gazebo_gimbal_controller_plugin.h

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/*
 * Copyright (C) 2012-2016 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/* Desc: A basic gimbal controller
 * Author: John Hsu
 */

#ifndef _GAZEBO_GIMBAL_CONTROLLER_PLUGIN_HH_
#define _GAZEBO_GIMBAL_CONTROLLER_PLUGIN_HH_

#include <string>
#include <vector>

#include <gazebo/common/PID.hh>
#include <gazebo/common/Plugin.hh>
#include <gazebo/physics/physics.hh>
#include <gazebo/transport/transport.hh>
#include <gazebo/util/system.hh>
#include <gazebo/sensors/sensors.hh>

namespace gazebo
{
  class GAZEBO_VISIBLE GimbalControllerPlugin : public ModelPlugin
  {
    public: GimbalControllerPlugin();

    public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);

    public: virtual void Init();

    private: void OnUpdate();

    private: void OnPitchStringMsg(ConstAnyPtr &_msg);
    private: void OnRollStringMsg(ConstAnyPtr &_msg);
    private: void OnYawStringMsg(ConstAnyPtr &_msg);

    private: double NormalizeAbout(double _angle, double _reference);

    private: double ShortestAngularDistance(double _from, double _to);

    private: sdf::ElementPtr sdf;

    private: std::vector<event::ConnectionPtr> connections;

    private: transport::SubscriberPtr pitchSub;
    private: transport::SubscriberPtr rollSub;
    private: transport::SubscriberPtr yawSub;

    private: transport::PublisherPtr pitchPub;
    private: transport::PublisherPtr rollPub;
    private: transport::PublisherPtr yawPub;

    private: physics::ModelPtr model;

    private: physics::JointPtr yawJoint;

    private: physics::JointPtr rollJoint;

    private: physics::JointPtr pitchJoint;

    private: sensors::ImuSensorPtr imuSensor;

    private: std::string status;

    private: double pitchCommand;
    private: double yawCommand;
    private: double rollCommand;

    private: transport::NodePtr node;

    private: common::PID pitchPid;
    private: common::PID rollPid;
    private: common::PID yawPid;
    private: common::Time lastUpdateTime;

    private: ignition::ignition::math::Vector3d ThreeAxisRot(
      double r11, double r12, double r21, double r31, double r32);
    private: ignition::ignition::math::Vector3d QtoZXY(
      const ignition::math::Quaterniond &_q);
  };
}
#endif