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/control/PIFFController.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 <std_msgs/Bool.h>
#include <ros/ros.h>

namespace labust
{
        namespace control{
                struct ALTControl : DisableAxis
                {
                        ALTControl():Ts(0.1),manRefFlag(true),depth_threshold(0.1),depth_timeout(10){};

                        void init()
                        {
                                ros::NodeHandle nh;
                                manRefSub = nh.subscribe<std_msgs::Bool>("manRefAltitude",1,&ALTControl::onManRef,this);
                                initialize_controller();
                        }

                        void onManRef(const std_msgs::Bool::ConstPtr& state)
                        {
                                manRefFlag = state->data;
                        }
                void windup(const auv_msgs::BodyForceReq& tauAch)
                        {
                                //Copy into controller
                        con.extWindup = tauAch.windup.z;
                        };

                void idle(const auv_msgs::NavSts& ref, const auv_msgs::NavSts& state,
                                const auv_msgs::BodyVelocityReq& track)
                {
                        //Tracking external commands while idle (bumpless)
                        con.desired = state.altitude;
                        con.state = state.altitude;
                        con.track = -track.twist.linear.z;
                        PIFF_ffIdle(&con, Ts, -ref.body_velocity.z);
                };

                void reset(const auv_msgs::NavSts& ref, const auv_msgs::NavSts& state)
                {
                        //UNUSED
                };

                        auv_msgs::BodyVelocityReqPtr step(const auv_msgs::NavSts& ref,
                                        const auv_msgs::NavSts& state)
                        {
                                con.desired = ref.altitude;
                                con.state = state.altitude;
                                con.track = -state.body_velocity.z;

                                double tmp_output;
                                auv_msgs::BodyVelocityReqPtr nu(new auv_msgs::BodyVelocityReq());

                                if(manRefFlag)
                                {
                                        if (state.position.depth > depth_threshold) underwater_time = ros::Time::now();
                                        //If more than depth_timeout on surface stop the controller
                                        if (((ros::Time::now() - underwater_time).toSec() > depth_timeout)) 
                                        {
                                                PIFF_ffIdle(&con, Ts, 0);
                                                tmp_output = 0;
                                        }
                                        else
                                        {
                                                //PIFF_wffStep(&con,Ts, werror, wperror, 0*ref.orientation_rate.yaw);
                                                PIFF_ffStep(&con, Ts, 0*(-1)*ref.body_velocity.z);
                                                tmp_output = -con.output;
                                        }

                                        //tmp_output = -con.output;
                                }
                                else
                                {
                                        PIFF_ffIdle(&con, Ts, -ref.body_velocity.z);
                                        tmp_output = ref.body_velocity.z;
                                }

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

                                nu->twist.linear.z = tmp_output;

                                return nu;
                        }

                        void initialize_controller()
                        {
                                ROS_INFO("Initializing 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("depth_controller/depth_threshold",depth_threshold,depth_threshold);
                                nh.param("depth_controller/depth_timeout",depth_timeout,depth_timeout);

                                disable_axis[2] = 0;

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

                                ROS_INFO("Altitude controller initialized.");
                        }

                private:
                        ros::Subscriber alt_sub;
                        PIDBase con;
                        double Ts;
                        double depth_threshold;
                        double depth_timeout;
                        ros::Time underwater_time;
                        ros::Subscriber manRefSub;
                        bool manRefFlag;
                };
        }
}

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;
}