LGD/hand_control
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replace plan_vel by x_vel and y_vel in commander.cpp & Commander.cfg

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Louis-Guillaume DUBOIS 2015-06-03 19:19:15 +02:00
parent 2fae8ea396
commit b535242410
2 changed files with 11 additions and 9 deletions
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11
cfg/Commander.cfg
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@ -4,13 +4,14 @@ from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator() gen = ParameterGenerator()
gen.add("max_curvature", double_t, 0, "Maximum curvature of the estimated plane", 0.5, 0., 1.) gen.add("max_curvature", double_t, 0, "Maximum curvature of the estimated plane", 0.5, 0., 1.)
gen.add("x_minimal_deviation", double_t, 0, "Absolute horizontal movement detection treshold", 0.1, 0.) gen.add("x_minimal_deviation", double_t, 0, "Absolute horizontal movement detection treshold", 0.1, 0.)
gen.add("y_minimal_deviation", double_t, 0, "Absolute lateral movement detection treshold", 0.1, 0.) gen.add("y_minimal_deviation", double_t, 0, "Absolute lateral movement detection treshold", 0.2, 0.)
gen.add("z_minimal_deviation", double_t, 0, "Absolute vertical movement detection treshold", 0.1, 0.) gen.add("z_minimal_deviation", double_t, 0, "Absolute vertical movement detection treshold", 0.1, 0.)
gen.add("neutral_alt", double_t, 0, "Reference altitude for vertical movement command", 0.8, 0.) gen.add("neutral_alt", double_t, 0, "Reference altitude for vertical movement command", 1.1, 0.)
gen.add("min_points_number", int_t, 0, "Minimal number of plane points needed for a valid estimation", 1000, 0) gen.add("min_points_number", int_t, 0, "Minimal number of plane points needed for a valid estimation", 300, 0)
gen.add("up_fact", double_t, 0, "Upward command amplification factor", 1.5, 1) gen.add("up_fact", double_t, 0, "Upward command amplification factor", 1.5, 1)
gen.add("theta_minimal_deviation", double_t, 0, "Absolute angular movement detection treshold", 15., 0., 45.) gen.add("theta_minimal_deviation", double_t, 0, "Absolute angular movement detection treshold", 15., 0., 45.)
gen.add("angle_vel", double_t, 0, "Angular velocity", 0.01, 0., 10.) gen.add("angle_vel", double_t, 0, "Angular velocity", 0.01, 0., 10.)
gen.add("plan_vel", double_t, 0, "Translation velocity", 0.5, 0., 10.) gen.add("x_vel", double_t, 0, "X Translation velocity", 0.5, 0., 10.)
gen.add("z_vel", double_t, 0, "Vertical translation velocity", 2., 0., 10.) gen.add("y_vel", double_t, 0, "Y Translation velocity", 0.3, 0., 10.)
gen.add("z_vel", double_t, 0, "Vertical translation velocity", 1.5, 0., 10.)
exit(gen.generate(PACKAGE, "hand_control", "Commander")) exit(gen.generate(PACKAGE, "hand_control", "Commander"))

9
src/commander.cpp
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@ -29,7 +29,7 @@ class Run
// zz > 0 : up // zz > 0 : up
// zz < 0 : down // zz < 0 : down
float plan_vel, z_vel, angle_vel, up_factor, neutral_z; float x_vel, y_vel, z_vel, angle_vel, up_factor, neutral_z;
float max_curv; float max_curv;
float z_dev_min, x_dev_min, y_dev_min, th_dev_min; float z_dev_min, x_dev_min, y_dev_min, th_dev_min;
@ -53,11 +53,11 @@ class Run
if (fabs(yy) > fabs(xx) && fabs(yy) > y_dev_min) if (fabs(yy) > fabs(xx) && fabs(yy) > y_dev_min)
{ {
mvt->linear.y = yy * plan_vel; mvt->linear.y = yy * y_vel;
} }
else if (fabs(xx) > x_dev_min) else if (fabs(xx) > x_dev_min)
{ {
mvt->linear.x = - xx * plan_vel; mvt->linear.x = - xx * x_vel;
} }
if (fabs(theta) > th_dev_min) { if (fabs(theta) > th_dev_min) {
@ -118,7 +118,8 @@ class Run
neutral_z = c.neutral_alt; neutral_z = c.neutral_alt;
min_number = c.min_points_number; min_number = c.min_points_number;
up_factor = c.up_fact; up_factor = c.up_fact;
plan_vel = c.plan_vel; x_vel = c.x_vel;
y_vel = c.y_vel;
z_vel = c.z_vel; z_vel = c.z_vel;
angle_vel = c.angle_vel; angle_vel = c.angle_vel;
} }