HDGControl.cpp

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010, LABUST, UNIZG-FER
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the LABUST nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 *  Author: Dula Nad
 *  Created: 01.02.2013.
 *********************************************************************/
#include <labust/control/HLControl.hpp>
#include <labust/control/EnablePolicy.hpp>
#include <labust/control/WindupPolicy.hpp>
#include <labust/control/PIFFController.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 <ros/ros.h>

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

                        HDGControl():Ts(0.1),useIP(false){};

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

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

                void reset(const auv_msgs::NavSts& ref, const auv_msgs::NavSts& state)
                {
                        con.internalState = 0;
                        con.lastState = useIP?unwrap(state.orientation.yaw):state.orientation.yaw;
                };

                        auv_msgs::BodyVelocityReqPtr step(const auv_msgs::NavSts& ref,
                                        const auv_msgs::NavSts& state)
                        {
                                con.desired = ref.orientation.yaw;
                                con.state = (useIP?unwrap(state.orientation.yaw):state.orientation.yaw);

                                float errorWrap = labust::math::wrapRad(
                                        con.desired - con.state);
                                //Zero feed-forward
                                if (useIP)
                                {
                                        IPFF_wffStep(&con,Ts, errorWrap, 0);
                                }
                                else
                                {
                                        PIFF_wffStep(&con,Ts, errorWrap, 0);
                                }

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

                                nu->twist.angular.z = con.output;

                                return nu;
                        }

                        void initialize_controller()
                        {
                                ROS_INFO("Initializing heading controller...");

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

                                disable_axis[5] = 0;

                                PIDBase_init(&con);
                                PIFF_tune(&con, float(closedLoopFreq));

                                ROS_INFO("Heading controller initialized.");
                        }

                private:
                        ros::Subscriber alt_sub;
                        PIDBase con;
                        double Ts;
                        bool useIP;
                        labust::math::unwrap unwrap;
                };
        }}

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

        labust::control::HLControl<labust::control::HDGControl,
        labust::control::EnableServicePolicy,
        labust::control::WindupPolicy<auv_msgs::BodyForceReq> > controller;
        ros::spin();

        return 0;
}