labust::control::LFControl Class Reference

#include <LFControl.hpp>

List of all members.

Public Member Functions
	LFControl ()
void	onInit ()
void	start ()
void	step ()
Private Member Functions
void	adjustDH ()
void	initialize_controller ()
bool	onEnableControl (labust_uvapp::EnableControl::Request &req, labust_uvapp::EnableControl::Response &resp)
void	onEstimate (const auv_msgs::NavSts::ConstPtr &estimate)
void	onNewPoint (const geometry_msgs::PointStamped::ConstPtr &ref)
void	onOpenLoopSurge (const std_msgs::Float32::ConstPtr &surge)
void	onWindup (const auv_msgs::BodyForceReq::ConstPtr &tauAch)
Private Attributes
double	currSurge
double	currYaw
lfPD	dh_controller
bool	enable
ros::ServiceServer	enableControl
::PIDController	headingController
ros::Time	lastEst
double	LFKp
labust::navigation::LFModel::Line	line
ros::NodeHandle	nh
ros::Publisher	nuRef
ros::Subscriber	openLoopSurge
ros::NodeHandle	ph
ros::Subscriber	refPoint
ros::Subscriber	stateHat
double	surge
labust::navigation::LFModel::vector	T0
double	timeout
double	Ts
labust::navigation::LFModel::vector	Tt
bool	useHeadingCnt
double	wh
ros::Subscriber	windup

---

Detailed Description

The class contains the implementation of the velocity line following controller.

Todo:

Add 3D line following support.

Remove dependencies to LFModel class.

Move onNewPoint to service ?

Move enable to service ?

Add external speed/force specification

Definition at line 63 of file LFControl.hpp.

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Constructor & Destructor Documentation

LFControl::LFControl

(

)

Main constructor

Definition at line 49 of file LFControl.cpp.

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Member Function Documentation

void LFControl::adjustDH

(

)

[private]

Adjust the controller based on surge speed.

Definition at line 245 of file LFControl.cpp.

void LFControl::initialize_controller

(

)

[private]

Initialize the controller parameters etc.

Definition at line 261 of file LFControl.cpp.

bool LFControl::onEnableControl	(	labust_uvapp::EnableControl::Request &	req,
		labust_uvapp::EnableControl::Response &	resp
	)		[private]

Handle the enable control request.

Definition at line 137 of file LFControl.cpp.

void LFControl::onEstimate

(

const auv_msgs::NavSts::ConstPtr &

estimate

)

[private]

Handle incoming estimates message.

Definition at line 155 of file LFControl.cpp.

void LFControl::onInit

(

)

Initialize and setup controller.

Definition at line 64 of file LFControl.cpp.

void LFControl::onNewPoint

(

const geometry_msgs::PointStamped::ConstPtr &

ref

)

[private]

Handle the new point.

Definition at line 126 of file LFControl.cpp.

void LFControl::onOpenLoopSurge

(

const std_msgs::Float32::ConstPtr &

surge

)

[private]

The open loop surge specification.

Definition at line 144 of file LFControl.cpp.

void LFControl::onWindup

(

const auv_msgs::BodyForceReq::ConstPtr &

tauAch

)

[private]

Handle windup occurence.

Definition at line 149 of file LFControl.cpp.

void LFControl::start

(

)

Start the controller loop.

Definition at line 240 of file LFControl.cpp.

void LFControl::step

(

)

Performs one iteration.

Definition at line 196 of file LFControl.cpp.

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Member Data Documentation

double labust::control::LFControl::currSurge [private]

Definition at line 143 of file LFControl.hpp.

double labust::control::LFControl::currYaw [private]

Definition at line 143 of file LFControl.hpp.

lfPD labust::control::LFControl::dh_controller [private]

The horizontal distance PD controller. It has a limit on the P output value.

Definition at line 139 of file LFControl.hpp.

bool labust::control::LFControl::enable [private]

Enabled.

Definition at line 155 of file LFControl.hpp.

ros::ServiceServer labust::control::LFControl::enableControl [private]

High level controller service.

Definition at line 172 of file LFControl.hpp.

::PIDController labust::control::LFControl::headingController [private]

The dynamic reconfigure parameters. The dynamic reconfigure server. The horizontal distance PD controller. It has a limit on the P output value.

Definition at line 185 of file LFControl.hpp.

ros::Time labust::control::LFControl::lastEst [private]

Last message times.

Definition at line 120 of file LFControl.hpp.

double labust::control::LFControl::LFKp [private]

Definition at line 124 of file LFControl.hpp.

labust::navigation::LFModel::Line labust::control::LFControl::line [private]

The line description.

Definition at line 147 of file LFControl.hpp.

ros::NodeHandle labust::control::LFControl::nh [private]

Dynamic reconfigure callback. The safety test. Update the dynamic reconfiguration settings. The ROS node handles.

Definition at line 116 of file LFControl.hpp.

ros::Publisher labust::control::LFControl::nuRef [private]

The publisher of the TAU message.

Definition at line 164 of file LFControl.hpp.

ros::Subscriber labust::control::LFControl::openLoopSurge [private]

Definition at line 168 of file LFControl.hpp.

ros::NodeHandle labust::control::LFControl::ph [private]

Definition at line 116 of file LFControl.hpp.

ros::Subscriber labust::control::LFControl::refPoint [private]

Definition at line 168 of file LFControl.hpp.

ros::Subscriber labust::control::LFControl::stateHat [private]

The subscribed topics.

Definition at line 168 of file LFControl.hpp.

double labust::control::LFControl::surge [private]

Definition at line 143 of file LFControl.hpp.

labust::navigation::LFModel::vector labust::control::LFControl::T0 [private]

Last received vehicle state.

Definition at line 151 of file LFControl.hpp.

double labust::control::LFControl::timeout [private]

Timeout

Definition at line 124 of file LFControl.hpp.

double labust::control::LFControl::Ts [private]

The sampling time.

Definition at line 143 of file LFControl.hpp.

labust::navigation::LFModel::vector labust::control::LFControl::Tt [private]

Definition at line 151 of file LFControl.hpp.

bool labust::control::LFControl::useHeadingCnt [private]

Definition at line 155 of file LFControl.hpp.

double labust::control::LFControl::wh [private]

Definition at line 143 of file LFControl.hpp.

ros::Subscriber labust::control::LFControl::windup [private]

Definition at line 168 of file LFControl.hpp.

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

• LFControl.hpp
• LFControl.cpp