HeadingControl_test.hpp

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*  Author: Dula Nad
*  Created: 01.02.2013.
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#ifndef HEADINGCONTROL_TEST_HPP_
#define HEADINGCONTROL_TEST_HPP_
#include <labust/control/HLControl.hpp>
#include <labust/control/PIDController.h>
#include <labust/math/NumberManipulation.hpp>
#include <std_msgs/Float32.h>

struct HeadingControl
{
        HeadingControl():Ts(0.1){};

        void init()
        {
                ros::NodeHandle nh;
                headingRef = nh.subscribe<std_msgs::Float32>("heading_ref", 1,
                                        &HeadingControl::onHeadingRef,this);

                initialize_controller();
        }

        void onHeadingRef(const std_msgs::Float32::ConstPtr& ref)
        {
                headingController.desired = ref->data;
        };

        void windup(const auv_msgs::BodyForceReq& tauAch)
        {
                //Copy into controller
                headingController.windup = tauAch.disable_axis.yaw;
        };

        void step(const auv_msgs::NavSts::ConstPtr& state, auv_msgs::BodyVelocityReqPtr nu)
        {
                //if (!enable) return;
                //this->safetyTest();
                headingController.state = labust::math::wrapRad(state->orientation.yaw);
                float errorWrap = labust::math::wrapRad(headingController.desired - headingController.state);
                PIFFExtController_stepWrap(&headingController,Ts, errorWrap);

                nu->header.stamp = ros::Time::now();
                nu->goal.requester = "heading_controller";
                nu->twist.angular.z = headingController.output;
        }

        void initialize_controller()
        {
                ROS_INFO("Initializing heading controller...");

                double w(1);
                ros::NodeHandle nh;
                nh.param("heading_control/heading_closed_loop_freq", w,w);
                nh.param("heading_control/sampling",Ts,Ts);

                enum {Kp=0, Ki, Kd, Kt};
                PIDController_init(&headingController);
                headingController.gains[Kp] = 2*w;
                headingController.gains[Ki] = w*w;
                headingController.autoTracking = 0;

                ROS_INFO("Heading controller initialized.");
        }

private:
        PIDController headingController;
        ros::Subscriber headingRef;
        double Ts;
};

#endif