BasePIDController.hpp

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/* Generated from orogen/lib/orogen/templates/tasks/Task.hpp */

#ifndef AUV_CONTROL_BASEPIDCONTROLLER_TASK_HPP
#define AUV_CONTROL_BASEPIDCONTROLLER_TASK_HPP

#include "auv_control/BasePIDControllerBase.hpp"
#include <motor_controller/PID.hpp>

namespace auv_control {

    class BasePIDController : public BasePIDControllerBase
    {
        friend class BasePIDControllerBase;
    protected:

        struct currentState{
            base::Vector3d linear;
            base::Vector3d angular;
            base::Time time;
        };
        struct currentCov{
            base::Matrix3d linear;
            base::Matrix3d angular;
            base::Time time;
        };
        currentState mCurrentState;
        currentCov mCurrentCov;
        LinearAngular6DPID mPIDs;

        bool calcOutput(const LinearAngular6DCommandStatus &merged_command);
        void keepPosition();


        virtual bool setParallel_pid_settings(::base::LinearAngular6DParallelPIDSettings const & value);
        virtual bool setPid_settings(::base::LinearAngular6DPIDSettings const & value);

         std::pair<base::LinearAngular6DCommand, LinearAngular6DPIDState> calcPIDStateCommand(
            const base::LinearAngular6DCommand &reference, const currentState &current_state, LinearAngular6DPID &pid);

    public:
        BasePIDController(std::string const& name = "auv_control::BasePIDController");

        BasePIDController(std::string const& name, RTT::ExecutionEngine* engine);

        ~BasePIDController();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif