MulticopterVelocityControl.hh

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/*
 * Copyright (C) 2019 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
#ifndef GZ_SIM_SYSTEMS_MULTICOPTERVELOCITYCONTROL_HH_
#define GZ_SIM_SYSTEMS_MULTICOPTERVELOCITYCONTROL_HH_
 
#include <Eigen/Geometry>
#include <memory>
#include <string>
 
#include <gz/msgs/actuators.pb.h>
#include <gz/msgs/boolean.pb.h>
#include <gz/msgs/twist.pb.h>
#include <gz/transport/Node.hh>
 
#include <gz/sim/System.hh>
#include "gz/sim/Link.hh"
#include "gz/sim/Model.hh"
 
#include "Common.hh"
#include "LeeVelocityController.hh"
 
namespace gz
{
namespace sim
{
// Inline bracket to help doxygen filtering.
inline namespace GZ_SIM_VERSION_NAMESPACE {
namespace systems
{
 
  class MulticopterVelocityControl
      : public System,
        public ISystemConfigure,
        public ISystemPreUpdate
  {
    public: MulticopterVelocityControl() = default;
 
    // Documentation inherited
    public: void Configure(const Entity &_entity,
                           const std::shared_ptr<const sdf::Element> &_sdf,
                           EntityComponentManager &_ecm,
                           EventManager &_eventMgr) override;
 
    // Documentation inherited
    public: void PreUpdate(
                const gz::sim::UpdateInfo &_info,
                gz::sim::EntityComponentManager &_ecm) override;
 
    private: void OnTwist(const msgs::Twist &_msg);
 
    private: void OnEnable(const msgs::Boolean &_msg);
 
    private: void PublishRotorVelocities(
                 gz::sim::EntityComponentManager &_ecm,
                 const Eigen::VectorXd &_vels);
 
    private: math::Inertiald VehicleInertial(
                 const EntityComponentManager &_ecm,
                 Entity _entity);
 
    private: Model model{kNullEntity};
 
    private: std::string comLinkName;
 
    private: Entity comLinkEntity;
 
    private: std::string robotNamespace;
 
    private: std::string commandSubTopic{"cmd_vel"};
 
    private: std::string enableSubTopic{"enable"};
 
    private: transport::Node node;
 
    private: Eigen::VectorXd rotorVelocities;
 
    private: std::unique_ptr<multicopter_control::LeeVelocityController>
                 velocityController;
 
    private: multicopter_control::NoiseParameters noiseParameters;
 
    private: std::optional<msgs::Twist> cmdVelMsg;
 
    private: math::Vector3d maximumLinearVelocity;
 
    private: math::Vector3d maximumAngularVelocity;
 
    private: std::mutex cmdVelMsgMutex;
 
    private: msgs::Actuators rotorVelocitiesMsg;
 
    private: bool initialized{false};
 
    private: std::atomic<bool> controllerActive{true};
  };
  }
}
}
}
 
#endif