IRI ROS Specific Algorithm Class. More...

#include <kinton_vs_control_alg_node.h>

Inheritance diagram for KintonVsControlAlgNode:

Public Member Functions
	KintonVsControlAlgNode (void)
	Constructor.
	KintonVsControlAlgNode (void)
	Constructor.
	~KintonVsControlAlgNode (void)
	Destructor.
	~KintonVsControlAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	addNodeDiagnostics (void)
	node add diagnostics
Eigen::MatrixXd	cam_to_quad_vel ()
	Reduce velocity vector from 6DOF to 4DOF.
Eigen::MatrixXd	cam_to_quad_vel ()
	Reduce velocity vector from 6DOF to 4DOF.
Eigen::Matrix4d	getTransform (const tf::StampedTransform &transform)
	Get transform matrix.
Eigen::Matrix4d	getTransform (const tf::StampedTransform &transform)
	Get transform matrix.
void	mainNodeThread (void)
	main node thread
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
Eigen::MatrixXd	signal_adapt (const Eigen::MatrixXd &cmd_raw)
	Signal adaptation.
Private Member Functions
void	cam_vel_callback (const geometry_msgs::TwistWithCovariance::ConstPtr &msg)
void	cam_vel_callback (const geometry_msgs::TwistWithCovariance::ConstPtr &msg)
void	ll_status_callback (const asctec_msgs::LLStatus::ConstPtr &msg)
void	odom_callback (const nav_msgs::Odometry::ConstPtr &msg)
void	odom_callback (const nav_msgs::Odometry::ConstPtr &msg)
Private Attributes
bool	activate_
std_msgs::Bool	Bool_msg_
Eigen::MatrixXd	cam_twist_
CMutex	cam_vel_mutex_
ros::Subscriber	cam_vel_subscriber_
std_msgs::Float64	cmd_pitch_msg_
ros::Publisher	cmd_pitch_publisher_
std_msgs::Float64	cmd_roll_msg_
ros::Publisher	cmd_roll_publisher_
std_msgs::Float64	cmd_thrust_msg_
ros::Publisher	cmd_thrust_publisher_
geometry_msgs::Twist	cmd_vel_
ros::Publisher	cmd_vel_publisher_
std_msgs::Float64	cmd_yaw_msg_
ros::Publisher	cmd_yaw_publisher_
double	ctrl_ref_
bool	estop_
ros::Publisher	ESTOP_publisher_
double	height_
double	height_fix_
CMutex	ll_status_mutex_
ros::Subscriber	ll_status_subscriber_
bool	marker_ctrl_
control_toolbox::Pid	nm_pid_pitch_
control_toolbox::Pid	nm_pid_roll_
control_toolbox::Pid	nm_pid_thrust_
control_toolbox::Pid	nm_pid_yaw_
double	nm_pitch_kd_
double	nm_pitch_kp_
double	nm_roll_kd_
double	nm_roll_kp_
double	nm_thrust_kd_
double	nm_thrust_kp_
double	nm_yaw_kd_
double	nm_yaw_kp_
CMutex	odom_mutex_
ros::Subscriber	odom_subscriber_
double	pitch_
Eigen::MatrixXd	quad_twist_
double	roll_
double	rollpitch_sat_max_
double	rollpitch_sat_min_
double	sat_max_
double	sat_min_
bool	serial_
Eigen::Matrix4d	T_quad_to_cam_
ros::Time	time_
ros::Time	time_last_
double	trimm_x_
double	trimm_y_
double	yaw_sat_max_
double	yaw_sat_min_

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 55 of file kinton_vs_control_alg_node.h.

Constructor & Destructor Documentation

KintonVsControlAlgNode::KintonVsControlAlgNode ( void )

Constructor.

This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.

Definition at line 3 of file kinton_vs_control_alg_node.cpp.

KintonVsControlAlgNode::~KintonVsControlAlgNode ( void )

Destructor.

This destructor frees all necessary dynamic memory allocated within this this class.

Definition at line 68 of file kinton_vs_control_alg_node.cpp.

KintonVsControlAlgNode::KintonVsControlAlgNode ( void )

Constructor.

This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.

KintonVsControlAlgNode::~KintonVsControlAlgNode ( void )

Destructor.

This destructor frees all necessary dynamic memory allocated within this this class.

Member Function Documentation

void KintonVsControlAlgNode::addNodeDiagnostics ( void ) [protected, virtual]

node add diagnostics

In this abstract function additional ROS diagnostics applied to the specific algorithms may be added.

Implements algorithm_base::IriBaseAlgorithm< KintonVsControlAlgorithm >.

void KintonVsControlAlgNode::addNodeDiagnostics ( void ) [protected, virtual]

node add diagnostics

In this abstract function additional ROS diagnostics applied to the specific algorithms may be added.

Implements algorithm_base::IriBaseAlgorithm< KintonVsControlAlgorithm >.

Definition at line 370 of file kinton_vs_control_alg_node.cpp.

Eigen::MatrixXd KintonVsControlAlgNode::cam_to_quad_vel ( ) [protected]

Reduce velocity vector from 6DOF to 4DOF.

Reduce the numf. of DOF using the quadrotor Jacobian

Eigen::MatrixXd KintonVsControlAlgNode::cam_to_quad_vel ( ) [protected]

Reduce velocity vector from 6DOF to 4DOF.

Reduce the numf. of DOF using the quadrotor Jacobian

Definition at line 242 of file kinton_vs_control_alg_node.cpp.

void KintonVsControlAlgNode::cam_vel_callback ( const geometry_msgs::TwistWithCovariance::ConstPtr & msg ) [private]

Definition at line 145 of file kinton_vs_control_alg_node.cpp.

Eigen::Matrix4d KintonVsControlAlgNode::getTransform ( const tf::StampedTransform & transform ) [protected]

Get transform matrix.

From TransformStamped to Eigen 4x4

Eigen::Matrix4d KintonVsControlAlgNode::getTransform ( const tf::StampedTransform & transform ) [protected]

Get transform matrix.

From TransformStamped to Eigen 4x4

Definition at line 288 of file kinton_vs_control_alg_node.cpp.

void KintonVsControlAlgNode::ll_status_callback ( const asctec_msgs::LLStatus::ConstPtr & msg ) [private]

Definition at line 192 of file kinton_vs_control_alg_node.cpp.

void KintonVsControlAlgNode::mainNodeThread ( void ) [protected, virtual]

main node thread

This is the main thread node function. Code written here will be executed in every node loop while the algorithm is on running state. Loop frequency can be tuned by modifying loop_rate attribute.

Here data related to the process loop or to ROS topics (mainly data structs related to the MSG and SRV files) must be updated. ROS publisher objects must publish their data in this process. ROS client servers may also request data to the corresponding server topics.

Implements algorithm_base::IriBaseAlgorithm< KintonVsControlAlgorithm >.

void KintonVsControlAlgNode::mainNodeThread ( void ) [protected, virtual]

main node thread

This is the main thread node function. Code written here will be executed in every node loop while the algorithm is on running state. Loop frequency can be tuned by modifying loop_rate attribute.

Here data related to the process loop or to ROS topics (mainly data structs related to the MSG and SRV files) must be updated. ROS publisher objects must publish their data in this process. ROS client servers may also request data to the corresponding server topics.

Implements algorithm_base::IriBaseAlgorithm< KintonVsControlAlgorithm >.

Definition at line 73 of file kinton_vs_control_alg_node.cpp.

void KintonVsControlAlgNode::node_config_update	(	Config &	config,
		uint32_t	level
	)		`[protected, virtual]`

dynamic reconfigure server callback

This method is called whenever a new configuration is received through the dynamic reconfigure. The derivated generic algorithm class must implement it.

Parameters:

config	an object with new configuration from all algorithm parameters defined in the config file.
level	integer referring the level in which the configuration has been changed.

Implements algorithm_base::IriBaseAlgorithm< KintonVsControlAlgorithm >.

void KintonVsControlAlgNode::node_config_update	(	Config &	config,
		uint32_t	level
	)		`[protected, virtual]`

dynamic reconfigure server callback

This method is called whenever a new configuration is received through the dynamic reconfigure. The derivated generic algorithm class must implement it.

Parameters:

config	an object with new configuration from all algorithm parameters defined in the config file.
level	integer referring the level in which the configuration has been changed.

Implements algorithm_base::IriBaseAlgorithm< KintonVsControlAlgorithm >.

Definition at line 340 of file kinton_vs_control_alg_node.cpp.

void KintonVsControlAlgNode::odom_callback ( const nav_msgs::Odometry::ConstPtr & msg ) [private]