ALTControl.cpp

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 *  Author: Dula Nad
 *  Created: 01.02.2013.
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#include <labust/control/HLControl.hpp>
#include <labust/control/EnablePolicy.hpp>
#include <labust/control/WindupPolicy.hpp>
#include <labust/control/PSatDController.h>
#include <labust/control/IPFFController.h>
#include <labust/math/NumberManipulation.hpp>
#include <labust/tools/MatrixLoader.hpp>
#include <labust/tools/conversions.hpp>

#include <Eigen/Dense>
#include <auv_msgs/BodyForceReq.h>
#include <std_msgs/Float32.h>
#include <ros/ros.h>

namespace labust
{
        namespace control{
                struct ALTControl : DisableAxis
                {
                        enum {x=0,y};

                        ALTControl():Ts(0.1), useIP(false), minAltitude(5){};

                        void init()
                        {
                                ros::NodeHandle nh;
                                initialize_controller();
                        }

                void windup(const auv_msgs::BodyForceReq& tauAch)
                        {
                                //Copy into controller
                                //con.windup = tauAch.disable_axis.z;
                        con.extWindup = tauAch.windup.z;
                        };

                void reset(const auv_msgs::NavSts& ref, const auv_msgs::NavSts& state)
                {
                        con.internalState = 0;
                        lastRef = ref.position.depth;
                        if (ref.position.depth < 0)
                        {
                                con.lastState = state.altitude;
                        }
                        else
                        {
                                con.lastState = state.position.depth;
                        }
                };

                        auv_msgs::BodyVelocityReqPtr step(const auv_msgs::NavSts& ref,
                                        const auv_msgs::NavSts& state)
                        {
                                con.desired = ref.position.depth;

                                //check setup
                                if ((lastRef > 0) && (ref.position.depth < 0))
                                {
                                        con.lastState = state.altitude;
                                        con.lastRef = -ref.position.depth;
                                }
                                else if ((lastRef < 0) && (ref.position.depth > 0))
                                {
                                        con.lastState = state.position.depth;
                                        con.lastRef = ref.position.depth;
                                }
                                lastRef = ref.position.depth;

                                //Check if altitude or depth reference
                                float wd = state.body_velocity.z;
                                if (ref.position.depth < 0)
                                {
                                        //Altitude mode
                                        con.desired = -ref.position.depth;
                                        con.state = state.altitude;
                                        //\todo Check this if derivative has ok sign.
                                        wd = -wd;
                                }
                                else
                                {
                                        //Depth mode
                                        con.state = state.position.depth;
                                }

                                //Zero feed-forward
                                //PIFF_ffStep(&con,Ts,0);
                                //\todo Check the derivative sign
                                if (useIP)
                                {
                                        IPFF_ffStep(&con, Ts, ref.body_velocity.z);
                                        ROS_INFO("Current state=%f, desired=%f, windup=%d", con.state, con.desired, con.windup);
                                }
                                else
                                {
                                        PSatD_dStep(&con, Ts, 0);
                                        ROS_INFO("Current state=%f, desired=%f", con.state, con.desired);
                                }

                                auv_msgs::BodyVelocityReqPtr nu(new auv_msgs::BodyVelocityReq());
                                nu->header.stamp = ros::Time::now();
                                nu->goal.requester = "alt_controller";
                                labust::tools::vectorToDisableAxis(disable_axis, nu->disable_axis);

                                if (ref.position.depth < 0)
                                {
                                        nu->twist.linear.z = -con.output;
                                }
                                else
                                {
                                        nu->twist.linear.z = con.output;
                                }

                                //Safety
                                if (state.altitude < minAltitude)
                                {
                                        con.internalState = 0;
                                        nu->twist.linear.z = 0;
                                }

                                return nu;
                        }

                        void initialize_controller()
                        {
                                ROS_INFO("Initializing depth/altitude controller...");

                                ros::NodeHandle nh;
                                double closedLoopFreq(1);
                                nh.param("alt_controller/closed_loop_freq", closedLoopFreq, closedLoopFreq);
                                nh.param("alt_controller/sampling",Ts,Ts);
                                nh.param("alt_controller/use_ip",useIP,useIP);
                                nh.param("alt_controller/min_altitude",minAltitude,minAltitude);

                                disable_axis[2] = 0;

                                PIDBase_init(&con);
                                //PIFF_tune(&con, float(closedLoopFreq));
                                if (useIP)
                                {
                                        IPFF_tune(&con, float(closedLoopFreq));
                                }
                                else
                                {
                                        PSatD_tune(&con, float(closedLoopFreq), 0, 1);
                                        con.outputLimit = 1;
                                }

                                ROS_INFO("Depth/Altitude controller initialized.");
                        }

                private:
                        ros::Subscriber alt_sub;
                        PIDBase con;
                        double Ts;
                        bool useIP;
                        double lastRef;
                        double minAltitude;
                };
        }}

int main(int argc, char* argv[])
{
        ros::init(argc,argv,"alt_control");

        labust::control::HLControl<labust::control::ALTControl,
        labust::control::EnableServicePolicy,
        labust::control::WindupPolicy<auv_msgs::BodyForceReq> > controller;

        ros::spin();

        return 0;
}