SimpleController.hpp

Go to the documentation of this file.

// Copyright 2025 Intelligent Robotics Lab
//
// This file is part of the project Easy Navigation (EasyNav in short)
// 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 EASYNAV_SIMPLE_CONTROLLER__SIMPLECONTROLLER_HPP_
#define EASYNAV_SIMPLE_CONTROLLER__SIMPLECONTROLLER_HPP_
 
#include <memory>
#include <string>
 
#include "geometry_msgs/msg/point.hpp"
#include "geometry_msgs/msg/twist_stamped.hpp"
#include "nav_msgs/msg/path.hpp"
 
#include "easynav_core/ControllerMethodBase.hpp"
#include "easynav_common/types/NavState.hpp"
#include "easynav_simple_controller/PIDController.hpp"
 
namespace easynav
{

class SimpleController : public ControllerMethodBase
{
public:
  SimpleController();

  ~SimpleController() override;

  void on_initialize() override;

  void update_rt(NavState & nav_state) override;
 
protected:
  std::shared_ptr<PIDController> linear_pid_;   
  std::shared_ptr<PIDController> angular_pid_;  
 
  double max_linear_speed_{1.0};   
  double max_angular_speed_{1.0};  
  double max_linear_acc_{0.3};     
  double max_angular_acc_{0.3};    
  double look_ahead_dist_{1.0};    
  double tolerance_dist_{0.05};    
  double k_rot_{0.5};              
  double final_goal_angle_tolerance_{0.1};  
  double linear_kp_{0.95};         
  double linear_ki_{0.03};         
  double linear_kd_{0.08};         
  double angular_kp_{1.5};        
  double angular_ki_{0.03};        
  double angular_kd_{0.08};        
 
  double last_vlin_{0.0};          
  double last_vrot_{0.0};          
 
  rclcpp::Time last_update_ts_;    
  geometry_msgs::msg::TwistStamped twist_stamped_;  

  geometry_msgs::msg::Pose get_ref_pose(
    const nav_msgs::msg::Path & path,
    double look_ahead);

  double get_distance(const geometry_msgs::msg::Pose & a, const geometry_msgs::msg::Pose & b);

  double get_angle(const geometry_msgs::msg::Point & from, const geometry_msgs::msg::Point & to);

  double get_diff_angle(
    const geometry_msgs::msg::Quaternion & a,
    const geometry_msgs::msg::Quaternion & b);
};
 
}  // namespace easynav
 
#endif  // EASYNAV_SIMPLE_CONTROLLER__SIMPLECONTROLLER_HPP_