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auto reformatting from compiler #17

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2 changes: 0 additions & 2 deletions pure_pursuit_core/include/pure_pursuit_core/heading_control/AckermannSteeringController.hpp
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Expand Up @@ -22,8 +22,6 @@ struct AckermannSteeringCtrlParameters : public HeadingControllerParameters {
std::string asString() const override;
};



class AckermannSteeringController : public HeadingController {
public:
AckermannSteeringController() = default;
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16 changes: 7 additions & 9 deletions pure_pursuit_core/src/AckermannSteeringController.cpp
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Expand Up @@ -14,20 +14,18 @@
namespace pure_pursuit {

namespace {
const double kRadToDeg = 180.0 / M_PI;
const double kRadToDeg = 180.0 / M_PI;
}

std::string AckermannSteeringCtrlParameters::asString() const {
std::string ret = HeadingControllerParameters::asString() + "\n";
std::string ret = HeadingControllerParameters::asString() + "\n";

ret += "wheel base (m): " + std::to_string(wheelBase_) + "\n";
ret += "max steering angle magnitued (deg): "
+ std::to_string(kRadToDeg * maxSteeringAngleMagnitude_) + "\n";
ret += "max steering rate of change (deg/s): "
+ std::to_string(kRadToDeg * maxSteeringRateOfChange_) + "\n";
ret += "dt (sec): " + std::to_string(dt_) + "\n";
ret += "wheel base (m): " + std::to_string(wheelBase_) + "\n";
ret += "max steering angle magnitued (deg): " + std::to_string(kRadToDeg * maxSteeringAngleMagnitude_) + "\n";
ret += "max steering rate of change (deg/s): " + std::to_string(kRadToDeg * maxSteeringRateOfChange_) + "\n";
ret += "dt (sec): " + std::to_string(dt_) + "\n";

return ret;
return ret;
}

bool AckermannSteeringController::advanceImpl() {
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17 changes: 7 additions & 10 deletions pure_pursuit_core/src/AdaptiveVelocityController.cpp
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Expand Up @@ -11,16 +11,13 @@

namespace pure_pursuit {


std::string AdaptiveVelocityControllerParameters::asString() const{
std::string ret;
ret += "desired velocity (m/s): " + std::to_string(desiredVelocity_) + "\n";
ret += "distance to goal when braking starts (m): "
+ std::to_string(distanceToGoalWhenBrakingStarts_) + "\n";
ret += "max velocity rate of change (m/s2): "
+ std::to_string(maxVelocityRateOfChange_) + "\n";
ret += "timestep (sec): " + std::to_string(timestep_);
return ret;
std::string AdaptiveVelocityControllerParameters::asString() const {
std::string ret;
ret += "desired velocity (m/s): " + std::to_string(desiredVelocity_) + "\n";
ret += "distance to goal when braking starts (m): " + std::to_string(distanceToGoalWhenBrakingStarts_) + "\n";
ret += "max velocity rate of change (m/s2): " + std::to_string(maxVelocityRateOfChange_) + "\n";
ret += "timestep (sec): " + std::to_string(timestep_);
return ret;
}

bool AdaptiveVelocityController::computeVelocity() {
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13 changes: 6 additions & 7 deletions pure_pursuit_core/src/ConstantVelocityController.cpp
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Expand Up @@ -9,15 +9,14 @@

namespace pure_pursuit {

void ConstantVelocityController::updateDrivingDirection(DrivingDirection drivingDirection){
if (drivingDirection != drivingDirection_){
rateLimiter_.reset(0.0); // assumption is that the robot is at zero velocity when changing directions
std::cout << "reseting the velocity rate limiter" << std::endl;
}
drivingDirection_ = drivingDirection;
void ConstantVelocityController::updateDrivingDirection(DrivingDirection drivingDirection) {
if (drivingDirection != drivingDirection_) {
rateLimiter_.reset(0.0); // assumption is that the robot is at zero velocity when changing directions
std::cout << "reseting the velocity rate limiter" << std::endl;
}
drivingDirection_ = drivingDirection;
}


bool ConstantVelocityController::computeVelocity() {
switch (drivingDirection_) {
case DrivingDirection::FWD: {
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19 changes: 8 additions & 11 deletions pure_pursuit_core/src/HeadingController.cpp
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Expand Up @@ -14,17 +14,14 @@
namespace pure_pursuit {

std::string HeadingControllerParameters::asString() const {
std::string ret;
ret += "Lookahead distance fwd: " + std::to_string(lookaheadDistanceFwd_)
+ "\n";
ret += "Lookahead distance bck: " + std::to_string(lookaheadDistanceBck_)
+ "\n";
ret += "Anchor distance fwd: " + std::to_string(anchorDistanceFwd_) + "\n";
ret += "Anchor distance bck: " + std::to_string(anchorDistanceBck_) + "\n";
ret += "dead zone width: " + std::to_string(deadZoneWidth_) + "\n";
ret += "avg filter current sample weight: "
+ std::to_string(avgFilgerCurrentSampleWeight_);
return ret;
std::string ret;
ret += "Lookahead distance fwd: " + std::to_string(lookaheadDistanceFwd_) + "\n";
ret += "Lookahead distance bck: " + std::to_string(lookaheadDistanceBck_) + "\n";
ret += "Anchor distance fwd: " + std::to_string(anchorDistanceFwd_) + "\n";
ret += "Anchor distance bck: " + std::to_string(anchorDistanceBck_) + "\n";
ret += "dead zone width: " + std::to_string(deadZoneWidth_) + "\n";
ret += "avg filter current sample weight: " + std::to_string(avgFilgerCurrentSampleWeight_);
return ret;
}

bool HeadingController::initialize() {
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13 changes: 5 additions & 8 deletions pure_pursuit_ros/include/pure_pursuit_ros/AckermannSteeringControllerRos.hpp
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Expand Up @@ -7,11 +7,10 @@

#pragma once

#include <ros/ros.h>
#include "pure_pursuit_core/heading_control/AckermannSteeringController.hpp"
#include <dynamic_reconfigure/server.h>
#include <pure_pursuit_ros/PurePursuitConfig.h>

#include <ros/ros.h>
#include "pure_pursuit_core/heading_control/AckermannSteeringController.hpp"

namespace pure_pursuit {

Expand All @@ -23,8 +22,7 @@ class AckermannSteeringControllerRos : public AckermannSteeringController {
void setParameters(const AckermannSteeringCtrlParameters& parameters) override;

private:

void ddCallback(pure_pursuit_ros::PurePursuitConfig &config, uint32_t level);
void ddCallback(pure_pursuit_ros::PurePursuitConfig& config, uint32_t level);

void initRos();
bool advanceImpl() override;
Expand All @@ -47,11 +45,10 @@ class AckermannSteeringControllerRos : public AckermannSteeringController {
std::unique_ptr<dynamic_reconfigure::Server<pure_pursuit_ros::PurePursuitConfig>> ddServer_;
dynamic_reconfigure::Server<pure_pursuit_ros::PurePursuitConfig>::CallbackType ddCalback_;
pure_pursuit_ros::PurePursuitConfig ddConfig_;

};

void updateFromDD(const pure_pursuit_ros::PurePursuitConfig &config, AckermannSteeringCtrlParameters *param);
void updateDD(const AckermannSteeringCtrlParameters &param, pure_pursuit_ros::PurePursuitConfig *config);
void updateFromDD(const pure_pursuit_ros::PurePursuitConfig& config, AckermannSteeringCtrlParameters* param);
void updateDD(const AckermannSteeringCtrlParameters& param, pure_pursuit_ros::PurePursuitConfig* config);

std::unique_ptr<HeadingController> createAckermannSteeringControllerRos(const AckermannSteeringCtrlParameters& parameters,
ros::NodeHandle* nh);
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48 changes: 19 additions & 29 deletions pure_pursuit_ros/include/pure_pursuit_ros/AdaptiveVelocityControllerRos.hpp
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Expand Up @@ -7,47 +7,37 @@

#pragma once

#include <ros/ros.h>
#include "pure_pursuit_core/velocity_control/AdaptiveVelocityController.hpp"
#include <dynamic_reconfigure/server.h>
#include <pure_pursuit_ros/PurePursuitAdaptiveVelConfig.h>

#include <ros/ros.h>
#include "pure_pursuit_core/velocity_control/AdaptiveVelocityController.hpp"

namespace pure_pursuit {

class AdaptiveVelocityControllerRos: public AdaptiveVelocityController {
using BASE = AdaptiveVelocityController;

public:
explicit AdaptiveVelocityControllerRos(ros::NodeHandle *nh);
void setParameters(const AdaptiveVelocityControllerParameters &parameters)
override;
class AdaptiveVelocityControllerRos : public AdaptiveVelocityController {
using BASE = AdaptiveVelocityController;

private:
public:
explicit AdaptiveVelocityControllerRos(ros::NodeHandle* nh);
void setParameters(const AdaptiveVelocityControllerParameters& parameters) override;

void ddCallback(pure_pursuit_ros::PurePursuitAdaptiveVelConfig &config,
uint32_t level);
void initRos();
private:
void ddCallback(pure_pursuit_ros::PurePursuitAdaptiveVelConfig& config, uint32_t level);
void initRos();

ros::NodeHandle *nh_;
ros::NodeHandle ddnh_;

boost::recursive_mutex ddMutex_;
std::unique_ptr<
dynamic_reconfigure::Server<
pure_pursuit_ros::PurePursuitAdaptiveVelConfig>> ddServer_;
dynamic_reconfigure::Server<pure_pursuit_ros::PurePursuitAdaptiveVelConfig>::CallbackType ddCalback_;
pure_pursuit_ros::PurePursuitAdaptiveVelConfig ddConfig_;
ros::NodeHandle* nh_;
ros::NodeHandle ddnh_;

boost::recursive_mutex ddMutex_;
std::unique_ptr<dynamic_reconfigure::Server<pure_pursuit_ros::PurePursuitAdaptiveVelConfig>> ddServer_;
dynamic_reconfigure::Server<pure_pursuit_ros::PurePursuitAdaptiveVelConfig>::CallbackType ddCalback_;
pure_pursuit_ros::PurePursuitAdaptiveVelConfig ddConfig_;
};

void updateFromDD(const pure_pursuit_ros::PurePursuitAdaptiveVelConfig &config,
AdaptiveVelocityControllerParameters *param);
void updateDD(const AdaptiveVelocityControllerParameters &param,
pure_pursuit_ros::PurePursuitAdaptiveVelConfig *config);

void updateFromDD(const pure_pursuit_ros::PurePursuitAdaptiveVelConfig& config, AdaptiveVelocityControllerParameters* param);
void updateDD(const AdaptiveVelocityControllerParameters& param, pure_pursuit_ros::PurePursuitAdaptiveVelConfig* config);

std::unique_ptr<LongitudinalVelocityController> createAdaptiveVelocityControllerRos(const AdaptiveVelocityControllerParameters& parameters,
ros::NodeHandle* nh);
ros::NodeHandle* nh);

} /* namespace pure_pursuit*/
76 changes: 34 additions & 42 deletions pure_pursuit_ros/src/AckermannSteeringControllerRos.cpp
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Expand Up @@ -14,32 +14,29 @@
namespace pure_pursuit {

namespace {
const double kDegToRad = M_PI / 180.0;
const double kRadToDeg = 180.0 / M_PI;
}
const double kDegToRad = M_PI / 180.0;
const double kRadToDeg = 180.0 / M_PI;
} // namespace

AckermannSteeringControllerRos::AckermannSteeringControllerRos(ros::NodeHandle* nh) : BASE(), nh_(nh), ddnh_("ackerman_steering") {
ddServer_ = std::make_unique<dynamic_reconfigure::Server<pure_pursuit_ros::PurePursuitConfig>>(ddMutex_,ddnh_);
ddServer_ = std::make_unique<dynamic_reconfigure::Server<pure_pursuit_ros::PurePursuitConfig>>(ddMutex_, ddnh_);
initRos();
}


void AckermannSteeringControllerRos::ddCallback(pure_pursuit_ros::PurePursuitConfig &config, uint32_t level){
ddConfig_ = config;
updateFromDD(ddConfig_, &parameters_);
ROS_INFO("Reconfigure Request: \n %s",
parameters_.asString().c_str());
void AckermannSteeringControllerRos::ddCallback(pure_pursuit_ros::PurePursuitConfig& config, uint32_t level) {
ddConfig_ = config;
updateFromDD(ddConfig_, &parameters_);
ROS_INFO("Reconfigure Request: \n %s", parameters_.asString().c_str());
}

void AckermannSteeringControllerRos::setParameters(const AckermannSteeringCtrlParameters& parameters){
BASE::setParameters(parameters);
updateDD(parameters,&ddConfig_);
ddServer_->updateConfig(ddConfig_);
void AckermannSteeringControllerRos::setParameters(const AckermannSteeringCtrlParameters& parameters) {
BASE::setParameters(parameters);
updateDD(parameters, &ddConfig_);
ddServer_->updateConfig(ddConfig_);
}

void AckermannSteeringControllerRos::initRos() {

ddCalback_ = boost::bind(&AckermannSteeringControllerRos::ddCallback,this, _1, _2);
ddCalback_ = boost::bind(&AckermannSteeringControllerRos::ddCallback, this, _1, _2);
ddServer_->setCallback(ddCalback_);

lookaheadPointPub_ = nh_->advertise<visualization_msgs::Marker>("pure_pursuit_heading_control/lookahead_point", 1, true);
Expand Down Expand Up @@ -149,33 +146,28 @@ std::unique_ptr<HeadingController> createAckermannSteeringControllerRos(const Ac
return std::move(ctrl);
}

void updateFromDD(const pure_pursuit_ros::PurePursuitConfig &config, AckermannSteeringCtrlParameters *param){
param->lookaheadDistanceFwd_ = config.lookahead_fwd;
param->lookaheadDistanceBck_ = config.lookahead_bck;
param->anchorDistanceFwd_ = config.anchor_dist_fwd;
param->anchorDistanceBck_ = config.anchor_dist_bck;
param->deadZoneWidth_ = config.dead_zone_width;
param->avgFilgerCurrentSampleWeight_ = config.avg_filter_current_sample_weight;
param->maxSteeringAngleMagnitude_ = config.max_steering_angle_magnitude_in_deg * kDegToRad;
param->maxSteeringRateOfChange_ = config.max_steering_rate_of_change_in_deg_per_sec * kDegToRad;
param->wheelBase_ = config.wheel_base;


void updateFromDD(const pure_pursuit_ros::PurePursuitConfig& config, AckermannSteeringCtrlParameters* param) {
param->lookaheadDistanceFwd_ = config.lookahead_fwd;
param->lookaheadDistanceBck_ = config.lookahead_bck;
param->anchorDistanceFwd_ = config.anchor_dist_fwd;
param->anchorDistanceBck_ = config.anchor_dist_bck;
param->deadZoneWidth_ = config.dead_zone_width;
param->avgFilgerCurrentSampleWeight_ = config.avg_filter_current_sample_weight;
param->maxSteeringAngleMagnitude_ = config.max_steering_angle_magnitude_in_deg * kDegToRad;
param->maxSteeringRateOfChange_ = config.max_steering_rate_of_change_in_deg_per_sec * kDegToRad;
param->wheelBase_ = config.wheel_base;
}
void updateDD(const AckermannSteeringCtrlParameters &param,
pure_pursuit_ros::PurePursuitConfig *config) {
config->lookahead_fwd = param.lookaheadDistanceFwd_;
config->lookahead_fwd = param.lookaheadDistanceFwd_;
config->lookahead_bck = param.lookaheadDistanceBck_;
config->anchor_dist_fwd = param.anchorDistanceFwd_;
config->anchor_dist_bck = param.anchorDistanceBck_;
config->dead_zone_width = param.deadZoneWidth_;
config->avg_filter_current_sample_weight =
param.avgFilgerCurrentSampleWeight_;
config->max_steering_angle_magnitude_in_deg =kRadToDeg * param.maxSteeringAngleMagnitude_;
config->max_steering_rate_of_change_in_deg_per_sec = kRadToDeg * param.maxSteeringRateOfChange_;
config->wheel_base = param.wheelBase_;

void updateDD(const AckermannSteeringCtrlParameters& param, pure_pursuit_ros::PurePursuitConfig* config) {
config->lookahead_fwd = param.lookaheadDistanceFwd_;
config->lookahead_fwd = param.lookaheadDistanceFwd_;
config->lookahead_bck = param.lookaheadDistanceBck_;
config->anchor_dist_fwd = param.anchorDistanceFwd_;
config->anchor_dist_bck = param.anchorDistanceBck_;
config->dead_zone_width = param.deadZoneWidth_;
config->avg_filter_current_sample_weight = param.avgFilgerCurrentSampleWeight_;
config->max_steering_angle_magnitude_in_deg = kRadToDeg * param.maxSteeringAngleMagnitude_;
config->max_steering_rate_of_change_in_deg_per_sec = kRadToDeg * param.maxSteeringRateOfChange_;
config->wheel_base = param.wheelBase_;
}

} /* namespace pure_pursuit */
48 changes: 19 additions & 29 deletions pure_pursuit_ros/src/AdaptiveVelocityControllerRos.cpp
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Expand Up @@ -9,52 +9,42 @@
#include "pure_pursuit_core/math.hpp"
#include "se2_visualization_ros/visualization_helpers.hpp"



namespace pure_pursuit {
AdaptiveVelocityControllerRos::AdaptiveVelocityControllerRos(ros::NodeHandle* nh) : BASE(), nh_(nh), ddnh_("adaptive_vel_controller") {
ddServer_ = std::make_unique<dynamic_reconfigure::Server<pure_pursuit_ros::PurePursuitAdaptiveVelConfig>>(ddMutex_,ddnh_);
ddServer_ = std::make_unique<dynamic_reconfigure::Server<pure_pursuit_ros::PurePursuitAdaptiveVelConfig>>(ddMutex_, ddnh_);
initRos();
}


void AdaptiveVelocityControllerRos::ddCallback(pure_pursuit_ros::PurePursuitAdaptiveVelConfig &config, uint32_t level){
ddConfig_ = config;
updateFromDD(ddConfig_, &parameters_);
ROS_INFO("Reconfigure Request: \n %s",
parameters_.asString().c_str());
void AdaptiveVelocityControllerRos::ddCallback(pure_pursuit_ros::PurePursuitAdaptiveVelConfig& config, uint32_t level) {
ddConfig_ = config;
updateFromDD(ddConfig_, &parameters_);
ROS_INFO("Reconfigure Request: \n %s", parameters_.asString().c_str());
}

void AdaptiveVelocityControllerRos::setParameters(const AdaptiveVelocityControllerParameters& parameters){
BASE::setParameters(parameters);
updateDD(parameters,&ddConfig_);
ddServer_->updateConfig(ddConfig_);
void AdaptiveVelocityControllerRos::setParameters(const AdaptiveVelocityControllerParameters& parameters) {
BASE::setParameters(parameters);
updateDD(parameters, &ddConfig_);
ddServer_->updateConfig(ddConfig_);
}

void AdaptiveVelocityControllerRos::initRos() {

ddCalback_ = boost::bind(&AdaptiveVelocityControllerRos::ddCallback,this, _1, _2);
ddCalback_ = boost::bind(&AdaptiveVelocityControllerRos::ddCallback, this, _1, _2);
ddServer_->setCallback(ddCalback_);

}

void updateFromDD(const pure_pursuit_ros::PurePursuitAdaptiveVelConfig &config, AdaptiveVelocityControllerParameters *param){

param->desiredVelocity_ = config.nominal_velocity;
param->maxVelocityRateOfChange_ = config.max_vel_rate_of_change;
param->distanceToGoalWhenBrakingStarts_ = config.distance_when_braking_starts;

void updateFromDD(const pure_pursuit_ros::PurePursuitAdaptiveVelConfig& config, AdaptiveVelocityControllerParameters* param) {
param->desiredVelocity_ = config.nominal_velocity;
param->maxVelocityRateOfChange_ = config.max_vel_rate_of_change;
param->distanceToGoalWhenBrakingStarts_ = config.distance_when_braking_starts;
}
void updateDD(const AdaptiveVelocityControllerParameters &param,
pure_pursuit_ros::PurePursuitAdaptiveVelConfig *config) {
config->distance_when_braking_starts = param.distanceToGoalWhenBrakingStarts_;
config->max_vel_rate_of_change = param.maxVelocityRateOfChange_;
config->nominal_velocity = param.desiredVelocity_;

void updateDD(const AdaptiveVelocityControllerParameters& param, pure_pursuit_ros::PurePursuitAdaptiveVelConfig* config) {
config->distance_when_braking_starts = param.distanceToGoalWhenBrakingStarts_;
config->max_vel_rate_of_change = param.maxVelocityRateOfChange_;
config->nominal_velocity = param.desiredVelocity_;
}

std::unique_ptr<LongitudinalVelocityController> createAdaptiveVelocityControllerRos(const AdaptiveVelocityControllerParameters& parameters,
ros::NodeHandle* nh) {
ros::NodeHandle* nh) {
auto ctrl = std::make_unique<AdaptiveVelocityControllerRos>(nh);
ctrl->setParameters(parameters);
return std::move(ctrl);
Expand Down
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