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adds linear fonction to commander_atan

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This commit is contained in:
Louis-Guillaume DUBOIS 2015-05-30 13:18:24 +02:00
parent ae36147f73
commit 571c2ed11c
2 changed files with 77 additions and 32 deletions
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8
cfg/Commander_atan.cfg
View file

@ -7,8 +7,12 @@ gen.add("neutral_alt", double_t, 0, "Reference altitude for vertical movement co
gen.add("min_points_number", int_t, 0, "Minimal number of plane points needed for a valid estimation", 1000, 0, 50000)
gen.add("p_x", double_t, 0, "x gradient in 0", 0.5, 0.)
gen.add("p_y", double_t, 0, "y gradient in 0", 0.5, 0.)
gen.add("p_z", double_t, 0, "z gradient in 0", 0.5, 0.)
gen.add("p_th", double_t, 0, "th gradient in 0", 0.01, 0.)
gen.add("p_z", double_t, 0, "z gradient in 0", 1, 0.)
gen.add("p_th", double_t, 0, "th gradient in 0", 0.005, 0.)
gen.add("max_x", double_t, 0, "max x coord to be published", 0.8, 0., 1.)
gen.add("max_y", double_t, 0, "max y coord to be published", 0.8, 0., 1.)
gen.add("max_z", double_t, 0, "max z coord to be published", 0.8, 0., 1.)
gen.add("max_th", double_t, 0, "max th coord to be published", 0.8, 0., 1.)
gen.add("x_min", double_t, 0, "min x coord to be published", 0.1, 0., 1.)
gen.add("y_min", double_t, 0, "min y coord to be published", 0.1, 0., 1.)
gen.add("z_min", double_t, 0, "min z coord to be published", 0.1, 0., 1.)

101
src/commander_atan.cpp
View file

@ -19,29 +19,63 @@
class Run
{
private:
class Function
{
private:
float t;
static const float demi_pi;
protected:
float max;
float gradient;
public:
float operator()(float arg)
virtual float f(const float& arg) = 0;
Function() : max(0.8) {}
Function(const float& maximum, const float& grad)
{
return atan(t * arg) / demi_pi;
set_gradient(grad);
set_max(maximum);
}
Function() : t(demi_pi){}
void set_t(float tt)
virtual void set_gradient(const float& grad)
{
t = tt;
gradient = grad;
}
void set_p(float pp)
// pp : gradient in 0
void set_max(const float& m)
{
t = pp*demi_pi;
max = m;
}
};
Data<Function> f;
class Atan : public Function
{
private:
static const float demi_pi;
float t;
public:
virtual float f(const float& arg)
{
return max * atan(t * arg) / demi_pi;
}
Atan(const float& max, const float& grad)
:t(demi_pi)
{
set_gradient(grad);
}
virtual void set_gradient(const float& grad)
{
t = grad*2*atan(1);
gradient = grad;
}
};
class Lin : public Function
{
public:
Lin(const float& max, const float& grad){}
virtual float f(const float& arg)
{
return std::max(gradient * arg, max);
}
};
Data<boost::shared_ptr<Function> > f;
Data<float> min;
float neutral_z;
float max_curv;
@ -51,7 +85,10 @@ class Run
public:
Run(const ros::Publisher& cmd_publisher) :
pub(cmd_publisher) {
f.x = f.y = f.z = f.th = Function();
f.x = boost::make_shared<Lin>(0.8f, 0.5f);
f.y = boost::make_shared<Lin>(0.8f, 0.5f);
f.z = boost::make_shared<Lin>(0.8f, 2.0f);
f.th = boost::make_shared<Lin>(0.8f, 0.005f);
min.x = min.y = min.z = min.th = 0.1;
}
@ -77,22 +114,22 @@ class Run
geometry_msgs::Twist::Ptr mvt(new geometry_msgs::Twist());
// if (fabs(in.y) > fabs(in.x))
// {
out.y = f.y(in.y);
if (fabs(out.y) > min.y)
mvt->linear.y = out.y;
// } else {
out.x = f.x(in.x);
if (fabs(out.x) > min.x)
mvt->linear.x = out.x;
// }
if (fabs(in.y) > fabs(in.x))
{
out.y = f.y->f(in.y);
if (fabs(out.y) > min.y)
mvt->linear.y = out.y;
} else {
out.x = f.x->f(in.x);
if (fabs(out.x) > min.x)
mvt->linear.x = out.x;
}
out.z = f.z(in.z);
out.z = f.z->f(in.z);
if (fabs(out.z) > min.z)
mvt->linear.z = out.z;
out.th = f.th(in.th);
out.th = f.th->f(in.th);
if (fabs(out.th) > min.th)
mvt->angular.z = out.th;
@ -105,10 +142,14 @@ class Run
max_curv = c.max_curvature;
neutral_z = c.neutral_alt;
min_number = c.min_points_number;
f.x.set_p(c.p_x);
f.y.set_p(c.p_y);
f.z.set_p(c.p_z);
f.th.set_p(c.p_th);
f.x->set_gradient(c.p_x);
f.y->set_gradient(c.p_y);
f.z->set_gradient(c.p_z);
f.th->set_gradient(c.p_th);
f.x->set_max(c.max_x);
f.y->set_max(c.max_y);
f.z->set_max(c.max_z);
f.th->set_max(c.max_th);
min.x = c.x_min;
min.y = c.y_min;
min.z = c.z_min;
@ -136,4 +177,4 @@ int main(int argc, char** argv)
return 0;
}
const float Run::Function::demi_pi = 2*atan(1.);
const float Run::Atan::demi_pi = 2*atan(1);