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Added LeadLag controller #68

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7 changes: 7 additions & 0 deletions CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -18,12 +18,14 @@ find_package(TinyXML REQUIRED)
# Dynamics reconfigure
generate_dynamic_reconfigure_options(
cfg/Parameters.cfg
cfg/LeadLag.cfg
)

# Add services and generate them
add_service_files(
FILES
SetPidGains.srv
SetLeadLagGains.srv
)

generate_messages(
Expand Down Expand Up @@ -52,6 +54,8 @@ include_directories(
)

add_library(${PROJECT_NAME}
src/lead_lag.cpp
src/lead_lag_gains_setter.cpp
src/pid.cpp
src/pid_gains_setter.cpp
src/sine_sweep.cpp
Expand All @@ -68,6 +72,9 @@ if(CATKIN_ENABLE_TESTING)
catkin_add_gtest(pid_tests test/pid_tests.cpp)
target_link_libraries(pid_tests ${catkin_LIBRARIES} ${PROJECT_NAME})

catkin_add_gtest(lead_lag_tests test/lead_lag_tests.cpp)
target_link_libraries(lead_lag_tests ${catkin_LIBRARIES} ${PROJECT_NAME})

# add_executable(test_linear test/linear.cpp)
endif()

Expand Down
62 changes: 62 additions & 0 deletions cfg/LeadLag.cfg
Original file line number Diff line number Diff line change
@@ -0,0 +1,62 @@
#! /usr/bin/env python
#*********************************************************************
#* Software License Agreement (BSD License)
#*
#* Copyright (c) 2017, Open Source Robotics Foundation
#* All rights reserved.
#*
#* Redistribution and use in source and binary forms, with or without
#* modification, are permitted provided that the following conditions
#* are met:
#*
#* * Redistributions of source code must retain the above copyright
#* notice, this list of conditions and the following disclaimer.
#* * Redistributions in binary form must reproduce the above
#* copyright notice, this list of conditions and the following
#* disclaimer in the documentation and/or other materials provided
#* with the distribution.
#* * Neither the name of the Open Source Robotics Foundation
#* nor the names of its contributors may be
#* used to endorse or promote products derived
#* from this software without specific prior written permission.
#*
#* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
#* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
#* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
#* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
#* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
#* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
#* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
#* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
#* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
#* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
#* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
#* POSSIBILITY OF SUCH DAMAGE.
#*********************************************************************/

# Author: Aris Synodinos
# Desc: Allows Lead Lag parameters, etc to be tuned in realtime using dynamic reconfigure

PACKAGE='control_toolbox'

def generate(gen):
# Name Type Level Description Default Min Max
gen.add( "k" , double_t, 1,"Gain.", 10.0 , -100000 , 100000)
gen.add( "a" , double_t, 1,"Lead gain.", 0.1 , -1000 , 1000)
gen.add( "b" , double_t, 1,"Lag gain.", 1.0 , -1000 , 1000)
# PkgName #NodeName #Prefix for generated .h include file, e.g. ParametersConfig.py
exit(gen.generate(PACKAGE, "control_toolbox", "LeadLag"))

# try catkin generator first
try:
from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator()
generate(gen)
# reason for catching IndexError
# parameter_generator_catkin expects 4 arguments while rosbuild only passes in 2
# not thrilled with this solution
except IndexError:
print 'ERROR', PACKAGE, 'Parameters.cfg failed using parameter_generator_catkin, using rosbuild instead'
from dynamic_reconfigure.parameter_generator import *
gen = ParameterGenerator()
generate(gen)
2 changes: 2 additions & 0 deletions doc.h
Original file line number Diff line number Diff line change
Expand Up @@ -4,9 +4,11 @@

The control_toolbox package contains the following C++ classes which may be useful when implementing controllers.
\li \ref control_toolbox::Pid "Pid" for implementing position/integral/derivative control loops.
\li \ref control_toolbox::LeadLag "Lead Lag" for implementing lead or lag compensator control loops.
\li \ref control_toolbox::Ramp "Ramp Output"
\li \ref control_toolbox::SineSweep "Sine Sweep"
\li \ref control_toolbox::Dither "Dither" for giving white noise at specified amplitude
\li \ref control_toolbox::PidGainsSetter "Pid gains setter" for advertising a service for automatically changing PID gains.
\li \ref control_toolbox::LeadLagGainsSetter "Lead Lag gains setter" for advertising a service for automatically changing LeadLag gains.

**/
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