labust::control::VirtualTarget Class Reference

#include <VirtualTarget.hpp>

List of all members.

Public Member Functions
void	onInit ()
void	start ()
void	step ()
	VirtualTarget ()
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	onFlowTwist (const geometry_msgs::TwistStamped::ConstPtr &flowtwist)
void	onOpenLoopSurge (const std_msgs::Float32::ConstPtr &surge)
void	onWindup (const auv_msgs::BodyForceReq::ConstPtr &tauAch)
Private Attributes
boost::mutex	dataMux
bool	enable
ros::ServiceServer	enableControl
ros::Subscriber	enableFlag
double	flowSurgeEstimate
ros::Subscriber	flowTwist
double	gammaARad
PIDController	headingController
double	K1
double	K2
ros::Time	lastEst
tf2_ros::TransformListener	listener
ros::NodeHandle	nh
ros::Publisher	nuRef
ros::Subscriber	openLoopSurge
ros::NodeHandle	ph
double	safetyRadius
auv_msgs::NavSts	state
ros::Subscriber	stateHat
double	surge
double	timeout
tf2_ros::Buffer	transBuffer
double	Ts
bool	use_flow_frame
ros::Publisher	vtTwist
ros::Subscriber	windup
labust::math::unwrap	yaw_ref

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Detailed Description

The class contains the implementation of the virtual target path following.

Definition at line 60 of file VirtualTarget.hpp.

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Constructor & Destructor Documentation

VirtualTarget::VirtualTarget

(

)

Main constructor

Definition at line 51 of file VirtualTarget.cpp.

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Member Function Documentation

void VirtualTarget::initialize_controller

(

)

[private]

Initialize the controller parameters etc.

Definition at line 289 of file VirtualTarget.cpp.

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

Handle the enable control request.

Definition at line 143 of file VirtualTarget.cpp.

void VirtualTarget::onEstimate

(

const auv_msgs::NavSts::ConstPtr &

estimate

)

[private]

Handle the new point. Handle the new tracking point. Handle incoming estimates message.

Definition at line 163 of file VirtualTarget.cpp.

void VirtualTarget::onFlowTwist

(

const geometry_msgs::TwistStamped::ConstPtr &

flowtwist

)

[private]

Handle incoming flow frame twist estimates.

Definition at line 155 of file VirtualTarget.cpp.

void VirtualTarget::onInit

(

)

Initialize and setup controller.

Definition at line 68 of file VirtualTarget.cpp.

void VirtualTarget::onOpenLoopSurge

(

const std_msgs::Float32::ConstPtr &

surge

)

[private]

The open loop surge specification.

Definition at line 150 of file VirtualTarget.cpp.

void VirtualTarget::onWindup

(

const auv_msgs::BodyForceReq::ConstPtr &

tauAch

)

[private]

Handle windup occurence.

Definition at line 177 of file VirtualTarget.cpp.

void VirtualTarget::start

(

)

Start the controller loop.

Definition at line 284 of file VirtualTarget.cpp.

void VirtualTarget::step

(

)

Performs one iteration.

Definition at line 207 of file VirtualTarget.cpp.

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Member Data Documentation

boost::mutex labust::control::VirtualTarget::dataMux [private]

Mutex to sync updates.

Definition at line 160 of file VirtualTarget.hpp.

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

Enabled.

Definition at line 156 of file VirtualTarget.hpp.

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

High level controller service.

Definition at line 177 of file VirtualTarget.hpp.

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

Definition at line 169 of file VirtualTarget.hpp.

double labust::control::VirtualTarget::flowSurgeEstimate [private]

Definition at line 148 of file VirtualTarget.hpp.

ros::Subscriber labust::control::VirtualTarget::flowTwist [private]

Definition at line 169 of file VirtualTarget.hpp.

double labust::control::VirtualTarget::gammaARad [private]

Definition at line 148 of file VirtualTarget.hpp.

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

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

Definition at line 144 of file VirtualTarget.hpp.

double labust::control::VirtualTarget::K1 [private]

Definition at line 148 of file VirtualTarget.hpp.

double labust::control::VirtualTarget::K2 [private]

Definition at line 148 of file VirtualTarget.hpp.

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

Last message times.

Definition at line 129 of file VirtualTarget.hpp.

tf2_ros::TransformListener labust::control::VirtualTarget::listener [private]

The transform listener for frame conversions.

Definition at line 193 of file VirtualTarget.hpp.

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

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

Definition at line 125 of file VirtualTarget.hpp.

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

The publisher of the TAU message.

Definition at line 165 of file VirtualTarget.hpp.

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

Definition at line 169 of file VirtualTarget.hpp.

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

Definition at line 125 of file VirtualTarget.hpp.

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

Definition at line 148 of file VirtualTarget.hpp.

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

Last received vehicle state.

Definition at line 152 of file VirtualTarget.hpp.

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

The subscribed topics.

Definition at line 169 of file VirtualTarget.hpp.

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

Definition at line 148 of file VirtualTarget.hpp.

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

Timeout

Definition at line 133 of file VirtualTarget.hpp.

tf2_ros::Buffer labust::control::VirtualTarget::transBuffer [private]

The dynamic reconfigure parameters. The dynamic reconfigure server. The transform listener buffer.

Definition at line 189 of file VirtualTarget.hpp.

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

The sampling time.

Definition at line 148 of file VirtualTarget.hpp.

bool labust::control::VirtualTarget::use_flow_frame [private]

Definition at line 156 of file VirtualTarget.hpp.

ros::Publisher labust::control::VirtualTarget::vtTwist [private]

Definition at line 165 of file VirtualTarget.hpp.

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

Definition at line 169 of file VirtualTarget.hpp.

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

The heading unwrapper.

Definition at line 173 of file VirtualTarget.hpp.

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

• VirtualTarget.hpp
• VirtualTarget.cpp