#include <manual_control.h>

Public Member Functions
	ManualControl ()
	Main constructor.
void	onInit ()
	Initialize and setup controller.
Private Types
enum	{ X = 0, Y, Z, K, M, N, DOF = 6, A = 6 }
typedef navcon_msgs::ManualConfigure::Request	CRequest
typedef navcon_msgs::ManualConfigure::Response	CResponse
typedef std::vector< double >	DataType
typedef boost::array< int, DOF >	GenArray
typedef navcon_msgs::ManualSelect::Request	SRequest
typedef navcon_msgs::ManualSelect::Response	SResponse
Private Member Functions
bool	onConfiguration (CRequest &req, CResponse &resp)
	On server configuration.
void	onJoystick (const sensor_msgs::Joy::ConstPtr &joy)
	Handle the incoming joystick message.
void	onNavSts (const auv_msgs::NavSts::ConstPtr &nav)
	Handle the current navigation state.
bool	onSelect (SRequest &req, SResponse &resp)
	On generator selection.
void	pubEta (const DataType &etaff)
	Publish the Eta values.
void	pubNu (const DataType &nuv)
	Publish the Nu values.
void	pubTau (const DataType &tauv)
	Publish the Tau values.
void	remap (const sensor_msgs::Joy::ConstPtr &joy)
	Remap the joystick.
void	setDefaultConfig ()
	Helper method to set the defaults values of configuration.
bool	setupConfig ()
	Load the configuration.
Private Attributes
boost::mutex	cfg_mutex
	Config and selector mutex.
navcon_msgs::ManualConfiguration	config
	The node configuration.
ros::ServiceServer	config_server
	Configuration service server.
ros::Publisher	etaref
	manual reference publisher
GenArray	generators
	The current generators.
ros::Subscriber	joyin
	Joystick subscriber.
DataType	mapped
	The remapped joystick values.
boost::mutex	nav_mutex
	Nav-mutex protector.
bool	nav_valid
	Navigation state validity flag.
DataType	navstate
	The current navigation state.
ros::Subscriber	navsts
	Navigation state subscriber.
ros::Publisher	nuref
	manual reference publisher
ros::ServiceServer	select_server
	Selection service.
ros::Publisher	tauref
	manual reference publisher

Detailed Description

The class contains the implementation of a manual reference generator for , and . The class uses the joystick topic of ROS to remap the joystick data. The controller is driven by the joystick topic input.

The class performs joystick mappings from received axes to regular tau axes. Tau axes are defined as (X,Y,Z,K,M,N) and (-1,1). Joystick axes are defined as: (1-n) where n is the maximum axis number. The mapping is a row vector (1x6) (axes_map) that has the desired axis defined in the according place of the tau axis. For disabled axes define the axis number -1. The scaling is defined in (scale_map) as a desired double number.

Definition at line 65 of file manual_control.h.

Member Typedef Documentation

typedef navcon_msgs::ManualConfigure::Request labust::control::ManualControl::CRequest [private]

Definition at line 71 of file manual_control.h.

typedef navcon_msgs::ManualConfigure::Response labust::control::ManualControl::CResponse [private]

Definition at line 72 of file manual_control.h.

typedef std::vector<double> labust::control::ManualControl::DataType [private]

Definition at line 70 of file manual_control.h.

typedef boost::array<int,DOF> labust::control::ManualControl::GenArray [private]

Definition at line 69 of file manual_control.h.

typedef navcon_msgs::ManualSelect::Request labust::control::ManualControl::SRequest [private]

Definition at line 73 of file manual_control.h.

typedef navcon_msgs::ManualSelect::Response labust::control::ManualControl::SResponse [private]

Definition at line 74 of file manual_control.h.

Member Enumeration Documentation

anonymous enum [private]

Enumerator:

X
Y
Z
K
M
N
DOF
A

Definition at line 67 of file manual_control.h.

Constructor & Destructor Documentation

ManualControl::ManualControl ( )

Main constructor.

Definition at line 49 of file manual_control.cpp.

Member Function Documentation

bool ManualControl::onConfiguration	(	CRequest &	req,
		CResponse &	resp
	)		`[private]`

On server configuration.

Definition at line 138 of file manual_control.cpp.

void ManualControl::onInit ( )

Initialize and setup controller.

Definition at line 58 of file manual_control.cpp.

void ManualControl::onJoystick ( const sensor_msgs::Joy::ConstPtr & joy ) [private]

Handle the incoming joystick message.

Definition at line 183 of file manual_control.cpp.

void ManualControl::onNavSts ( const auv_msgs::NavSts::ConstPtr & nav ) [private]

Handle the current navigation state.

Definition at line 220 of file manual_control.cpp.

bool ManualControl::onSelect	(	SRequest &	req,
		SResponse &	resp
	)		`[private]`

On generator selection.

Definition at line 168 of file manual_control.cpp.

void ManualControl::pubEta ( const DataType & etaff ) [private]

Publish the Eta values.

Definition at line 245 of file manual_control.cpp.

void ManualControl::pubNu ( const DataType & nuv ) [private]

Publish the Nu values.

Definition at line 297 of file manual_control.cpp.

void ManualControl::pubTau ( const DataType & tauv ) [private]

Publish the Tau values.

Definition at line 287 of file manual_control.cpp.

void ManualControl::remap ( const sensor_msgs::Joy::ConstPtr & joy ) [private]

Remap the joystick.

Definition at line 307 of file manual_control.cpp.

void ManualControl::setDefaultConfig ( ) [private]

Helper method to set the defaults values of configuration.

Definition at line 119 of file manual_control.cpp.

bool ManualControl::setupConfig ( ) [private]

Load the configuration.

Definition at line 82 of file manual_control.cpp.

Member Data Documentation

boost::mutex labust::control::ManualControl::cfg_mutex [private]

Config and selector mutex.

Definition at line 128 of file manual_control.h.

navcon_msgs::ManualConfiguration labust::control::ManualControl::config [private]

The node configuration.

Definition at line 122 of file manual_control.h.

ros::ServiceServer labust::control::ManualControl::config_server [private]

Configuration service server.

Definition at line 117 of file manual_control.h.

ros::Publisher labust::control::ManualControl::etaref [private]

manual reference publisher

Definition at line 111 of file manual_control.h.

GenArray labust::control::ManualControl::generators [private]

The current generators.

Definition at line 124 of file manual_control.h.

ros::Subscriber labust::control::ManualControl::joyin [private]

Joystick subscriber.

Definition at line 113 of file manual_control.h.

DataType labust::control::ManualControl::mapped [private]

The remapped joystick values.

Definition at line 126 of file manual_control.h.

boost::mutex labust::control::ManualControl::nav_mutex [private]

Nav-mutex protector.

Definition at line 135 of file manual_control.h.

bool labust::control::ManualControl::nav_valid [private]

Navigation state validity flag.

Definition at line 133 of file manual_control.h.

DataType labust::control::ManualControl::navstate [private]

The current navigation state.

Definition at line 131 of file manual_control.h.

ros::Subscriber labust::control::ManualControl::navsts [private]

Navigation state subscriber.

Definition at line 115 of file manual_control.h.

ros::Publisher labust::control::ManualControl::nuref [private]

manual reference publisher

Definition at line 109 of file manual_control.h.

ros::ServiceServer labust::control::ManualControl::select_server [private]

Selection service.

Definition at line 119 of file manual_control.h.

ros::Publisher labust::control::ManualControl::tauref [private]

manual reference publisher

Definition at line 107 of file manual_control.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation