Program Listing for File speed_in_a_plane_motion.cpp

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// Copyright 2023 Universidad Politécnica de Madrid
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/*!*******************************************************************************************
 *  \file       speed_in_a_plane_motion.cpp
 *  \brief      This file contains the implementation of the SpeedInAPlaneMotion class.
 *  \authors    Miguel Fernández Cortizas
 *              Pedro Arias Pérez
 *              David Pérez Saura
 *              Rafael Pérez Seguí
 ********************************************************************************/

#include "as2_motion_reference_handlers/speed_in_a_plane_motion.hpp"

namespace as2
{
namespace motionReferenceHandlers
{
SpeedInAPlaneMotion::SpeedInAPlaneMotion(as2::Node * node_ptr, const std::string & ns)
: BasicMotionReferenceHandler(node_ptr, ns)
{
  desired_control_mode_.yaw_mode = as2_msgs::msg::ControlMode::NONE;
  desired_control_mode_.control_mode = as2_msgs::msg::ControlMode::SPEED_IN_A_PLANE;
  desired_control_mode_.reference_frame = as2_msgs::msg::ControlMode::UNDEFINED_FRAME;
}

bool SpeedInAPlaneMotion::ownSendCommand()
{
  bool send_pose = sendPoseCommand();
  bool send_twist = sendTwistCommand();
  return send_pose && send_twist;
}

bool SpeedInAPlaneMotion::sendSpeedInAPlaneCommandWithYawSpeed(
  const std::string & frame_id_speed,
  const float vx,
  const float vy,
  const std::string & frame_id_pose,
  const float hz,
  const float yaw_speed)
{
  geometry_msgs::msg::PoseStamped pose;
  pose.header.frame_id = frame_id_pose;
  pose.pose.position.z = hz;

  geometry_msgs::msg::TwistStamped twist;
  twist.header.frame_id = frame_id_speed;
  twist.twist.linear.x = vx;
  twist.twist.linear.y = vy;
  twist.twist.angular.z = yaw_speed;
  return sendSpeedInAPlaneCommandWithYawSpeed(pose, twist);
}

bool SpeedInAPlaneMotion::sendSpeedInAPlaneCommandWithYawSpeed(
  const geometry_msgs::msg::PoseStamped & pose,
  const geometry_msgs::msg::TwistStamped & twist)
{
  if (pose.header.frame_id == "" || twist.header.frame_id == "") {
    RCLCPP_ERROR(node_ptr_->get_logger(), "Frame id is empty");
    return false;
  }
  desired_control_mode_.yaw_mode = as2_msgs::msg::ControlMode::YAW_SPEED;
  this->command_pose_msg_ = pose;
  this->command_twist_msg_ = twist;
  return this->ownSendCommand();
}

bool SpeedInAPlaneMotion::sendSpeedInAPlaneCommandWithYawAngle(
  const std::string & frame_id_speed,
  const float vx,
  const float vy,
  const std::string & frame_id_pose,
  const float hz,
  const float yaw_angle)
{
  geometry_msgs::msg::PoseStamped pose;
  pose.header.frame_id = frame_id_pose;
  pose.pose.position.z = hz;
  pose.pose.orientation = tf2::toMsg(tf2::Quaternion(tf2::Vector3(0, 0, 1), yaw_angle));

  geometry_msgs::msg::TwistStamped twist;
  twist.header.frame_id = frame_id_speed;
  twist.twist.linear.x = vx;
  twist.twist.linear.y = vy;
  return sendSpeedInAPlaneCommandWithYawAngle(pose, twist);
}

bool SpeedInAPlaneMotion::sendSpeedInAPlaneCommandWithYawAngle(
  const std::string & frame_id_speed,
  const float vx,
  const float vy,
  const std::string & frame_id_pose,
  const float hz,
  const geometry_msgs::msg::Quaternion & q)
{
  geometry_msgs::msg::PoseStamped pose;
  pose.header.frame_id = frame_id_pose;
  pose.pose.position.z = hz;
  pose.pose.orientation = q;

  geometry_msgs::msg::TwistStamped twist;
  twist.header.frame_id = frame_id_speed;
  twist.twist.linear.x = vx;
  twist.twist.linear.y = vy;
  return sendSpeedInAPlaneCommandWithYawAngle(pose, twist);
}

bool SpeedInAPlaneMotion::sendSpeedInAPlaneCommandWithYawAngle(
  const geometry_msgs::msg::PoseStamped & pose,
  const geometry_msgs::msg::TwistStamped & twist)
{
  if (pose.header.frame_id == "" || twist.header.frame_id == "") {
    RCLCPP_ERROR(node_ptr_->get_logger(), "Frame id is empty");
    return false;
  }
  desired_control_mode_.yaw_mode = as2_msgs::msg::ControlMode::YAW_ANGLE;
  this->command_pose_msg_ = pose;
  this->command_twist_msg_ = twist;
  return this->ownSendCommand();
}

}   // namespace motionReferenceHandlers
}  // namespace as2