better commander_atan (min and max in class Function)
This commit is contained in:
Louis-Guillaume DUBOIS
parent
6c88fb973f
commit
0025af11a1
2 changed files with 68 additions and 75 deletions
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@ -5,17 +5,17 @@ gen = ParameterGenerator()
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gen.add("max_curvature", double_t, 0, "Maximum curvature of the estimated plane", 0.5, 0., 1.)
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gen.add("neutral_alt", double_t, 0, "Reference altitude for vertical movement command", 0.8, 0.)
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gen.add("min_points_number", int_t, 0, "Minimal number of plane points needed for a valid estimation", 1000, 0, 50000)
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gen.add("p_x", double_t, 0, "x gradient in 0", 0.5, 0.)
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gen.add("p_y", double_t, 0, "y gradient in 0", 0.5, 0.)
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gen.add("p_z", double_t, 0, "z gradient in 0", 1, 0.)
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gen.add("p_th", double_t, 0, "th gradient in 0", 0.005, 0.)
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gen.add("max_x", double_t, 0, "max x coord to be published", 0.8, 0., 1.)
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gen.add("max_y", double_t, 0, "max y coord to be published", 0.8, 0., 1.)
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gen.add("max_z", double_t, 0, "max z coord to be published", 0.8, 0., 1.)
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gen.add("max_th", double_t, 0, "max th coord to be published", 0.8, 0., 1.)
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gen.add("x_p", double_t, 0, "x gradient in 0", 0.5, 0.)
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gen.add("x_min", double_t, 0, "min x coord to be published", 0.1, 0., 1.)
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gen.add("x_max", double_t, 0, "max x coord to be published", 0.8, 0., 1.)
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gen.add("y_p", double_t, 0, "y gradient in 0", 0.5, 0.)
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gen.add("y_min", double_t, 0, "min y coord to be published", 0.1, 0., 1.)
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gen.add("y_max", double_t, 0, "max y coord to be published", 0.8, 0., 1.)
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gen.add("z_p", double_t, 0, "z gradient in 0", 1, 0.)
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gen.add("z_min", double_t, 0, "min z coord to be published", 0.1, 0., 1.)
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gen.add("z_max", double_t, 0, "max z coord to be published", 0.8, 0., 1.)
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gen.add("th_p", double_t, 0, "th gradient in 0", 0.005, 0.)
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gen.add("th_min", double_t, 0, "min th coord to be published", 0.1, 0., 1.)
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gen.add("th_max", double_t, 0, "max th coord to be published", 0.8, 0., 1.)
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gen.add("atan", bool_t, 0, "use atan function instead of linear function", False)
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exit(gen.generate(PACKAGE, "hand_control", "Commander_atan"))
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@ -20,13 +20,25 @@ class Run
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{
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private:
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enum FType { f_lin, f_atan, f_undef };
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class Function
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{
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private:
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virtual void set_grad(const float& grad) = 0;
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protected:
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float max;
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float min, max;
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FType type;
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public:
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Function() : min(0.1f), max(0.8f) {}
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virtual float f(const float& arg) = 0;
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virtual void set(const float& maximum, const float& grad) = 0;
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void set(const float& minimum, const float& maximum, const float& grad)
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{
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min = minimum;
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max = maximum;
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set_grad(grad);
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}
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FType get_type() { return type; }
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};
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class Atan : public Function
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@ -34,20 +46,19 @@ class Run
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private:
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static const float demi_pi;
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float t;
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virtual void set_grad(const float& grad)
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{
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t = grad*demi_pi/max;
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}
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public:
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Atan() :t(demi_pi) { type = f_atan; }
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virtual float f(const float& arg)
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{
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return max * atan(t * arg) / demi_pi;
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}
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Atan(const float& max, const float& grad)
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:t(demi_pi)
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{
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set(max, grad);
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}
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virtual void set(const float& maximum, const float& grad)
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{
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max = maximum;
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t = grad*demi_pi/max;
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float out = max * atan(t * arg) / demi_pi;
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if (fabs(out) > min)
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return out;
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else
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return 0.;
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}
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};
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@ -55,26 +66,23 @@ class Run
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{
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private:
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float t;
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public:
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Lin(const float& max, const float& grad)
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virtual void set_grad(const float& grad)
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{
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set(max, grad);
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}
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virtual void set(const float& maximum, const float& grad)
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{
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max = maximum;
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t = grad;
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}
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public:
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Lin() { type = f_lin; }
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virtual float f(const float& arg)
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{
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return std::max(t * arg, max);
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float out = std::min(t * arg, max);
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if (fabs(out) > min)
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return out;
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else
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return 0.;
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}
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};
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enum FType { f_lin, f_atan };
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Data<boost::shared_ptr<Function> > f;
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Data<FType> f_type;
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Data<float> min;
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float neutral_z;
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float max_curv;
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uint64_t min_number;
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@ -83,12 +91,10 @@ class Run
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public:
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Run(const ros::Publisher& cmd_publisher) :
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pub(cmd_publisher) {
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f.x = boost::make_shared<Lin>(0.8f, 0.5f);
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f.y = boost::make_shared<Lin>(0.8f, 0.5f);
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f.z = boost::make_shared<Lin>(0.8f, 2.0f);
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f.th = boost::make_shared<Lin>(0.8f, 0.005f);
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f_type.x = f_type.y = f_type.z = f_type.th = f_lin;
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min.x = min.y = min.z = min.th = 0.1;
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f.x = boost::make_shared<Lin>();
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f.y = boost::make_shared<Lin>();
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f.z = boost::make_shared<Lin>();
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f.th = boost::make_shared<Lin>();
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}
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void callback(const hand_control::Plan::ConstPtr& msg)
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@ -96,14 +102,14 @@ class Run
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ROS_INFO("plan received");
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Data<float> in, out;
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in.x = in.y = in.z = in.th = 0.;
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out.x = out.y = out.z = out.th = 0;
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if (msg->curvature < max_curv && msg->number > min_number)
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{
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if(msg->normal.z > 0)
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{
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in.y = msg->normal.x;
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in.x = msg->normal.y;
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} else {
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} else
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{
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in.y = - msg->normal.x;
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in.x = - msg->normal.y;
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}
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@ -115,22 +121,15 @@ class Run
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if (fabs(in.y) > fabs(in.x))
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{
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out.y = f.y->f(in.y);
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if (fabs(out.y) > min.y)
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mvt->linear.y = out.y;
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} else {
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out.x = f.x->f(in.x);
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if (fabs(out.x) > min.x)
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mvt->linear.x = out.x;
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mvt->linear.y = f.y->f(in.y);
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} else
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{
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mvt->linear.x = f.x->f(in.x);
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}
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out.z = f.z->f(in.z);
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if (fabs(out.z) > min.z)
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mvt->linear.z = out.z;
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mvt->linear.z = f.z->f(in.z);
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out.th = f.th->f(in.th);
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if (fabs(out.th) > min.th)
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mvt->angular.z = out.th;
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mvt->angular.z = f.th->f(in.th);
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pub.publish(mvt);
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ROS_INFO("cmd published");
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@ -142,30 +141,24 @@ class Run
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neutral_z = c.neutral_alt;
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min_number = c.min_points_number;
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if (c.atan and f_type.x != f_atan)
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if (c.atan and f.x->get_type() != f_atan)
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{
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f.x = boost::make_shared<Atan>(0.8f, 0.5f);
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f.y = boost::make_shared<Atan>(0.8f, 0.5f);
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f.z = boost::make_shared<Atan>(0.8f, 2.f);
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f.th = boost::make_shared<Atan>(0.8f, 0.005f);
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f_type.x = f_type.y = f_type.z = f_type.th = f_atan;
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} else if (!c.atan and f_type.x == f_atan) {
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f.x = boost::make_shared<Lin>(0.8f, 0.5f);
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f.y = boost::make_shared<Lin>(0.8f, 0.5f);
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f.z = boost::make_shared<Lin>(0.8f, 2.0f);
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f.th = boost::make_shared<Lin>(0.8f, 0.005f);
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f_type.x = f_type.y = f_type.z = f_type.th = f_lin;
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f.x = boost::make_shared<Atan>();
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f.y = boost::make_shared<Atan>();
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f.z = boost::make_shared<Atan>();
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f.th = boost::make_shared<Atan>();
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} else if (!c.atan and f.x->get_type() == f_atan)
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{
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f.x = boost::make_shared<Lin>();
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f.y = boost::make_shared<Lin>();
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f.z = boost::make_shared<Lin>();
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f.th = boost::make_shared<Lin>();
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}
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f.x->set(c.max_x, c.p_x);
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f.y->set(c.max_y, c.p_y);
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f.z->set(c.max_z, c.p_z);
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f.th->set(c.max_th, c.p_th);
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min.x = c.x_min;
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min.y = c.y_min;
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min.z = c.z_min;
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min.th = c.th_min;
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f.x->set(c.x_min, c.x_max, c.x_p);
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f.y->set(c.y_min, c.y_max, c.y_p);
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f.z->set(c.z_min, c.z_max, c.z_p);
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f.th->set(c.th_min, c.th_max, c.th_p);
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ROS_INFO("parameters reconfigured");
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}
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};
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