Inheritance diagram for uuv_control_interfaces.dp_controller_base.DPControllerBase:

Public Member Functions
def	__del__ (self)

def	__init__ (self, is_model_based=False, list_odometry_callbacks=None, planner_full_dof=False)

def	__str__ (self)

def	error_orientation_quat (self)

def	error_orientation_rpy (self)

def	error_pos_world (self)

def	error_pose_euler (self)

def	error_vel_world (self)

def	label (self)

def	odom_is_init (self)

def	publish_auv_command (self, surge_speed, wrench)

def	publish_control_wrench (self, force)

def	reset_controller_callback (self, request)

def	update_controller (self)

def	update_errors (self)

Static Public Member Functions
def	get_controller (name, args)

def	get_list_of_controllers ()

Public Attributes
	thrusters_only

	use_auv_control_allocator

Private Member Functions
def	_create_vehicle_model (self)

def	_odometry_callback (self, msg)

def	_reset_controller (self)

def	_update_reference (self)

def	_update_time_step (self)

Static Private Attributes
string	_LABEL = ''

Detailed Description

General abstract class for DP controllers for underwater vehicles.
This is an abstract class, must be inherited by a controller module that
overrides the update_controller method. If the controller is set to be
model based (is_model_based=True), than the vehicle parameters are going
to be read from the ROS parameter server.

> *Input arguments*

* `is_model_based` (*type:* `bool`, *default:* `False`): If `True`, the
controller uses a model of the vehicle, `False` if it is non-model-based.
* `list_odometry_callbacks` (*type:* `list`, *default:* `None`): List of 
function handles or `lambda` functions that will be called after each 
odometry update.
* `planner_full_dof` (*type:* `bool`, *default:* `False`): Set the local
planner to generate 6 DoF trajectories. Otherwise, the planner will only
generate 4 DoF trajectories `(x, y, z, yaw)`.

> *ROS parameters*

* `use_stamped_poses_only` (*type:* `bool`, *default:* `False`): If `True`,
the reference path will be generated with stamped poses only, velocity
and acceleration references are set to zero.
* `thrusters_only` (*type:* `bool`, *default:* `True`): If `True`, the
vehicle only has thrusters as actuators and a thruster manager node is
running and the control output will be published as `geometry_msgs/WrenchStamped`. 
If `False`, the AUV force allocation should be used to compute 
the control output for each actuator and the output control will be 
generated as a `uuv_auv_control_allocator.AUVCommand` message.
* `saturation` (*type:* `float`, *default:* `5000`): Absolute saturation
of the control signal. 
* `use_auv_control_allocator` (*type:* `bool`, *default:* `False`): If `True`,
the output control will be `AUVCommand` message.
* `min_thrust` (*type:* `float`, *default:* `40`): Min. thrust set-point output,
(parameter only valid for AUVs).

> *ROS publishers*

* `thruster_output` (*message:* `geometry_msgs/WrenchStamped`): Control set-point
for the thruster manager node (requirement: ROS parameters must be `thrusters_only`
must be set as `True` and a thruster manager from `uuv_thruster_manager` node must 
be running).
* `auv_command_output` (*message:* `uuv_auv_control_allocator.AUVCommand`): Control
set-point for the AUV allocation node (requirement: ROS parameters must be 
`thrusters_only` must be set as `False` and a AUV control allocation node from  
`uuv_auv_control_allocator` node must be running).
* `reference` (*message:* `uuv_control_msgs/TrajectoryPoint`): Current reference 
trajectory point.
* `error` (*message:* `uuv_control_msgs/TrajectoryPoint`): Current trajectory error.

> *ROS services*

* `reset_controller` (*service:* `uuv_control_msgs/ResetController`): Reset all 
variables, including error and reference signals.

Definition at line 39 of file dp_controller_base.py.

Constructor & Destructor Documentation

def uuv_control_interfaces.dp_controller_base.DPControllerBase.__init__	(	self,
		is_model_based = `False`,
		list_odometry_callbacks = `None`,
		planner_full_dof = `False`
	)

Definition at line 98 of file dp_controller_base.py.

def uuv_control_interfaces.dp_controller_base.DPControllerBase.__del__ ( self )

Definition at line 212 of file dp_controller_base.py.

Member Function Documentation

def uuv_control_interfaces.dp_controller_base.DPControllerBase.__str__ ( self )

Definition at line 286 of file dp_controller_base.py.

def uuv_control_interfaces.dp_controller_base.DPControllerBase._create_vehicle_model ( self )

private

Create a new instance of a vehicle model. If controller is not model
based, this model will have its parameters set to 0 and will be used
to receive and transform the odometry data.

Definition at line 293 of file dp_controller_base.py.

def uuv_control_interfaces.dp_controller_base.DPControllerBase._odometry_callback	(	self,
		msg
	)

private

Odometry topic subscriber callback function.

> *Input arguments*

* `msg` (*type:* `nav_msgs/Odometry`): Input odometry 
message

Definition at line 469 of file dp_controller_base.py.

def uuv_control_interfaces.dp_controller_base.DPControllerBase._reset_controller ( self )

private

Reset reference and and error vectors.

Definition at line 339 of file dp_controller_base.py.

def uuv_control_interfaces.dp_controller_base.DPControllerBase._update_reference ( self )

private

Call the local planner interpolator to retrieve a trajectory 
point and publish the reference message as `uuv_control_msgs/TrajectoryPoint`.

Definition at line 303 of file dp_controller_base.py.

def uuv_control_interfaces.dp_controller_base.DPControllerBase._update_time_step ( self )

private

Update time step.

Definition at line 333 of file dp_controller_base.py.

def uuv_control_interfaces.dp_controller_base.DPControllerBase.error_orientation_quat ( self )

`numpy.array`: Orientation error

Definition at line 247 of file dp_controller_base.py.

def uuv_control_interfaces.dp_controller_base.DPControllerBase.error_orientation_rpy ( self )

`numpy.array`: Orientation error in Euler angles.

Definition at line 252 of file dp_controller_base.py.

def uuv_control_interfaces.dp_controller_base.DPControllerBase.error_pos_world ( self )

`numpy.array`: Position error wrt world frame

Definition at line 242 of file dp_controller_base.py.

def uuv_control_interfaces.dp_controller_base.DPControllerBase.error_pose_euler ( self )

`numpy.array`: Pose error with orientation represented in Euler angles.

Definition at line 277 of file dp_controller_base.py.

def uuv_control_interfaces.dp_controller_base.DPControllerBase.error_vel_world ( self )

`numpy.array`: Linear velocity error

Definition at line 282 of file dp_controller_base.py.

def uuv_control_interfaces.dp_controller_base.DPControllerBase.get_controller	(	name,
		args
	)

static

Create instance of a specific DP controller.

Definition at line 218 of file dp_controller_base.py.

def uuv_control_interfaces.dp_controller_base.DPControllerBase.get_list_of_controllers ( )

static

Return list of DP controllers using this interface.

Definition at line 226 of file dp_controller_base.py.

def uuv_control_interfaces.dp_controller_base.DPControllerBase.label ( self )

`str`: Identifier name of the controller

Definition at line 232 of file dp_controller_base.py.

def uuv_control_interfaces.dp_controller_base.DPControllerBase.odom_is_init ( self )

`bool`: `True` if the first odometry message was received

Definition at line 237 of file dp_controller_base.py.

def uuv_control_interfaces.dp_controller_base.DPControllerBase.publish_auv_command	(	self,
		surge_speed,
		wrench
	)

Publish the AUV control command message

> *Input arguments*

* `surge_speed` (*type:* `float`): Reference surge speed
* `wrench` (*type:* `numpy.array`): 6 DoF wrench vector

Definition at line 443 of file dp_controller_base.py.

def uuv_control_interfaces.dp_controller_base.DPControllerBase.publish_control_wrench	(	self,
		force
	)

Publish the thruster manager control set-point.

> *Input arguments*

* `force` (*type:* `numpy.array`): 6 DoF control 
set-point wrench vector

Definition at line 407 of file dp_controller_base.py.

def uuv_control_interfaces.dp_controller_base.DPControllerBase.reset_controller_callback	(	self,
		request
	)

Service handler function.

Definition at line 354 of file dp_controller_base.py.

def uuv_control_interfaces.dp_controller_base.DPControllerBase.update_controller ( self )

This function must be implemented by derived classes
with the implementation of the control algorithm.

Definition at line 359 of file dp_controller_base.py.

def uuv_control_interfaces.dp_controller_base.DPControllerBase.update_errors ( self )

Update error vectors.

Definition at line 366 of file dp_controller_base.py.

Member Data Documentation

uuv_control_interfaces.dp_controller_base.DPControllerBase._auv_command_pub

private

Definition at line 151 of file dp_controller_base.py.

uuv_control_interfaces.dp_controller_base.DPControllerBase._control_saturation

private

Definition at line 128 of file dp_controller_base.py.

uuv_control_interfaces.dp_controller_base.DPControllerBase._dt

private

Definition at line 179 of file dp_controller_base.py.

uuv_control_interfaces.dp_controller_base.DPControllerBase._error_pub

private

Definition at line 162 of file dp_controller_base.py.

uuv_control_interfaces.dp_controller_base.DPControllerBase._errors

private

Definition at line 174 of file dp_controller_base.py.

uuv_control_interfaces.dp_controller_base.DPControllerBase._init_odom

private

Definition at line 202 of file dp_controller_base.py.

uuv_control_interfaces.dp_controller_base.DPControllerBase._init_reference

private

Definition at line 165 of file dp_controller_base.py.

uuv_control_interfaces.dp_controller_base.DPControllerBase._is_init

private

Definition at line 100 of file dp_controller_base.py.

uuv_control_interfaces.dp_controller_base.DPControllerBase._is_model_based

private

Definition at line 107 of file dp_controller_base.py.

string uuv_control_interfaces.dp_controller_base.DPControllerBase._LABEL = ''

staticprivate

Definition at line 95 of file dp_controller_base.py.

uuv_control_interfaces.dp_controller_base.DPControllerBase._local_planner

private

Definition at line 123 of file dp_controller_base.py.

uuv_control_interfaces.dp_controller_base.DPControllerBase._logger

private

Definition at line 101 of file dp_controller_base.py.

uuv_control_interfaces.dp_controller_base.DPControllerBase._min_thrust

private

Definition at line 156 of file dp_controller_base.py.

uuv_control_interfaces.dp_controller_base.DPControllerBase._namespace

private

Definition at line 104 of file dp_controller_base.py.

uuv_control_interfaces.dp_controller_base.DPControllerBase._odom_topic_sub

private

Definition at line 205 of file dp_controller_base.py.

uuv_control_interfaces.dp_controller_base.DPControllerBase._odometry_callbacks

private

Definition at line 195 of file dp_controller_base.py.

uuv_control_interfaces.dp_controller_base.DPControllerBase._prev_t

private

Definition at line 209 of file dp_controller_base.py.

uuv_control_interfaces.dp_controller_base.DPControllerBase._prev_time

private

Definition at line 180 of file dp_controller_base.py.

uuv_control_interfaces.dp_controller_base.DPControllerBase._reference

private

Definition at line 168 of file dp_controller_base.py.

uuv_control_interfaces.dp_controller_base.DPControllerBase._reference_pub

private

Definition at line 158 of file dp_controller_base.py.

uuv_control_interfaces.dp_controller_base.DPControllerBase._services

private

Definition at line 182 of file dp_controller_base.py.

uuv_control_interfaces.dp_controller_base.DPControllerBase._stamp_trajectory_received

private

Definition at line 188 of file dp_controller_base.py.

uuv_control_interfaces.dp_controller_base.DPControllerBase._thrust_pub

private

Definition at line 145 of file dp_controller_base.py.

uuv_control_interfaces.dp_controller_base.DPControllerBase._thrust_saturation

private

Definition at line 131 of file dp_controller_base.py.

uuv_control_interfaces.dp_controller_base.DPControllerBase._use_stamped_poses_only

private

Definition at line 114 of file dp_controller_base.py.

uuv_control_interfaces.dp_controller_base.DPControllerBase._vehicle_model

private

Definition at line 191 of file dp_controller_base.py.

uuv_control_interfaces.dp_controller_base.DPControllerBase.thrusters_only

Definition at line 120 of file dp_controller_base.py.

uuv_control_interfaces.dp_controller_base.DPControllerBase.use_auv_control_allocator

Definition at line 137 of file dp_controller_base.py.

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

dp_controller_base.py

Private Attributes
	_auv_command_pub

	_control_saturation

	_dt

	_error_pub

	_errors

	_init_odom

	_init_reference

	_is_init

	_is_model_based

	_local_planner

	_logger

	_min_thrust

	_namespace

	_odom_topic_sub

	_odometry_callbacks

	_prev_t

	_prev_time

	_reference

	_reference_pub

	_services

	_stamp_trajectory_received

	_thrust_pub

	_thrust_saturation

	_use_stamped_poses_only

	_vehicle_model

Public Member Functions

Static Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation