ESControlEKF_UV.cpp

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/*********************************************************************
 * ESControlEKF_UV.cpp
 *
 *  Created on: Jan 8, 2015
 *      Author: Filip Mandic
 *
 ********************************************************************/

/*********************************************************************
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#include <labust/control/esc/EscEKF.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 ESControlEKF_UV : DisableAxis{

                        enum {x = 0, y};

                        ESControlEKF_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,& ESControlEKF_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;

                                        Eigen::VectorXd input(2);
                                        input << state.position.north, state.position.east;

                                        in = esc_controller.step(ref.data, input);

                                        auv_msgs::BodyVelocityReqPtr nu(new auv_msgs::BodyVelocityReq());
                                        nu->header.stamp = ros::Time::now();
                                        nu->goal.requester = "esc_ekf_controller";
                                        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 sin_amp = 0.25;
                                double  sin_freq = 0.09;
                                double  corr_gain =  -0.075;
                                double  high_pass_pole = 3;
                                double  low_pass_pole = 0;
                                double  comp_zero =  0;
                                double  comp_pole = 0;
                                double sampling_time = 0.1;

                                std::vector<double> Q, R;
                                Q.assign(3,1);
                                R.assign(3,1);

                                nh.param("esc_ekf/sin_amp", sin_amp, sin_amp);
                                nh.param("esc_ekf/sin_freq", sin_freq, sin_freq);
                                nh.param("esc_ekf/corr_gain", corr_gain, corr_gain);
                                nh.param("esc_ekf/high_pass_pole", high_pass_pole, high_pass_pole);
                                nh.param("esc_ekf/low_pass_pole", low_pass_pole, low_pass_pole);
                                nh.param("esc_ekf/comp_zero", comp_zero, comp_zero);
                                nh.param("esc_ekf/comp_pole", comp_pole, comp_pole);
                                nh.param("esc_ekf/sampling_time", sampling_time, sampling_time);
                                nh.param("esc_ekf/Q", Q, Q);
                                nh.param("esc_ekf/R", R, R);

                                esc_Ts = sampling_time;

                                esc::EscEkfGrad::vector Q0(3);
                                Q0 << Q[0],Q[1],Q[2];
                                esc::EscEkfGrad::vector R0(3);
                                R0 << R[0],R[1],R[2];

                                esc_controller.initController(sin_amp, sin_freq, corr_gain, high_pass_pole, low_pass_pole, comp_zero, comp_pole, sampling_time, Q0, R0);

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

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

                private:

                        double Ts;
                        esc::EscEkfGrad 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::ESControlEKF_UV,
        labust::control::EnableServicePolicy,
        labust::control::NoWindup,
        auv_msgs::BodyVelocityReq,
        auv_msgs::NavSts,
        std_msgs::Float32> controller;
        ros::spin();

        return 0;
}