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evan-palmerevan-palmer
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fix backport issues
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‎velocity_controllers/include/velocity_controllers/integral_sliding_mode_controller.hpp‎

Lines changed: 50 additions & 57 deletions
Original file line numberDiff line numberDiff line change
@@ -33,7 +33,8 @@
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#include "geometry_msgs/msg/twist_stamped.hpp"
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<<<<<<< HEAD
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#include "hydrodynamics/eigen.hpp"
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=======
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== == ==
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=
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>>>>>>> origin/main
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#include "hydrodynamics/hydrodynamics.hpp"
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#include "nav_msgs/msg/odometry.hpp"
@@ -49,85 +50,77 @@
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// auto-generated by generate_parameter_library
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#include <velocity_controllers/integral_sliding_mode_controller_parameters.hpp>
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52-
namespace velocity_controllers
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namespace velocity_controllers
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{
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class IntegralSlidingModeController : public controller_interface::ChainableControllerInterface
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{
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public:
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IntegralSlidingModeController() = default;
58-
59-
auto on_init() -> controller_interface::CallbackReturn override;
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class IntegralSlidingModeController : public controller_interface::ChainableControllerInterface
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{
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public:
58+
IntegralSlidingModeController() = default;
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61-
auto on_configure(const rclcpp_lifecycle::State & previous_state) -> controller_interface::CallbackReturn override;
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auto on_init() -> controller_interface::CallbackReturn override;
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63-
auto on_activate(const rclcpp_lifecycle::State & previous_state) -> controller_interface::CallbackReturn override;
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auto on_configure(const rclcpp_lifecycle::State & previous_state) -> controller_interface::CallbackReturn override;
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65-
auto command_interface_configuration() const -> controller_interface::InterfaceConfiguration override;
64+
auto on_activate(const rclcpp_lifecycle::State & previous_state) -> controller_interface::CallbackReturn override;
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67-
auto state_interface_configuration() const -> controller_interface::InterfaceConfiguration override;
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auto command_interface_configuration() const -> controller_interface::InterfaceConfiguration override;
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69-
auto update_and_write_commands(const rclcpp::Time & time, const rclcpp::Duration & period)
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-> controller_interface::return_type override;
68+
auto state_interface_configuration() const -> controller_interface::InterfaceConfiguration override;
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protected:
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auto on_export_reference_interfaces() -> std::vector<hardware_interface::CommandInterface> override;
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auto update_and_write_commands(const rclcpp::Time & time, const rclcpp::Duration & period)
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-> controller_interface::return_type override;
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75-
auto update_reference_from_subscribers(const rclcpp::Time & time, const rclcpp::Duration & period)
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-> controller_interface::return_type override;
73+
protected:
74+
auto on_export_reference_interfaces() -> std::vector<hardware_interface::CommandInterface> override;
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78-
auto update_system_state_values() -> controller_interface::return_type;
76+
auto update_reference_from_subscribers(const rclcpp::Time & time, const rclcpp::Duration & period)
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-> controller_interface::return_type override;
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80-
auto update_parameters() -> void;
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auto update_system_state_values() -> controller_interface::return_type;
8180

82-
auto configure_parameters() -> controller_interface::CallbackReturn;
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auto update_parameters() -> void;
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84-
<<<<<<< HEAD
85-
realtime_tools::RealtimeBuffer<geometry_msgs::msg::Twist> reference_;
86-
std::shared_ptr<rclcpp::Subscription<geometry_msgs::msg::Twist>> reference_sub_;
83+
auto configure_parameters() -> controller_interface::CallbackReturn;
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88-
realtime_tools::RealtimeBuffer<geometry_msgs::msg::Twist> system_state_;
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std::shared_ptr<rclcpp::Subscription<geometry_msgs::msg::TwistStamped>> system_state_sub_;
90-
=======
91-
auto update_and_validate_interfaces() -> controller_interface::return_type;
85+
auto update_and_validate_interfaces() -> controller_interface::return_type;
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93-
realtime_tools::RealtimeBuffer<geometry_msgs::msg::Twist> reference_;
94-
std::shared_ptr<rclcpp::Subscription<geometry_msgs::msg::Twist>> reference_sub_;
87+
realtime_tools::RealtimeBuffer<geometry_msgs::msg::Twist> reference_;
88+
std::shared_ptr<rclcpp::Subscription<geometry_msgs::msg::Twist>> reference_sub_;
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96-
realtime_tools::RealtimeBuffer<nav_msgs::msg::Odometry> system_state_;
97-
std::shared_ptr<rclcpp::Subscription<nav_msgs::msg::Odometry>> system_state_sub_;
98-
>>>>>>> origin/main
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std::vector<double> system_state_values_;
90+
realtime_tools::RealtimeBuffer<nav_msgs::msg::Odometry> system_state_;
91+
std::shared_ptr<rclcpp::Subscription<nav_msgs::msg::Odometry>> system_state_sub_;
92+
std::vector<double> system_state_values_;
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101-
// we need the system rotation from the inertial frame to the vehicle frame for the hydrodynamic model
102-
std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
103-
std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
94+
// we need the system rotation from the inertial frame to the vehicle frame for the hydrodynamic model
95+
std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
96+
std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
10497

105-
std::string inertial_frame_id_, vehicle_frame_id_;
106-
realtime_tools::RealtimeBuffer<Eigen::Quaterniond> system_rotation_;
98+
std::string inertial_frame_id_, vehicle_frame_id_;
99+
realtime_tools::RealtimeBuffer<Eigen::Quaterniond> system_rotation_;
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108-
using ControllerState = control_msgs::msg::MultiDOFStateStamped;
109-
std::shared_ptr<rclcpp::Publisher<ControllerState>> controller_state_pub_;
110-
std::unique_ptr<realtime_tools::RealtimePublisher<ControllerState>> rt_controller_state_pub_;
111-
ControllerState controller_state_;
101+
using ControllerState = control_msgs::msg::MultiDOFStateStamped;
102+
std::shared_ptr<rclcpp::Publisher<ControllerState>> controller_state_pub_;
103+
std::unique_ptr<realtime_tools::RealtimePublisher<ControllerState>> rt_controller_state_pub_;
104+
ControllerState controller_state_;
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113-
std::shared_ptr<integral_sliding_mode_controller::ParamListener> param_listener_;
114-
integral_sliding_mode_controller::Params params_;
106+
std::shared_ptr<integral_sliding_mode_controller::ParamListener> param_listener_;
107+
integral_sliding_mode_controller::Params params_;
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116-
// the dofs will always be of order six, but we make it configurable to allow for renaming
117-
std::vector<std::string> dofs_;
118-
std::size_t n_dofs_;
109+
// the dofs will always be of order six, but we make it configurable to allow for renaming
110+
std::vector<std::string> dofs_;
111+
std::size_t n_dofs_;
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120-
// controller gains/parameters
121-
Eigen::Matrix6d kp_, rho_;
122-
double boundary_thickness_;
113+
// controller gains/parameters
114+
Eigen::Matrix6d kp_, rho_;
115+
double boundary_thickness_;
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124-
// controller state
125-
bool first_update_{true};
126-
Eigen::Vector6d init_error_, total_error_;
117+
// controller state
118+
bool first_update_{true};
119+
Eigen::Vector6d init_error_, total_error_;
127120

128-
std::unique_ptr<hydrodynamics::Params> model_;
121+
std::unique_ptr<hydrodynamics::Params> model_;
129122

130-
rclcpp::Logger logger_{rclcpp::get_logger("integral_sliding_mode_controller")};
131-
};
123+
rclcpp::Logger logger_{rclcpp::get_logger("integral_sliding_mode_controller")};
124+
};
132125

133126
} // namespace velocity_controllers

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