ESControlBounded_UV.cpp

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/*********************************************************************
 * ESControlBounded_UV.cpp
 *
 *  Created on: Jan 30, 2015
 *      Author: Filip Mandic
 *
 ********************************************************************/

/*********************************************************************
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#include <labust/control/esc/EscBounded.hpp>
#include <labust/control/HLControl.hpp>
#include <labust/control/EnablePolicy.hpp>
#include <labust/control/WindupPolicy.hpp>
#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{

                /*************************************************************
                 *** Extremum seeking controller with speed control inputs.
                 ************************************************************/

                struct ESCControlBounded_UV : DisableAxis{

                        enum {x = 0, y};

                        ESCControlBounded_UV():Ts(0.1), esc_controller(2,Ts), count(0),newRange(false), esc_Ts(1.0){};

                        void init(){

                                ros::NodeHandle nh;
                                initialize_controller();
                                subRange = nh.subscribe<std_msgs::Float32>("range",1,& ESCControlBounded_UV::onRange,this);

                        }

                        void onRange(const std_msgs::Float32::ConstPtr& msg){
                                newRange = true;
                        }

                void windup(const auv_msgs::BodyForceReq& tauAch){

                };

                void idle(const std_msgs::Float32& ref, const auv_msgs::NavSts& state,
                                const auv_msgs::BodyVelocityReq& track){

                };

                void reset(const std_msgs::Float32& ref, const auv_msgs::NavSts& state){

                };

                auv_msgs::BodyVelocityReqPtr step(const std_msgs::Float32& ref, const auv_msgs::NavSts& state){

                        //if((count++)%20 == 0){
                                                        int t_step = esc_Ts/Ts;
                                                        //if(newRange){
                                                        if((count++)%t_step == 0){

                                                                newRange = false;

                                Eigen::Vector2d out, in;
                                Eigen::Matrix2d R;

                                in = esc_controller.step(ref.data);

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

                                double yaw = state.orientation.yaw;
                                R<<cos(yaw),-sin(yaw),sin(yaw),cos(yaw);
                                out = R.transpose()*in;

                                nu->twist.linear.x = out[x];
                                nu->twist.linear.y = out[y];

                                nu_past = nu;
                                return nu;
                        }else{

                                ROS_ERROR("PAST");
                                return nu_past;
                        }
                }

                        void initialize_controller(){

                                ROS_INFO("Initializing extremum seeking controller...");

                                ros::NodeHandle nh;

//                              double K = 1.5;
//                              double  alpha = 1;
//                              double  omega =  0.5;

//                              double K = 1.5;
//                              double  alpha = 1;
//                              double  omega =  0.75;

                                double K = 1.1;
                                double  alpha = 0.7;
                                double  omega =  0.3;
                                double sampling_time = 0.1;

                                nh.param("esc_bounded/K", K, K);
                                nh.param("esc_bounded/alpha", alpha, alpha);
                                nh.param("esc_bounded/omega", omega, omega);
                                nh.param("esc_bounded/sampling_time", sampling_time, sampling_time);

                                esc_Ts = sampling_time;

                                esc_controller.initController(K, omega, alpha, sampling_time);

                                disable_axis[x] = 0;
                                disable_axis[y] = 0;

                                ROS_INFO("Extremum seeking controller initialized.");
                        }

                private:

                        double Ts;
                        esc::EscBounded esc_controller;
                        auv_msgs::BodyVelocityReqPtr nu_past;
                        int count;
                        double esc_Ts;
                                                bool newRange;
                                                ros::Subscriber subRange;
                };
        }
}

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

        /***
        template <
                        class Controller,
                        class Enable = NoEnable,
                        class Windup = NoWindup,
                        class OutputType = auv_msgs::BodyVelocityReq,
                        class InputType = auv_msgs::NavSts,
                        class ReferenceType = auv_msgs::NavSts
                        >
        ***/

        labust::control::HLControl<labust::control::ESCControlBounded_UV,
        labust::control::EnableServicePolicy,
        labust::control::NoWindup,
        auv_msgs::BodyVelocityReq,
        auv_msgs::NavSts,
        std_msgs::Float32> controller;
        ros::spin();

        return 0;
}