labust::control::IdentificationNode Class Reference

#include <IdentificationNode.hpp>

List of all members.

Public Member Functions
	IdentificationNode ()
void	onInit ()
Private Types
enum	{   x = 0, y, z, roll,   pitch, yaw, altitude, u,   v, w, measNum }
enum	{   X = 0, Y, Z, K,   M, N }
enum	{ alpha = 0, beta, betaa }
typedef navcon_msgs::DOFIdentificationAction	Action
typedef actionlib::SimpleActionServer < Action >	ActionServer
typedef boost::shared_ptr < ActionServer >	ActionServerPtr
typedef navcon_msgs::DOFIdentificationGoal	Goal
typedef Eigen::Matrix< double, measNum, 1 >	MeasVec
typedef navcon_msgs::DOFIdentificationResult	Result
Private Member Functions
void	doIdentification (const Goal::ConstPtr &goal)
void	onMeasurement (const auv_msgs::NavSts::ConstPtr &meas)
void	setTau (int elem, double value)
Private Attributes
ActionServerPtr	aserver
double	cumulative_error
boost::thread	identrunner
bool	integrateUV
ros::Subscriber	meas
boost::mutex	measmux
MeasVec	measurements
ros::Publisher	stateOut
ros::Publisher	tauOut
bool	useUV
bool	useW

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Detailed Description

The class contains the implementation of the SO identification algorithm in the ROS framework.

Todo:

Set feedback value in ident action.

Make SOIdentification more user friendly C++ class.

Make SOIdentification more simple/ C implementable for uC.

Definition at line 57 of file IdentificationNode.hpp.

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Member Typedef Documentation

typedef navcon_msgs::DOFIdentificationAction labust::control::IdentificationNode::Action [private]

Definition at line 63 of file IdentificationNode.hpp.

typedef actionlib::SimpleActionServer<Action> labust::control::IdentificationNode::ActionServer [private]

Definition at line 64 of file IdentificationNode.hpp.

typedef boost::shared_ptr<ActionServer> labust::control::IdentificationNode::ActionServerPtr [private]

Definition at line 65 of file IdentificationNode.hpp.

typedef navcon_msgs::DOFIdentificationGoal labust::control::IdentificationNode::Goal [private]

Definition at line 66 of file IdentificationNode.hpp.

typedef Eigen::Matrix<double, measNum,1> labust::control::IdentificationNode::MeasVec [private]

Definition at line 69 of file IdentificationNode.hpp.

typedef navcon_msgs::DOFIdentificationResult labust::control::IdentificationNode::Result [private]

Definition at line 67 of file IdentificationNode.hpp.

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Member Enumeration Documentation

anonymous enum [private]

Enumerator:

x
y
z
roll
pitch
yaw
altitude
u
v
w
measNum

Definition at line 59 of file IdentificationNode.hpp.

anonymous enum [private]

Enumerator:

X
Y
Z
K
M
N

Definition at line 60 of file IdentificationNode.hpp.

anonymous enum [private]

Enumerator:

alpha
beta
betaa

Definition at line 61 of file IdentificationNode.hpp.

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Constructor & Destructor Documentation

IdentificationNode::IdentificationNode

(

)

Main constructor

Definition at line 49 of file IdentificationNode.cpp.

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Member Function Documentation

void IdentificationNode::doIdentification

(

const Goal::ConstPtr &

goal

)

[private]

Execute the identification loop.

Definition at line 108 of file IdentificationNode.cpp.

void IdentificationNode::onInit

(

)

Initialize and setup controller.

Definition at line 58 of file IdentificationNode.cpp.

void IdentificationNode::onMeasurement

(

const auv_msgs::NavSts::ConstPtr &

meas

)

[private]

Handle incoming estimates message.

Definition at line 77 of file IdentificationNode.cpp.

void IdentificationNode::setTau	(	int	elem,
		double	value
	)		[private]

Publish the force and torque values.

Definition at line 241 of file IdentificationNode.cpp.

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Member Data Documentation

ActionServerPtr labust::control::IdentificationNode::aserver [private]

The identification action server.

Definition at line 106 of file IdentificationNode.hpp.

double labust::control::IdentificationNode::cumulative_error [private]

Cumulative error.

Definition at line 137 of file IdentificationNode.hpp.

boost::thread labust::control::IdentificationNode::identrunner [private]

The identification thread.

Definition at line 110 of file IdentificationNode.hpp.

bool labust::control::IdentificationNode::integrateUV [private]

Integration based x,y. The x,y measurements will be calculated by integration of forward and lateral speed measurements.

Definition at line 121 of file IdentificationNode.hpp.

ros::Subscriber labust::control::IdentificationNode::meas [private]

The subscribed topics.

Definition at line 102 of file IdentificationNode.hpp.

boost::mutex labust::control::IdentificationNode::measmux [private]

The measurement mutex.

Definition at line 141 of file IdentificationNode.hpp.

MeasVec labust::control::IdentificationNode::measurements [private]

The measurement vector.

Definition at line 114 of file IdentificationNode.hpp.

ros::Publisher labust::control::IdentificationNode::stateOut [private]

Definition at line 98 of file IdentificationNode.hpp.

ros::Publisher labust::control::IdentificationNode::tauOut [private]

The publisher of the TAU message.

Definition at line 98 of file IdentificationNode.hpp.

bool labust::control::IdentificationNode::useUV [private]

Use surge-sway error. The difference between the desired speed and measured will be integrated as the error to the identification.

Definition at line 127 of file IdentificationNode.hpp.

bool labust::control::IdentificationNode::useW [private]

Use heave error. The difference between the desired heave and measured will be integrated as the error to the identification.

Definition at line 133 of file IdentificationNode.hpp.

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

• IdentificationNode.hpp
• IdentificationNode.cpp