros::Time	lastMan
ros::Time	lastMeas
ros::Time	lastRef
ros::Subscriber	manualIn
ros::Subscriber	measSub
double	measurement [r+1]
ros::Subscriber	modelUpdate
ros::NodeHandle	nh
ros::NodeHandle	ph
dynamic_reconfigure::Server < labust_uvapp::VelConConfig >	server
boost::recursive_mutex	serverMux
ros::Subscriber	stateHat
bool	suspend_axis [r+1]
ros::Subscriber	tauAch
ros::Publisher	tauAchW
float	tauExt [N+1]
float	tauManual [N+1]
ros::Publisher	tauOut
double	timeout
double	Ts
ros::Subscriber	velocityRef
Static Private Attributes
static const std::string	dofName [r+1]

Detailed Description

The class contains the implementation of the velocity controller, manual control manager and model identification.

Todo:

Add separate joystick scaling for all DOFs

Add identification

Definition at line 63 of file VelocityControl.hpp.

Member Enumeration Documentation

anonymous enum [private]

Enumerator:

u
v
w
p
q
r

Definition at line 65 of file VelocityControl.hpp.

anonymous enum [private]

Enumerator:

X
Y
Z
K
M
N

Definition at line 66 of file VelocityControl.hpp.

anonymous enum [private]

Enumerator:

alpha
beta
betaa

Definition at line 67 of file VelocityControl.hpp.

anonymous enum [private]

Enumerator:

Kp
Ki
Kd
Kt

Definition at line 68 of file VelocityControl.hpp.

anonymous enum [private]

Enumerator:

disableAxis
manualAxis
controlAxis
identAxis
directAxis

Definition at line 69 of file VelocityControl.hpp.

Constructor & Destructor Documentation

VelocityControl::VelocityControl ( )

Main constructor

Definition at line 57 of file VelocityControl.cpp.

Member Function Documentation

double VelocityControl::doIdentification ( int i ) [private]

Perform the identification step.

Definition at line 310 of file VelocityControl.cpp.

void VelocityControl::dynrec_cb	(	labust_uvapp::VelConConfig &	config,
		uint32_t	level
	)		`[private]`

Dynamic reconfigure callback.

Definition at line 211 of file VelocityControl.cpp.

bool VelocityControl::handleEnableControl	(	labust_uvapp::EnableControl::Request &	req,
		labust_uvapp::EnableControl::Response &	resp
	)		`[private]`

Handle the enable control request.

Definition at line 123 of file VelocityControl.cpp.

void VelocityControl::handleEstimates ( const auv_msgs::NavSts::ConstPtr & estimate ) [private]

Handle incoming estimates message.

Definition at line 252 of file VelocityControl.cpp.

void VelocityControl::handleExt ( const auv_msgs::BodyForceReq::ConstPtr & tau ) [private]

Handle external identification input.

Definition at line 246 of file VelocityControl.cpp.

void VelocityControl::handleManual ( const sensor_msgs::Joy::ConstPtr & joy ) [private]

Handle incoming estimates message.

Definition at line 181 of file VelocityControl.cpp.

void VelocityControl::handleMeasurement ( const auv_msgs::NavSts::ConstPtr & meas ) [private]

Handle incoming estimates message.

Definition at line 269 of file VelocityControl.cpp.

void VelocityControl::handleModelUpdate ( const navcon_msgs::ModelParamsUpdate::ConstPtr & update ) [private]

Handle incoming estimates message.

Definition at line 192 of file VelocityControl.cpp.

void VelocityControl::handleReference ( const auv_msgs::BodyVelocityReq::ConstPtr & ref ) [private]

Handle incoming reference message.

Definition at line 166 of file VelocityControl.cpp.

bool VelocityControl::handleServerConfig	(	labust_uvapp::ConfigureVelocityController::Request &	req,
		labust_uvapp::ConfigureVelocityController::Response &	resp
	)		`[private]`

Handle server request for configuration.

Definition at line 151 of file VelocityControl.cpp.

void VelocityControl::handleWindup ( const auv_msgs::BodyForceReq::ConstPtr & tau ) [private]

Handle incoming estimates message.

Definition at line 229 of file VelocityControl.cpp.

void VelocityControl::initialize_controller ( ) [private]

Initialize the controller parameters etc.

Definition at line 480 of file VelocityControl.cpp.

void VelocityControl::onInit ( )

Initialize and setup controller.

Definition at line 72 of file VelocityControl.cpp.

void VelocityControl::safetyTest ( ) [private]

The safety test.

Definition at line 286 of file VelocityControl.cpp.

void VelocityControl::start ( )

Start the controller loop.

Definition at line 468 of file VelocityControl.cpp.

void VelocityControl::step ( )

Performs one iteration.

Definition at line 370 of file VelocityControl.cpp.

void VelocityControl::updateDynRecConfig ( ) [private]

Update the dynamic reconfiguration settings.

Definition at line 135 of file VelocityControl.cpp.

Member Data Documentation

boost::array<int32_t,r+1> labust::control::VelocityControl::axis_control [private]

Enable/disable controllers, external windup flag.

Definition at line 188 of file VelocityControl.hpp.

labust_uvapp::VelConConfig labust::control::VelocityControl::config [private]

The dynamic reconfigure parameters.

Definition at line 213 of file VelocityControl.hpp.

PIDController labust::control::VelocityControl::controller[r+1] [private]

The velocity controllers.

Definition at line 168 of file VelocityControl.hpp.

const std::string VelocityControl::dofName [static, private]

Initial value:

{"Surge","Sway","Heave","Roll","Pitch","Yaw"}

Variable access helper mass.

Definition at line 221 of file VelocityControl.hpp.

bool labust::control::VelocityControl::doSafetyTest [private]

Safety test flag.

Definition at line 225 of file VelocityControl.hpp.

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

Definition at line 209 of file VelocityControl.hpp.

bool labust::control::VelocityControl::externalIdent [private]

Definition at line 192 of file VelocityControl.hpp.

ros::ServiceServer labust::control::VelocityControl::highLevelSelect [private]

High level controller service.

Definition at line 209 of file VelocityControl.hpp.

boost::shared_ptr<SOIdentification> labust::control::VelocityControl::ident[r+1] [private]

The identification controllers.

Definition at line 172 of file VelocityControl.hpp.

ros::Subscriber labust::control::VelocityControl::identExt [private]

Definition at line 205 of file VelocityControl.hpp.

double labust::control::VelocityControl::joy_scale [private]

Joystick scaling.

Definition at line 184 of file VelocityControl.hpp.

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

Definition at line 155 of file VelocityControl.hpp.

ros::Time labust::control::VelocityControl::lastMan [private]

Definition at line 155 of file VelocityControl.hpp.

ros::Time labust::control::VelocityControl::lastMeas [private]

Definition at line 155 of file VelocityControl.hpp.

ros::Time labust::control::VelocityControl::lastRef [private]

Last message times.

Definition at line 155 of file VelocityControl.hpp.

ros::Subscriber labust::control::VelocityControl::manualIn [private]

Definition at line 205 of file VelocityControl.hpp.

ros::Subscriber labust::control::VelocityControl::measSub [private]

Definition at line 205 of file VelocityControl.hpp.

double labust::control::VelocityControl::measurement[r+1] [private]

The mesurement needed for identification.

Definition at line 176 of file VelocityControl.hpp.

ros::Subscriber labust::control::VelocityControl::modelUpdate [private]

Definition at line 205 of file VelocityControl.hpp.

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

The ROS node handles.

Definition at line 151 of file VelocityControl.hpp.

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

Definition at line 151 of file VelocityControl.hpp.

dynamic_reconfigure::Server<labust_uvapp::VelConConfig> labust::control::VelocityControl::server [private]

The dynamic reconfigure server.

Definition at line 217 of file VelocityControl.hpp.

boost::recursive_mutex labust::control::VelocityControl::serverMux [private]

Dynamic reconfigure server.

Definition at line 196 of file VelocityControl.hpp.

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

Definition at line 205 of file VelocityControl.hpp.

bool labust::control::VelocityControl::suspend_axis[r+1] [private]

Timeout management.

Definition at line 192 of file VelocityControl.hpp.

ros::Subscriber labust::control::VelocityControl::tauAch [private]

Definition at line 205 of file VelocityControl.hpp.

ros::Publisher labust::control::VelocityControl::tauAchW [private]

Definition at line 201 of file VelocityControl.hpp.

float labust::control::VelocityControl::tauExt[N+1] [private]

Definition at line 180 of file VelocityControl.hpp.

float labust::control::VelocityControl::tauManual[N+1] [private]

Joystick message.

Definition at line 180 of file VelocityControl.hpp.

ros::Publisher labust::control::VelocityControl::tauOut [private]

The publisher of the TAU message.

Definition at line 201 of file VelocityControl.hpp.

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

Timeout

Definition at line 159 of file VelocityControl.hpp.

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

Definition at line 184 of file VelocityControl.hpp.

ros::Subscriber labust::control::VelocityControl::velocityRef [private]

The subscribed topics.

Definition at line 205 of file VelocityControl.hpp.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation