VirtualTarget.hpp

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*  Created on: 03.05.2013.
*  Author: Dula Nad
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#ifndef VIRTUALTARGET_HPP_
#define VIRTUALTARGET_HPP_
#include <labust/control/PIDController.h>
#include <labust/math/NumberManipulation.hpp>
#include <labust_uvapp/EnableControl.h>

#include <auv_msgs/NavSts.h>
#include <auv_msgs/BodyForceReq.h>
#include <geometry_msgs/PointStamped.h>
#include <geometry_msgs/TwistStamped.h>
#include <std_msgs/Bool.h>
#include <std_msgs/Float32.h>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <ros/ros.h>

namespace labust
{
        namespace control
        {
                class VirtualTarget
                {
                public:
                        VirtualTarget();
                        void onInit();
                        void step();
                        void start();

                private:
                        //void onNewPoint(const geometry_msgs::PointStamped::ConstPtr& point);
                        //void onTrackPoint(const auv_msgs::NavSts::ConstPtr& ref);
                        void onEstimate(const auv_msgs::NavSts::ConstPtr& estimate);
                        void onFlowTwist(const geometry_msgs::TwistStamped::ConstPtr& flowtwist);
                        void onWindup(const auv_msgs::BodyForceReq::ConstPtr& tauAch);
                        bool onEnableControl(labust_uvapp::EnableControl::Request& req,
                                        labust_uvapp::EnableControl::Response& resp);
                        void onOpenLoopSurge(const std_msgs::Float32::ConstPtr& surge);
                        //void dynrec_cb(labust_uvapp::VelConConfig& config, uint32_t level);
                        //void safetyTest();
                        //void updateDynRecConfig();
                        ros::NodeHandle nh,ph;
                        ros::Time lastEst;
                        double timeout;

                        void initialize_controller();

                        PIDController headingController;
                        double Ts, safetyRadius, surge, flowSurgeEstimate, K1, K2, gammaARad;
                        auv_msgs::NavSts state;//, trackPoint;
                        bool enable, use_flow_frame;
                        boost::mutex dataMux;

                        ros::Publisher nuRef, vtTwist;
                        ros::Subscriber stateHat, enableFlag, windup, flowTwist, openLoopSurge;
                        labust::math::unwrap yaw_ref;
                        ros::ServiceServer enableControl;
                        //labust_uvapp::VelConConfig config;
                  //dynamic_reconfigure::Server<labust_uvapp::VelConConfig> server;
                        tf2_ros::Buffer transBuffer;
                        tf2_ros::TransformListener listener;
                };
        }
}

/* VIRTUALTARGET_HPP_ */
#endif