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100644 mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.png create mode 100644 ruby.png create mode 100644 snow.png create mode 100644 updown.png diff --git a/.nojekyll b/.nojekyll new file mode 100644 index 0000000000..e69de29bb2 diff --git a/amber.png b/amber.png new file mode 100644 index 0000000000000000000000000000000000000000..2cab170d8359081983a4e343848dfe06bc490f12 GIT binary patch literal 141 zcmeAS@N?(olHy`uVBq!ia0vp^j3CU&3?x-=hn)ga>?NMQuI!iC1^G2tW}LqE04T&+ z;1OBOz`!j8!i<;h*8KqrvZOouIx;Y9?C1WI$O`1M1^9%x{(levWGtest coveragetest coverage61.3%61.3% \ No newline at end of file diff --git a/emerald.png b/emerald.png new file mode 100644 index 0000000000000000000000000000000000000000..38ad4f4068b935643d2486f323005fb294a9bd7e GIT binary patch literal 141 zcmeAS@N?(olHy`uVBq!ia0vp^j3CU&3?x-=hn)ga>?NMQuI!iC1^Jb!lvI6;R0X`wF(yt=9xVZRt1vCRixIA4P dLn>}1Cji+@42)0J?}79&c)I$ztaD0e0sy@GAL0N2 literal 0 HcmV?d00001 diff --git a/gcov.css b/gcov.css new file mode 100644 index 0000000000..bfd0a83e10 --- /dev/null +++ b/gcov.css @@ -0,0 +1,519 @@ +/* All views: initial background and text color */ +body +{ + color: #000000; + background-color: #FFFFFF; +} + +/* All views: standard link format*/ +a:link +{ + color: #284FA8; + text-decoration: underline; +} + +/* All views: standard link - visited format */ +a:visited +{ + color: #00CB40; + text-decoration: underline; +} + +/* All views: standard link - activated format */ +a:active +{ + color: #FF0040; + text-decoration: underline; +} + +/* All views: main title format */ +td.title +{ + text-align: center; + padding-bottom: 10px; + font-family: sans-serif; + font-size: 20pt; + font-style: italic; + font-weight: bold; +} + +/* All views: header item format */ +td.headerItem +{ + text-align: right; + padding-right: 6px; + font-family: sans-serif; + font-weight: bold; + vertical-align: top; + white-space: nowrap; +} + +/* All views: header item value format */ +td.headerValue +{ + text-align: left; + color: #284FA8; + font-family: sans-serif; + font-weight: bold; + white-space: nowrap; +} + +/* All views: header item coverage table heading */ +td.headerCovTableHead +{ + text-align: center; + padding-right: 6px; + padding-left: 6px; + padding-bottom: 0px; + font-family: sans-serif; + font-size: 80%; + white-space: nowrap; +} + +/* All views: header item coverage table entry */ +td.headerCovTableEntry +{ + text-align: right; + color: #284FA8; + font-family: sans-serif; + font-weight: bold; + white-space: nowrap; + padding-left: 12px; + padding-right: 4px; + background-color: #DAE7FE; +} + +/* All views: header item coverage table entry for high coverage rate */ +td.headerCovTableEntryHi +{ + text-align: right; + color: #000000; + font-family: sans-serif; + font-weight: bold; + white-space: nowrap; + padding-left: 12px; + padding-right: 4px; + background-color: #A7FC9D; +} + +/* All views: header item coverage table entry for medium coverage rate */ +td.headerCovTableEntryMed +{ + text-align: right; + color: #000000; + font-family: sans-serif; + font-weight: bold; + white-space: nowrap; + padding-left: 12px; + padding-right: 4px; + background-color: #FFEA20; +} + +/* All views: header item coverage table entry for ow coverage rate */ +td.headerCovTableEntryLo +{ + text-align: right; + color: #000000; + font-family: sans-serif; + font-weight: bold; + white-space: nowrap; + padding-left: 12px; + padding-right: 4px; + background-color: #FF0000; +} + +/* All views: header legend value for legend entry */ +td.headerValueLeg +{ + text-align: left; + color: #000000; + font-family: sans-serif; + font-size: 80%; + white-space: nowrap; + padding-top: 4px; +} + +/* All views: color of horizontal ruler */ +td.ruler +{ + background-color: #6688D4; +} + +/* All views: version string format */ +td.versionInfo +{ + text-align: center; + padding-top: 2px; + font-family: sans-serif; + font-style: italic; +} + +/* Directory view/File view (all)/Test case descriptions: + table headline format */ +td.tableHead +{ + text-align: center; + color: #FFFFFF; + background-color: #6688D4; + font-family: sans-serif; + font-size: 120%; + font-weight: bold; + white-space: nowrap; + padding-left: 4px; + padding-right: 4px; +} + +span.tableHeadSort +{ + padding-right: 4px; +} + +/* Directory view/File view (all): filename entry format */ +td.coverFile +{ + text-align: left; + padding-left: 10px; + padding-right: 20px; + color: #284FA8; + background-color: #DAE7FE; + font-family: monospace; +} + +/* Directory view/File view (all): bar-graph entry format*/ +td.coverBar +{ + padding-left: 10px; + padding-right: 10px; + background-color: #DAE7FE; +} + +/* Directory view/File view (all): bar-graph outline color */ +td.coverBarOutline +{ + background-color: #000000; +} + +/* Directory view/File view (all): percentage entry for files with + high coverage rate */ +td.coverPerHi +{ + text-align: right; + padding-left: 10px; + padding-right: 10px; + background-color: #A7FC9D; + font-weight: bold; + font-family: sans-serif; +} + +/* Directory view/File view (all): line count entry for files with + high coverage rate */ +td.coverNumHi +{ + text-align: right; + padding-left: 10px; + padding-right: 10px; + background-color: #A7FC9D; + white-space: nowrap; + font-family: sans-serif; +} + +/* Directory view/File view (all): percentage entry for files with + medium coverage rate */ +td.coverPerMed +{ + text-align: right; + padding-left: 10px; + padding-right: 10px; + background-color: #FFEA20; + font-weight: bold; + font-family: sans-serif; +} + +/* Directory view/File view (all): line count entry for files with + medium coverage rate */ +td.coverNumMed +{ + text-align: right; + padding-left: 10px; + padding-right: 10px; + background-color: #FFEA20; + white-space: nowrap; + font-family: sans-serif; +} + +/* Directory view/File view (all): percentage entry for files with + low coverage rate */ +td.coverPerLo +{ + text-align: right; + padding-left: 10px; + padding-right: 10px; + background-color: #FF0000; + font-weight: bold; + font-family: sans-serif; +} + +/* Directory view/File view (all): line count entry for files with + low coverage rate */ +td.coverNumLo +{ + text-align: right; + padding-left: 10px; + padding-right: 10px; + background-color: #FF0000; + white-space: nowrap; + font-family: sans-serif; +} + +/* File view (all): "show/hide details" link format */ +a.detail:link +{ + color: #B8D0FF; + font-size:80%; +} + +/* File view (all): "show/hide details" link - visited format */ +a.detail:visited +{ + color: #B8D0FF; + font-size:80%; +} + +/* File view (all): "show/hide details" link - activated format */ +a.detail:active +{ + color: #FFFFFF; + font-size:80%; +} + +/* File view (detail): test name entry */ +td.testName +{ + text-align: right; + padding-right: 10px; + background-color: #DAE7FE; + font-family: sans-serif; +} + +/* File view (detail): test percentage entry */ +td.testPer +{ + text-align: right; + padding-left: 10px; + padding-right: 10px; + background-color: #DAE7FE; + font-family: sans-serif; +} + +/* File view (detail): test lines count entry */ +td.testNum +{ + text-align: right; + padding-left: 10px; + padding-right: 10px; + background-color: #DAE7FE; + font-family: sans-serif; +} + +/* Test case descriptions: test name format*/ +dt +{ + font-family: sans-serif; + font-weight: bold; +} + +/* Test case descriptions: description table body */ +td.testDescription +{ + padding-top: 10px; + padding-left: 30px; + padding-bottom: 10px; + padding-right: 30px; + background-color: #DAE7FE; +} + +/* Source code view: function entry */ +td.coverFn +{ + text-align: left; + padding-left: 10px; + padding-right: 20px; + color: #284FA8; + background-color: #DAE7FE; + font-family: monospace; +} + +/* Source code view: function entry zero count*/ +td.coverFnLo +{ + text-align: right; + padding-left: 10px; + padding-right: 10px; + background-color: #FF0000; + font-weight: bold; + font-family: sans-serif; +} + +/* Source code view: function entry nonzero count*/ +td.coverFnHi +{ + text-align: right; + padding-left: 10px; + padding-right: 10px; + background-color: #DAE7FE; + font-weight: bold; + font-family: sans-serif; +} + +/* Source code view: source code format */ +pre.source +{ + font-family: monospace; + white-space: pre; + margin-top: 2px; +} + +/* Source code view: line number format */ +span.lineNum +{ + background-color: #EFE383; +} + +/* Source code view: format for lines which were executed */ +td.lineCov, +span.lineCov +{ + background-color: #CAD7FE; +} + +/* Source code view: format for Cov legend */ +span.coverLegendCov +{ + padding-left: 10px; + padding-right: 10px; + padding-bottom: 2px; + background-color: #CAD7FE; +} + +/* Source code view: format for lines which were not executed */ +td.lineNoCov, +span.lineNoCov +{ + background-color: #FF6230; +} + +/* Source code view: format for NoCov legend */ +span.coverLegendNoCov +{ + padding-left: 10px; + padding-right: 10px; + padding-bottom: 2px; + background-color: #FF6230; +} + +/* Source code view (function table): standard link - visited format */ +td.lineNoCov > a:visited, +td.lineCov > a:visited +{ + color: black; + text-decoration: underline; +} + +/* Source code view: format for lines which were executed only in a + previous version */ +span.lineDiffCov +{ + background-color: #B5F7AF; +} + +/* Source code view: format for branches which were executed + * and taken */ +span.branchCov +{ + background-color: #CAD7FE; +} + +/* Source code view: format for branches which were executed + * but not taken */ +span.branchNoCov +{ + background-color: #FF6230; +} + +/* Source code view: format for branches which were not executed */ +span.branchNoExec +{ + background-color: #FF6230; +} + +/* Source code view: format for the source code heading line */ +pre.sourceHeading +{ + white-space: pre; + font-family: monospace; + font-weight: bold; + margin: 0px; +} + +/* All views: header legend value for low rate */ +td.headerValueLegL +{ + font-family: sans-serif; + text-align: center; + white-space: nowrap; + padding-left: 4px; + padding-right: 2px; + background-color: #FF0000; + font-size: 80%; +} + +/* All views: header legend value for med rate */ +td.headerValueLegM +{ + font-family: sans-serif; + text-align: center; + white-space: nowrap; + padding-left: 2px; + padding-right: 2px; + background-color: #FFEA20; + font-size: 80%; +} + +/* All views: header legend value for hi rate */ +td.headerValueLegH +{ + font-family: sans-serif; + text-align: center; + white-space: nowrap; + padding-left: 2px; + padding-right: 4px; + background-color: #A7FC9D; + font-size: 80%; +} + +/* All views except source code view: legend format for low coverage */ +span.coverLegendCovLo +{ + padding-left: 10px; + padding-right: 10px; + padding-top: 2px; + background-color: #FF0000; +} + +/* All views except source code view: legend format for med coverage */ +span.coverLegendCovMed +{ + padding-left: 10px; + padding-right: 10px; + padding-top: 2px; + background-color: #FFEA20; +} + +/* All views except source code view: legend format for hi coverage */ +span.coverLegendCovHi +{ + padding-left: 10px; + padding-right: 10px; + padding-top: 2px; + background-color: #A7FC9D; +} diff --git a/glass.png b/glass.png new file mode 100644 index 0000000000000000000000000000000000000000..e1abc00680a3093c49fdb775ae6bdb6764c95af2 GIT binary patch literal 167 zcmeAS@N?(olHy`uVBq!ia0vp^j3CU&3?x-=hn)gaEa{HEjtmSN`?>!lvI6;R0X`wF z|Ns97GD8ntt^-nxB|(0{3=Yq3q=7g|-tI089jvk*Kn`btM`SSr1Gf+eGhVt|_XjA* zUgGKN%6^Gmn4d%Ph(nkFP>9RZ#WAE}PI3Z}&BVayv3^M*kj3EX>gTe~DWM4f=_Dpv literal 0 HcmV?d00001 diff --git a/index-sort-f.html b/index-sort-f.html new file mode 100644 index 0000000000..b0f0a66b6f --- /dev/null +++ b/index-sort-f.html @@ -0,0 +1,612 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top levelHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:143702158066.6 %
Date:2024-08-07 22:18:19Functions:2649432461.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Directory Sort by nameLine Coverage Sort by line coverageFunctions Sort by function coverage
mrs_lib/include/mrs_lib/safety_zone +
0.0%
+ 		0.0 %0 / 80.0 %0 / 4
mrs_lib/src/geometry +
15.1%15.1%
+ 		15.1 %67 / 44516.0 %15 / 94
mrs_uav_state_estimators/src/estimators/heading +
18.5%18.5%
+ 		18.5 %91 / 49121.1 %12 / 57
mrs_uav_trackers/src/speed_tracker +
14.3%14.3%
+ 		14.3 %64 / 44836.8 %7 / 19
mrs_uav_trackers/src/joy_tracker +
46.5%46.5%
+ 		46.5 %66 / 14238.9 %7 / 18
mrs_lib/include/mrs_lib/geometry +
71.0%71.0%
+ 		71.0 %66 / 9342.5 %51 / 120
mrs_lib/src/batch_visualizer +
44.1%44.1%
+ 		44.1 %192 / 43544.4 %20 / 45
mrs_lib/src/safety_zone/polygon +
40.8%40.8%
+ 		40.8 %42 / 10350.0 %4 / 8
mrs_lib/src/scope_timer +
14.1%14.1%
+ 		14.1 %20 / 14250.0 %5 / 10
mrs_uav_trackers/src/midair_activation_tracker +
72.8%72.8%
+ 		72.8 %67 / 9250.0 %9 / 18
mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors +
73.4%73.4%
+ 		73.4 %135 / 18450.0 %17 / 34
mrs_lib/include/mrs_lib/impl +
78.5%78.5%
+ 		78.5 %366 / 46656.9 %836 / 1470
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading +
58.3%58.3%
+ 		58.3 %7 / 1257.1 %4 / 7
mrs_lib/include/mrs_lib +
79.0%79.0%
+ 		79.0 %781 / 98859.3 %847 / 1428
mrs_uav_state_estimators/src/estimators/agl +
66.7%66.7%
+ 		66.7 %82 / 12360.0 %6 / 10
mrs_uav_managers/include/mrs_uav_managers +
100.0%
+ 		100.0 %12 / 1260.0 %6 / 10
mrs_uav_trackers/src/line_tracker +
68.1%68.1%
+ 		68.1 %325 / 47763.3 %19 / 30
mrs_lib/src/transform_broadcaster +
53.3%53.3%
+ 		53.3 %16 / 3066.7 %2 / 3
mrs_uav_state_estimators/src/estimators/altitude +
53.8%53.8%
+ 		53.8 %213 / 39666.7 %22 / 33
mrs_uav_managers/src/control_manager/common +
41.3%41.3%
+ 		41.3 %234 / 56767.7 %21 / 31
mrs_uav_trackers/src/landoff_tracker +
73.4%73.4%
+ 		73.4 %441 / 60167.7 %21 / 31
mrs_uav_managers/include/transform_manager +
48.2%48.2%
+ 		48.2 %192 / 39868.4 %13 / 19
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators +
53.7%53.7%
+ 		53.7 %412 / 76769.5 %66 / 95
mrs_uav_managers/include/mrs_uav_managers/control_manager +
55.2%55.2%
+ 		55.2 %53 / 9670.4 %19 / 27
mrs_uav_state_estimators/src/estimators/state +
70.4%70.4%
+ 		70.4 %312 / 44375.7 %28 / 37
mrs_uav_state_estimators/src/estimators/lateral +
55.0%55.0%
+ 		55.0 %241 / 43875.8 %25 / 33
mrs_lib/src/transformer +
66.1%66.1%
+ 		66.1 %185 / 28076.9 %20 / 26
mrs_lib/src/timeout_manager +
79.0%79.0%
+ 		79.0 %49 / 6281.8 %9 / 11
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state +
100.0%
+ 		100.0 %9 / 983.3 %5 / 6
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude +
100.0%
+ 		100.0 %9 / 983.3 %5 / 6
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral +
100.0%
+ 		100.0 %10 / 1083.3 %5 / 6
mrs_lib/src/timer +
84.0%84.0%
+ 		84.0 %105 / 12583.3 %15 / 18
mrs_uav_managers/src/estimation_manager +
65.8%65.8%
+ 		65.8 %438 / 66683.3 %40 / 48
mrs_uav_managers/src +
72.5%72.5%
+ 		72.5 %1245 / 171887.7 %64 / 73
mrs_uav_controllers/src +
80.5%80.5%
+ 		80.5 %1751 / 217487.9 %58 / 66
mrs_uav_managers/src/control_manager +
69.9%69.9%
+ 		69.9 %2596 / 371487.8 %108 / 123
mrs_lib/src/safety_zone +
63.3%63.3%
+ 		63.3 %31 / 4988.9 %8 / 9
mrs_lib/src/profiler +
37.6%37.6%
+ 		37.6 %38 / 10190.0 %9 / 10
mrs_uav_trackers/src/mpc_tracker +
82.9%82.9%
+ 		82.9 %1395 / 168290.0 %45 / 50
mrs_uav_managers/src/transform_manager +
82.6%82.6%
+ 		82.6 %355 / 43092.9 %13 / 14
mrs_lib/src/median_filter +
89.1%89.1%
+ 		89.1 %82 / 9294.1 %16 / 17
mrs_uav_managers/include/mrs_uav_managers/estimation_manager +
97.2%97.2%
+ 		97.2 %106 / 10994.4 %17 / 18
mrs_lib/src/attitude_converter +
94.6%94.6%
+ 		94.6 %212 / 22495.1 %39 / 41
mrs_lib/src/math +
100.0%
+ 		100.0 %17 / 17100.0 %1 / 1
mrs_lib/src/utils +
100.0%
+ 		100.0 %7 / 7100.0 %2 / 2
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl +
100.0%
+ 		100.0 %4 / 4100.0 %3 / 3
mrs_lib/src/param_loader +
80.0%80.0%
+ 		80.0 %44 / 55100.0 %4 / 4
mrs_uav_managers/include/control_manager +
100.0%
+ 		100.0 %4 / 4100.0 %10 / 10
mrs_uav_managers/src/estimation_manager/estimators +
60.7%60.7%
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98.3%98.3%
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86.9%86.9%
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67.4%67.4%
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Generated by: LCOV version 1.14
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Date:2024-08-07 22:18:19Functions:2649432461.3 %
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Directory Sort by nameLine Coverage Sort by line coverageFunctions Sort by function coverage
mrs_lib/include/mrs_lib/safety_zone +
0.0%
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mrs_lib/src/scope_timer +
14.1%14.1%
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mrs_uav_trackers/src/speed_tracker +
14.3%14.3%
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mrs_lib/src/geometry +
15.1%15.1%
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mrs_uav_state_estimators/src/estimators/heading +
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mrs_lib/src/profiler +
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mrs_lib/src/safety_zone/polygon +
40.8%40.8%
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mrs_uav_managers/src/control_manager/common +
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mrs_lib/src/batch_visualizer +
44.1%44.1%
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mrs_uav_trackers/src/joy_tracker +
46.5%46.5%
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mrs_uav_managers/include/transform_manager +
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mrs_lib/src/transform_broadcaster +
53.3%53.3%
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mrs_uav_state_estimators/src/estimators/altitude +
53.8%53.8%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators +
53.7%53.7%
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mrs_uav_state_estimators/src/estimators/lateral +
55.0%55.0%
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mrs_uav_managers/include/mrs_uav_managers/control_manager +
55.2%55.2%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading +
58.3%58.3%
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mrs_uav_managers/src/estimation_manager/estimators +
60.7%60.7%
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mrs_lib/src/safety_zone +
63.3%63.3%
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mrs_uav_managers/src/estimation_manager +
65.8%65.8%
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mrs_lib/src/transformer +
66.1%66.1%
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mrs_uav_state_estimators/src/estimators/agl +
66.7%66.7%
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mrs_uav_trajectory_generation/src +
67.4%67.4%
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mrs_uav_trackers/src/line_tracker +
68.1%68.1%
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mrs_uav_managers/src/control_manager +
69.9%69.9%
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mrs_uav_state_estimators/src/estimators/state +
70.4%70.4%
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mrs_lib/include/mrs_lib/geometry +
71.0%71.0%
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mrs_uav_managers/src +
72.5%72.5%
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mrs_uav_trackers/src/midair_activation_tracker +
72.8%72.8%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors +
73.4%73.4%
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mrs_uav_trackers/src/landoff_tracker +
73.4%73.4%
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mrs_lib/include/mrs_lib/impl +
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mrs_lib/src/timeout_manager +
79.0%79.0%
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mrs_lib/include/mrs_lib +
79.0%79.0%
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mrs_lib/src/param_loader +
80.0%80.0%
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mrs_uav_controllers/src +
80.5%80.5%
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mrs_uav_managers/src/transform_manager +
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mrs_uav_trackers/src/mpc_tracker +
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mrs_lib/src/timer +
84.0%84.0%
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mrs_uav_autostart/src +
86.9%86.9%
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mrs_lib/src/median_filter +
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mrs_lib/src/attitude_converter +
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mrs_uav_managers/include/mrs_uav_managers/estimation_manager +
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98.3%98.3%
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100.0%
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mrs_uav_managers/include/control_manager +
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mrs_lib/src/utils +
100.0%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state +
100.0%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude +
100.0%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral +
100.0%
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mrs_uav_managers/include/mrs_uav_managers +
100.0%
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mrs_lib/src/math +
100.0%
+ 		100.0 %17 / 17100.0 %1 / 1
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top levelHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:143702158066.6 %
Date:2024-08-07 22:18:19Functions:2649432461.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Directory Sort by nameLine Coverage Sort by line coverageFunctions Sort by function coverage
mrs_lib/include/mrs_lib +
79.0%79.0%
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mrs_lib/include/mrs_lib/geometry +
71.0%71.0%
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mrs_lib/include/mrs_lib/impl +
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mrs_lib/include/mrs_lib/safety_zone +
0.0%
+ 		0.0 %0 / 80.0 %0 / 4
mrs_lib/src/attitude_converter +
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mrs_lib/src/batch_visualizer +
44.1%44.1%
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mrs_lib/src/geometry +
15.1%15.1%
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mrs_lib/src/math +
100.0%
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mrs_lib/src/median_filter +
89.1%89.1%
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mrs_lib/src/param_loader +
80.0%80.0%
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mrs_lib/src/profiler +
37.6%37.6%
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mrs_lib/src/safety_zone +
63.3%63.3%
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mrs_lib/src/safety_zone/polygon +
40.8%40.8%
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mrs_lib/src/scope_timer +
14.1%14.1%
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mrs_lib/src/timeout_manager +
79.0%79.0%
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mrs_lib/src/timer +
84.0%84.0%
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mrs_lib/src/transform_broadcaster +
53.3%53.3%
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mrs_lib/src/transformer +
66.1%66.1%
+ 		66.1 %185 / 28076.9 %20 / 26
mrs_lib/src/utils +
100.0%
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mrs_uav_autostart/src +
86.9%86.9%
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mrs_uav_controllers/include +
98.3%98.3%
+ 		98.3 %57 / 58100.0 %14 / 14
mrs_uav_controllers/src +
80.5%80.5%
+ 		80.5 %1751 / 217487.9 %58 / 66
mrs_uav_managers/include/control_manager +
100.0%
+ 		100.0 %4 / 4100.0 %10 / 10
mrs_uav_managers/include/mrs_uav_managers +
100.0%
+ 		100.0 %12 / 1260.0 %6 / 10
mrs_uav_managers/include/mrs_uav_managers/control_manager +
55.2%55.2%
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mrs_uav_managers/include/mrs_uav_managers/estimation_manager +
97.2%97.2%
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mrs_uav_managers/include/transform_manager +
48.2%48.2%
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mrs_uav_managers/src +
72.5%72.5%
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mrs_uav_managers/src/control_manager +
69.9%69.9%
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mrs_uav_managers/src/control_manager/common +
41.3%41.3%
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mrs_uav_managers/src/estimation_manager +
65.8%65.8%
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mrs_uav_managers/src/estimation_manager/estimators +
60.7%60.7%
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mrs_uav_managers/src/transform_manager +
82.6%82.6%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators +
53.7%53.7%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl +
100.0%
+ 		100.0 %4 / 4100.0 %3 / 3
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude +
100.0%
+ 		100.0 %9 / 983.3 %5 / 6
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading +
58.3%58.3%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral +
100.0%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state +
100.0%
+ 		100.0 %9 / 983.3 %5 / 6
mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors +
73.4%73.4%
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mrs_uav_state_estimators/src/estimators/agl +
66.7%66.7%
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mrs_uav_state_estimators/src/estimators/altitude +
53.8%53.8%
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mrs_uav_state_estimators/src/estimators/heading +
18.5%18.5%
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mrs_uav_state_estimators/src/estimators/lateral +
55.0%55.0%
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mrs_uav_state_estimators/src/estimators/state +
70.4%70.4%
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mrs_uav_trackers/src/joy_tracker +
46.5%46.5%
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mrs_uav_trackers/src/landoff_tracker +
73.4%73.4%
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mrs_uav_trackers/src/line_tracker +
68.1%68.1%
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mrs_uav_trackers/src/midair_activation_tracker +
72.8%72.8%
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mrs_uav_trackers/src/mpc_tracker +
82.9%82.9%
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mrs_uav_trackers/src/speed_tracker +
14.3%14.3%
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mrs_uav_trajectory_generation/src +
67.4%67.4%
+ 		67.4 %751 / 1114100.0 %22 / 22
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/attitude_converter.h.func-sort-c.html b/mrs_lib/include/mrs_lib/attitude_converter.h.func-sort-c.html new file mode 100644 index 0000000000..c46111ab70 --- /dev/null +++ b/mrs_lib/include/mrs_lib/attitude_converter.h.func-sort-c.html @@ -0,0 +1,124 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/attitude_converter.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - attitude_converter.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:232785.2 %
Date:2024-08-07 22:18:19Functions:91181.8 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::AttitudeConverter::MathErrorException::what() const0
mrs_lib::AttitudeConverter::SetHeadingException::what() const0
auto mrs_lib::AttitudeConverter::get<0ul>()1
auto mrs_lib::AttitudeConverter::get<1ul>()1
auto mrs_lib::AttitudeConverter::get<2ul>()1
mrs_lib::AttitudeConverter::GetHeadingException::what() const1
_ZNK7mrs_lib17AttitudeConvertercvN5Eigen9AngleAxisIT_EEIdEEv1
mrs_lib::AttitudeConverter::InvalidAttitudeException::what() const2
_ZNK7mrs_lib17AttitudeConvertercvN5Eigen10QuaternionIT_Li0EEEIdEEv104810
mrs_lib::Vector3Converter::Vector3Converter(tf2::Vector3 const&)330338
mrs_lib::AttitudeConverter::AttitudeConverter<double>(Eigen::AngleAxis<double>)652790
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/attitude_converter.h.func.html b/mrs_lib/include/mrs_lib/attitude_converter.h.func.html new file mode 100644 index 0000000000..bf610ca878 --- /dev/null +++ b/mrs_lib/include/mrs_lib/attitude_converter.h.func.html @@ -0,0 +1,124 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/attitude_converter.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - attitude_converter.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:232785.2 %
Date:2024-08-07 22:18:19Functions:91181.8 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Vector3Converter::Vector3Converter(tf2::Vector3 const&)330338
auto mrs_lib::AttitudeConverter::get<0ul>()1
auto mrs_lib::AttitudeConverter::get<1ul>()1
auto mrs_lib::AttitudeConverter::get<2ul>()1
mrs_lib::AttitudeConverter::AttitudeConverter<double>(Eigen::AngleAxis<double>)652790
mrs_lib::AttitudeConverter::MathErrorException::what() const0
mrs_lib::AttitudeConverter::GetHeadingException::what() const1
mrs_lib::AttitudeConverter::SetHeadingException::what() const0
mrs_lib::AttitudeConverter::InvalidAttitudeException::what() const2
_ZNK7mrs_lib17AttitudeConvertercvN5Eigen10QuaternionIT_Li0EEEIdEEv104810
_ZNK7mrs_lib17AttitudeConvertercvN5Eigen9AngleAxisIT_EEIdEEv1
+
+
+ + + +
Generated by: LCOV version 1.14
+
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Current view:top level - mrs_lib/include/mrs_lib - attitude_converter.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:232785.2 %
Date:2024-08-07 22:18:19Functions:91181.8 %
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          Line data    Source code
+
+       1             : // clang: TomasFormat
+       2             : /**
+       3             :  * @file attitude_converter.h
+       4             :  *
+       5             :  * @brief Conversions between various representations of object attitude in 3D.
+       6             :  * Supports Quaternions, Euler angles, Angle-axis and Rotational matrices from tf, tf2, Eigen and geometry_msgs libraries.
+       7             :  * The default Euler angle notation is the extrinsic RPY.
+       8             :  *
+       9             :  * @author Tomas Baca
+      10             :  */
+      11             : 
+      12             : #ifndef ATTITUDE_CONVERTER_H
+      13             : #define ATTITUDE_CONVERTER_H
+      14             : 
+      15             : #include <vector>
+      16             : #include <cmath>
+      17             : #include <Eigen/Dense>
+      18             : #include <tuple>
+      19             : 
+      20             : #include <tf2_ros/transform_listener.h>
+      21             : #include <tf2_ros/buffer.h>
+      22             : #include <tf2_eigen/tf2_eigen.h>
+      23             : #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+      24             : #include <tf/transform_datatypes.h>
+      25             : #include <tf_conversions/tf_eigen.h>
+      26             : 
+      27             : #include <mrs_lib/geometry/misc.h>
+      28             : 
+      29             : namespace mrs_lib
+      30             : {
+      31             : 
+      32             : // type of the object we are grasping
+      33             : typedef enum
+      34             : {
+      35             : 
+      36             :   RPY_INTRINSIC = 1,
+      37             :   RPY_EXTRINSIC = 2,
+      38             : 
+      39             : } RPY_convention_t;
+      40             : 
+      41             : /* class EulerAttitude //{ */
+      42             : 
+      43             : /**
+      44             :  * @brief A small class for storing the Euler angles.
+      45             :  */
+      46             : class EulerAttitude {
+      47             : public:
+      48             :   /**
+      49             :    * @brief A simple class for storing the Euler angles.
+      50             :    *
+      51             :    * @param roll
+      52             :    * @param pitch
+      53             :    * @param yaw
+      54             :    */
+      55             :   EulerAttitude(const double& roll, const double& pitch, const double& yaw);
+      56             : 
+      57             :   /**
+      58             :    * @brief get the roll angle
+      59             :    *
+      60             :    * @return roll
+      61             :    */
+      62             :   double roll(void) const;
+      63             : 
+      64             :   /**
+      65             :    * @brief get the pitch angle
+      66             :    *
+      67             :    * @return pitch
+      68             :    */
+      69             :   double pitch(void) const;
+      70             : 
+      71             :   /**
+      72             :    * @brief get the yaw angle
+      73             :    *
+      74             :    * @return yaw
+      75             :    */
+      76             :   double yaw(void) const;
+      77             : 
+      78             : private:
+      79             :   double roll_, pitch_, yaw_;
+      80             : };
+      81             : 
+      82             : //}
+      83             : 
+      84             : /* class Vector3Converter //{ */
+      85             : 
+      86             : /**
+      87             :  * @brief Converter of Vector3 representations. Instantiate it with any type of vector3 in constructor and convert it by assigning it to any other type of
+      88             :  * vector3 variable.
+      89             :  */
+      90             : class Vector3Converter {
+      91             : public:
+      92             :   /**
+      93             :    * @brief Constructor with tf2::Vector3
+      94             :    *
+      95             :    * @param vector3
+      96             :    */
+      97      330338 :   Vector3Converter(const tf2::Vector3& vector3) : vector3_(vector3){};
+      98             : 
+      99             :   /**
+     100             :    * @brief Constructor with Eigen::Vector3
+     101             :    *
+     102             :    * @param vector3
+     103             :    */
+     104             :   Vector3Converter(const Eigen::Vector3d& vector3);
+     105             : 
+     106             :   /**
+     107             :    * @brief Constructor with geometry_msgs::Vector3
+     108             :    *
+     109             :    * @param vector3
+     110             :    */
+     111             :   Vector3Converter(const geometry_msgs::Vector3& vector3);
+     112             : 
+     113             :   /**
+     114             :    * @brief Constructor with doubles: x, y, z
+     115             :    *
+     116             :    * @param x
+     117             :    * @param y
+     118             :    * @param z
+     119             :    */
+     120             :   Vector3Converter(const double& x, const double& y, const double& z);
+     121             : 
+     122             :   /**
+     123             :    * @brief typecast overloaded for tf2::Vector3
+     124             :    *
+     125             :    * @return vector3
+     126             :    */
+     127             :   operator tf2::Vector3() const;
+     128             : 
+     129             :   /**
+     130             :    * @brief typecast overloaded for Eigen::Vector3
+     131             :    *
+     132             :    * @return vector3
+     133             :    */
+     134             :   operator Eigen::Vector3d() const;
+     135             : 
+     136             :   /**
+     137             :    * @brief typecast overloaded for geometry_msgs::Vector3
+     138             :    *
+     139             :    * @return vector3
+     140             :    */
+     141             :   operator geometry_msgs::Vector3() const;
+     142             : 
+     143             : private:
+     144             :   tf2::Vector3 vector3_;
+     145             : };
+     146             : 
+     147             : //}
+     148             : 
+     149             : /**
+     150             :  * @brief The main convertor class. Instantiate with any type in constructor and get the value in any other type by assigning the instance to your variable,
+     151             :  * as: tf::Quaternion tf1_quaternion = AttitudeConverter(roll, pitch, yaw); All the default Euler angles are in the extrinsic RPY notation.
+     152             :  */
+     153             : class AttitudeConverter {
+     154             : public:
+     155             :   /* exceptions //{ */
+     156             : 
+     157             :   //! is thrown when calculating of heading is not possible due to atan2 exception
+     158             :   struct GetHeadingException : public std::exception
+     159             :   {
+     160           1 :     const char* what() const throw() {
+     161           1 :       return "AttitudeConverter: can not calculate the heading, the rotated x-axis is parallel to the world's z-axis";
+     162             :     }
+     163             :   };
+     164             : 
+     165             :   //! is thrown when math breaks
+     166             :   struct MathErrorException : public std::exception
+     167             :   {
+     168           0 :     const char* what() const throw() {
+     169           0 :       return "AttitudeConverter: math error";
+     170             :     }
+     171             :   };
+     172             : 
+     173             :   //! is thrown when the internal attitude becomes invalid
+     174             :   struct InvalidAttitudeException : public std::exception
+     175             :   {
+     176           2 :     const char* what() const throw() {
+     177           2 :       return "AttitudeConverter: invalid attitude, the input probably constains NaNs";
+     178             :     }
+     179             :   };
+     180             : 
+     181             :   //! is thrown when the Euler angle format is set wrongly
+     182             :   struct EulerFormatException : public std::exception
+     183             :   {
+     184             :     const char* what() const throw() {
+     185             :       return "AttitudeConverter: invalid Euler angle format";
+     186             :     }
+     187             :   };
+     188             : 
+     189             :   //! is thrown when the heading cannot be set to an existing attitude
+     190             :   struct SetHeadingException : public std::exception
+     191             :   {
+     192           0 :     const char* what() const throw() {
+     193           0 :       return "AttitudeConverter: cannot set the desired heading, the thrust vector's Z component is 0";
+     194             :     }
+     195             :   };
+     196             : 
+     197             :   //}
+     198             : 
+     199             :   /* constructors //{ */
+     200             : 
+     201             :   /**
+     202             :    * @brief Euler angles constructor
+     203             :    *
+     204             :    * @param roll
+     205             :    * @param pitch
+     206             :    * @param yaw
+     207             :    * @param format optional, Euler angle convention, {"extrinsic", "intrinsic"}, defaults to "extrinsic"
+     208             :    */
+     209    15405323 :   AttitudeConverter(const double& roll, const double& pitch, const double& yaw, const RPY_convention_t& format = RPY_EXTRINSIC);
+     210             : 
+     211             :   /**
+     212             :    * @brief tf::Quaternion constructor
+     213             :    *
+     214             :    * @param quaternion tf::Quaternion quaternion
+     215             :    */
+     216             :   AttitudeConverter(const tf::Quaternion quaternion);
+     217             : 
+     218             :   /**
+     219             :    * @brief geometry_msgs::Quaternion constructor
+     220             :    *
+     221             :    * @param quaternion geometry_msgs::Quaternion quaternion
+     222             :    */
+     223             :   AttitudeConverter(const geometry_msgs::Quaternion quaternion);
+     224             : 
+     225             :   /**
+     226             :    * @brief mrs_lib::EulerAttitude constructor
+     227             :    *
+     228             :    * @param euler_attitude mrs_lib::EulerAttitude
+     229             :    */
+     230             :   AttitudeConverter(const mrs_lib::EulerAttitude& euler_attitude);
+     231             : 
+     232             :   /**
+     233             :    * @brief Eigen::Quaterniond constructor
+     234             :    *
+     235             :    * @param quaternion Eigen::Quaterniond quaternion
+     236             :    */
+     237             :   AttitudeConverter(const Eigen::Quaterniond quaternion);
+     238             : 
+     239             :   /**
+     240             :    * @brief Eigen::Matrix3d constructor
+     241             :    *
+     242             :    * @param matrix Eigen::Matrix3d rotational matrix
+     243             :    */
+     244             :   AttitudeConverter(const Eigen::Matrix3d matrix);
+     245             : 
+     246             :   /**
+     247             :    * @brief Eigen::AngleAxis constructor
+     248             :    *
+     249             :    * @tparam T angle-axis base type
+     250             :    * @param angle_axis Eigen::AngleAxis
+     251             :    */
+     252             :   template <class T>
+     253      652790 :   AttitudeConverter(const Eigen::AngleAxis<T> angle_axis) {
+     254      650614 :     double       angle = angle_axis.angle();
+     255      651809 :     tf2::Vector3 axis(angle_axis.axis()[0], angle_axis.axis()[1], angle_axis.axis()[2]);
+     256             : 
+     257      652299 :     tf2_quaternion_.setRotation(axis, angle);
+     258      651790 :   }
+     259             : 
+     260             :   /**
+     261             :    * @brief tf2::Quaternion constructor
+     262             :    *
+     263             :    * @param quaternion tf2::Quaternion
+     264             :    */
+     265             :   AttitudeConverter(const tf2::Quaternion quaternion);
+     266             : 
+     267             :   /**
+     268             :    * @brief tf2::Matrix3x3 constructor
+     269             :    *
+     270             :    * @param quaternion tf2::Matrix3x3
+     271             :    */
+     272             :   AttitudeConverter(const tf2::Matrix3x3 matrix);
+     273             : 
+     274             :   //}
+     275             : 
+     276             :   /* operators //{ */
+     277             : 
+     278             :   /**
+     279             :    * @brief typecast to tf2::Quaternion
+     280             :    *
+     281             :    * @return orientation in tf2::Quaternion
+     282             :    */
+     283             :   operator tf2::Quaternion() const;
+     284             : 
+     285             :   /**
+     286             :    * @brief typecast to tf::Quaternion
+     287             :    *
+     288             :    * @return orientation in tf::Quaternion
+     289             :    */
+     290             :   operator tf::Quaternion() const;
+     291             : 
+     292             :   /**
+     293             :    * @brief typecast to geometry_msgs::Quaternion
+     294             :    *
+     295             :    * @return orientation in geometry_msgs::Quaternion
+     296             :    */
+     297             :   operator geometry_msgs::Quaternion() const;
+     298             : 
+     299             :   /**
+     300             :    * @brief typecast to EulerAttitude
+     301             :    *
+     302             :    * @return orientation in EulerAttitude
+     303             :    */
+     304             :   operator EulerAttitude() const;
+     305             : 
+     306             :   /**
+     307             :    * @brief typecast to Eigen::AngleAxis
+     308             :    *
+     309             :    * @tparam T angle-axis base type
+     310             :    *
+     311             :    * @return orientation in EulerAttitude
+     312             :    */
+     313             :   template <class T>
+     314           1 :   operator Eigen::AngleAxis<T>() const {
+     315             : 
+     316           1 :     double          angle = tf2_quaternion_.getAngle();
+     317           1 :     Eigen::Vector3d axis(tf2_quaternion_.getAxis()[0], tf2_quaternion_.getAxis()[1], tf2_quaternion_.getAxis()[2]);
+     318             : 
+     319           1 :     Eigen::AngleAxis<T> angle_axis(angle, axis);
+     320             : 
+     321           2 :     return angle_axis;
+     322             :   }
+     323             : 
+     324             : 
+     325             :   /**
+     326             :    * @brief typecast to EulerAttitude Eigen::Quaternion
+     327             :    *
+     328             :    * @tparam T quaternion base type
+     329             :    *
+     330             :    * @return orientation in Eigen::Quaternion
+     331             :    */
+     332             :   template <class T>
+     333      104810 :   operator Eigen::Quaternion<T>() const {
+     334             : 
+     335      104810 :     return Eigen::Quaternion<T>(tf2_quaternion_.w(), tf2_quaternion_.x(), tf2_quaternion_.y(), tf2_quaternion_.z());
+     336             :   }
+     337             : 
+     338             :   operator Eigen::Matrix3d() const;
+     339             : 
+     340             :   /**
+     341             :    * @brief typecase to tuple of Euler angles in extrinsic RPY
+     342             :    *
+     343             :    * @return std::tuple of extrinsic RPY
+     344             :    */
+     345             :   operator std::tuple<double&, double&, double&>();
+     346             : 
+     347             :   /**
+     348             :    * @brief typecase to tf2::Matrix3x3
+     349             :    *
+     350             :    * @return tf2::Matrix3x3 rotational matrix
+     351             :    */
+     352             :   operator tf2::Matrix3x3() const;
+     353             : 
+     354             :   /**
+     355             :    * @brief typecase to tf2::Transform
+     356             :    *
+     357             :    * @return tf2::Transform
+     358             :    */
+     359             :   operator tf2::Transform() const;
+     360             : 
+     361             :   //}
+     362             : 
+     363             :   /* getters //{ */
+     364             : 
+     365             :   /**
+     366             :    * @brief get the roll angle
+     367             :    *
+     368             :    * @return roll
+     369             :    */
+     370             :   double getRoll(void);
+     371             : 
+     372             :   /**
+     373             :    * @brief get the pitch angle
+     374             :    *
+     375             :    * @return pitch
+     376             :    */
+     377             :   double getPitch(void);
+     378             : 
+     379             :   /**
+     380             :    * @brief get the yaw angle
+     381             :    *
+     382             :    * @return yaw
+     383             :    */
+     384             :   double getYaw(void);
+     385             : 
+     386             :   /**
+     387             :    * @brief get the angle of the rotated x-axis in the original XY plane, a.k.a
+     388             :    *
+     389             :    * @return heading
+     390             :    */
+     391             :   double getHeading(void);
+     392             : 
+     393             :   /**
+     394             :    * @brief get heading rate base on the orientation and body-based attitude rate
+     395             :    *
+     396             :    * @param attitude_rate in the body frame
+     397             :    *
+     398             :    * @return heading rate in the world
+     399             :    */
+     400             :   double getHeadingRate(const Vector3Converter& attitude_rate);
+     401             : 
+     402             :   /**
+     403             :    * @brief get the intrinsic yaw rate from a heading rate
+     404             :    *
+     405             :    * @param heading_rate
+     406             :    *
+     407             :    * @return intrinsic yaw rate
+     408             :    */
+     409             :   double getYawRateIntrinsic(const double& heading_rate);
+     410             : 
+     411             :   /**
+     412             :    * @brief get a unit vector pointing in the X direction
+     413             :    *
+     414             :    * @return the vector
+     415             :    */
+     416             :   Vector3Converter getVectorX(void);
+     417             : 
+     418             :   /**
+     419             :    * @brief get a unit vector pointing in the Y direction
+     420             :    *
+     421             :    * @return the vector
+     422             :    */
+     423             :   Vector3Converter getVectorY(void);
+     424             : 
+     425             :   /**
+     426             :    * @brief get a unit vector pointing in the Z direction
+     427             :    *
+     428             :    * @return the vector
+     429             :    */
+     430             :   Vector3Converter getVectorZ(void);
+     431             : 
+     432             :   /**
+     433             :    * @brief get the Roll, Pitch, Yaw angles in the Intrinsic convention
+     434             :    *
+     435             :    * @return RPY
+     436             :    */
+     437             :   std::tuple<double, double, double> getIntrinsicRPY();
+     438             : 
+     439             :   /**
+     440             :    * @brief get the Roll, Pitch, Yaw angles in the Extrinsic convention. The same as the default AttitudeConverter assignment.
+     441             :    *
+     442             :    * @return RPY
+     443             :    */
+     444             :   std::tuple<double, double, double> getExtrinsicRPY();
+     445             : 
+     446             :   //}
+     447             : 
+     448             :   /* setters //{ */
+     449             : 
+     450             :   /**
+     451             :    * @brief Updates the heading of the current orientation by updating the intrinsic yaw
+     452             :    *
+     453             :    * @param new heading
+     454             :    *
+     455             :    * @return the orientation
+     456             :    */
+     457             :   AttitudeConverter setHeading(const double& heading);
+     458             : 
+     459             :   /**
+     460             :    * @brief Updates the extrinsic yaw of the current orientation.
+     461             :    *
+     462             :    * @param new yaw
+     463             :    *
+     464             :    * @return the orientation
+     465             :    */
+     466             :   AttitudeConverter setYaw(const double& new_yaw);
+     467             : 
+     468             :   //}
+     469             : 
+     470             :   template <std::size_t I>
+     471             :   constexpr auto get();
+     472             : 
+     473             : private:
+     474             :   /**
+     475             :    * @brief Internal representation of the attitude
+     476             :    */
+     477             :   tf2::Quaternion tf2_quaternion_;
+     478             : 
+     479             :   /**
+     480             :    * @brief convert the internal quaternion representation to internally-stored RPY
+     481             :    */
+     482             :   void calculateRPY(void);
+     483             : 
+     484             :   /**
+     485             :    * @brief throws exception when the internal attitude is invalid
+     486             :    */
+     487             :   void validateOrientation(void);
+     488             : 
+     489             :   /**
+     490             :    * @brief Internal representation in RPY. is used only when converting to RPY.
+     491             :    */
+     492             :   double roll_, pitch_, yaw_;
+     493             :   bool   got_rpy_ = false;
+     494             : };
+     495             : 
+     496             : 
+     497             : template <std::size_t I>
+     498           3 : constexpr auto AttitudeConverter::get() {
+     499             : 
+     500           3 :   calculateRPY();
+     501             : 
+     502             :   // call compilation error if I > 2
+     503             :   static_assert(I <= 2);
+     504             : 
+     505             :   // get the RPY components based on the index in the tuple
+     506             :   if constexpr (I == 0) {
+     507           1 :     return static_cast<double>(roll_);
+     508             :   } else if constexpr (I == 1) {
+     509           1 :     return static_cast<double>(pitch_);
+     510             :   } else if constexpr (I == 2) {
+     511           1 :     return static_cast<double>(yaw_);
+     512             :   }
+     513             : }
+     514             : 
+     515             : }  // namespace mrs_lib
+     516             : 
+     517             : template <>
+     518             : struct std::tuple_size<mrs_lib::AttitudeConverter>
+     519             : { static constexpr int value = 3; };
+     520             : 
+     521             : template <>
+     522             : struct std::tuple_element<0, mrs_lib::AttitudeConverter>
+     523             : { using type = double; };
+     524             : 
+     525             : template <>
+     526             : struct std::tuple_element<1, mrs_lib::AttitudeConverter>
+     527             : { using type = double; };
+     528             : 
+     529             : template <>
+     530             : struct std::tuple_element<2, mrs_lib::AttitudeConverter>
+     531             : { using type = double; };
+     532             : 
+     533             : #endif
+
+
+
+ + + + +
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+ + diff --git a/mrs_lib/include/mrs_lib/attitude_converter.h.gcov.png b/mrs_lib/include/mrs_lib/attitude_converter.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..5645ea2bb184ba5c13faadff6ae080a7ed21a006 GIT binary patch literal 1675 zcmV;626Xv}P)R0{{R3v^8aD0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vp^O~xJw}!I*vg`@baJIpOoIavV`$(K?>!`bo|a^C) za8g(t(GB3SHwi*Y*B(ABA)4cq7R?deK-XjKEeJ~&vr9LR}k6~|SE zj-$qCkGRR)tetw3kCxx*!;6UEC@RHf4BS;>N2h>L$)pCW@@QNm!OX>*`BO)Lk71D%>OnE>K^hjQTBMES? zGvhv}xdH-50z4|BgOy^!kpa(GH^`~foRA8S^Y>UW#vJMJOe}{A4}y>ij~qH^H4MF) zneqsxd6A=h9u5{hcDe;P(zMKk1rd-Ue&^knPPR3jA9^gb>#8x~Ik7N~R1Fdq@=|ju z0T!S8M{bY&wr%zW06bfshHfN{MDlGm(rkM>62Wo>ikiawavEnFLStBy1HdIWEFe%Ww^Ngwm;Hcq)jl z0*{0W;oTtCZ~llxle+lG>3#O+D&&gJrG@=)lao1h2seK7gq0SK9kjuxg-NrKGR!%~ z`au99dU_T5N&6~=-sZqq>k<~8`<@qW?#HHsHY0qrv%R~ejG3dmdiYQNZF4O4*G{-$ z^G7N8QUf@SO&a1DH?d4h1F$$gpRd=K`+0r3pV#NJ)po+CrwQ%T-SgEVtiNn>JQv4Q z$!a>`qaW=;`3?H`0rb(Ur2TajeM}|3XxAlSQK}p$B;JRoy~&s`4k)2hNq1Dm2(-&Z z%ZP0UeT*pTteufi+CMJX^?uWrH*Wvgee-&=U5j%JyB%`DkeX;_W9brNyMAW@LV=NF z`vbMAFhtINPYBIhx=Oy)`A1x1t=K11!#H_Sq=yYc#`?Mxm2Dy{cz^))?R~`tEg7 zo(>_l>s;xc@cdbu``xNXAjEdvf~QT$fk&n`v;a?Mx|iT-@?_UO)>ViPPuH7ayKcbK zIe5W=N5r<4w5LOe?HZq((Kwy}I4+3;`PQSeHB3yo++}$V=9qWo+^i(35sOuwsIM>rafH+-<*caYfll7-k8qBGOLd1CnUsn zot2`+1`_h(bt-s#>%p`$vc0^nk+7M>5i7}n<3->Z68->q@ErZ91s_QKmCsa&B%_`q z1D@+YQz7;U=C6FFLhb=op7xZL`xqZRZtpz_n1U--iU~*Zp}2TpDV}{(xy0affm7%5 z+W7_^4dR!LZX*O5l2^DZ1 z?A~WeTGw4u;hC=z$ot`PUf>U&F~>i6h8%ghnJNAcf#T%Hdy|jS=_H)EsjMJ8?!*5I z51!+@7iT$1QUD{R;|$UhBs~Y1;Zi2XPgaWJl!jXIElj|TK46~NkO7}ca2>#x;XcI* z^CV0j8!}-zAteJI3FZ@GU`1FF5~pzC_+7=3X)_ASQIrJ;gUR_iSNsD<>R>{U1Y^?W zvYR!Sg}4SeuBe%R`Cnmz$V;iPVjSJHb9JE2c3kC8_@f)zqlD5AEDo&}n_5NIC62c= zqkgYRb;F6tx*!Fl3jb2?u8vgi2?nd`J-wb + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/dynamic_reconfigure_mgr.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - dynamic_reconfigure_mgr.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:578765.5 %
Date:2024-08-07 22:18:19Functions:288532.9 %
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Function Name Sort by function nameHit count Sort by hit count
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::load_param<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::CorrectionConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::CorrectionConfig&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::load_param<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::CorrectionConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::CorrectionConfig&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::load_param<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::CorrectionConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::CorrectionConfig&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::print_value<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::print_value<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool const&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::print_value<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int const&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_compare<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(boost::any&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_compare<bool>(boost::any&, bool*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_compare<double>(boost::any&, double*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_compare<int>(boost::any&, int*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_cast<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(boost::any&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_cast<bool>(boost::any&, bool*&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::load_param<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::HeadingEstimatorConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::HeadingEstimatorConfig&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::load_param<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::HeadingEstimatorConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::HeadingEstimatorConfig&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::load_param<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::HeadingEstimatorConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::HeadingEstimatorConfig&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::load_param<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::HeadingEstimatorConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::HeadingEstimatorConfig&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::print_value<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::print_value<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool const&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::print_value<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double const&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::print_value<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int const&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::try_compare<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(boost::any&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::try_compare<bool>(boost::any&, bool*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::try_compare<double>(boost::any&, double*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::try_compare<int>(boost::any&, int*&)0
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::load_defaults(mrs_uav_state_estimators::HeadingEstimatorConfig&)0
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::update_config(mrs_uav_state_estimators::HeadingEstimatorConfig const&)0
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::HeadingEstimatorConfig const&)0
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::HeadingEstimatorConfig&, unsigned int)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::try_cast<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(boost::any&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::try_cast<bool>(boost::any&, bool*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::try_cast<double>(boost::any&, double*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::try_cast<int>(boost::any&, int*&)0
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::DynamicReconfigureMgr(ros::NodeHandle const&, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, boost::function<void (mrs_uav_state_estimators::HeadingEstimatorConfig&, unsigned int)> const&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::load_param<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::LateralEstimatorConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::LateralEstimatorConfig&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::load_param<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::LateralEstimatorConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::LateralEstimatorConfig&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::load_param<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::LateralEstimatorConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::LateralEstimatorConfig&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::print_value<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::print_value<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool const&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::print_value<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int const&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_compare<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(boost::any&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_compare<bool>(boost::any&, bool*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_compare<double>(boost::any&, double*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_compare<int>(boost::any&, int*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_cast<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(boost::any&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_cast<bool>(boost::any&, bool*&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::load_param<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::AltitudeEstimatorConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::AltitudeEstimatorConfig&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::load_param<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::AltitudeEstimatorConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::AltitudeEstimatorConfig&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::load_param<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::AltitudeEstimatorConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::AltitudeEstimatorConfig&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::print_value<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::print_value<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool const&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::print_value<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int const&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_compare<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(boost::any&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_compare<bool>(boost::any&, bool*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_compare<double>(boost::any&, double*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_compare<int>(boost::any&, int*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_cast<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(boost::any&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_cast<bool>(boost::any&, bool*&)0
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::load_defaults(mrs_uav_state_estimators::LateralEstimatorConfig&)115
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::LateralEstimatorConfig const&)115
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)115
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::DynamicReconfigureMgr(ros::NodeHandle const&, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, boost::function<void (mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)> const&)115
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::load_defaults(mrs_uav_state_estimators::AltitudeEstimatorConfig&)202
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)202
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)202
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::DynamicReconfigureMgr(ros::NodeHandle const&, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, boost::function<void (mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)> const&)202
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::update_config(mrs_uav_state_estimators::LateralEstimatorConfig const&)230
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::load_param<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::LateralEstimatorConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::LateralEstimatorConfig&)345
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::print_value<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double const&)345
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_cast<double>(boost::any&, double*&)345
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_cast<int>(boost::any&, int*&)345
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::update_config(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)404
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::load_param<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::CorrectionConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::CorrectionConfig&)414
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::print_value<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double const&)414
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::load_defaults(mrs_uav_state_estimators::CorrectionConfig&)414
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::print_changed_params(mrs_uav_state_estimators::CorrectionConfig const&)414
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::CorrectionConfig&, unsigned int)414
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_cast<double>(boost::any&, double*&)414
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_cast<int>(boost::any&, int*&)414
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::DynamicReconfigureMgr(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)414
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::DynamicReconfigureMgr(ros::NodeHandle const&, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, boost::function<void (mrs_uav_state_estimators::CorrectionConfig&, unsigned int)> const&)414
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::load_param<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::AltitudeEstimatorConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::AltitudeEstimatorConfig&)606
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::print_value<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double const&)606
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_cast<double>(boost::any&, double*&)606
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_cast<int>(boost::any&, int*&)606
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::update_config(mrs_uav_state_estimators::CorrectionConfig const&)828
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/dynamic_reconfigure_mgr.h.func.html b/mrs_lib/include/mrs_lib/dynamic_reconfigure_mgr.h.func.html new file mode 100644 index 0000000000..c77278e939 --- /dev/null +++ b/mrs_lib/include/mrs_lib/dynamic_reconfigure_mgr.h.func.html @@ -0,0 +1,420 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/dynamic_reconfigure_mgr.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - dynamic_reconfigure_mgr.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:578765.5 %
Date:2024-08-07 22:18:19Functions:288532.9 %
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Function Name Sort by function nameHit count Sort by hit count
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::load_param<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::CorrectionConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::CorrectionConfig&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::load_param<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::CorrectionConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::CorrectionConfig&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::load_param<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::CorrectionConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::CorrectionConfig&)414
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::load_param<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::CorrectionConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::CorrectionConfig&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::print_value<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::print_value<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool const&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::print_value<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double const&)414
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::print_value<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int const&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_compare<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(boost::any&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_compare<bool>(boost::any&, bool*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_compare<double>(boost::any&, double*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_compare<int>(boost::any&, int*&)0
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::load_defaults(mrs_uav_state_estimators::CorrectionConfig&)414
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::update_config(mrs_uav_state_estimators::CorrectionConfig const&)828
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::print_changed_params(mrs_uav_state_estimators::CorrectionConfig const&)414
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::CorrectionConfig&, unsigned int)414
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_cast<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(boost::any&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_cast<bool>(boost::any&, bool*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_cast<double>(boost::any&, double*&)414
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_cast<int>(boost::any&, int*&)414
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::DynamicReconfigureMgr(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)414
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::DynamicReconfigureMgr(ros::NodeHandle const&, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, boost::function<void (mrs_uav_state_estimators::CorrectionConfig&, unsigned int)> const&)414
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::load_param<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::HeadingEstimatorConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::HeadingEstimatorConfig&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::load_param<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::HeadingEstimatorConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::HeadingEstimatorConfig&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::load_param<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::HeadingEstimatorConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::HeadingEstimatorConfig&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::load_param<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::HeadingEstimatorConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::HeadingEstimatorConfig&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::print_value<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::print_value<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool const&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::print_value<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double const&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::print_value<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int const&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::try_compare<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(boost::any&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::try_compare<bool>(boost::any&, bool*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::try_compare<double>(boost::any&, double*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::try_compare<int>(boost::any&, int*&)0
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::load_defaults(mrs_uav_state_estimators::HeadingEstimatorConfig&)0
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::update_config(mrs_uav_state_estimators::HeadingEstimatorConfig const&)0
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::HeadingEstimatorConfig const&)0
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::HeadingEstimatorConfig&, unsigned int)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::try_cast<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(boost::any&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::try_cast<bool>(boost::any&, bool*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::try_cast<double>(boost::any&, double*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::try_cast<int>(boost::any&, int*&)0
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::HeadingEstimatorConfig>::DynamicReconfigureMgr(ros::NodeHandle const&, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, boost::function<void (mrs_uav_state_estimators::HeadingEstimatorConfig&, unsigned int)> const&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::load_param<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::LateralEstimatorConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::LateralEstimatorConfig&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::load_param<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::LateralEstimatorConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::LateralEstimatorConfig&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::load_param<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::LateralEstimatorConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::LateralEstimatorConfig&)345
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::load_param<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::LateralEstimatorConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::LateralEstimatorConfig&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::print_value<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::print_value<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool const&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::print_value<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double const&)345
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::print_value<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int const&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_compare<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(boost::any&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_compare<bool>(boost::any&, bool*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_compare<double>(boost::any&, double*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_compare<int>(boost::any&, int*&)0
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::load_defaults(mrs_uav_state_estimators::LateralEstimatorConfig&)115
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::update_config(mrs_uav_state_estimators::LateralEstimatorConfig const&)230
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::LateralEstimatorConfig const&)115
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)115
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_cast<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(boost::any&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_cast<bool>(boost::any&, bool*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_cast<double>(boost::any&, double*&)345
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_cast<int>(boost::any&, int*&)345
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::DynamicReconfigureMgr(ros::NodeHandle const&, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, boost::function<void (mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)> const&)115
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::load_param<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::AltitudeEstimatorConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::AltitudeEstimatorConfig&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::load_param<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::AltitudeEstimatorConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::AltitudeEstimatorConfig&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::load_param<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::AltitudeEstimatorConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::AltitudeEstimatorConfig&)606
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::load_param<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::AltitudeEstimatorConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::AltitudeEstimatorConfig&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::print_value<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::print_value<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool const&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::print_value<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double const&)606
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::print_value<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int const&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_compare<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(boost::any&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_compare<bool>(boost::any&, bool*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_compare<double>(boost::any&, double*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_compare<int>(boost::any&, int*&)0
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::load_defaults(mrs_uav_state_estimators::AltitudeEstimatorConfig&)202
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::update_config(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)404
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)202
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)202
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_cast<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(boost::any&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_cast<bool>(boost::any&, bool*&)0
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_cast<double>(boost::any&, double*&)606
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_cast<int>(boost::any&, int*&)606
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::DynamicReconfigureMgr(ros::NodeHandle const&, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, boost::function<void (mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)> const&)202
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Generated by: LCOV version 1.14
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Current view:top level - mrs_lib/include/mrs_lib - dynamic_reconfigure_mgr.h (source / functions)HitTotalCoverage
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Date:2024-08-07 22:18:19Functions:288532.9 %
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          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : /**  \file
+       3             :      \brief Defines DynamicReconfigureMgr - a convenience class for managing dynamic ROS parameters through dynamic reconfigure.
+       4             :      \author Matouš Vrba - vrbamato@fel.cvut.cz
+       5             :  */
+       6             : #ifndef DYNAMIC_RECONFIGURE_MGR_H
+       7             : #define DYNAMIC_RECONFIGURE_MGR_H
+       8             : 
+       9             : #include <ros/ros.h>
+      10             : #include <dynamic_reconfigure/server.h>
+      11             : #include <string>
+      12             : #include <map>
+      13             : #include <unordered_set>
+      14             : #include <mutex>
+      15             : #include <iostream>
+      16             : #include <boost/any.hpp>
+      17             : #include <Eigen/Dense>
+      18             : #include <mrs_lib/param_loader.h>
+      19             : 
+      20             : 
+      21             : namespace mrs_lib
+      22             : {
+      23             : 
+      24             : /** DynamicReconfigureMgr CLASS //{ **/
+      25             : // This class handles dynamic reconfiguration of parameters using dynamic_reconfigure server.
+      26             : // Initialize this manager simply by instantiating an object of this templated class
+      27             : // with the template parameter corresponding to the type of your config message, e.g. as
+      28             : // DynamicReconfigureMgr<MyConfig> drmgr;
+      29             : // This will automatically initialize the dynamic_reconfigure server and a callback method
+      30             : // to asynchronously update the values in the config.
+      31             : // Optionally, you can specify the ros NodeHandle to initialize the dynamic_reconfigure server
+      32             : // and a flag 'print_values' to indicate whether to print new received values (only changed ones,
+      33             : // default is true).
+      34             : // The latest configuration is available through the public member 'config'. This should be
+      35             : // changed externally with care since any change risks being overwritten in the next call to
+      36             : // the 'dynamic_reconfigure_callback' method.
+      37             : // Note that in case of a multithreaded ROS node, external mutexes _might_ be necessary
+      38             : // to make access to the 'config' member thread-safe.
+      39             : template <typename ConfigType>
+      40             : class DynamicReconfigureMgr
+      41             : {
+      42             :   private:
+      43             :     using callback_t = typename dynamic_reconfigure::Server<ConfigType>::CallbackType;
+      44             : public:
+      45             :   // this variable holds the latest received configuration
+      46             :   ConfigType config;
+      47             :   // initialize some stuff in the constructor
+      48         731 :   DynamicReconfigureMgr(const ros::NodeHandle& nh = ros::NodeHandle("~"), bool print_values = true, std::string node_name = std::string(), const callback_t& user_callback = {})
+      49             :       : m_not_initialized(true),
+      50             :         m_loaded_invalid_default(false),
+      51             :         m_print_values(print_values),
+      52             :         m_node_name(node_name),
+      53         731 :         m_server(m_server_mtx, nh),
+      54             :         m_usr_cbf(user_callback),
+      55         731 :         m_pl(nh, print_values, node_name)
+      56             :   {
+      57             :     // initialize the dynamic reconfigure callback
+      58         731 :     m_server.setCallback(boost::bind(&DynamicReconfigureMgr<ConfigType>::dynamic_reconfigure_callback, this, _1, _2));
+      59         731 :   };
+      60             : 
+      61             :   /* Constructor overloads //{ */
+      62             :   // Convenience constructor to enable writing DynamicReconfigureMgr<MyConfig> drmgr(nh, node_name)
+      63         414 :   DynamicReconfigureMgr(const ros::NodeHandle& nh, std::string node_name) : DynamicReconfigureMgr(nh, true, node_name){};
+      64             :   // Convenience constructor to enable writing DynamicReconfigureMgr<MyConfig> drmgr(nh, "node_name")
+      65             :   DynamicReconfigureMgr(const ros::NodeHandle& nh, const char* node_name) : DynamicReconfigureMgr(nh, std::string(node_name)){};
+      66             :   // Convenience constructor to enable writing DynamicReconfigureMgr<MyConfig> drmgr(node_name)
+      67             :   DynamicReconfigureMgr(std::string node_name) : DynamicReconfigureMgr(ros::NodeHandle("~"), node_name){};
+      68             :   //}
+      69             : 
+      70             :   // pushes this config to the server
+      71        1462 :   void update_config(const ConfigType& cfg)
+      72             :   {
+      73        1462 :     m_server.updateConfig(cfg);
+      74        1462 :   }
+      75             : 
+      76             :   // pushes the current config to the server
+      77             :   void update_config()
+      78             :   {
+      79             :     m_server.updateConfig(config);
+      80             :   }
+      81             : 
+      82             :   void publish_descriptions()
+      83             :   {
+      84             :     ConfigType dflt;
+      85             :     m_server.getConfigDefault(dflt);
+      86             :     m_server.setConfigDefault(dflt);
+      87             :   }
+      88             : 
+      89             :   bool loaded_successfully()
+      90             :   {
+      91             :     return !m_not_initialized && !m_loaded_invalid_default && m_pl.loadedSuccessfully();
+      92             :   }
+      93             : 
+      94             : private:
+      95             :   bool m_not_initialized, m_loaded_invalid_default, m_print_values;
+      96             :   std::string m_node_name;
+      97             :   // dynamic_reconfigure server variables
+      98             :   boost::recursive_mutex m_server_mtx;
+      99             :   typename dynamic_reconfigure::Server<ConfigType> m_server;
+     100             :   callback_t m_usr_cbf;
+     101             : 
+     102             :   ParamLoader m_pl;
+     103             :   std::unordered_set<std::string> m_to_init;
+     104             : 
+     105             :   // the callback itself
+     106         731 :   void dynamic_reconfigure_callback(ConfigType& new_config, uint32_t level)
+     107             :   {
+     108         731 :     if (m_print_values)
+     109             :     {
+     110         731 :       if (m_node_name.empty())
+     111           0 :         ROS_INFO("Dynamic reconfigure request received");
+     112             :       else
+     113         731 :         ROS_INFO("[%s]: Dynamic reconfigure request received", m_node_name.c_str());
+     114             :     }
+     115             : 
+     116         731 :     if (m_not_initialized)
+     117             :     {
+     118         731 :       load_defaults(new_config);
+     119         731 :       update_config(new_config);
+     120             :     }
+     121         731 :     if (m_print_values)
+     122             :     {
+     123         731 :       print_changed_params(new_config);
+     124             :     }
+     125         731 :     m_not_initialized = false;
+     126         731 :     config = new_config;
+     127         731 :     if (m_usr_cbf)
+     128         317 :       m_usr_cbf(new_config, level);
+     129         731 :   }
+     130             : 
+     131             :   template <typename T>
+     132        1365 :   void load_param(const std::string& name, typename ConfigType::AbstractParamDescriptionConstPtr& descr, ConfigType& config)
+     133             :   {
+     134             :     using param_descr_t = typename ConfigType::template ParamDescription<T>;
+     135        2730 :     boost::shared_ptr<const param_descr_t> cast_descr = boost::dynamic_pointer_cast<const param_descr_t>(descr);
+     136        1365 :     m_pl.loadParam(name, config.*(cast_descr->field));
+     137        1365 :   }
+     138             :   
+     139         731 :   void load_defaults(ConfigType& new_config)
+     140             :   {
+     141             :     // Note that this part of the API is still unstable and may change! It was tested with ROS Kinetic and Melodic.
+     142        1462 :     std::vector<typename ConfigType::AbstractParamDescriptionConstPtr> descrs = new_config.__getParamDescriptions__();
+     143        2096 :     for (auto& descr : descrs)
+     144             :     {
+     145        2730 :       std::string name = descr->name;
+     146        1365 :       size_t pos = name.find("__");
+     147        1365 :       while (pos != name.npos)
+     148             :       {
+     149           0 :         name.replace(pos, 2, "/");
+     150           0 :         pos = name.find("__");
+     151             :       }
+     152             : 
+     153        1365 :       if (descr->type == "bool")
+     154           0 :         load_param<bool>(name, descr, new_config);
+     155        1365 :       else if (descr->type == "int")
+     156           0 :         load_param<int>(name, descr, new_config);
+     157        1365 :       else if (descr->type == "double")
+     158        1365 :         load_param<double>(name, descr, new_config);
+     159           0 :       else if (descr->type == "str")
+     160           0 :         load_param<std::string>(name, descr, new_config);
+     161             :       else
+     162             :       {
+     163           0 :         ROS_ERROR("[%s]: Unknown parameter type: '%s'", m_node_name.c_str(), descr->type.c_str());
+     164           0 :         m_loaded_invalid_default = true;
+     165             :       }
+     166             :     }
+     167         731 :   }
+     168             : 
+     169             :   // method for printing names and values of new received parameters (prints only the changed ones) //{
+     170         731 :   void print_changed_params(const ConfigType& new_config)
+     171             :   {
+     172             :     // Note that this part of the API is still unstable and may change! It was tested with ROS Kinetic and Melodic.
+     173        1462 :     std::vector<typename ConfigType::AbstractParamDescriptionConstPtr> descrs = new_config.__getParamDescriptions__();
+     174        2096 :     for (auto& descr : descrs)
+     175             :     {
+     176           0 :       boost::any val, old_val;
+     177        1365 :       descr->getValue(new_config, val);
+     178        1365 :       descr->getValue(config, old_val);
+     179        1365 :       std::string name = descr->name;
+     180        1365 :       const size_t pos = name.find("__");
+     181        1365 :       if (pos != name.npos)
+     182             :       {
+     183           0 :         if (m_not_initialized)
+     184             :         {
+     185           0 :           continue;
+     186             :         } else
+     187             :         {
+     188           0 :           name.replace(pos, 2, "/");
+     189             :         }
+     190             :       }
+     191             : 
+     192             :       // try to guess the correct type of the parameter (these should be the only ones supported)
+     193             :       int* intval;
+     194             :       double* doubleval;
+     195             :       bool* boolval;
+     196             :       std::string* stringval;
+     197             : 
+     198        1365 :       if (try_cast(val, intval))
+     199             :       {
+     200           0 :         if (m_not_initialized || !try_compare(old_val, intval))
+     201           0 :           print_value(name, *intval);
+     202        1365 :       } else if (try_cast(val, doubleval))
+     203             :       {
+     204        1365 :         if (m_not_initialized || !try_compare(old_val, doubleval))
+     205        1365 :           print_value(name, *doubleval);
+     206           0 :       } else if (try_cast(val, boolval))
+     207             :       {
+     208           0 :         if (m_not_initialized || !try_compare(old_val, boolval))
+     209           0 :           print_value(name, *boolval);
+     210           0 :       } else if (try_cast(val, stringval))
+     211             :       {
+     212           0 :         if (m_not_initialized || !try_compare(old_val, stringval))
+     213           0 :           print_value(name, *stringval);
+     214             :       } else
+     215             :       {
+     216           0 :         print_value(name, std::string("unknown dynamic reconfigure type"));
+     217             :       }
+     218             :     }
+     219         731 :   }
+     220             :   //}
+     221             :   
+     222             :   // helper method for parameter printing
+     223             :   template <typename T>
+     224        1365 :   inline void print_value(const std::string& name, const T& val)
+     225             :   {
+     226        1365 :     if (m_node_name.empty())
+     227           0 :       std::cout << "\t" << name << ":\t" << val << std::endl;
+     228             :     else
+     229        1365 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << name << "':\t" << val);
+     230        1365 :   }
+     231             :   // helper methods for automatic parameter value parsing
+     232             :   template <typename T>
+     233        2730 :   inline bool try_cast(boost::any& val, T*& out)
+     234             :   {
+     235        2730 :     return (out = boost::any_cast<T>(&val));
+     236             :   }
+     237             :   template <typename T>
+     238           0 :   inline bool try_compare(boost::any& val, T*& to_what)
+     239             :   {
+     240             :     T* tmp;
+     241           0 :     if ((tmp = boost::any_cast<T>(&val)))
+     242             :     {
+     243             :       /* std::cout << std::endl << *tmp << " vs " << *to_what << std::endl; */
+     244           0 :       return *tmp == *to_what;
+     245             :     } else
+     246             :     {  // the value should not change during runtime - this should never happen (but its better to be safe than sorry)
+     247           0 :       if (m_node_name.empty())
+     248           0 :         ROS_WARN("DynamicReconfigure value type has changed - this should not happen!");
+     249             :       else
+     250           0 :         ROS_WARN_STREAM("[" << m_node_name << "]: DynamicReconfigure value type has changed - this should not happen!");
+     251           0 :       return false;
+     252             :     }
+     253             :   }
+     254             : };
+     255             : //}
+     256             : 
+     257             : }
+     258             : 
+     259             : #endif // DYNAMIC_RECONFIGURE_MGR_H
+
+
+
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Current view:top level - mrs_lib/include/mrs_lib/geometry - cyclic.h (source / functions)HitTotalCoverage
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Date:2024-08-07 22:18:19Functions:4811741.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::dist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::dist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pdist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pdist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::inRange(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic(mrs_lib::geometry::degrees const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic()0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>&&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator=(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator-=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator+=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pinterpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pinterpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pdist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pdist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::inRange(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pinterp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pinterp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic()0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::operator=(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::interpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::interpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::pinterpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::pinterpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::dist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::dist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::pdist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::pdist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::interp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::interp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::inRange(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::pinterp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::pinterp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::cyclic(mrs_lib::geometry::sdegrees const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::cyclic()0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>&&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::operator=(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::operator-=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::operator+=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::pinterpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::pinterpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::pdist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::pdist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::inRange(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::pinterp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::pinterp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic(mrs_lib::geometry::sradians const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic()0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>&&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator=(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator-=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator+=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::value() const0
mrs_lib::geometry::radians mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::convert<mrs_lib::geometry::radians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)1
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::operator-=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)1
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::operator+=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)1
mrs_lib::geometry::radians mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::convert<mrs_lib::geometry::radians>() const1
bool mrs_lib::geometry::operator><double, mrs_lib::geometry::radians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)2
bool mrs_lib::geometry::operator><double, mrs_lib::geometry::sradians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)2
bool mrs_lib::geometry::operator< <double, mrs_lib::geometry::radians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)2
bool mrs_lib::geometry::operator< <double, mrs_lib::geometry::sradians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)2
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::value() const4
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>&&)6
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, double)1009
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interpUnwrapped(double, double, double)1009
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interp(double, double, double)1009
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::diff(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::diff(double, double)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::unwrap(double, double)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::diff(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::diff(double, double)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::unwrap(double, double)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::unwrap(double, double)10001
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::dist(double, double)10002
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::value() const10002
mrs_lib::geometry::operator+(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)10004
mrs_lib::geometry::operator-(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)10009
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::dist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>)10010
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::dist(double, double)10342
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::cyclic(double)20000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic(double)20005
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::wrap(double)30000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::wrap(double)30005
mrs_lib::geometry::operator+(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)40000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::value() const40002
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::dist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>)461559
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::diff(double, double)533297
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, double)689680
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interpUnwrapped(double, double, double)689680
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interp(double, double, double)689680
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(mrs_lib::geometry::radians const&)901394
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)944504
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::diff(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>)1005837
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)1399387
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(double)2041246
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::wrap(double)2063760
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::unwrap(double, double)3368912
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::diff(double, double)3382719
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::diff(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>)4082627
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic(double)8265243
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::wrap(double)9086228
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/geometry - cyclic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:608769.0 %
Date:2024-08-07 22:18:19Functions:4811741.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::diff(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::diff(double, double)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::dist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::dist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::wrap(double)30005
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pdist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pdist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::unwrap(double, double)10000
mrs_lib::geometry::radians mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::convert<mrs_lib::geometry::radians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)1
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::inRange(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic(mrs_lib::geometry::degrees const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic(double)20005
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic()0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>&&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator=(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator-=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator+=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, double)1009
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interpUnwrapped(double, double, double)1009
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pinterpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pinterpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::diff(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>)1005837
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::diff(double, double)533297
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::dist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>)461559
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::dist(double, double)10342
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::wrap(double)2063760
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pdist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pdist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interp(double, double, double)1009
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::unwrap(double, double)10001
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::inRange(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pinterp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pinterp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(mrs_lib::geometry::radians const&)901394
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)944504
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(double)2041246
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic()0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>&&)6
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::operator=(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::operator-=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)1
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::operator+=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)1
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::interpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::interpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::pinterpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::pinterpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::diff(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::diff(double, double)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::dist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::dist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::wrap(double)30000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::pdist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::pdist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::interp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::interp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::unwrap(double, double)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::inRange(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::pinterp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::pinterp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::cyclic(mrs_lib::geometry::sdegrees const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::cyclic(double)20000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::cyclic()0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>&&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::operator=(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::operator-=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::operator+=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, double)689680
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interpUnwrapped(double, double, double)689680
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::pinterpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::pinterpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::diff(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>)4082627
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::diff(double, double)3382719
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::dist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>)10010
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::dist(double, double)10002
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::wrap(double)9086228
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::pdist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::pdist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interp(double, double, double)689680
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::unwrap(double, double)3368912
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::inRange(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::pinterp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::pinterp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic(mrs_lib::geometry::sradians const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)1399387
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic(double)8265243
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic()0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>&&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator=(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator-=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator+=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)0
bool mrs_lib::geometry::operator><double, mrs_lib::geometry::radians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)2
bool mrs_lib::geometry::operator><double, mrs_lib::geometry::sradians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)2
bool mrs_lib::geometry::operator< <double, mrs_lib::geometry::radians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)2
bool mrs_lib::geometry::operator< <double, mrs_lib::geometry::sradians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)2
mrs_lib::geometry::operator-(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)10009
mrs_lib::geometry::operator+(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)10004
mrs_lib::geometry::operator+(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)40000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::value() const4
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::value() const10002
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::value() const0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::value() const40002
mrs_lib::geometry::radians mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::convert<mrs_lib::geometry::radians>() const1
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Current view:top level - mrs_lib/include/mrs_lib/geometry - cyclic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:608769.0 %
Date:2024-08-07 22:18:19Functions:4811741.0 %
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          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : /**  \file
+       3             :      \brief Defines the cyclic class for calculations with cyclic quantities.
+       4             :      \author Matouš Vrba - vrbamato@fel.cvut.cz
+       5             :  */
+       6             : 
+       7             : #ifndef CYCLIC_H
+       8             : #define CYCLIC_H
+       9             : 
+      10             : #include <cmath>
+      11             : #include <ostream>
+      12             : 
+      13             : namespace mrs_lib
+      14             : {
+      15             :   namespace geometry
+      16             :   {
+      17             :     /**
+      18             :      * \brief Implementation of the a general cyclic value (such as angles in radians/degrees etc).
+      19             :      *
+      20             :      * This class implements a periodical value with a period of \f$ r \in {\rm I\!R} \f$ so that a general number \f$ v \in {\rm I\!R} \f$ represents the same
+      21             :      * value as \f$ v + kr,~k \in {\rm I\!N} \f$. For the purposes of calculations in this class, \f$ v \f$ is confined to a half-open interval \f$ v \in
+      22             :      * [~m,~s~[ \f$, where \f$ m \f$ is the minimum of this interval and \f$ s \f$ is its supremum, and \f$ s = m + r \f$ holds. This approach enables
+      23             :      * representing \f$ v \f$ in different intervals on the real numbers axis; eg. angle in radians may be represented within the interval \f$ v \in
+      24             :      * [~-\pi,~\pi~[ \f$ or \f$ v \in [~0,~2\pi~[ \f$, according to the needs of the specific application. The period \f$ r \f$ is called \p range for the
+      25             :      * purposes of this class, as it represents range of the interval of valid ("wrapped") values of \f$ v \f$.
+      26             :      *
+      27             :      * This class may be used as an object or its static methods may be used on regular floating-point types, avoiding any object-related overheads (see
+      28             :      * example). Specializations for the most common cyclic values are provided and a new specialization may be easily created simply by inheriting from this
+      29             :      * class and specifying a different minimum and supremum values.
+      30             :      *
+      31             :      * Implementation inspired by: https://www.codeproject.com/Articles/190833/Circular-Values-Math-and-Statistics-with-Cplusplus
+      32             :      *
+      33             :      * \parblock
+      34             :      * \note For a better intuitive understanding of the used functions, the term **walk** is sometimes used in the function explanations.
+      35             :      * You can imagine walking along the circle from one angle to another (represented by the circular quantities).
+      36             :      * The walk may be the shortest - then you're walking in such a manner that you reach the other point in the least of steps.
+      37             :      * The walk may also be oriented - then you're walking in a specific direction (ie. according to the increasing/decreasing angle).
+      38             :      * \endparblock
+      39             :      *
+      40             :      * \parblock
+      41             :      * \note The terms **circular quantity** and **value** are used in the function explanations.
+      42             :      * A circular quantity is eg. an angle and the same quantity may be represented using different values: the same angle is represented by the values of 100
+      43             :      * degrees and 460 degrees. \endparblock
+      44             :      *
+      45             :      * \tparam flt floating data type to be used by this class.
+      46             :      */
+      47             :     template <typename flt, class spec>
+      48             :     struct cyclic
+      49             :     {
+      50             :       /*!
+      51             :        * \brief Default constructor.
+      52             :        *
+      53             :        * Sets the value to the minimum.
+      54             :        */
+      55           0 :       cyclic() : val(minimum){};
+      56             :       /*!
+      57             :        * \brief Constructor overload.
+      58             :        *
+      59             :        * \param val initialization value (will be wrapped).
+      60             :        */
+      61    10346494 :       cyclic(const flt val) : val(wrap(val)){};
+      62             :       /*!
+      63             :        * \brief Copy constructor.
+      64             :        *
+      65             :        * \param val initialization value.
+      66             :        */
+      67     2343891 :       cyclic(const cyclic& other) : val(other.val){};
+      68             :       /*!
+      69             :        * \brief Copy constructor.
+      70             :        *
+      71             :        * \param val initialization value.
+      72             :        */
+      73      901394 :       cyclic(const spec& other) : val(other.val){};
+      74             : 
+      75             :       /*!
+      76             :        * \brief Getter for \p val.
+      77             :        *
+      78             :        * \return the value.
+      79             :        */
+      80       50008 :       flt value() const
+      81             :       {
+      82       50008 :         return val;
+      83             :       };
+      84             : 
+      85             :       static constexpr flt minimum = spec::minimum;   /*!< \brief Minimum of the valid interval of wrapped values \f$ m \f$ */
+      86             :       static constexpr flt supremum = spec::supremum; /*!< \brief Supremum of the valid interval of wrapped values \f$ s \f$ */
+      87             :       static constexpr flt range =
+      88             :           supremum - minimum; /*!< \brief Range of the valid interval of wrapped values \f$ r \f$ (also the period of the cyclic quantity). */
+      89             :       static constexpr flt half_range =
+      90             :           range / flt(2); /*!< \brief Half of the range of the valid interval of wrapped values \f$ r/2 \f$ (used for some calculations). */
+      91             : 
+      92             :       /* static_assert((supremum > minimum), "cyclic value: Range not valid"); */
+      93             : 
+      94             :       /*!
+      95             :        * \brief Checks if \p val is within the valid interval of wrapped values.
+      96             :        *
+      97             :        * \param val the value to be checked.
+      98             :        * \returns   true if \p val is within the valid interval of wrapped values.
+      99             :        */
+     100           0 :       static bool inRange(const flt val)
+     101             :       {
+     102           0 :         return val >= minimum && val < supremum;
+     103             :       }
+     104             : 
+     105             :       /*!
+     106             :        * \brief Returns \p val, converted to the valid interval of values.
+     107             :        *
+     108             :        * The wrapped value represents the same quantity as the parameter (ie. \f$ v' = v + kr \f$, where \f$ v \f$ is the parameter and \f$ v' \f$ is the
+     109             :        * returned value).
+     110             :        *
+     111             :        * \param val the value to be wrapped.
+     112             :        * \returns   \p val wrapped to the valid interval of values.
+     113             :        */
+     114    11209993 :       static flt wrap(const flt val)
+     115             :       {
+     116             :         // these few ifs should cover most cases, improving speed and precision
+     117    11209993 :         if (val >= minimum)
+     118             :         {
+     119    10376596 :           if (val < supremum)  // value is actually in range and doesn't need to be wrapped
+     120    10147428 :             return val;
+     121      229174 :           else if (val < supremum + range)
+     122       65015 :             return val - range;  // to avoid unnecessary costly fmod operation for this case (assumed to be significantly more common than the general case)
+     123             :         } else
+     124             :         {
+     125      833396 :           if (val >= minimum - range)
+     126      670891 :             return val + range;  // to avoid unnecessary costly fmod operation for this case (assumed to be significantly more common than the general case)
+     127             :         }
+     128             : 
+     129             :         // general case
+     130      326745 :         const flt rem = std::fmod(val - minimum, range);
+     131      326745 :         const flt wrapped = rem + minimum + std::signbit(rem) * range;
+     132      326492 :         return wrapped;
+     133             :       }
+     134             : 
+     135             :       /*!
+     136             :        * \brief Returns value of the parameter \p what modified so that there is no "jump" between \p from and \t what.
+     137             :        *
+     138             :        * The circular difference between the two input quantities is preserved, but the returned value is modified if necessary so that the linear distance
+     139             :        * between the values is the smallest. This is useful whenever you need to preserve linear continuity of consecutive values, eg. when commanding a
+     140             :        * multi-rotational servo motor or when using a simple linear Kalman filter to estimate circular quantities.
+     141             :        *
+     142             :        * An example of inputs and outputs if \f$ m = 0,~s=360 \f$:
+     143             :        *  \p what | \p from  | \p return
+     144             :        *  ------- | -------- | ---------
+     145             :        *    20    |    10    |   20
+     146             :        *    20    |    350   |   380
+     147             :        *    0     |    350   |   360
+     148             :        *    200   |    10    |  -160
+     149             :        *
+     150             :        * \param what   the value to be unwrapped.
+     151             :        * \param from   the previous value from which the unwrapped value of \p what should have the same circular difference and minimal linear distance.
+     152             :        * \returns      the unwrapped value of \p what.
+     153             :        *
+     154             :        * \warning Note that the returned value may be outside the valid interval of wrapped values, specified by the \p minimum and \p supremum parameters of
+     155             :        * this class.
+     156             :        */
+     157     3398913 :       static flt unwrap(const flt what, const flt from)
+     158             :       {
+     159     3398913 :         return from + diff(what, from);
+     160             :       }
+     161             : 
+     162             :       /*!
+     163             :        * \brief Returns length of the shortest walk in the positive direction from the first parameter to the second one.
+     164             :        *
+     165             :        * \param from   the positive walk starts at this value.
+     166             :        * \param to     the positive walk ends at this value.
+     167             :        * \returns      length of the shortest positive walk from the first parameter to the second one.
+     168             :        *
+     169             :        * \note The returned value is not necessarily the shortest distance between the two circular quantities (see the dist() function for that).
+     170             :        */
+     171           0 :       static flt pdist(const flt from, const flt to)
+     172             :       {
+     173           0 :         return pdist(cyclic(from), cyclic(to));
+     174             :       }
+     175             : 
+     176           0 :       static flt pdist(const cyclic from, const cyclic to)
+     177             :       {
+     178           0 :         const flt tmp = to.val - from.val;
+     179           0 :         const flt dist = tmp + std::signbit(tmp) * range;
+     180           0 :         return dist;
+     181             :       }
+     182             : 
+     183             :       /*!
+     184             :        * \brief Returns the difference between the two circular values.
+     185             :        *
+     186             :        * The difference may also be interpreted as length of the shortest walk between the two values, with a sign according to the direction of the shortest
+     187             :        * walk.
+     188             :        *
+     189             :        * \param minuend      the \p subtrahend will be subtracted from this value.
+     190             :        * \param subtrahend   this value will be subtracted from the \p minuend.
+     191             :        * \returns            the difference of the two circular quantities.
+     192             :        */
+     193     3936016 :       static flt diff(const flt minuend, const flt subtrahend)
+     194             :       {
+     195     3936016 :         return diff(cyclic(minuend), cyclic(subtrahend));
+     196             :       }
+     197             : 
+     198     5108464 :       static flt diff(const cyclic minuend, const cyclic subtrahend)
+     199             :       {
+     200     5108464 :         const flt d = minuend.val - subtrahend.val;
+     201     5108464 :         if (d < -half_range)
+     202       42450 :           return d + range;
+     203     5066016 :         if (d >= half_range)
+     204       27220 :           return d - range;
+     205     5038791 :         return d;
+     206             :       }
+     207             : 
+     208             :       /*!
+     209             :        * \brief Returns the distance between the two circular values.
+     210             :        *
+     211             :        * The distance may also be interpreted as length of the shortest walk between the two values.
+     212             :        *
+     213             :        * \param from  the first circular quantity.
+     214             :        * \param to    the second circular quantity.
+     215             :        * \returns     distance of the two circular quantities.
+     216             :        *
+     217             :        * \note The order of the parameters doesn't matter.
+     218             :        */
+     219       20344 :       static flt dist(const flt from, const flt to)
+     220             :       {
+     221       20344 :         return dist(cyclic(from), cyclic(to));
+     222             :       }
+     223             : 
+     224      471569 :       static flt dist(const cyclic from, const cyclic to)
+     225             :       {
+     226      471569 :         return std::abs(diff(from, to));
+     227             :       }
+     228             : 
+     229             :       /*!
+     230             :        * \brief Interpolation between two circular quantities without wrapping of the result.
+     231             :        *
+     232             :        * This function doesn't wrap the returned value.
+     233             :        *
+     234             :        * \param from  the first circular quantity.
+     235             :        * \param to    the second circular quantity.
+     236             :        * \param coeff the interpolation coefficient.
+     237             :        * \returns     interpolation of the two circular quantities using the coefficient.
+     238             :        *
+     239             :        * \warning Note that the returned value may be outside the valid interval of wrapped values, specified by the \p minimum and \p supremum parameters of
+     240             :        * this class.
+     241             :        */
+     242      690689 :       static flt interpUnwrapped(const flt from, const flt to, const flt coeff)
+     243             :       {
+     244      690689 :         return interpUnwrapped(cyclic(from), cyclic(to), coeff);
+     245             :       }
+     246             : 
+     247      690689 :       static flt interpUnwrapped(const cyclic from, const cyclic to, const flt coeff)
+     248             :       {
+     249      690689 :         const flt dang = diff(to, from);
+     250      690689 :         const flt intp = from.val + coeff * dang;
+     251      690689 :         return intp;
+     252             :       }
+     253             : 
+     254             :       /*!
+     255             :        * \brief Interpolation between two circular quantities.
+     256             :        *
+     257             :        * This function wraps the returned value so that it is in the interval of valid values.
+     258             :        *
+     259             :        * \param from  the first circular quantity.
+     260             :        * \param to    the second circular quantity.
+     261             :        * \param coeff the interpolation coefficient.
+     262             :        * \returns     interpolation of the two circular quantities using the coefficient, wrapped to the interval of valid values.
+     263             :        */
+     264      690689 :       static flt interp(const flt from, const flt to, const flt coeff)
+     265             :       {
+     266      690689 :         return wrap(interpUnwrapped(from, to, coeff));
+     267             :       }
+     268             : 
+     269           0 :       static flt interp(const cyclic from, const cyclic to, const flt coeff)
+     270             :       {
+     271           0 :         return wrap(interpUnwrapped(from, to, coeff));
+     272             :       }
+     273             : 
+     274             :       /*!
+     275             :        * \brief Interpolation between two circular quantities in the positive direction without wrapping of the result.
+     276             :        *
+     277             :        * Interpolates the two values in the positive direction from the first parameter to the second by the coefficient.
+     278             :        * This function doesn't wrap the returned value.
+     279             :        *
+     280             :        * \param from  the first circular quantity.
+     281             :        * \param to    the second circular quantity.
+     282             :        * \param coeff the interpolation coefficient.
+     283             :        * \returns     interpolation of the two circular quantities using the coefficient.
+     284             :        *
+     285             :        * \warning Note that the returned value may be outside the valid interval of wrapped values, specified by the \p minimum and \p supremum parameters of
+     286             :        * this class.
+     287             :        */
+     288           0 :       static flt pinterpUnwrapped(const flt from, const flt to, const flt coeff)
+     289             :       {
+     290           0 :         return pinterpUnwrapped(cyclic(from), cyclic(to), coeff);
+     291             :       }
+     292             : 
+     293           0 :       static flt pinterpUnwrapped(const cyclic from, const cyclic to, const flt coeff)
+     294             :       {
+     295           0 :         const flt dang = pdist(to, from);
+     296           0 :         const flt intp = from.val + coeff * dang;
+     297           0 :         return intp;
+     298             :       }
+     299             : 
+     300             :       /*!
+     301             :        * \brief Interpolation between two circular quantities in the positive direction.
+     302             :        *
+     303             :        * Interpolates the two values in the positive direction from the first parameter to the second by the coefficient.
+     304             :        * This function wraps the returned value so that it is in the interval of valid values.
+     305             :        *
+     306             :        * \param from  the first circular quantity.
+     307             :        * \param to    the second circular quantity.
+     308             :        * \param coeff the interpolation coefficient.
+     309             :        * \returns     interpolation of the two circular quantities using the coefficient, wrapped to the interval of valid values.
+     310             :        */
+     311           0 :       static flt pinterp(const flt from, const flt to, const flt coeff)
+     312             :       {
+     313           0 :         return pinterpUnwrapped(cyclic(from), cyclic(to), coeff);
+     314             :       }
+     315             : 
+     316           0 :       static flt pinterp(const cyclic from, const cyclic to, const flt coeff)
+     317             :       {
+     318           0 :         return wrap(pinterpUnwrapped(from, to, coeff));
+     319             :       }
+     320             : 
+     321             :       /*!
+     322             :        * \brief Conversion between two different circular quantities.
+     323             :        *
+     324             :        * This function converts its parameter, interpreted as the circular quantity, represented by this class, to the \p other_t type of circular quantity.
+     325             :        *
+     326             :        * \param what       the circular quantity to be converted.
+     327             :        * \returns          the circular quantity converted to the range of \p other_t.
+     328             :        * \tparam other_t   type of the circular quantity to be converted to.
+     329             :        *
+     330             :        * \warning For the purposes of this function, it is assumed that the range of one type corresponds to the whole range of the other type and zeros of both
+     331             :        * types correspond to each other (such as when converting eg. degrees to radians).
+     332             :        */
+     333             :       template <class other_t>
+     334           1 :       static other_t convert(const cyclic& what)
+     335             :       {
+     336           1 :         return other_t(what.val / range * other_t::range);
+     337             :       }
+     338             : 
+     339             :       /*!
+     340             :        * \brief Conversion between two different circular quantities.
+     341             :        *
+     342             :        * This method returns the circular quantity, represented by this object, converted to the \p other_t type of circular quantity.
+     343             :        *
+     344             :        * \returns          the circular quantity converted to the range of \p other_t.
+     345             :        * \tparam other_t   type of the circular quantity to be converted to.
+     346             :        *
+     347             :        * \warning For the purposes of this function, it is assumed that the range of one type corresponds to the whole range of the other type and zeros of both
+     348             :        * types correspond to each other (such as when converting eg. degrees to radians).
+     349             :        */
+     350             :       template <class other_t>
+     351           1 :       other_t convert() const
+     352             :       {
+     353           1 :         return other_t(val / range * other_t::range);
+     354             :       }
+     355             : 
+     356             :       // | ------------------------ Operators ----------------------- |
+     357             :       /*!
+     358             :        * \brief Assignment operator.
+     359             :        *
+     360             :        * \param nval value to be assigned (will be wrapped).
+     361             :        * \return     reference to self.
+     362             :        */
+     363           0 :       cyclic& operator=(const flt nval)
+     364             :       {
+     365           0 :         val = wrap(nval);
+     366           0 :         return *this;
+     367             :       };
+     368             :       /*!
+     369             :        * \brief Assignment operator.
+     370             :        *
+     371             :        * \param other value to be assigned.
+     372             :        * \return      reference to self.
+     373             :        */
+     374           0 :       cyclic& operator=(const cyclic& other)
+     375             :       {
+     376           0 :         val = other.val;
+     377           0 :         return *this;
+     378             :       };
+     379             :       /*!
+     380             :        * \brief Move operator.
+     381             :        *
+     382             :        * \param other value to be assigned.
+     383             :        * \return      reference to self.
+     384             :        */
+     385           6 :       cyclic& operator=(cyclic&& other)
+     386             :       {
+     387           6 :         val = other.val;
+     388           6 :         return *this;
+     389             :       };
+     390             : 
+     391             :       /*!
+     392             :        * \brief Addition compound operator.
+     393             :        *
+     394             :        * \param other value to be added.
+     395             :        * \return      reference to self.
+     396             :        */
+     397           1 :       cyclic& operator+=(const cyclic& other)
+     398             :       {
+     399           1 :         val = wrap(val + other.val);
+     400           1 :         return *this;
+     401             :       };
+     402             : 
+     403             :       /*!
+     404             :        * \brief Subtraction compound operator.
+     405             :        *
+     406             :        * \param other value to be subtracted.
+     407             :        * \return      reference to self.
+     408             :        */
+     409           1 :       cyclic& operator-=(const cyclic& other)
+     410             :       {
+     411           1 :         val = diff(val, other.val);
+     412           1 :         return *this;
+     413             :       };
+     414             : 
+     415             :       /*!
+     416             :        * \brief Addition operator.
+     417             :        *
+     418             :        * \param lhs left-hand-side.
+     419             :        * \param rhs right-hand-side.
+     420             :        * \return    the result of adding the two angles.
+     421             :        */
+     422       50004 :       friend spec operator+(const cyclic& lhs, const cyclic& rhs)
+     423             :       {
+     424       50004 :         return wrap(lhs.val + rhs.val);
+     425             :       }
+     426             : 
+     427             :       /*!
+     428             :        * \brief Subtraction operator (uses the diff() method).
+     429             :        *
+     430             :        * \param lhs left-hand-side.
+     431             :        * \param rhs right-hand-side.
+     432             :        * \return    the result of subtracting rhs from lhs.
+     433             :        */
+     434       10009 :       friend flt operator-(const cyclic& lhs, const cyclic& rhs)
+     435             :       {
+     436       10009 :         return diff(lhs, rhs);
+     437             :       }
+     438             : 
+     439             :       protected:
+     440             :         flt val;
+     441             :       };
+     442             : 
+     443             :     /*!
+     444             :      * \brief Implementation of the comparison operation between two angles.
+     445             :      *
+     446             :      * An angle is considered to be smaller than another angle if it is shorter - closer to zero.
+     447             :      *
+     448             :      * \param lhs left-hand-side.
+     449             :      * \param rhs right-hand-side.
+     450             :      * \return    true iff the shortest unsigned walk from lhs to 0 is less than from rhs to 0.
+     451             :      */
+     452             :     template <typename flt, class spec>
+     453           4 :     bool operator<(const cyclic<flt, spec>& lhs, const cyclic<flt, spec>& rhs)
+     454             :     {
+     455           4 :       return cyclic<flt, spec>::dist(lhs, 0) < cyclic<flt, spec>::dist(rhs, 0);
+     456             :     }
+     457             : 
+     458             :     /*!
+     459             :      * \brief Implementation of the comparison operation between two angles.
+     460             :      *
+     461             :      * An angle is considered to be larger than another angle if it is longer - further from zero.
+     462             :      *
+     463             :      * \param lhs left-hand-side.
+     464             :      * \param rhs right-hand-side.
+     465             :      * \return    true iff the shortest unsigned walk from lhs to 0 is more than from rhs to 0.
+     466             :      */
+     467             :     template <typename flt, class spec>
+     468           4 :     bool operator>(const cyclic<flt, spec>& lhs, const cyclic<flt, spec>& rhs)
+     469             :     {
+     470           4 :       return cyclic<flt, spec>::dist(lhs, 0) > cyclic<flt, spec>::dist(rhs, 0);
+     471             :     }
+     472             : 
+     473             :     /*!
+     474             :      * \brief Implementation of the stream output operator.
+     475             :      *
+     476             :      * \param out the stream to write the angle to.
+     477             :      * \param ang the angle to be written.
+     478             :      * \return    a reference to the stream.
+     479             :      */
+     480             :     template <typename flt, class spec>
+     481             :     std::ostream& operator<<(std::ostream &out, const cyclic<flt, spec>& ang)
+     482             :     {
+     483             :       return (out << ang.value());
+     484             :     }
+     485             : 
+     486             :     /*!
+     487             :      * \brief Convenience specialization of the cyclic class for unsigned radians (from $0$ to $2\pi$).
+     488             :      */
+     489             :     struct radians : public cyclic<double, radians>
+     490             :     {
+     491             :       using cyclic<double, radians>::cyclic;  // necessary to inherit constructors
+     492             :       static constexpr double minimum = 0;
+     493             :       static constexpr double supremum = 2 * M_PI;
+     494             :     };
+     495             : 
+     496             :     /*!
+     497             :      * \brief Convenience specialization of the cyclic class for signed radians (from $-\pi$ to $\pi$).
+     498             :      */
+     499             :     struct sradians : public cyclic<double, sradians>
+     500             :     {
+     501             :       using cyclic<double, sradians>::cyclic;  // necessary to inherit constructors
+     502             :       static constexpr double minimum = -M_PI;
+     503             :       static constexpr double supremum = M_PI;
+     504             :     };
+     505             : 
+     506             :     /*!
+     507             :      * \brief Convenience specialization of the cyclic class for unsigned degrees (from $0$ to $360$).
+     508             :      */
+     509             :     struct degrees : public cyclic<double, degrees>
+     510             :     {
+     511             :       using cyclic<double, degrees>::cyclic;  // necessary to inherit constructors
+     512             :       static constexpr double minimum = 0;
+     513             :       static constexpr double supremum = 360;
+     514             :     };
+     515             : 
+     516             :     /*!
+     517             :      * \brief Convenience specialization of the cyclic class for signed degrees (from $-180$ to $180$).
+     518             :      */
+     519             :     struct sdegrees : public cyclic<double, sdegrees>
+     520             :     {
+     521             :       using cyclic<double, sdegrees>::cyclic;  // necessary to inherit constructors
+     522             :       static constexpr double minimum = -180;
+     523             :       static constexpr double supremum = 180;
+     524             :     };
+     525             :   }  // namespace geometry
+     526             : }  // namespace mrs_lib
+     527             : 
+     528             : #endif  // CYCLIC_H
+
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Test:MRS UAV System - Test coverage reportLines:669371.0 %
Date:2024-08-07 22:18:19Functions:5112042.5 %
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
cyclic.h +
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misc.h +
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Current view:top level - mrs_lib/include/mrs_lib/geometry - misc.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:66100.0 %
Date:2024-08-07 22:18:19Functions:33100.0 %
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Eigen::Matrix<double, (3)+(1), 1, ((Eigen::StorageOptions)0)|(((((3)+(1))==(1))&&((1)!=(1)))?((Eigen::StorageOptions)1) : ((((1)==(1))&&(((3)+(1))!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), (3)+(1), 1> mrs_lib::geometry::toHomogenous<3>(Eigen::Matrix<double, 3, 1, ((Eigen::StorageOptions)0)|((((3)==(1))&&((1)!=(1)))?((Eigen::StorageOptions)1) : ((((1)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 1> const&)2
double mrs_lib::geometry::headingFromRot<Eigen::Matrix<double, 3, 3, 0, 3, 3> >(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&)6
double mrs_lib::geometry::headingFromRot<Eigen::Quaternion<double, 0> >(Eigen::Quaternion<double, 0> const&)148973
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Current view:top level - mrs_lib/include/mrs_lib/geometry - misc.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:66100.0 %
Date:2024-08-07 22:18:19Functions:33100.0 %
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Function Name Sort by function nameHit count Sort by hit count
Eigen::Matrix<double, (3)+(1), 1, ((Eigen::StorageOptions)0)|(((((3)+(1))==(1))&&((1)!=(1)))?((Eigen::StorageOptions)1) : ((((1)==(1))&&(((3)+(1))!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), (3)+(1), 1> mrs_lib::geometry::toHomogenous<3>(Eigen::Matrix<double, 3, 1, ((Eigen::StorageOptions)0)|((((3)==(1))&&((1)!=(1)))?((Eigen::StorageOptions)1) : ((((1)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 1> const&)2
double mrs_lib::geometry::headingFromRot<Eigen::Quaternion<double, 0> >(Eigen::Quaternion<double, 0> const&)148973
double mrs_lib::geometry::headingFromRot<Eigen::Matrix<double, 3, 3, 0, 3, 3> >(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&)6
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+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : /**  \file
+       3             :      \brief Defines useful geometry utilities and functions.
+       4             :      \author Matouš Vrba - vrbamato@fel.cvut.cz
+       5             :      \author Petr Štibinger - stibipet@fel.cvut.cz
+       6             :  */
+       7             : 
+       8             : #ifndef GEOMETRY_MISC_H
+       9             : #define GEOMETRY_MISC_H
+      10             : 
+      11             : #include <cmath>
+      12             : #include <Eigen/Dense>
+      13             : #include <geometry_msgs/Point.h>
+      14             : #include <geometry_msgs/Quaternion.h>
+      15             : 
+      16             : namespace mrs_lib
+      17             : {
+      18             :   namespace geometry
+      19             :   {
+      20             :     template <int dims>
+      21             :     using vec_t = Eigen::Matrix<double, dims, 1>;
+      22             : 
+      23             :     using pt2_t = vec_t<2>;
+      24             :     using vec2_t = vec_t<2>;
+      25             :     using pt3_t = vec_t<3>;
+      26             :     using vec3_t = vec_t<3>;
+      27             : 
+      28             :     using mat3_t = Eigen::Matrix3d;
+      29             : 
+      30             :     using quat_t = Eigen::Quaterniond;
+      31             :     using anax_t = Eigen::AngleAxisd;
+      32             : 
+      33             :     template <int dims>
+      34           2 :     vec_t<dims + 1> toHomogenous(const vec_t<dims>& vec)
+      35             :     {
+      36           2 :       const Eigen::Matrix<double, dims + 1, 1> ret((Eigen::Matrix<double, dims + 1, 1>() << vec, 1).finished());
+      37           2 :       return ret;
+      38             :     }
+      39             : 
+      40             :     // | ----------------- Angle-related functions ---------------- |
+      41             : 
+      42             :     /* angle-related functions //{ */
+      43             : 
+      44             :     /* headingFromRot() //{ */
+      45             : 
+      46             :     /*!
+      47             :      * \brief Returns the heading angle from the rotation.
+      48             :      *
+      49             :      * Heading is defined as the angle of a [1,0,0] vector rotated by the rotation and projected to the XY plane from the X axis.
+      50             :      *
+      51             :      * \param rot the rotation to extract the heading angle from.
+      52             :      *
+      53             :      * \returns the heading angle.
+      54             :      *
+      55             :      */
+      56             :     template <typename T>
+      57      148979 :     double headingFromRot(const T& rot)
+      58             :     {
+      59      148979 :       const vec3_t rot_vec = rot*vec3_t::UnitX();
+      60      297958 :       return std::atan2(rot_vec.y(), rot_vec.x());
+      61             :     }
+      62             : 
+      63             :     //}
+      64             : 
+      65             :     /* angleBetween() //{ */
+      66             : 
+      67             :     /*!
+      68             :      * \brief Returns the angle between two vectors, taking orientation into account.
+      69             :      *
+      70             :      * This implementation uses \p atan2 instead of just \p acos and thus it properly
+      71             :      * takes into account orientation of the vectors, returning angle in all four quadrants.
+      72             :      *
+      73             :      * \param a vector from which the angle will be measured.
+      74             :      * \param b vector to which the angle will be measured.
+      75             :      *
+      76             :      * \returns    angle from \p a to \p b.
+      77             :      *
+      78             :      */
+      79             :     double angleBetween(const vec2_t& a, const vec2_t& b);
+      80             : 
+      81             :     /*!
+      82             :      * \brief Returns the angle between two vectors, taking orientation into account.
+      83             :      *
+      84             :      * This implementation uses \p atan2 instead of just \p acos and thus it properly
+      85             :      * takes into account orientation of the vectors, returning angle in all four quadrants.
+      86             :      *
+      87             :      * \param a vector from which the angle will be measured.
+      88             :      * \param b vector to which the angle will be measured.
+      89             :      *
+      90             :      * \returns    angle from \p a to \p b.
+      91             :      *
+      92             :      */
+      93             :     double angleBetween(const vec3_t& a, const vec3_t& b);
+      94             : 
+      95             :     //}
+      96             : 
+      97             :     /* angleaxisBetween() //{ */
+      98             : 
+      99             :     /*!
+     100             :      * \brief Returns the rotation between two vectors, represented as angle-axis.
+     101             :      *
+     102             :      * To avoid singularities, a \p tolerance parameter is used:
+     103             :      * * If the absolute angle between the two vectors is less than \p tolerance, a zero rotation is returned.
+     104             :      * * If the angle between the two vectors is closer to \f$ \pi \f$ than \p tolerance, a \f$ \pi \f$ rotation is returned.
+     105             :      *
+     106             :      * \param a vector from which the rotation starts.
+     107             :      * \param b vector at which the rotation ends.
+     108             :      *
+     109             :      * \returns    rotation from \p a to \p b.
+     110             :      *
+     111             :      */
+     112             :     anax_t angleaxisBetween(const vec3_t& a, const vec3_t& b, const double tolerance = 1e-9);
+     113             : 
+     114             :     //}
+     115             : 
+     116             :     /* quaternionBetween() //{ */
+     117             : 
+     118             :     /*!
+     119             :      * \brief Returns the rotation between two vectors, represented as a quaternion.
+     120             :      *
+     121             :      * Works the same as the angleaxisBetween() function (in fact it is used in the implementation).
+     122             :      *
+     123             :      * \param a vector from which the rotation starts.
+     124             :      * \param b vector at which the rotation ends.
+     125             :      *
+     126             :      * \returns    rotation from \p a to \p b.
+     127             :      *
+     128             :      */
+     129             :     quat_t quaternionBetween(const vec3_t& a, const vec3_t& b, const double tolerance = 1e-9);
+     130             : 
+     131             :     //}
+     132             : 
+     133             :     /* rotationBetween() //{ */
+     134             : 
+     135             :     /*!
+     136             :      * \brief Returns the rotation between two vectors, represented as a rotation matrix.
+     137             :      *
+     138             :      * Works the same as the angleaxisBetween() function (in fact it is used in the implementation).
+     139             :      *
+     140             :      * \param a vector from which the rotation starts.
+     141             :      * \param b vector at which the rotation ends.
+     142             :      *
+     143             :      * \returns    rotation from \p a to \p b.
+     144             :      *
+     145             :      */
+     146             :     Eigen::Matrix3d rotationBetween(const vec3_t& a, const vec3_t& b, const double tolerance = 1e-9);
+     147             : 
+     148             :     //}
+     149             : 
+     150             :     /* haversin() //{ */
+     151             : 
+     152             :     /**
+     153             :      * @brief computes the haversine (half of versine) for a given angle
+     154             :      *
+     155             :      * @param angle angle in radians
+     156             :      *
+     157             :      * @return
+     158             :      */
+     159             :     double haversin(const double angle);
+     160             : 
+     161             :     //}
+     162             : 
+     163             :     /* invHaversin() //{ */
+     164             : 
+     165             :     /**
+     166             :      * @brief computes the inverse haversine angle for a given value
+     167             :      *
+     168             :      * @param value
+     169             :      *
+     170             :      * @return angle in radians
+     171             :      */
+     172             :     double invHaversin(const double value);
+     173             : 
+     174             :     //}
+     175             : 
+     176             :     /* solidAngle //{ */
+     177             : 
+     178             :     /**
+     179             :      * @brief computes the solid angle for a spherical surface corresponding to a 'triangle' with edge lengths a, b, c
+     180             :      *
+     181             :      * @param a
+     182             :      * @param b
+     183             :      * @param c
+     184             :      *
+     185             :      * @return solid angle in steradians
+     186             :      */
+     187             :     double solidAngle(double a, double b, double c);
+     188             : 
+     189             :     //}
+     190             : 
+     191             :     /* quaternionFromEuler() //{ */
+     192             : 
+     193             :     /**
+     194             :      * @brief create a quaternion from 3 provided Euler angles
+     195             :      *
+     196             :      * @param x Euler angle in radians
+     197             :      * @param y Euler angle in radians
+     198             :      * @param z Euler angle in radians
+     199             :      *
+     200             :      * @return quaternion
+     201             :      */
+     202             :     quat_t quaternionFromEuler(double x, double y, double z);
+     203             : 
+     204             :     /**
+     205             :      * @brief create a quaternion from Euler angles provided as a vector
+     206             :      *
+     207             :      * @param euler components of the rotation provided as vector of Euler angles
+     208             :      *
+     209             :      * @return quaternion
+     210             :      */
+     211             :     quat_t quaternionFromEuler(const Eigen::Vector3d& euler);
+     212             : 
+     213             :     //}
+     214             : 
+     215             :     /**
+     216             :      * @brief create a quaternion from heading
+     217             :      *
+     218             :      * Heading is defined as the angle of a [1,0,0] vector rotated by the rotation and projected to the XY plane from the X axis.
+     219             :      *
+     220             :      * @param heading the heading angle.
+     221             :      *
+     222             :      * @return the quaternion corresponding to the heading rotation.
+     223             :      */
+     224             :     quat_t quaternionFromHeading(const double heading);
+     225             : 
+     226             :     //}
+     227             : 
+     228             :     // | ----------------- Miscellaneous functions ---------------- |
+     229             : 
+     230             :     /* 2D cross() //{ */
+     231             : 
+     232             :     /*!
+     233             :      * \brief Implementation of cross product for 2D vectors.
+     234             :      *
+     235             :      * Useful e.g. for finding the sine of an angle between two 2D vectors.
+     236             :      *
+     237             :      * \param a first vector of the cross product.
+     238             :      * \param b second vector of the cross product.
+     239             :      *
+     240             :      * \returns    \f$ a \times b \f$ (sine of the angle from \p a to \p b).
+     241             :      *
+     242             :      */
+     243             :     double cross(const vec2_t& a, const vec2_t b);
+     244             : 
+     245             :     //}
+     246             : 
+     247             :     /* vector distance //{ */
+     248             : 
+     249             :     /**
+     250             :      * @brief distnace between two 2D Eigen vectors
+     251             :      *
+     252             :      * @param a
+     253             :      * @param b
+     254             :      *
+     255             :      * @return Euclidean distance
+     256             :      */
+     257             :     double dist(const vec2_t& a, const vec2_t& b);
+     258             : 
+     259             :     /**
+     260             :      * @brief distnace between two 3D Eigen vectors
+     261             :      *
+     262             :      * @param a
+     263             :      * @param b
+     264             :      *
+     265             :      * @return Euclidean distance
+     266             :      */
+     267             :     double dist(const vec3_t& a, const vec3_t& b);
+     268             : 
+     269             :     //}
+     270             : 
+     271             :     /* triangleArea() //{ */
+     272             : 
+     273             :     /**
+     274             :      * @brief uses Heron's formula to compute area of a given triangle using side lengths
+     275             :      *
+     276             :      * @param a length of side1
+     277             :      * @param b length of side2
+     278             :      * @param c length of side3
+     279             :      *
+     280             :      * @return area in units squared
+     281             :      */
+     282             :     double triangleArea(const double a, const double b, const double c);
+     283             : 
+     284             :     //}
+     285             : 
+     286             :     /* sphericalTriangleArea //{ */
+     287             : 
+     288             :     /**
+     289             :      * @brief compute the area of a 'triangle' drawn on a spherical surface
+     290             :      *
+     291             :      * @param a length of side1
+     292             :      * @param b length of side2
+     293             :      * @param c length of side3
+     294             :      *
+     295             :      * @return area in units squared
+     296             :      */
+     297             :     double sphericalTriangleArea(Eigen::Vector3d a, Eigen::Vector3d b, Eigen::Vector3d c);
+     298             : 
+     299             :     //}
+     300             : 
+     301             :     /* rotateCovariance() //{ */
+     302             :     
+     303             :     /*!
+     304             :      * \brief Returns the covariance rotated using the specified rotation.
+     305             :      *
+     306             :      * \param cov the covariance to be rotated.
+     307             :      * \param rot the rotation use.
+     308             :      *
+     309             :      * \returns a new matrix object containing the rotated covariance.
+     310             :      *
+     311             :      */
+     312             :     template <typename T>
+     313             :     mat3_t rotateCovariance(const mat3_t& cov, const T& rot)
+     314             :     {
+     315             :       const mat3_t matrot(rot);
+     316             :       return matrot*cov*matrot.transpose();
+     317             :     }
+     318             :     
+     319             :     //}
+     320             : 
+     321             :   }  // namespace geometry
+     322             : }  // namespace mrs_lib
+     323             : 
+     324             : #endif
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::UTMtoLL(double, double, char const*, double&, double&)2160
mrs_lib::UTM(double, double, double*, double*)6112
mrs_lib::UTMLetterDesignator(double)156887
mrs_lib::LLtoUTM(double, double, double&, double&, char*)156946
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::UTMLetterDesignator(double)156887
mrs_lib::UTM(double, double, double*, double*)6112
mrs_lib::LLtoUTM(double, double, double&, double&, char*)156946
mrs_lib::UTMtoLL(double, double, char const*, double&, double&)2160
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          Line data    Source code
+
+       1             : /* Taken from utexas-art-ros-pkg:art_vehicle/applanix */
+       2             : 
+       3             : /*
+       4             :  * Conversions between coordinate systems.
+       5             :  *
+       6             :  * Includes LatLong<->UTM.
+       7             :  */
+       8             : 
+       9             : #ifndef _UTM_H
+      10             : #define _UTM_H
+      11             : 
+      12             : /**  @file
+      13             :      @brief Universal Transverse Mercator transforms.
+      14             :      Functions to convert (spherical) latitude and longitude to and
+      15             :      from (Euclidean) UTM coordinates.
+      16             :      @author Chuck Gantz- chuck.gantz@globalstar.com
+      17             :  */
+      18             : 
+      19             : #include <cmath>
+      20             : #include <cstdio>
+      21             : #include <cstdlib>
+      22             : #include <string>
+      23             : 
+      24             : namespace mrs_lib
+      25             : {
+      26             : 
+      27             :   const double RADIANS_PER_DEGREE = M_PI / 180.0;
+      28             :   const double DEGREES_PER_RADIAN = 180.0 / M_PI;
+      29             : 
+      30             :   // WGS84 Parameters
+      31             :   const double WGS84_A  = 6378137.0;         // major axis
+      32             :   const double WGS84_B  = 6356752.31424518;  // minor axis
+      33             :   const double WGS84_F  = 0.0033528107;      // ellipsoid flattening
+      34             :   const double WGS84_E  = 0.0818191908;      // first eccentricity
+      35             :   const double WGS84_EP = 0.0820944379;      // second eccentricity
+      36             : 
+      37             :   // UTM Parameters
+      38             :   const double UTM_K0   = 0.9996;                   // scale factor
+      39             :   const double UTM_FE   = 500000.0;                 // false easting
+      40             :   const double UTM_FN_N = 0.0;                      // false northing on north hemisphere
+      41             :   const double UTM_FN_S = 10000000.0;               // false northing on south hemisphere
+      42             :   const double UTM_E2   = (WGS84_E * WGS84_E);      // e^2
+      43             :   const double UTM_E4   = (UTM_E2 * UTM_E2);        // e^4
+      44             :   const double UTM_E6   = (UTM_E4 * UTM_E2);        // e^6
+      45             :   const double UTM_EP2  = (UTM_E2 / (1 - UTM_E2));  // e'^2
+      46             : 
+      47             :   /**
+      48             :    * Utility function to convert geodetic to UTM position
+      49             :    *
+      50             :    * Units in are floating point degrees (sign for east/west)
+      51             :    *
+      52             :    * Units out are meters
+      53             :    */
+      54        6112 :   static inline void UTM(double lat, double lon, double* x, double* y) {
+      55             :     // constants
+      56             :     const static double m0 = (1 - UTM_E2 / 4 - 3 * UTM_E4 / 64 - 5 * UTM_E6 / 256);
+      57             :     const static double m1 = -(3 * UTM_E2 / 8 + 3 * UTM_E4 / 32 + 45 * UTM_E6 / 1024);
+      58             :     const static double m2 = (15 * UTM_E4 / 256 + 45 * UTM_E6 / 1024);
+      59             :     const static double m3 = -(35 * UTM_E6 / 3072);
+      60             : 
+      61             :     // compute the central meridian
+      62        6112 :     int cm = ((lon >= 0.0) ? ((int)lon - ((int)lon) % 6 + 3) : ((int)lon - ((int)lon) % 6 - 3));
+      63             : 
+      64             :     // convert degrees into radians
+      65        6112 :     double rlat  = lat * RADIANS_PER_DEGREE;
+      66        6112 :     double rlon  = lon * RADIANS_PER_DEGREE;
+      67        6112 :     double rlon0 = cm * RADIANS_PER_DEGREE;
+      68             : 
+      69             :     // compute trigonometric functions
+      70        6112 :     double slat = sin(rlat);
+      71        6112 :     double clat = cos(rlat);
+      72        6112 :     double tlat = tan(rlat);
+      73             : 
+      74             :     // decide the false northing at origin
+      75        6112 :     double fn = (lat > 0) ? UTM_FN_N : UTM_FN_S;
+      76             : 
+      77        6112 :     double T = tlat * tlat;
+      78        6112 :     double C = UTM_EP2 * clat * clat;
+      79        6112 :     double A = (rlon - rlon0) * clat;
+      80        6112 :     double M = WGS84_A * (m0 * rlat + m1 * sin(2 * rlat) + m2 * sin(4 * rlat) + m3 * sin(6 * rlat));
+      81        6112 :     double V = WGS84_A / sqrt(1 - UTM_E2 * slat * slat);
+      82             : 
+      83             :     // compute the easting-northing coordinates
+      84        6112 :     *x = UTM_FE + UTM_K0 * V * (A + (1 - T + C) * pow(A, 3) / 6 + (5 - 18 * T + T * T + 72 * C - 58 * UTM_EP2) * pow(A, 5) / 120);
+      85        6068 :     *y = fn +
+      86        6068 :          UTM_K0 *
+      87        6098 :              (M + V * tlat * (A * A / 2 + (5 - T + 9 * C + 4 * C * C) * pow(A, 4) / 24 + ((61 - 58 * T + T * T + 600 * C - 330 * UTM_EP2) * pow(A, 6) / 720)));
+      88             : 
+      89        6068 :     return;
+      90             :   }
+      91             : 
+      92             : 
+      93             :   /**
+      94             :    * Determine the correct UTM letter designator for the
+      95             :    * given latitude
+      96             :    *
+      97             :    * @returns 'Z' if latitude is outside the UTM limits of 84N to 80S
+      98             :    *
+      99             :    * Written by Chuck Gantz- chuck.gantz@globalstar.com
+     100             :    */
+     101      156887 :   static inline char UTMLetterDesignator(double Lat) {
+     102             :     char LetterDesignator;
+     103             : 
+     104      156887 :     if ((84 >= Lat) && (Lat >= 72))
+     105           0 :       LetterDesignator = 'X';
+     106      156887 :     else if ((72 > Lat) && (Lat >= 64))
+     107           0 :       LetterDesignator = 'W';
+     108      156887 :     else if ((64 > Lat) && (Lat >= 56))
+     109           0 :       LetterDesignator = 'V';
+     110      156887 :     else if ((56 > Lat) && (Lat >= 48))
+     111           0 :       LetterDesignator = 'U';
+     112      156887 :     else if ((48 > Lat) && (Lat >= 40))
+     113      155932 :       LetterDesignator = 'T';
+     114         955 :     else if ((40 > Lat) && (Lat >= 32))
+     115           0 :       LetterDesignator = 'S';
+     116         955 :     else if ((32 > Lat) && (Lat >= 24))
+     117           0 :       LetterDesignator = 'R';
+     118         955 :     else if ((24 > Lat) && (Lat >= 16))
+     119           0 :       LetterDesignator = 'Q';
+     120         955 :     else if ((16 > Lat) && (Lat >= 8))
+     121           0 :       LetterDesignator = 'P';
+     122         955 :     else if ((8 > Lat) && (Lat >= 0))
+     123           2 :       LetterDesignator = 'N';
+     124         953 :     else if ((0 > Lat) && (Lat >= -8))
+     125           0 :       LetterDesignator = 'M';
+     126         953 :     else if ((-8 > Lat) && (Lat >= -16))
+     127           0 :       LetterDesignator = 'L';
+     128         953 :     else if ((-16 > Lat) && (Lat >= -24))
+     129           0 :       LetterDesignator = 'K';
+     130         953 :     else if ((-24 > Lat) && (Lat >= -32))
+     131           0 :       LetterDesignator = 'J';
+     132         953 :     else if ((-32 > Lat) && (Lat >= -40))
+     133           0 :       LetterDesignator = 'H';
+     134         953 :     else if ((-40 > Lat) && (Lat >= -48))
+     135           0 :       LetterDesignator = 'G';
+     136         953 :     else if ((-48 > Lat) && (Lat >= -56))
+     137           0 :       LetterDesignator = 'F';
+     138         953 :     else if ((-56 > Lat) && (Lat >= -64))
+     139           0 :       LetterDesignator = 'E';
+     140         953 :     else if ((-64 > Lat) && (Lat >= -72))
+     141           0 :       LetterDesignator = 'D';
+     142         953 :     else if ((-72 > Lat) && (Lat >= -80))
+     143           0 :       LetterDesignator = 'C';
+     144             :     // 'Z' is an error flag, the Latitude is outside the UTM limits
+     145             :     else
+     146         953 :       LetterDesignator = 'Z';
+     147      156887 :     return LetterDesignator;
+     148             :   }
+     149             : 
+     150             :   /**
+     151             :    * Convert lat/long to UTM coords.  Equations from USGS Bulletin 1532
+     152             :    *
+     153             :    * East Longitudes are positive, West longitudes are negative.
+     154             :    * North latitudes are positive, South latitudes are negative
+     155             :    * Lat and Long are in fractional degrees
+     156             :    *
+     157             :    * Written by Chuck Gantz- chuck.gantz@globalstar.com
+     158             :    */
+     159      156946 :   static inline void LLtoUTM(const double Lat, const double Long, double& UTMNorthing, double& UTMEasting, char* UTMZone) {
+     160      156946 :     double a          = WGS84_A;
+     161      156946 :     double eccSquared = UTM_E2;
+     162      156946 :     double k0         = UTM_K0;
+     163             : 
+     164             :     double LongOrigin;
+     165             :     double eccPrimeSquared;
+     166             :     double N, T, C, A, M;
+     167             : 
+     168             :     // Make sure the longitude is between -180.00 .. 179.9
+     169      156946 :     double LongTemp = (Long + 180) - int((Long + 180) / 360) * 360 - 180;
+     170             : 
+     171      156946 :     double LatRad  = Lat * RADIANS_PER_DEGREE;
+     172      156946 :     double LongRad = LongTemp * RADIANS_PER_DEGREE;
+     173             :     double LongOriginRad;
+     174             :     int    ZoneNumber;
+     175             : 
+     176      156946 :     ZoneNumber = int((LongTemp + 180) / 6) + 1;
+     177             :     // range clamping to shut up some compiler warnings
+     178             :     // (the UTM Zone number should in reality be in the range <1, 60>)
+     179      156946 :     if (ZoneNumber > 99)
+     180           0 :       ZoneNumber = 99;
+     181      156946 :     if (ZoneNumber < -9)
+     182           0 :       ZoneNumber = -9;
+     183             : 
+     184      156946 :     if (Lat >= 56.0 && Lat < 64.0 && LongTemp >= 3.0 && LongTemp < 12.0)
+     185           0 :       ZoneNumber = 32;
+     186             : 
+     187             :     // Special zones for Svalbard
+     188      156946 :     if (Lat >= 72.0 && Lat < 84.0) {
+     189           0 :       if (LongTemp >= 0.0 && LongTemp < 9.0)
+     190           0 :         ZoneNumber = 31;
+     191           0 :       else if (LongTemp >= 9.0 && LongTemp < 21.0)
+     192           0 :         ZoneNumber = 33;
+     193           0 :       else if (LongTemp >= 21.0 && LongTemp < 33.0)
+     194           0 :         ZoneNumber = 35;
+     195           0 :       else if (LongTemp >= 33.0 && LongTemp < 42.0)
+     196           0 :         ZoneNumber = 37;
+     197             :     }
+     198             :     // +3 puts origin in middle of zone
+     199      156946 :     LongOrigin    = (ZoneNumber - 1) * 6 - 180 + 3;
+     200      156946 :     LongOriginRad = LongOrigin * RADIANS_PER_DEGREE;
+     201             : 
+     202             :     // compute the UTM Zone from the latitude and longitude
+     203      156946 :     snprintf(UTMZone, 4, "%d%c", ZoneNumber, UTMLetterDesignator(Lat));
+     204             : 
+     205      156254 :     eccPrimeSquared = (eccSquared) / (1 - eccSquared);
+     206             : 
+     207      156254 :     N = a / sqrt(1 - eccSquared * sin(LatRad) * sin(LatRad));
+     208      156254 :     T = tan(LatRad) * tan(LatRad);
+     209      156254 :     C = eccPrimeSquared * cos(LatRad) * cos(LatRad);
+     210      156254 :     A = cos(LatRad) * (LongRad - LongOriginRad);
+     211             : 
+     212      156254 :     M = a * ((1 - eccSquared / 4 - 3 * eccSquared * eccSquared / 64 - 5 * eccSquared * eccSquared * eccSquared / 256) * LatRad -
+     213      156254 :              (3 * eccSquared / 8 + 3 * eccSquared * eccSquared / 32 + 45 * eccSquared * eccSquared * eccSquared / 1024) * sin(2 * LatRad) +
+     214      156254 :              (15 * eccSquared * eccSquared / 256 + 45 * eccSquared * eccSquared * eccSquared / 1024) * sin(4 * LatRad) -
+     215      156254 :              (35 * eccSquared * eccSquared * eccSquared / 3072) * sin(6 * LatRad));
+     216             : 
+     217      156254 :     UTMEasting =
+     218      156254 :         (double)(k0 * N * (A + (1 - T + C) * A * A * A / 6 + (5 - 18 * T + T * T + 72 * C - 58 * eccPrimeSquared) * A * A * A * A * A / 120) + 500000.0);
+     219             : 
+     220      156254 :     UTMNorthing = (double)(k0 * (M + N * tan(LatRad) *
+     221      156254 :                                          (A * A / 2 + (5 - T + 9 * C + 4 * C * C) * A * A * A * A / 24 +
+     222      156254 :                                           (61 - 58 * T + T * T + 600 * C - 330 * eccPrimeSquared) * A * A * A * A * A * A / 720)));
+     223      156254 :     if (Lat < 0)
+     224           0 :       UTMNorthing += 10000000.0;  // 10000000 meter offset for southern hemisphere
+     225      156254 :   }
+     226             : 
+     227             :   static inline void LLtoUTM(const double Lat, const double Long, double& UTMNorthing, double& UTMEasting, std::string& UTMZone) {
+     228             :     char zone_buf[] = {0, 0, 0, 0};
+     229             : 
+     230             :     LLtoUTM(Lat, Long, UTMNorthing, UTMEasting, zone_buf);
+     231             : 
+     232             :     UTMZone = zone_buf;
+     233             :   }
+     234             : 
+     235             : 
+     236             :   /**
+     237             :    * Converts UTM coords to lat/long.  Equations from USGS Bulletin 1532
+     238             :    *
+     239             :    * East Longitudes are positive, West longitudes are negative.
+     240             :    * North latitudes are positive, South latitudes are negative
+     241             :    * Lat and Long are in fractional degrees.
+     242             :    *
+     243             :    * Written by Chuck Gantz- chuck.gantz@globalstar.com
+     244             :    */
+     245        2160 :   static inline void UTMtoLL(const double UTMNorthing, const double UTMEasting, const char* UTMZone, double& Lat, double& Long) {
+     246        2160 :     double                  k0         = UTM_K0;
+     247        2160 :     double                  a          = WGS84_A;
+     248        2160 :     double                  eccSquared = UTM_E2;
+     249             :     double                  eccPrimeSquared;
+     250        2160 :     double                  e1 = (1 - sqrt(1 - eccSquared)) / (1 + sqrt(1 - eccSquared));
+     251             :     double                  N1, T1, C1, R1, D, M;
+     252             :     double                  LongOrigin;
+     253             :     double                  mu, phi1Rad;
+     254             :     [[maybe_unused]] double phi1;
+     255             :     double                  x, y;
+     256             :     int                     ZoneNumber;
+     257             :     char*                   ZoneLetter;
+     258             :     [[maybe_unused]] int    NorthernHemisphere;  // 1 for northern hemispher, 0 for southern
+     259             : 
+     260        2160 :     x = UTMEasting - 500000.0;  // remove 500,000 meter offset for longitude
+     261        2160 :     y = UTMNorthing;
+     262             : 
+     263        2160 :     ZoneNumber = strtoul(UTMZone, &ZoneLetter, 10);
+     264        2160 :     if ((*ZoneLetter - 'N') >= 0)
+     265        2160 :       NorthernHemisphere = 1;  // point is in northern hemisphere
+     266             :     else {
+     267           0 :       NorthernHemisphere = 0;  // point is in southern hemisphere
+     268           0 :       y -= 10000000.0;         // remove 10,000,000 meter offset used for southern hemisphere
+     269             :     }
+     270             : 
+     271        2160 :     LongOrigin = (ZoneNumber - 1) * 6 - 180 + 3;  //+3 puts origin in middle of zone
+     272             : 
+     273        2160 :     eccPrimeSquared = (eccSquared) / (1 - eccSquared);
+     274             : 
+     275        2160 :     M  = y / k0;
+     276        2160 :     mu = M / (a * (1 - eccSquared / 4 - 3 * eccSquared * eccSquared / 64 - 5 * eccSquared * eccSquared * eccSquared / 256));
+     277             : 
+     278        2160 :     phi1Rad = mu + (3 * e1 / 2 - 27 * e1 * e1 * e1 / 32) * sin(2 * mu) + (21 * e1 * e1 / 16 - 55 * e1 * e1 * e1 * e1 / 32) * sin(4 * mu) +
+     279        2160 :               (151 * e1 * e1 * e1 / 96) * sin(6 * mu);
+     280        2160 :     phi1 = phi1Rad * DEGREES_PER_RADIAN;
+     281             : 
+     282        2160 :     N1 = a / sqrt(1 - eccSquared * sin(phi1Rad) * sin(phi1Rad));
+     283        2160 :     T1 = tan(phi1Rad) * tan(phi1Rad);
+     284        2160 :     C1 = eccPrimeSquared * cos(phi1Rad) * cos(phi1Rad);
+     285        2160 :     R1 = a * (1 - eccSquared) / pow(1 - eccSquared * sin(phi1Rad) * sin(phi1Rad), 1.5);
+     286        2160 :     D  = x / (N1 * k0);
+     287             : 
+     288        2160 :     Lat = phi1Rad - (N1 * tan(phi1Rad) / R1) * (D * D / 2 - (5 + 3 * T1 + 10 * C1 - 4 * C1 * C1 - 9 * eccPrimeSquared) * D * D * D * D / 24 +
+     289        2160 :                                                 (61 + 90 * T1 + 298 * C1 + 45 * T1 * T1 - 252 * eccPrimeSquared - 3 * C1 * C1) * D * D * D * D * D * D / 720);
+     290        2160 :     Lat = Lat * DEGREES_PER_RADIAN;
+     291             : 
+     292        2160 :     Long = (D - (1 + 2 * T1 + C1) * D * D * D / 6 + (5 - 2 * C1 + 28 * T1 - 3 * C1 * C1 + 8 * eccPrimeSquared + 24 * T1 * T1) * D * D * D * D * D / 120) /
+     293        2160 :            cos(phi1Rad);
+     294        2160 :     Long = LongOrigin + Long * DEGREES_PER_RADIAN;
+     295        2160 :   }
+     296             : 
+     297             :   static inline void UTMtoLL(const double UTMNorthing, const double UTMEasting, std::string UTMZone, double& Lat, double& Long) {
+     298             :     UTMtoLL(UTMNorthing, UTMEasting, UTMZone.c_str(), Lat, Long);
+     299             :   }
+     300             : 
+     301             : }  // namespace mrs_lib
+     302             : 
+     303             : #endif  // _UTM_H
+
+
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Current view:top level - mrs_lib/include/mrs_lib/implHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:36646678.5 %
Date:2024-08-07 22:18:19Functions:836147056.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
subscribe_handler.hpp +
74.0%74.0%
+ 		74.0 %97 / 13144.9 %501 / 1116
<unnamed>74.0 %97 / 13144.9 %501 / 1116
ukf.hpp +
74.0%74.0%
+ 		74.0 %77 / 10466.7 %8 / 12
<unnamed>74.0 %77 / 10466.7 %8 / 12
transformer.hpp +
85.9%85.9%
+ 		85.9 %55 / 6487.5 %42 / 48
<unnamed>85.9 %55 / 6487.5 %42 / 48
service_client_handler.hpp +
80.0%80.0%
+ 		80.0 %52 / 6592.2 %47 / 51
<unnamed>80.0 %52 / 6592.2 %47 / 51
publisher_handler.hpp +
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+ 		81.5 %44 / 5497.6 %201 / 206
<unnamed>81.5 %44 / 5497.6 %201 / 206
timer.hpp +
87.5%87.5%
+ 		87.5 %14 / 16100.0 %3 / 3
<unnamed>87.5 %14 / 16100.0 %3 / 3
param_provider.hpp +
64.3%64.3%
+ 		64.3 %9 / 14100.0 %16 / 16
<unnamed>64.3 %9 / 14100.0 %16 / 16
vector_converter.hpp +
100.0%
+ 		100.0 %18 / 18100.0 %18 / 18
<unnamed>100.0 %18 / 18100.0 %18 / 18
+
+
+ + + + +
Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/implHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:36646678.5 %
Date:2024-08-07 22:18:19Functions:836147056.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
param_provider.hpp +
64.3%64.3%
+ 		64.3 %9 / 14100.0 %16 / 16
<unnamed>64.3 %9 / 14100.0 %16 / 16
ukf.hpp +
74.0%74.0%
+ 		74.0 %77 / 10466.7 %8 / 12
<unnamed>74.0 %77 / 10466.7 %8 / 12
subscribe_handler.hpp +
74.0%74.0%
+ 		74.0 %97 / 13144.9 %501 / 1116
<unnamed>74.0 %97 / 13144.9 %501 / 1116
service_client_handler.hpp +
80.0%80.0%
+ 		80.0 %52 / 6592.2 %47 / 51
<unnamed>80.0 %52 / 6592.2 %47 / 51
publisher_handler.hpp +
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+ 		81.5 %44 / 5497.6 %201 / 206
<unnamed>81.5 %44 / 5497.6 %201 / 206
transformer.hpp +
85.9%85.9%
+ 		85.9 %55 / 6487.5 %42 / 48
<unnamed>85.9 %55 / 6487.5 %42 / 48
timer.hpp +
87.5%87.5%
+ 		87.5 %14 / 16100.0 %3 / 3
<unnamed>87.5 %14 / 16100.0 %3 / 3
vector_converter.hpp +
100.0%
+ 		100.0 %18 / 18100.0 %18 / 18
<unnamed>100.0 %18 / 18100.0 %18 / 18
+
+
+ + + + +
Generated by: LCOV version 1.14
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Current view:top level - mrs_lib/include/mrs_lib/implHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:36646678.5 %
Date:2024-08-07 22:18:19Functions:836147056.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
param_provider.hpp +
64.3%64.3%
+ 		64.3 %9 / 14100.0 %16 / 16
<unnamed>64.3 %9 / 14100.0 %16 / 16
publisher_handler.hpp +
81.5%81.5%
+ 		81.5 %44 / 5497.6 %201 / 206
<unnamed>81.5 %44 / 5497.6 %201 / 206
service_client_handler.hpp +
80.0%80.0%
+ 		80.0 %52 / 6592.2 %47 / 51
<unnamed>80.0 %52 / 6592.2 %47 / 51
subscribe_handler.hpp +
74.0%74.0%
+ 		74.0 %97 / 13144.9 %501 / 1116
<unnamed>74.0 %97 / 13144.9 %501 / 1116
timer.hpp +
87.5%87.5%
+ 		87.5 %14 / 16100.0 %3 / 3
<unnamed>87.5 %14 / 16100.0 %3 / 3
transformer.hpp +
85.9%85.9%
+ 		85.9 %55 / 6487.5 %42 / 48
<unnamed>85.9 %55 / 6487.5 %42 / 48
ukf.hpp +
74.0%74.0%
+ 		74.0 %77 / 10466.7 %8 / 12
<unnamed>74.0 %77 / 10466.7 %8 / 12
vector_converter.hpp +
100.0%
+ 		100.0 %18 / 18100.0 %18 / 18
<unnamed>100.0 %18 / 18100.0 %18 / 18
+
+
+ + + + +
Generated by: LCOV version 1.14
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Current view:top level - mrs_lib/include/mrs_lib/implHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:36646678.5 %
Date:2024-08-07 22:18:19Functions:836147056.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
subscribe_handler.hpp +
74.0%74.0%
+ 		74.0 %97 / 13144.9 %501 / 1116
ukf.hpp +
74.0%74.0%
+ 		74.0 %77 / 10466.7 %8 / 12
transformer.hpp +
85.9%85.9%
+ 		85.9 %55 / 6487.5 %42 / 48
service_client_handler.hpp +
80.0%80.0%
+ 		80.0 %52 / 6592.2 %47 / 51
publisher_handler.hpp +
81.5%81.5%
+ 		81.5 %44 / 5497.6 %201 / 206
timer.hpp +
87.5%87.5%
+ 		87.5 %14 / 16100.0 %3 / 3
param_provider.hpp +
64.3%64.3%
+ 		64.3 %9 / 14100.0 %16 / 16
vector_converter.hpp +
100.0%
+ 		100.0 %18 / 18100.0 %18 / 18
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/impl/index-sort-l.html b/mrs_lib/include/mrs_lib/impl/index-sort-l.html new file mode 100644 index 0000000000..1ce4c2a178 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/index-sort-l.html @@ -0,0 +1,172 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/implHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:36646678.5 %
Date:2024-08-07 22:18:19Functions:836147056.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
param_provider.hpp +
64.3%64.3%
+ 		64.3 %9 / 14100.0 %16 / 16
ukf.hpp +
74.0%74.0%
+ 		74.0 %77 / 10466.7 %8 / 12
subscribe_handler.hpp +
74.0%74.0%
+ 		74.0 %97 / 13144.9 %501 / 1116
service_client_handler.hpp +
80.0%80.0%
+ 		80.0 %52 / 6592.2 %47 / 51
publisher_handler.hpp +
81.5%81.5%
+ 		81.5 %44 / 5497.6 %201 / 206
transformer.hpp +
85.9%85.9%
+ 		85.9 %55 / 6487.5 %42 / 48
timer.hpp +
87.5%87.5%
+ 		87.5 %14 / 16100.0 %3 / 3
vector_converter.hpp +
100.0%
+ 		100.0 %18 / 18100.0 %18 / 18
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/impl/index.html b/mrs_lib/include/mrs_lib/impl/index.html new file mode 100644 index 0000000000..ff072e9e56 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/index.html @@ -0,0 +1,172 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/implHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:36646678.5 %
Date:2024-08-07 22:18:19Functions:836147056.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
param_provider.hpp +
64.3%64.3%
+ 		64.3 %9 / 14100.0 %16 / 16
publisher_handler.hpp +
81.5%81.5%
+ 		81.5 %44 / 5497.6 %201 / 206
service_client_handler.hpp +
80.0%80.0%
+ 		80.0 %52 / 6592.2 %47 / 51
subscribe_handler.hpp +
74.0%74.0%
+ 		74.0 %97 / 13144.9 %501 / 1116
timer.hpp +
87.5%87.5%
+ 		87.5 %14 / 16100.0 %3 / 3
transformer.hpp +
85.9%85.9%
+ 		85.9 %55 / 6487.5 %42 / 48
ukf.hpp +
74.0%74.0%
+ 		74.0 %77 / 10466.7 %8 / 12
vector_converter.hpp +
100.0%
+ 		100.0 %18 / 18100.0 %18 / 18
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/impl/param_provider.hpp.func-sort-c.html b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.func-sort-c.html new file mode 100644 index 0000000000..84ecc0ef37 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.func-sort-c.html @@ -0,0 +1,144 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/param_provider.hpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/impl - param_provider.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:91464.3 %
Date:2024-08-07 22:18:19Functions:1616100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
bool mrs_lib::ParamProvider::getParamImpl<std::vector<int, std::allocator<int> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<int, std::allocator<int> >&) const5
bool mrs_lib::ParamProvider::getParam<std::vector<int, std::allocator<int> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<int, std::allocator<int> >&) const5
bool mrs_lib::ParamProvider::getParamImpl<std::vector<float, std::allocator<float> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<float, std::allocator<float> >&) const10
bool mrs_lib::ParamProvider::getParam<std::vector<float, std::allocator<float> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<float, std::allocator<float> >&) const10
bool mrs_lib::ParamProvider::getParamImpl<std::vector<double, std::allocator<double> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<double, std::allocator<double> >&) const1933
bool mrs_lib::ParamProvider::getParam<std::vector<double, std::allocator<double> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<double, std::allocator<double> >&) const1933
bool mrs_lib::ParamProvider::getParamImpl<std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >&) const3796
bool mrs_lib::ParamProvider::getParam<std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >&) const3796
bool mrs_lib::ParamProvider::getParamImpl<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const5478
bool mrs_lib::ParamProvider::getParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const5478
bool mrs_lib::ParamProvider::getParamImpl<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&) const18513
bool mrs_lib::ParamProvider::getParam<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&) const18513
bool mrs_lib::ParamProvider::getParamImpl<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&) const21762
bool mrs_lib::ParamProvider::getParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&) const21762
bool mrs_lib::ParamProvider::getParamImpl<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const44367
bool mrs_lib::ParamProvider::getParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const44367
+
+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/impl/param_provider.hpp.func.html b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.func.html new file mode 100644 index 0000000000..f514879698 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.func.html @@ -0,0 +1,144 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/param_provider.hpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/impl - param_provider.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:91464.3 %
Date:2024-08-07 22:18:19Functions:1616100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
bool mrs_lib::ParamProvider::getParamImpl<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&) const18513
bool mrs_lib::ParamProvider::getParamImpl<std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >&) const3796
bool mrs_lib::ParamProvider::getParamImpl<std::vector<double, std::allocator<double> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<double, std::allocator<double> >&) const1933
bool mrs_lib::ParamProvider::getParamImpl<std::vector<float, std::allocator<float> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<float, std::allocator<float> >&) const10
bool mrs_lib::ParamProvider::getParamImpl<std::vector<int, std::allocator<int> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<int, std::allocator<int> >&) const5
bool mrs_lib::ParamProvider::getParamImpl<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&) const21762
bool mrs_lib::ParamProvider::getParamImpl<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const44367
bool mrs_lib::ParamProvider::getParamImpl<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const5478
bool mrs_lib::ParamProvider::getParam<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&) const18513
bool mrs_lib::ParamProvider::getParam<std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >&) const3796
bool mrs_lib::ParamProvider::getParam<std::vector<double, std::allocator<double> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<double, std::allocator<double> >&) const1933
bool mrs_lib::ParamProvider::getParam<std::vector<float, std::allocator<float> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<float, std::allocator<float> >&) const10
bool mrs_lib::ParamProvider::getParam<std::vector<int, std::allocator<int> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<int, std::allocator<int> >&) const5
bool mrs_lib::ParamProvider::getParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&) const21762
bool mrs_lib::ParamProvider::getParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const44367
bool mrs_lib::ParamProvider::getParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const5478
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/impl/param_provider.hpp.gcov.frameset.html b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.gcov.frameset.html new file mode 100644 index 0000000000..150116899e --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/param_provider.hpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/impl/param_provider.hpp.gcov.html b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.gcov.html new file mode 100644 index 0000000000..f3cad7c48d --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.gcov.html @@ -0,0 +1,132 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/param_provider.hpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/impl - param_provider.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:91464.3 %
Date:2024-08-07 22:18:19Functions:1616100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef PARAM_PROVIDER_HPP
+       2             : #define PARAM_PROVIDER_HPP
+       3             : 
+       4             : #include <mrs_lib/param_provider.h>
+       5             : 
+       6             : namespace mrs_lib
+       7             : {
+       8             :   template <typename T>
+       9       95864 :   bool ParamProvider::getParam(const std::string& param_name, T& value_out) const
+      10             :   {
+      11             :     try
+      12             :     {
+      13       95864 :       return getParamImpl(param_name, value_out);
+      14             :     }
+      15           0 :     catch (const YAML::Exception& e)
+      16             :     {
+      17           0 :       ROS_ERROR_STREAM("[" << m_node_name << "]: YAML-CPP threw an unknown exception: " << e.what());
+      18           0 :       return false;
+      19             :     }
+      20             :   }
+      21             : 
+      22             :   template <typename T>
+      23       95864 :   bool ParamProvider::getParamImpl(const std::string& param_name, T& value_out) const
+      24             :   {
+      25             :     {
+      26       95864 :       const auto found_node = findYamlNode(param_name);
+      27       95864 :       if (found_node.has_value())
+      28             :       {
+      29             :         try
+      30             :         {
+      31             :           // try catch is the only type-generic option...
+      32       82385 :           value_out = found_node.value().as<T>();
+      33       82385 :           return true;
+      34             :         }
+      35           0 :         catch (const YAML::BadConversion& e)
+      36             :         {}
+      37             :       }
+      38             : 
+      39             :     }
+      40             : 
+      41       13479 :     if (m_use_rosparam)
+      42       13479 :       return m_nh.getParam(param_name, value_out);
+      43             : 
+      44           0 :     return false;
+      45             :   }
+      46             : }
+      47             : 
+      48             : #endif // PARAM_PROVIDER_HPP
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/impl/param_provider.hpp.gcov.overview.html b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.gcov.overview.html new file mode 100644 index 0000000000..69615a5af4 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.gcov.overview.html @@ -0,0 +1,32 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/param_provider.hpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_lib/include/mrs_lib/impl/param_provider.hpp.gcov.png b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..ade5b52da3b6b1fdc1937ea78b6f4e330848bd5b GIT binary patch literal 347 zcmeAS@N?(olHy`uVBq!ia0vp^0YGfP!VDx!PCqyTq$C1-LR|m<|Gx?dmcNgUef6J# zVHHpuOr7)IycEdhEbxddW?exI8~cZ8YuYE)5S5wqIYZPZNU}=o)*3ZtZx{i z8u&c^ua)V4vEbQ`uWa8BH!8ks+tGO{D*FweDWeR>Vxdgy18WjYI0V;~sH}Yceuu!e z0;l^`b$NRN&slSXO8W};Xs>xVM=ia4YFWZ0Ew@EJE}d3Ju7autr`5k7@L&&0yLLsS zDBjGHPiM9KksV){!x#LxZ@Z~}-j3&;nl`5^?b8Y_Wi{U3e%V`LO6vLxN&VqovDxc< zWm#+Y&A45X$$2MVXKT~#-D!1_>~XuLzF#sey8p%D#18$4a?^(i^D?KlC?1vmcshZ# noy}F#!c60lb+eQ5{_FfwLML{x?EUc*=xGK|S3j3^P6 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/publisher_handler.hpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/impl - publisher_handler.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:445481.5 %
Date:2024-08-07 22:18:19Functions:20120697.6 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > const&)0
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)0
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > > const&)0
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > const&)0
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)0
mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)1
mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > > const&)1
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::publish(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)1
mrs_lib::PublisherHandler_impl<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)1
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::publish(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)1
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)2
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > > const&)2
mrs_lib::PublisherHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::publish(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&)2
mrs_lib::PublisherHandler<std_msgs::Int64_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)2
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)2
mrs_lib::PublisherHandler_impl<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::publish(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&)2
mrs_lib::PublisherHandler_impl<std_msgs::Int64_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)2
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::publish(mrs_msgs::Path_<std::allocator<void> > const&)5
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::publish(mrs_msgs::Path_<std::allocator<void> > const&)5
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)31
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > > const&)31
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)31
mrs_lib::PublisherHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::publish(mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)94
mrs_lib::PublisherHandler_impl<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::publish(mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)94
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<std_msgs::String_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)109
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)109
mrs_lib::PublisherHandler<std_msgs::Int64_<std::allocator<void> > >::publish(std_msgs::Int64_<std::allocator<void> > const&)110
mrs_lib::PublisherHandler_impl<std_msgs::Int64_<std::allocator<void> > >::publish(std_msgs::Int64_<std::allocator<void> > const&)110
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)115
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > > const&)115
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)115
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)216
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)216
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > > const&)217
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)224
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > > const&)224
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)224
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)317
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > > const&)317
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)317
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)432
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > > const&)432
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)432
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > > const&)432
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)432
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > > const&)432
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)432
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)432
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)432
mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::publish(mrs_msgs::ObstacleSectors_<std::allocator<void> > const&)436
mrs_lib::PublisherHandler_impl<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::publish(mrs_msgs::ObstacleSectors_<std::allocator<void> > const&)436
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)441
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)531
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)531
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)534
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)534
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)627
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > > const&)627
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)627
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)648
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > > const&)648
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)648
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)828
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > > const&)828
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)828
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1025
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1025
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1104
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1104
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)1828
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)1828
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)1831
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)1831
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)2255
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)2255
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)2291
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)2291
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::publish(mrs_msgs::FutureTrajectory_<std::allocator<void> > const&)2325
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::publish(mrs_msgs::FutureTrajectory_<std::allocator<void> > const&)2325
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2410
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2410
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3984
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3984
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)4042
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)4042
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::publish(mrs_msgs::HwApiRcChannels_<std::allocator<void> > const&)7383
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::publish(mrs_msgs::HwApiRcChannels_<std::allocator<void> > const&)7383
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)8283
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)8283
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)9378
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)9378
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)11861
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)11861
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)12943
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)12943
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)15868
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)15868
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)18716
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)18716
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)19103
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)19103
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)24021
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::publish(std_msgs::String_<std::allocator<void> > const&)24021
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)24021
mrs_lib::PublisherHandler_impl<std_msgs::String_<std::allocator<void> > >::publish(std_msgs::String_<std::allocator<void> > const&)24021
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)36294
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)36294
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)96338
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)96338
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)100131
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)100131
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)102222
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)102222
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)110958
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)110958
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)148472
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)148472
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)155321
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::publish(geometry_msgs::PoseArray_<std::allocator<void> > const&)168772
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::publish(geometry_msgs::PoseArray_<std::allocator<void> > const&)168772
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)214395
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)214396
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)249448
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)249448
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)380393
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)380418
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)382113
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)382164
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)527603
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)528977
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)742645
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)743212
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)809116
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)809127
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)1519081
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)1519378
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.func.html b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.func.html new file mode 100644 index 0000000000..61e9fdd168 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.func.html @@ -0,0 +1,904 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/publisher_handler.hpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/impl - publisher_handler.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:445481.5 %
Date:2024-08-07 22:18:19Functions:20120697.6 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::publish(geometry_msgs::PoseArray_<std::allocator<void> > const&)168772
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)432
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > > const&)432
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)100131
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)216
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)214396
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)115
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > > const&)115
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)36294
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)648
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > > const&)648
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)11861
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)96338
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)382164
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)627
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > > const&)627
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)110958
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)743212
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)432
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > > const&)432
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::publish(mrs_msgs::HwApiRcChannels_<std::allocator<void> > const&)7383
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)2
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > > const&)2
mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::publish(mrs_msgs::ObstacleSectors_<std::allocator<void> > const&)436
mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)1
mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > > const&)1
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::publish(mrs_msgs::FutureTrajectory_<std::allocator<void> > const&)2325
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3984
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)8283
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)534
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)15868
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)1519378
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)828
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > > const&)828
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)528977
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)317
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > > const&)317
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)2291
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)109
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > > const&)217
mrs_lib::PublisherHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::publish(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&)2
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > const&)0
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)0
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > > const&)0
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)102222
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)4042
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)148472
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)18716
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)24021
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)2255
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)1828
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1104
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2410
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::publish(mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)94
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)19103
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1025
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > > const&)216
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)1831
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::publish(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)1
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::publish(mrs_msgs::Path_<std::allocator<void> > const&)5
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)380418
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)224
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > > const&)224
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)809127
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)155321
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)531
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)441
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)9378
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)31
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > > const&)31
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)12943
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<std_msgs::Int64_<std::allocator<void> > >::publish(std_msgs::Int64_<std::allocator<void> > const&)110
mrs_lib::PublisherHandler<std_msgs::Int64_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)2
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::publish(std_msgs::String_<std::allocator<void> > const&)24021
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > > const&)108
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)249448
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)432
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > > const&)432
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::publish(geometry_msgs::PoseArray_<std::allocator<void> > const&)168772
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)432
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)100131
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)216
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)214395
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)115
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)36294
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)648
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)11861
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)96338
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)382113
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)627
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)110958
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)742645
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)432
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::publish(mrs_msgs::HwApiRcChannels_<std::allocator<void> > const&)7383
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)2
mrs_lib::PublisherHandler_impl<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::publish(mrs_msgs::ObstacleSectors_<std::allocator<void> > const&)436
mrs_lib::PublisherHandler_impl<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)1
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::publish(mrs_msgs::FutureTrajectory_<std::allocator<void> > const&)2325
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3984
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)8283
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)534
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)15868
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)1519081
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)828
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)527603
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)317
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)2291
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)109
mrs_lib::PublisherHandler_impl<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::publish(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&)2
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > const&)0
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)0
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)102222
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)4042
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)148472
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)18716
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)24021
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)2255
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)1828
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1104
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2410
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::publish(mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)94
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)19103
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1025
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)1831
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::publish(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)1
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::publish(mrs_msgs::Path_<std::allocator<void> > const&)5
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)380393
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)224
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)809116
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)531
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)9378
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)31
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)12943
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<std_msgs::Int64_<std::allocator<void> > >::publish(std_msgs::Int64_<std::allocator<void> > const&)110
mrs_lib::PublisherHandler_impl<std_msgs::Int64_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)2
mrs_lib::PublisherHandler_impl<std_msgs::String_<std::allocator<void> > >::publish(std_msgs::String_<std::allocator<void> > const&)24021
mrs_lib::PublisherHandler_impl<std_msgs::String_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)108
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)249448
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)432
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+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.frameset.html b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.frameset.html new file mode 100644 index 0000000000..0082e6a657 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/publisher_handler.hpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.html b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.html new file mode 100644 index 0000000000..7c321e63ed --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.html @@ -0,0 +1,332 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/publisher_handler.hpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/impl - publisher_handler.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:445481.5 %
Date:2024-08-07 22:18:19Functions:20120697.6 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef PUBLISHER_HANDLER_HPP
+       2             : #define PUBLISHER_HANDLER_HPP
+       3             : 
+       4             : namespace mrs_lib
+       5             : {
+       6             : 
+       7             : // --------------------------------------------------------------
+       8             : // |                    PublisherHandler_impl                   |
+       9             : // --------------------------------------------------------------
+      10             : 
+      11             : /* PublisherHandler_impl(void) //{ */
+      12             : 
+      13             : template <class TopicType>
+      14             : PublisherHandler_impl<TopicType>::PublisherHandler_impl(void) : publisher_initialized_(false) {
+      15             : }
+      16             : 
+      17             : //}
+      18             : 
+      19             : /* PublisherHandler_impl(ros::NodeHandle& nh, const std::string& address, const unsigned int &buffer_size, const bool &latch) //{ */
+      20             : 
+      21             : template <class TopicType>
+      22        7431 : PublisherHandler_impl<TopicType>::PublisherHandler_impl(ros::NodeHandle& nh, const std::string& address, const unsigned int& buffer_size, const bool& latch,
+      23        7431 :                                                         const double& rate) {
+      24             : 
+      25             :   {
+      26        7431 :     std::scoped_lock lock(mutex_publisher_);
+      27             : 
+      28        7431 :     publisher_ = nh.advertise<TopicType>(address, buffer_size, latch);
+      29             : 
+      30        7431 :     if (rate > 0.0) {
+      31             : 
+      32         757 :       throttle_ = true;
+      33             : 
+      34         757 :       throttle_min_dt_ = 1.0 / rate;
+      35             : 
+      36             :     } else {
+      37             : 
+      38        6674 :       throttle_ = false;
+      39             : 
+      40        6674 :       throttle_min_dt_ = 0;
+      41             :     }
+      42             : 
+      43        7431 :     last_time_published_ = ros::Time(0);
+      44             :   }
+      45             : 
+      46        7431 :   publisher_initialized_ = true;
+      47        7431 : }
+      48             : 
+      49             : //}
+      50             : 
+      51             : /* publish(TopicType& msg) //{ */
+      52             : 
+      53             : template <class TopicType>
+      54     5763834 : void PublisherHandler_impl<TopicType>::publish(const TopicType& msg) {
+      55             : 
+      56     5763834 :   if (!publisher_initialized_) {
+      57           0 :     return;
+      58             :   }
+      59             : 
+      60             :   {
+      61     5763116 :     std::scoped_lock lock(mutex_publisher_);
+      62             : 
+      63     5763503 :     if (throttle_) {
+      64             : 
+      65      300852 :       if ((ros::Time::now() - last_time_published_).toSec() < throttle_min_dt_) {
+      66      196066 :         return;
+      67             :       }
+      68             : 
+      69      104786 :       last_time_published_ = ros::Time::now();
+      70             :     }
+      71             : 
+      72             :     try {
+      73     5567437 :       publisher_.publish(msg);
+      74             :     }
+      75           0 :     catch (...) {
+      76           0 :       ROS_ERROR("exception caught during publishing topic '%s'", publisher_.getTopic().c_str());
+      77             :     }
+      78             :   }
+      79             : }
+      80             : 
+      81             : //}
+      82             : 
+      83             : /* publish(const boost::shared_ptr<TopicType>& msg) //{ */
+      84             : 
+      85             : template <class TopicType>
+      86             : void PublisherHandler_impl<TopicType>::publish(const boost::shared_ptr<TopicType>& msg) {
+      87             : 
+      88             :   if (!publisher_initialized_) {
+      89             :     return;
+      90             :   }
+      91             : 
+      92             :   {
+      93             :     std::scoped_lock lock(mutex_publisher_);
+      94             : 
+      95             :     if (throttle_) {
+      96             : 
+      97             :       if ((ros::Time::now() - last_time_published_).toSec() < throttle_min_dt_) {
+      98             :         return;
+      99             :       }
+     100             : 
+     101             :       last_time_published_ = ros::Time::now();
+     102             :     }
+     103             : 
+     104             :     try {
+     105             :       publisher_.publish(msg);
+     106             :     }
+     107             :     catch (...) {
+     108             :       ROS_ERROR("exception caught during publishing topic '%s'", publisher_.getTopic().c_str());
+     109             :     }
+     110             :   }
+     111             : }
+     112             : 
+     113             : //}
+     114             : 
+     115             : /* publish(const boost::shared_ptr<TopicType const>& msg) //{ */
+     116             : 
+     117             : template <class TopicType>
+     118           1 : void PublisherHandler_impl<TopicType>::publish(const boost::shared_ptr<TopicType const>& msg) {
+     119             : 
+     120           1 :   if (!publisher_initialized_) {
+     121           0 :     return;
+     122             :   }
+     123             : 
+     124             :   {
+     125           1 :     std::scoped_lock lock(mutex_publisher_);
+     126             : 
+     127           1 :     if (throttle_) {
+     128             : 
+     129           0 :       if ((ros::Time::now() - last_time_published_).toSec() < throttle_min_dt_) {
+     130           0 :         return;
+     131             :       }
+     132             : 
+     133           0 :       last_time_published_ = ros::Time::now();
+     134             :     }
+     135             : 
+     136             :     try {
+     137           1 :       publisher_.publish(msg);
+     138             :     }
+     139           0 :     catch (...) {
+     140           0 :       ROS_ERROR("exception caught during publishing topic '%s'", publisher_.getTopic().c_str());
+     141             :     }
+     142             :   }
+     143             : }
+     144             : 
+     145             : //}
+     146             : 
+     147             : /* getNumSubscribers(void) //{ */
+     148             : 
+     149             : template <class TopicType>
+     150             : unsigned int PublisherHandler_impl<TopicType>::getNumSubscribers(void) {
+     151             : 
+     152             :   {
+     153             :     std::scoped_lock lock(mutex_publisher_);
+     154             : 
+     155             :     return publisher_.getNumSubscribers();
+     156             :   }
+     157             : }
+     158             : 
+     159             : //}
+     160             : 
+     161             : // --------------------------------------------------------------
+     162             : // |                      PublisherHandler                      |
+     163             : // --------------------------------------------------------------
+     164             : 
+     165             : /* operator= //{ */
+     166             : 
+     167             : template <class TopicType>
+     168        8311 : PublisherHandler<TopicType>& PublisherHandler<TopicType>::operator=(const PublisherHandler<TopicType>& other) {
+     169             : 
+     170        8311 :   if (this == &other) {
+     171           0 :     return *this;
+     172             :   }
+     173             : 
+     174        8311 :   if (other.impl_) {
+     175        8311 :     this->impl_ = other.impl_;
+     176             :   }
+     177             : 
+     178        8311 :   return *this;
+     179             : }
+     180             : 
+     181             : //}
+     182             : 
+     183             : /* copy constructor //{ */
+     184             : 
+     185             : template <class TopicType>
+     186      155321 : PublisherHandler<TopicType>::PublisherHandler(const PublisherHandler<TopicType>& other) {
+     187             : 
+     188      155321 :   if (other.impl_) {
+     189      155321 :     this->impl_ = other.impl_;
+     190             :   }
+     191      155321 : }
+     192             : 
+     193             : //}
+     194             : 
+     195             : /* PublisherHandler(ros::NodeHandle& nh, const std::string& address, const unsigned int &buffer_size, const bool &latch) //{ */
+     196             : 
+     197             : template <class TopicType>
+     198        7431 : PublisherHandler<TopicType>::PublisherHandler(ros::NodeHandle& nh, const std::string& address, const unsigned int& buffer_size, const bool& latch,
+     199        7431 :                                               const double& rate) {
+     200             : 
+     201        7431 :   impl_ = std::make_shared<PublisherHandler_impl<TopicType>>(nh, address, buffer_size, latch, rate);
+     202        7431 : }
+     203             : 
+     204             : //}
+     205             : 
+     206             : /* publish(const TopicType& msg) //{ */
+     207             : 
+     208             : template <class TopicType>
+     209     5766160 : void PublisherHandler<TopicType>::publish(const TopicType& msg) {
+     210             : 
+     211     5766160 :   impl_->publish(msg);
+     212     5767280 : }
+     213             : 
+     214             : //}
+     215             : 
+     216             : /* publish(const boost::shared_ptr<TopicType>& msg) //{ */
+     217             : 
+     218             : template <class TopicType>
+     219             : void PublisherHandler<TopicType>::publish(const boost::shared_ptr<TopicType>& msg) {
+     220             : 
+     221             :   impl_->publish(msg);
+     222             : }
+     223             : 
+     224             : //}
+     225             : 
+     226             : /* publish(const boost::shared_ptr<TopicType const>& msg) //{ */
+     227             : 
+     228             : template <class TopicType>
+     229           1 : void PublisherHandler<TopicType>::publish(const boost::shared_ptr<TopicType const>& msg) {
+     230             : 
+     231           1 :   impl_->publish(msg);
+     232           1 : }
+     233             : 
+     234             : //}
+     235             : 
+     236             : /* getNumSubscribers(void) //{ */
+     237             : 
+     238             : template <class TopicType>
+     239             : unsigned int PublisherHandler<TopicType>::getNumSubscribers(void) {
+     240             : 
+     241             :   return impl_->getNumSubscribers();
+     242             : }
+     243             : 
+     244             : //}
+     245             : 
+     246             : }  // namespace mrs_lib
+     247             : 
+     248             : #endif  // PUBLISHER_HANDLER_HPP
+
+
+
+ + + + +
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+ + + diff --git a/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.overview.html b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.overview.html new file mode 100644 index 0000000000..4ab1195056 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.overview.html @@ -0,0 +1,82 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/publisher_handler.hpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.png b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..635f18b8a53237cee5f0d09d83c1fed5e41f3609 GIT binary patch literal 798 zcmV+(1L6FMP)q?p-?i-RjX(;YJ986rs_mRR+& z!Y<6?3J4QF(~^;O<*WMRe90>Mf*%@bz^-JM1R`wOATk#1l<#Kh5t#xM6ciL;M72mR zY3+(=b}l#HiYR zek5J0OjUl2b3~AfM3}NldX^B89V%|y>-BnWMVU50Nh#uTYieeBV(Jk+$~liRzI)FV z;#$bI77;o&INwVuRV0YKAW6xF26A_>#!Pm`*C-?WDSk`wD-`8fF!E4elK=F#?Q0=I z5jzWbgpbreMs4J*n#gmAcprXrs|Y_ou^R)EUnRt4e;?wADLUG08>pUbmseoD8+7$GdOSDvk4}F5 zcno{K%D|yA? zJma6R+lHy}NUmy_>Ljl>Qlt4jV;mm8`{!rI)}k-EK*F=z01|q5F~XT4GqEY86Sm~T c=jTZ84>I7)EiN$bBme*a07*qoM6N<$g7<4~+W-In literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.func-sort-c.html b/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.func-sort-c.html new file mode 100644 index 0000000000..d5fe5217dd --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.func-sort-c.html @@ -0,0 +1,284 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/service_client_handler.hpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/impl - service_client_handler.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:526580.0 %
Date:2024-08-07 22:18:19Functions:475192.2 %
Legend: Lines: + hit + not hit +
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+ +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ServiceClientHandler<mrs_msgs::String>::callAsync(mrs_msgs::String&)0
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::call(mrs_msgs::String&, int const&, double const&)0
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::asyncRun()0
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::callAsync(mrs_msgs::String&)0
mrs_lib::ServiceClientHandler<mrs_msgs::ConstraintsOverride>::call(mrs_msgs::ConstraintsOverride&)1
mrs_lib::ServiceClientHandler<mrs_msgs::ConstraintsOverride>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
mrs_lib::ServiceClientHandler<mrs_msgs::ConstraintsOverride>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::ConstraintsOverride> const&)1
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::call(mrs_msgs::Vec4&)1
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ConstraintsOverride>::call(mrs_msgs::ConstraintsOverride&)1
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ConstraintsOverride>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec4>::call(mrs_msgs::Vec4&)1
mrs_lib::ServiceClientHandler<mrs_msgs::Float64Srv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
mrs_lib::ServiceClientHandler<mrs_msgs::Float64Srv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::Float64Srv> const&)2
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::callAsync(std_srvs::Trigger&, int const&)2
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Float64Srv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::call(std_srvs::Trigger&, int const&, double const&)2
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::asyncRun()2
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::callAsync(std_srvs::Trigger&, int const&)2
mrs_lib::ServiceClientHandler<mrs_msgs::Float64Srv>::call(mrs_msgs::Float64Srv&)11
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Float64Srv>::call(mrs_msgs::Float64Srv&)11
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::call(mrs_msgs::Vec1&)20
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::call(mrs_msgs::Vec1&)20
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::call(mrs_msgs::ReferenceStampedSrv&)102
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::call(mrs_msgs::ReferenceStampedSrv&)102
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv> const&)108
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::Vec1> const&)108
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::initialize(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)110
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv> const&)110
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)110
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)111
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)111
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)324
mrs_lib::ServiceClientHandler<mrs_msgs::String>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::String> const&)324
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)324
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::call(std_srvs::SetBool&)363
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::call(std_srvs::SetBool&)363
mrs_lib::ServiceClientHandler<mrs_msgs::String>::call(mrs_msgs::String&)423
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::call(mrs_msgs::String&)423
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::call(std_srvs::Trigger&)513
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::call(std_srvs::Trigger&)513
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)650
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::operator=(mrs_lib::ServiceClientHandler<std_srvs::SetBool> const&)650
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)650
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1074
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::operator=(mrs_lib::ServiceClientHandler<std_srvs::Trigger> const&)1074
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1182
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.func.html b/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.func.html new file mode 100644 index 0000000000..221909ccbf --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.func.html @@ -0,0 +1,284 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/service_client_handler.hpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/impl - service_client_handler.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:526580.0 %
Date:2024-08-07 22:18:19Functions:475192.2 %
Legend: Lines: + hit + not hit +
+
+ +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ServiceClientHandler<mrs_msgs::Float64Srv>::call(mrs_msgs::Float64Srv&)11
mrs_lib::ServiceClientHandler<mrs_msgs::Float64Srv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
mrs_lib::ServiceClientHandler<mrs_msgs::Float64Srv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::Float64Srv> const&)2
mrs_lib::ServiceClientHandler<mrs_msgs::ConstraintsOverride>::call(mrs_msgs::ConstraintsOverride&)1
mrs_lib::ServiceClientHandler<mrs_msgs::ConstraintsOverride>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
mrs_lib::ServiceClientHandler<mrs_msgs::ConstraintsOverride>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::ConstraintsOverride> const&)1
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::call(mrs_msgs::ReferenceStampedSrv&)102
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)110
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv> const&)110
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)111
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv> const&)108
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::call(mrs_msgs::Vec1&)20
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::Vec1> const&)108
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::call(mrs_msgs::Vec4&)1
mrs_lib::ServiceClientHandler<mrs_msgs::String>::call(mrs_msgs::String&)423
mrs_lib::ServiceClientHandler<mrs_msgs::String>::callAsync(mrs_msgs::String&)0
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)324
mrs_lib::ServiceClientHandler<mrs_msgs::String>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::String> const&)324
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::call(std_srvs::SetBool&)363
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)650
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::operator=(mrs_lib::ServiceClientHandler<std_srvs::SetBool> const&)650
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::initialize(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::call(std_srvs::Trigger&)513
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::callAsync(std_srvs::Trigger&, int const&)2
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1074
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::operator=(mrs_lib::ServiceClientHandler<std_srvs::Trigger> const&)1074
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Float64Srv>::call(mrs_msgs::Float64Srv&)11
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Float64Srv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ConstraintsOverride>::call(mrs_msgs::ConstraintsOverride&)1
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ConstraintsOverride>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::call(mrs_msgs::ReferenceStampedSrv&)102
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)110
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)111
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::call(mrs_msgs::Vec1&)20
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec4>::call(mrs_msgs::Vec4&)1
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::call(mrs_msgs::String&)423
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::call(mrs_msgs::String&, int const&, double const&)0
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::asyncRun()0
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::callAsync(mrs_msgs::String&)0
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)324
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::call(std_srvs::SetBool&)363
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)650
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::call(std_srvs::Trigger&)513
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::call(std_srvs::Trigger&, int const&, double const&)2
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::asyncRun()2
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::callAsync(std_srvs::Trigger&, int const&)2
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1182
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.gcov.frameset.html b/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.gcov.frameset.html new file mode 100644 index 0000000000..c6e9ac6564 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/service_client_handler.hpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.gcov.html b/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.gcov.html new file mode 100644 index 0000000000..bfc3e94e4f --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.gcov.html @@ -0,0 +1,403 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/service_client_handler.hpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/impl - service_client_handler.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:526580.0 %
Date:2024-08-07 22:18:19Functions:475192.2 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef SERVICE_CLIENT_HANDLER_HPP
+       2             : #define SERVICE_CLIENT_HANDLER_HPP
+       3             : 
+       4             : namespace mrs_lib
+       5             : {
+       6             : 
+       7             : // --------------------------------------------------------------
+       8             : // |                  ServiceClientHandler_impl                 |
+       9             : // --------------------------------------------------------------
+      10             : 
+      11             : /* ServiceClientHandler_impl(void) //{ */
+      12             : 
+      13             : template <class ServiceType>
+      14             : ServiceClientHandler_impl<ServiceType>::ServiceClientHandler_impl(void) : service_initialized_(false) {
+      15             : }
+      16             : 
+      17             : //}
+      18             : 
+      19             : /* ServiceClientHandler_impl(ros::NodeHandle& nh, const std::string& address) //{ */
+      20             : 
+      21             : template <class ServiceType>
+      22        2485 : ServiceClientHandler_impl<ServiceType>::ServiceClientHandler_impl(ros::NodeHandle& nh, const std::string& address) {
+      23             : 
+      24             :   {
+      25        2485 :     std::scoped_lock lock(mutex_service_client_);
+      26             : 
+      27        2485 :     service_client_ = nh.serviceClient<ServiceType>(address);
+      28             :   }
+      29             : 
+      30        2485 :   _address_       = address;
+      31        2485 :   async_attempts_ = 1;
+      32             : 
+      33             :   /* thread_oneshot_ = std::make_shared<std::thread>(std::thread(&ServiceClientHandler_impl::threadOneshot, this, true, false)); */
+      34             : 
+      35        2485 :   service_initialized_ = true;
+      36        2485 : }
+      37             : 
+      38             : //}
+      39             : 
+      40             : /* call(ServiceType& srv) //{ */
+      41             : 
+      42             : template <class ServiceType>
+      43        1545 : bool ServiceClientHandler_impl<ServiceType>::call(ServiceType& srv) {
+      44             : 
+      45        1545 :   if (!service_initialized_) {
+      46           0 :     return false;
+      47             :   }
+      48             : 
+      49        1545 :   return service_client_.call(srv);
+      50             : }
+      51             : 
+      52             : //}
+      53             : 
+      54             : /* call(ServiceType& srv, const int& attempts) //{ */
+      55             : 
+      56             : template <class ServiceType>
+      57             : bool ServiceClientHandler_impl<ServiceType>::call(ServiceType& srv, const int& attempts) {
+      58             : 
+      59             :   if (!service_initialized_) {
+      60             :     return false;
+      61             :   }
+      62             : 
+      63             :   std::scoped_lock lock(mutex_service_client_);
+      64             : 
+      65             :   bool success = false;
+      66             :   int  counter = 0;
+      67             : 
+      68             :   while (!success && ros::ok()) {
+      69             : 
+      70             :     success = service_client_.call(srv);
+      71             : 
+      72             :     if (!success) {
+      73             :       ROS_ERROR("[%s]: failed to call service to '%s'", ros::this_node::getName().c_str(), _address_.c_str());
+      74             :     }
+      75             : 
+      76             :     if (++counter >= attempts) {
+      77             :       break;
+      78             :     }
+      79             :   }
+      80             : 
+      81             :   return success;
+      82             : }
+      83             : 
+      84             : //}
+      85             : 
+      86             : /* call(ServiceType& srv, const int& attempts, const double& repeat_delay) //{ */
+      87             : 
+      88             : template <class ServiceType>
+      89           2 : bool ServiceClientHandler_impl<ServiceType>::call(ServiceType& srv, const int& attempts, const double& repeat_delay) {
+      90             : 
+      91           2 :   if (!service_initialized_) {
+      92           0 :     return false;
+      93             :   }
+      94             : 
+      95           2 :   std::scoped_lock lock(mutex_service_client_);
+      96             : 
+      97           2 :   bool success = false;
+      98           2 :   int  counter = 0;
+      99             : 
+     100           8 :   while (!success && ros::ok()) {
+     101             : 
+     102           6 :     success = service_client_.call(srv);
+     103             : 
+     104           6 :     if (!success) {
+     105           4 :       ROS_ERROR("[%s]: failed to call service to '%s'", ros::this_node::getName().c_str(), _address_.c_str());
+     106             :     }
+     107             : 
+     108           6 :     if (++counter >= attempts) {
+     109           0 :       break;
+     110             :     }
+     111             : 
+     112           6 :     ros::Duration(repeat_delay).sleep();
+     113             :   }
+     114             : 
+     115           2 :   return success;
+     116             : }
+     117             : 
+     118             : //}
+     119             : 
+     120             : /* callAsync(ServiceType& srv) //{ */
+     121             : 
+     122             : template <class ServiceType>
+     123           0 : std::future<ServiceType> ServiceClientHandler_impl<ServiceType>::callAsync(ServiceType& srv) {
+     124             : 
+     125             :   {
+     126           0 :     std::scoped_lock lock(mutex_async_);
+     127             : 
+     128           0 :     async_data_         = srv;
+     129           0 :     async_attempts_     = 1;
+     130           0 :     async_repeat_delay_ = 0;
+     131             :   }
+     132             : 
+     133           0 :   return std::async(std::launch::async, &ServiceClientHandler_impl::asyncRun, this);
+     134             : }
+     135             : 
+     136             : //}
+     137             : 
+     138             : /* callAsync(ServiceType& srv, const int& attempts) //{ */
+     139             : 
+     140             : template <class ServiceType>
+     141           2 : std::future<ServiceType> ServiceClientHandler_impl<ServiceType>::callAsync(ServiceType& srv, const int& attempts) {
+     142             : 
+     143             :   {
+     144           2 :     std::scoped_lock lock(mutex_async_);
+     145             : 
+     146           2 :     async_data_         = srv;
+     147           2 :     async_attempts_     = attempts;
+     148           2 :     async_repeat_delay_ = 0;
+     149             :   }
+     150             : 
+     151           2 :   return std::async(std::launch::async, &ServiceClientHandler_impl::asyncRun, this);
+     152             : }
+     153             : 
+     154             : //}
+     155             : 
+     156             : /* callAsync(ServiceType& srv, const int& attempts, const double &repeat_delay) //{ */
+     157             : 
+     158             : template <class ServiceType>
+     159             : std::future<ServiceType> ServiceClientHandler_impl<ServiceType>::callAsync(ServiceType& srv, const int& attempts, const double& repeat_delay) {
+     160             : 
+     161             :   {
+     162             :     std::scoped_lock lock(mutex_async_);
+     163             : 
+     164             :     async_data_         = srv;
+     165             :     async_attempts_     = attempts;
+     166             :     async_repeat_delay_ = repeat_delay;
+     167             :   }
+     168             : 
+     169             :   return std::async(std::launch::async, &ServiceClientHandler_impl::asyncRun, this);
+     170             : }
+     171             : 
+     172             : //}
+     173             : 
+     174             : /* asyncRun(void) //{ */
+     175             : 
+     176             : template <class ServiceType>
+     177           2 : ServiceType ServiceClientHandler_impl<ServiceType>::asyncRun(void) {
+     178             : 
+     179           2 :   ServiceType async_data;
+     180             :   int         async_attempts;
+     181             : 
+     182             :   {
+     183           2 :     std::scoped_lock lock(mutex_async_);
+     184             : 
+     185           2 :     async_data          = async_data_;
+     186           2 :     async_attempts      = async_attempts_;
+     187           2 :     async_repeat_delay_ = async_repeat_delay_;
+     188             :   }
+     189             : 
+     190           2 :   call(async_data, async_attempts, async_repeat_delay_);
+     191             : 
+     192           4 :   return async_data;
+     193             : }
+     194             : 
+     195             : //}
+     196             : 
+     197             : // --------------------------------------------------------------
+     198             : // |                    ServiceClientHandler                    |
+     199             : // --------------------------------------------------------------
+     200             : 
+     201             : /* operator= //{ */
+     202             : 
+     203             : template <class ServiceType>
+     204        2377 : ServiceClientHandler<ServiceType>& ServiceClientHandler<ServiceType>::operator=(const ServiceClientHandler<ServiceType>& other) {
+     205             : 
+     206        2377 :   if (this == &other) {
+     207           0 :     return *this;
+     208             :   }
+     209             : 
+     210        2377 :   if (other.impl_) {
+     211        2377 :     this->impl_ = other.impl_;
+     212             :   }
+     213             : 
+     214        2377 :   return *this;
+     215             : }
+     216             : 
+     217             : //}
+     218             : 
+     219             : /* copy constructor //{ */
+     220             : 
+     221             : template <class ServiceType>
+     222             : ServiceClientHandler<ServiceType>::ServiceClientHandler(const ServiceClientHandler<ServiceType>& other) {
+     223             : 
+     224             :   if (other.impl_) {
+     225             :     this->impl_ = other.impl_;
+     226             :   }
+     227             : }
+     228             : 
+     229             : //}
+     230             : 
+     231             : /* ServiceClientHandler(ros::NodeHandle& nh, const std::string& address) //{ */
+     232             : 
+     233             : template <class ServiceType>
+     234        2377 : ServiceClientHandler<ServiceType>::ServiceClientHandler(ros::NodeHandle& nh, const std::string& address) {
+     235             : 
+     236        2377 :   impl_ = std::make_shared<ServiceClientHandler_impl<ServiceType>>(nh, address);
+     237        2377 : }
+     238             : 
+     239             : //}
+     240             : 
+     241             : /* initialize(ros::NodeHandle& nh, const std::string& address) //{ */
+     242             : 
+     243             : template <class ServiceType>
+     244         108 : void ServiceClientHandler<ServiceType>::initialize(ros::NodeHandle& nh, const std::string& address) {
+     245             : 
+     246         108 :   impl_ = std::make_shared<ServiceClientHandler_impl<ServiceType>>(nh, address);
+     247         108 : }
+     248             : 
+     249             : //}
+     250             : 
+     251             : /* call(ServiceType& srv) //{ */
+     252             : 
+     253             : template <class ServiceType>
+     254        1545 : bool ServiceClientHandler<ServiceType>::call(ServiceType& srv) {
+     255             : 
+     256        1545 :   return impl_->call(srv);
+     257             : }
+     258             : 
+     259             : //}
+     260             : 
+     261             : /* call(ServiceType& srv, const int& attempts) //{ */
+     262             : 
+     263             : template <class ServiceType>
+     264             : bool ServiceClientHandler<ServiceType>::call(ServiceType& srv, const int& attempts) {
+     265             : 
+     266             :   return impl_->call(srv, attempts);
+     267             : }
+     268             : 
+     269             : //}
+     270             : 
+     271             : /* call(ServiceType& srv, const int& attempts, const double& repeat_delay) //{ */
+     272             : 
+     273             : template <class ServiceType>
+     274             : bool ServiceClientHandler<ServiceType>::call(ServiceType& srv, const int& attempts, const double& repeat_delay) {
+     275             : 
+     276             :   return impl_->call(srv, attempts, repeat_delay);
+     277             : }
+     278             : 
+     279             : //}
+     280             : 
+     281             : /* callAsync(ServiceType& srv) //{ */
+     282             : 
+     283             : template <class ServiceType>
+     284           0 : std::future<ServiceType> ServiceClientHandler<ServiceType>::callAsync(ServiceType& srv) {
+     285             : 
+     286           0 :   std::future<ServiceType> res = impl_->callAsync(srv);
+     287             : 
+     288           0 :   return res;
+     289             : }
+     290             : 
+     291             : //}
+     292             : 
+     293             : /* callAsync(ServiceType& srv, const int& attempts) //{ */
+     294             : 
+     295             : template <class ServiceType>
+     296           2 : std::future<ServiceType> ServiceClientHandler<ServiceType>::callAsync(ServiceType& srv, const int& attempts) {
+     297             : 
+     298           2 :   std::future<ServiceType> res = impl_->callAsync(srv, attempts);
+     299             : 
+     300           2 :   return res;
+     301             : }
+     302             : 
+     303             : //}
+     304             : 
+     305             : /* callAsync(ServiceType& srv, const int& attempts, const double& repeat_delay) //{ */
+     306             : 
+     307             : template <class ServiceType>
+     308             : std::future<ServiceType> ServiceClientHandler<ServiceType>::callAsync(ServiceType& srv, const int& attempts, const double& repeat_delay) {
+     309             : 
+     310             :   std::future<ServiceType> res = impl_->callAsync(srv, attempts, repeat_delay);
+     311             : 
+     312             :   return res;
+     313             : }
+     314             : 
+     315             : //}
+     316             : 
+     317             : }  // namespace mrs_lib
+     318             : 
+     319             : #endif  // SERVICE_CLIENT_HANDLER_HPP
+
+
+
+ + + + +
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Current view:top level - mrs_lib/include/mrs_lib/impl - subscribe_handler.hpp (source / functions)HitTotalCoverage
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::start()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().20
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::start()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::~Impl().20
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&)1
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&)1
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)1
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const1
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const> const&)2
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const> const&)2
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::getMsg()4
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::getMsg()4
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const4
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::peekMsg() const4
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::stop()5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::stop()5
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()5
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::getMsg()5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::lastMsgTime() const5
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const5
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const5
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const6
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::hasMsg() const6
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)7
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const7
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::lastMsgTime() const7
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::start()9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)> const&)9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().29
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::start()9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)> const&)9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::~Impl().29
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::start()10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)> const&)10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().210
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::start()10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)> const&)10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::~Impl().210
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)> const&)10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().210
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::start()10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)> const&)10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::~Impl().210
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const16
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::hasMsg() const16
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const18
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const20
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const20
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::getMsg()21
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::getMsg()21
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const21
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::peekMsg() const21
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::start()31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)> const&)31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().231
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::start()31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)> const&)31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::~Impl().231
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const>)> const&)31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().231
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::start()31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const>)> const&)31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().231
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>)> const&)31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().231
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::start()31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>)> const&)31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::~Impl().231
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const62
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const62
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const62
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const89
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const89
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::hasMsg() const89
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::getMsg()90
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::getMsg()90
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::peekMsg() const90
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const> const&)94
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const> const&)94
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const104
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const104
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const104
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const104
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::start()108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::start()108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::start()108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::start()108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::start()108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::start()108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::start()108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::start()108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::start()108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::start()108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::start()108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::start()108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::start()108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::start()108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::start()108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::start()108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::start()108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::start()108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::start()108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const109
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const109
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const109
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)> const&)112
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()112
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2112
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)> const&)112
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::~Impl().2112
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::start()115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const>)> const&)115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::start()115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const>)> const&)115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::~Impl().2115
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::start()116
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::start()116
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const120
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const132
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::start()209
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)> const&)209
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()209
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2209
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::start()209
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)> const&)209
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::~Impl().2209
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const213
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::lastMsgTime() const213
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::start()216
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const>)> const&)216
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()216
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2216
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::start()216
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const>)> const&)216
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::~Impl().2216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::start()216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const>)> const&)216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::start()216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const>)> const&)216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::~Impl().2216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::start()216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const>)> const&)216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::start()216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const>)> const&)216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::~Impl().2216
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::start()220
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>)> const&)220
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()220
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2220
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::start()220
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>)> const&)220
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::~Impl().2220
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const224
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const230
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::start()247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)> const&)247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::start()247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)> const&)247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::~Impl().2247
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const276
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::lastMsgTime() const276
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::getMsg()306
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::getMsg()306
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const306
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::peekMsg() const306
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::start()324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)> const&)324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::start()324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)> const&)324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::~Impl().2324
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::start()334
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)> const&)334
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()334
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2334
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::start()334
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)> const&)334
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::~Impl().2334
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const> const&)343
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const> const&)343
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::start()349
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)> const&)349
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()349
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2349
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::start()349
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)> const&)349
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::~Impl().2349
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::start()355
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const>)> const&)355
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()355
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2355
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::start()355
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const>)> const&)355
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::~Impl().2355
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::getMsg()380
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::getMsg()380
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const380
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::peekMsg() const380
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const> const&)406
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const> const&)406
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const418
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::start()425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const>)> const&)425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::start()425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const>)> const&)425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::~Impl().2425
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::start()432
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)> const&)432
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()432
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2432
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::start()432
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)> const&)432
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::~Impl().2432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::start()432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>)> const&)432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::start()432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>)> const&)432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::~Impl().2432
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const432
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const432
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const432
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const440
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const>)> const&)463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::start()463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const>)> const&)463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::~Impl().2463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const>)> const&)463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::start()463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const>)> const&)463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2463
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const494
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const> const&)562
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const> const&)562
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const648
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::start()652
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)> const&)652
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()652
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2652
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::start()652
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)> const&)652
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::~Impl().2652
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const669
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const698
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::getMsg()783
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::getMsg()783
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const783
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const783
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::hasMsg() const783
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::peekMsg() const783
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::getMsg()787
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::getMsg()787
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const787
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::peekMsg() const787
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const819
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const850
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const864
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const864
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const926
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const1046
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const1436
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const> const&)1827
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const> const&)1827
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const> const&)1829
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const> const&)1829
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const> const&)2179
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const> const&)2179
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const2713
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::hasMsg() const2713
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const> const&)3117
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const> const&)3117
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()3737
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::getMsg()3737
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const3737
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::peekMsg() const3737
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&)5610
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&)5618
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)8240
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)8248
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::getMsg()9530
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::getMsg()9530
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const9530
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const9530
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::hasMsg() const9530
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::peekMsg() const9530
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::getMsg()14715
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const14715
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::getMsg()14719
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::peekMsg() const14722
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)15858
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)15858
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const16992
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::hasMsg() const16992
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const18166
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const18166
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const18397
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::hasMsg() const18397
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::hasMsg() const19022
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const19030
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const19138
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::getMsg()19139
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::getMsg()19139
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::peekMsg() const19139
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const> const&)19157
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const> const&)19158
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const> const&)24835
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const> const&)24835
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::hasMsg() const37262
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const37264
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::getMsg()40374
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::getMsg()40374
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const40374
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const40374
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::lastMsgTime() const40374
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::peekMsg() const40374
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()52035
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::getMsg()52042
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const52043
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::peekMsg() const52044
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&)55798
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&)55798
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const58607
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::hasMsg() const58609
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::hasMsg() const73004
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const73037
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()73360
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const73374
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::getMsg()73375
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const73377
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)78459
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)78905
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)81177
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)81211
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const85494
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const85512
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const119158
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::hasMsg() const119158
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const> const&)148403
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const> const&)148403
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()150019
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const150026
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::getMsg()150028
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const150030
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const150056
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const150091
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::getMsg()182255
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::getMsg()182255
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const182255
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::peekMsg() const182255
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const182261
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::hasMsg() const182261
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const206797
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()206800
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::getMsg()206801
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::peekMsg() const206802
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const> const&)212522
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const> const&)212532
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const> const&)214653
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const> const&)214674
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const> const&)214769
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const> const&)215014
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)221342
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)221451
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const231215
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::lastMsgTime() const231216
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::getMsg()250079
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const250087
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::getMsg()250089
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::peekMsg() const250089
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const269210
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::hasMsg() const269212
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const> const&)313079
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const> const&)314467
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const> const&)351071
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const> const&)351131
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const> const&)357076
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const> const&)357138
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&)397192
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&)398813
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const426682
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::hasMsg() const426689
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const447223
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::getMsg()447483
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::getMsg()447517
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::peekMsg() const447555
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const468450
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::lastMsgTime() const468751
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const> const&)517172
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const> const&)517390
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)554860
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)554990
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::newMsg() const580144
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::newMsg() const580775
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const581773
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::hasMsg() const581781
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const> const&)682762
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const> const&)682776
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const804732
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()804747
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::getMsg()804778
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::peekMsg() const804808
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const> const&)1015162
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const> const&)1015363
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::hasMsg() const1028763
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const1028783
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)1286178
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)1286766
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Current view:top level - mrs_lib/include/mrs_lib/impl - subscribe_handler.hpp (source / functions)HitTotalCoverage
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const> const&)314467
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::start()432
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)> const&)432
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()432
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2432
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const> const&)313079
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::start()432
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)> const&)432
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::~Impl().2432
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&)55798
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::start()31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::getMsg()9530
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)> const&)31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().231
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&)55798
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::start()31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::getMsg()9530
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)> const&)31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::~Impl().231
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::start()216
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const>)> const&)216
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()216
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2216
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::start()216
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const>)> const&)216
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::~Impl().2216
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const> const&)357138
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::start()209
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::getMsg()14719
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)> const&)209
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()209
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2209
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const> const&)357076
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::start()209
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::getMsg()14715
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)> const&)209
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::~Impl().2209
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::start()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().20
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::start()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::~Impl().20
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const> const&)214674
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::stop()5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::start()116
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()3737
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)> const&)112
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()112
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2112
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const> const&)214653
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::stop()5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::start()116
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::getMsg()3737
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)> const&)112
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::~Impl().2112
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const> const&)682762
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::start()349
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()206800
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)> const&)349
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()349
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2349
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const> const&)682776
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::start()349
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::getMsg()206801
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)> const&)349
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::~Impl().2349
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)1286178
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::start()652
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()804747
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)> const&)652
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()652
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2652
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)1286766
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)7
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::start()652
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::getMsg()804778
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)> const&)652
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::~Impl().2652
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const> const&)1015363
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::start()247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::getMsg()306
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)> const&)247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const> const&)1015162
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::start()247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::getMsg()306
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)> const&)247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::~Impl().2247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const> const&)215014
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::start()220
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::getMsg()182255
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>)> const&)220
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()220
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2220
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const> const&)214769
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::start()220
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::getMsg()182255
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>)> const&)220
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::~Impl().2220
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&)398813
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::start()425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::getMsg()447483
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const>)> const&)425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&)397192
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::start()425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::getMsg()447517
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const>)> const&)425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::~Impl().2425
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const> const&)351131
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::start()432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()52035
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>)> const&)432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const> const&)351071
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::start()432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::getMsg()52042
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>)> const&)432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::~Impl().2432
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)221342
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::start()216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::getMsg()787
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const>)> const&)216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)221451
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::start()216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::getMsg()787
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const>)> const&)216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::~Impl().2216
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const> const&)212522
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::start()115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const>)> const&)115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const> const&)212532
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::start()115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const>)> const&)115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::~Impl().2115
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const> const&)24835
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::start()108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::getMsg()783
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const> const&)24835
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::start()108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::getMsg()783
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const> const&)406
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::start()108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::getMsg()380
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const> const&)406
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::start()108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::getMsg()380
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const> const&)343
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::start()10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)> const&)10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().210
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const> const&)343
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::start()10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)> const&)10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::~Impl().210
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&)1
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::start()108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&)1
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::start()108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&)5610
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::start()355
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::getMsg()19139
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const>)> const&)355
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()355
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2355
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&)5618
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::start()355
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::getMsg()19139
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const>)> const&)355
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::~Impl().2355
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)15858
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::start()108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::getMsg()21
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)15858
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::start()108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::getMsg()21
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::start()108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::start()108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const> const&)2
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::start()108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const> const&)2
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::start()108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const> const&)148403
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()5
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const> const&)148403
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::start()108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::getMsg()5
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)78905
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()73360
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const>)> const&)463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)78459
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::start()463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::getMsg()73375
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const>)> const&)463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::~Impl().2463
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const> const&)2179
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)> const&)10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().210
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const> const&)2179
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::start()10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)> const&)10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::~Impl().210
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const> const&)562
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const>)> const&)31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().231
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const> const&)562
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::start()31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const>)> const&)31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().231
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const> const&)1827
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const> const&)1827
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::start()108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const> const&)3117
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>)> const&)31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().231
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const> const&)3117
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::start()31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>)> const&)31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::~Impl().231
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const> const&)94
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::start()108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const> const&)94
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::start()108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)81211
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()150019
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const>)> const&)463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)81177
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::start()463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::getMsg()150028
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const>)> const&)463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2463
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const> const&)1829
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const> const&)1829
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::start()108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)1
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::start()108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)1
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::start()108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::~Impl().2108
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)8240
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::start()9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::getMsg()90
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)> const&)9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().29
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)8248
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::start()9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::getMsg()90
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)> const&)9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::~Impl().29
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const> const&)517172
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::start()324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::getMsg()4
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)> const&)324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const> const&)517390
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::start()324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::getMsg()4
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)> const&)324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::~Impl().2324
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)554860
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::start()334
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::getMsg()250079
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)> const&)334
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()334
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2334
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)554990
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::start()334
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::getMsg()250089
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)> const&)334
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::~Impl().2334
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const> const&)19157
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::start()216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::getMsg()40374
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const>)> const&)216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const> const&)19158
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::start()216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::getMsg()40374
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const>)> const&)216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::~Impl().2216
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const864
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const9530
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const9530
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::hasMsg() const9530
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::peekMsg() const9530
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const62
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const432
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const19030
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const14715
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::hasMsg() const19022
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::peekMsg() const14722
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const418
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const16992
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const3737
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::lastMsgTime() const5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::hasMsg() const16992
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::peekMsg() const3737
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const224
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const426682
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const206797
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::hasMsg() const426689
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::peekMsg() const206802
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const698
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const1028783
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const804732
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const132
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::hasMsg() const1028763
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::peekMsg() const804808
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const1436
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const213
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const18397
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const306
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::lastMsgTime() const213
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::hasMsg() const18397
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::peekMsg() const306
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const494
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const182261
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const182255
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::hasMsg() const182261
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::peekMsg() const182255
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const440
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const468450
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const119158
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::newMsg() const580775
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const447223
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::lastMsgTime() const468751
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::hasMsg() const119158
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::newMsg() const580144
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::peekMsg() const447555
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const850
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const73037
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const52043
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::hasMsg() const73004
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::peekMsg() const52044
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const864
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const7
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const16
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const787
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::lastMsgTime() const7
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::hasMsg() const16
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::peekMsg() const787
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const432
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const230
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const783
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const783
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::hasMsg() const783
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::peekMsg() const783
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const276
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const2713
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const380
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::lastMsgTime() const276
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::hasMsg() const2713
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::peekMsg() const380
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const20
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const37264
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const19138
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const109
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::hasMsg() const37262
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::peekMsg() const19139
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const819
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const6
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const21
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::hasMsg() const6
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::peekMsg() const21
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const109
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const5
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const109
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const5
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const85494
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const73374
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const85512
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const73377
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const926
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const20
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const18166
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const18166
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const62
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const104
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const104
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const62
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const150056
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const150026
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const120
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const150091
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const150030
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const1046
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const104
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const104
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const216
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const89
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const89
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::hasMsg() const89
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::peekMsg() const90
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const18
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const231215
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const269210
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const4
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::lastMsgTime() const231216
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::hasMsg() const269212
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::peekMsg() const4
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const648
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const581773
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const250087
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::hasMsg() const581781
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::peekMsg() const250089
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const669
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const40374
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const58607
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const40374
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::lastMsgTime() const40374
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::hasMsg() const58609
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::peekMsg() const40374
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const432
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.frameset.html b/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.frameset.html new file mode 100644 index 0000000000..19a3af8db0 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.html b/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.html new file mode 100644 index 0000000000..476ff52211 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.html @@ -0,0 +1,446 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/impl - subscribe_handler.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9713174.0 %
Date:2024-08-07 22:18:19Functions:501111644.9 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : 
+       3             : #ifndef SUBSCRIBE_HANDLER_HPP
+       4             : #define SUBSCRIBE_HANDLER_HPP
+       5             : 
+       6             : #include <mrs_lib/subscribe_handler.h>
+       7             : #include <mrs_lib/timer.h>
+       8             : #include <mutex>
+       9             : #include <condition_variable>
+      10             : 
+      11             : namespace mrs_lib
+      12             : {
+      13             :   /* SubscribeHandler::Impl class //{ */
+      14             :   // implements the constructor, getMsg() method and data_callback method (non-thread-safe)
+      15             :   template <typename MessageType>
+      16             :   class SubscribeHandler<MessageType>::Impl
+      17             :   {
+      18             :   public:
+      19             :     using timeout_callback_t = typename SubscribeHandler<MessageType>::timeout_callback_t;
+      20             :     using message_callback_t = typename SubscribeHandler<MessageType>::message_callback_t;
+      21             :     using data_callback_t = std::function<void(const typename MessageType::ConstPtr&)>;
+      22             : 
+      23             :   private:
+      24             :     friend class SubscribeHandler<MessageType>;
+      25             : 
+      26             :   public:
+      27             :     /* constructor //{ */
+      28        7090 :     Impl(const SubscribeHandlerOptions& options, const message_callback_t& message_callback = message_callback_t())
+      29        7090 :         : m_nh(options.nh),
+      30        7090 :           m_topic_name(options.topic_name),
+      31        7090 :           m_node_name(options.node_name),
+      32             :           m_got_data(false),
+      33             :           m_new_data(false),
+      34             :           m_used_data(false),
+      35        7090 :           m_timeout_manager(options.timeout_manager),
+      36             :           m_latest_message_time(0),
+      37             :           m_latest_message(nullptr),
+      38             :           m_message_callback(message_callback),
+      39        7090 :           m_queue_size(options.queue_size),
+      40        7090 :           m_transport_hints(options.transport_hints)
+      41             :     {
+      42             :       // initialize the callback for the TimeoutManager
+      43        7090 :       if (options.timeout_callback)
+      44           1 :         m_timeout_mgr_callback = std::bind(options.timeout_callback, topicName(), std::placeholders::_1);
+      45             :       else
+      46        7089 :         m_timeout_mgr_callback = std::bind(&Impl::default_timeout_callback, this, topicName(), std::placeholders::_1);
+      47             : 
+      48        7090 :       if (options.no_message_timeout != mrs_lib::no_timeout)
+      49             :       {
+      50             :         // initialize a new TimeoutManager if not provided by the user
+      51          92 :         if (!m_timeout_manager)
+      52          92 :           m_timeout_manager = std::make_shared<mrs_lib::TimeoutManager>(m_nh, ros::Rate(options.no_message_timeout * 0.5));
+      53             : 
+      54             :         // register the timeout callback with the TimeoutManager
+      55          92 :         m_timeout_id = m_timeout_manager->registerNew(options.no_message_timeout, m_timeout_mgr_callback);
+      56             :       }
+      57             : 
+      58       21270 :       const std::string msg = "Subscribed to topic '" + m_topic_name + "' -> '" + topicName() + "'";
+      59        7090 :       if (m_node_name.empty())
+      60           1 :         ROS_INFO_STREAM(msg);
+      61             :       else
+      62        7089 :         ROS_INFO_STREAM("[" << m_node_name << "]: " << msg);
+      63        7090 :     }
+      64             :     //}
+      65             : 
+      66        7090 :     virtual ~Impl() = default;
+      67             : 
+      68             :   public:
+      69             :     /* getMsg() method //{ */
+      70     2256756 :     virtual typename MessageType::ConstPtr getMsg()
+      71             :     {
+      72     2256756 :       m_new_data = false;
+      73     2256756 :       m_used_data = true;
+      74     2256756 :       return peekMsg();
+      75             :     }
+      76             :     //}
+      77             : 
+      78             :     /* peekMsg() method //{ */
+      79     2256838 :     virtual typename MessageType::ConstPtr peekMsg() const
+      80             :     {
+      81             :       /* assert(m_got_data); */
+      82             :       /* if (!m_got_data) */
+      83             :       /*   ROS_ERROR("[%s]: No data received yet from topic '%s' (forgot to check hasMsg()?)! Returning empty message.", m_node_name.c_str(), */
+      84             :       /*             topicName().c_str()); */
+      85     2256838 :       return m_latest_message;
+      86             :     }
+      87             :     //}
+      88             : 
+      89             :     /* hasMsg() method //{ */
+      90     3098165 :     virtual bool hasMsg() const
+      91             :     {
+      92     3098165 :       return m_got_data;
+      93             :     }
+      94             :     //}
+      95             : 
+      96             :     /* newMsg() method //{ */
+      97      580144 :     virtual bool newMsg() const
+      98             :     {
+      99      580144 :       return m_new_data;
+     100             :     }
+     101             :     //}
+     102             : 
+     103             :     /* usedMsg() method //{ */
+     104           0 :     virtual bool usedMsg() const
+     105             :     {
+     106           0 :       return m_used_data;
+     107             :     }
+     108             :     //}
+     109             : 
+     110             :     /* waitForNew() method //{ */
+     111           0 :     virtual typename MessageType::ConstPtr waitForNew(const ros::WallDuration& timeout)
+     112             :     {
+     113             :       // convert the ros type to chrono type
+     114           0 :       const std::chrono::duration<float> chrono_timeout(timeout.toSec());
+     115             :       // lock the mutex guarding the m_new_data flag
+     116           0 :       std::unique_lock lock(m_new_data_mtx);
+     117             :       // if new data is available, return immediately, otherwise attempt to wait for new data using the respective condition variable
+     118           0 :       if (m_new_data)
+     119           0 :         return getMsg();
+     120           0 :       else if (m_new_data_cv.wait_for(lock, chrono_timeout) == std::cv_status::no_timeout && m_new_data)
+     121           0 :         return getMsg();
+     122             :       else
+     123           0 :         return nullptr;
+     124             :     };
+     125             :     //}
+     126             : 
+     127             :     /* lastMsgTime() method //{ */
+     128      741050 :     virtual ros::Time lastMsgTime() const
+     129             :     {
+     130      741050 :       return m_latest_message_time;
+     131             :     };
+     132             :     //}
+     133             : 
+     134             :     /* topicName() method //{ */
+     135       14542 :     virtual std::string topicName() const
+     136             :     {
+     137       14542 :       std::string ret = m_sub.getTopic();
+     138       14542 :       if (ret.empty())
+     139       14180 :         ret = m_nh.resolveName(m_topic_name);
+     140       14542 :       return ret;
+     141             :     }
+     142             :     //}
+     143             : 
+     144             :     /* getNumPublishers() method //{ */
+     145           0 :     virtual uint32_t getNumPublishers() const
+     146             :     {
+     147           0 :       return m_sub.getNumPublishers();
+     148             :     };
+     149             :     //}
+     150             : 
+     151             :     /* setNoMessageTimeout() method //{ */
+     152           0 :     virtual void setNoMessageTimeout(const ros::Duration& timeout)
+     153             :     {
+     154           0 :       if (timeout == mrs_lib::no_timeout)
+     155             :       {
+     156             :         // if there is a timeout callback already registered but the user wants to disable it, pause it
+     157           0 :         if (m_timeout_manager != nullptr && m_timeout_id.has_value())
+     158           0 :           m_timeout_manager->pause(m_timeout_id.value());
+     159             :         // otherwise, there is no callback, so nothing to do
+     160             :       }
+     161             :       else
+     162             :       {
+     163             :         // if there is no callback manager, create it
+     164           0 :         if (m_timeout_manager == nullptr)
+     165           0 :           m_timeout_manager = std::make_shared<mrs_lib::TimeoutManager>(m_nh, ros::Rate(timeout * 0.5));
+     166             : 
+     167             :         // if there is an existing timeout callback registered, change its timeout
+     168           0 :         if (m_timeout_id.has_value())
+     169           0 :           m_timeout_manager->change(m_timeout_id.value(), timeout, m_timeout_mgr_callback);
+     170             :         // otherwise, register it
+     171             :         else
+     172           0 :           m_timeout_id = m_timeout_manager->registerNew(timeout, m_timeout_mgr_callback);
+     173             :       }
+     174           0 :     }
+     175             :     //}
+     176             : 
+     177             :     /* start() method //{ */
+     178        7094 :     virtual void start()
+     179             :     {
+     180        7094 :       if (m_timeout_manager && m_timeout_id.has_value())
+     181          96 :         m_timeout_manager->start(m_timeout_id.value());
+     182        7094 :       m_sub = m_nh.subscribe(m_topic_name, m_queue_size, &Impl::data_callback, this, m_transport_hints);
+     183        7094 :     }
+     184             :     //}
+     185             : 
+     186             :     /* stop() method //{ */
+     187           5 :     virtual void stop()
+     188             :     {
+     189           5 :       if (m_timeout_manager && m_timeout_id.has_value())
+     190           5 :         m_timeout_manager->pause(m_timeout_id.value());
+     191           5 :       m_sub.shutdown();
+     192           5 :     }
+     193             :     //}
+     194             : 
+     195             :   protected:
+     196             :     ros::NodeHandle m_nh;
+     197             :     ros::Subscriber m_sub;
+     198             : 
+     199             :   protected:
+     200             :     std::string m_topic_name;
+     201             :     std::string m_node_name;
+     202             : 
+     203             :   protected:
+     204             :     bool m_got_data;   // whether any data was received
+     205             : 
+     206             :     mutable std::mutex m_new_data_mtx;
+     207             :     mutable std::condition_variable m_new_data_cv;
+     208             :     bool m_new_data;   // whether new data was received since last call to get_data
+     209             : 
+     210             :     bool m_used_data;  // whether get_data was successfully called at least once
+     211             : 
+     212             :   protected:
+     213             :     std::shared_ptr<mrs_lib::TimeoutManager> m_timeout_manager;
+     214             :     std::optional<mrs_lib::TimeoutManager::timeout_id_t> m_timeout_id;
+     215             :     mrs_lib::TimeoutManager::callback_t m_timeout_mgr_callback;
+     216             : 
+     217             :   protected:
+     218             :     ros::Time m_latest_message_time;
+     219             :     typename MessageType::ConstPtr m_latest_message;
+     220             :     message_callback_t m_message_callback;
+     221             : 
+     222             :   private:
+     223             :     uint32_t m_queue_size;
+     224             :     ros::TransportHints m_transport_hints;
+     225             : 
+     226             :   protected:
+     227             :     /* default_timeout_callback() method //{ */
+     228           7 :     void default_timeout_callback(const std::string& topic_name, const ros::Time& last_msg)
+     229             :     {
+     230           7 :       const ros::Duration since_msg = (ros::Time::now() - last_msg);
+     231           7 :       const auto n_pubs = m_sub.getNumPublishers();
+     232          21 :       const std::string txt = "Did not receive any message from topic '" + topic_name + "' for " + std::to_string(since_msg.toSec()) + "s ("
+     233             :                               + std::to_string(n_pubs) + " publishers on this topic)";
+     234           7 :       if (m_node_name.empty())
+     235           0 :         ROS_WARN_STREAM(txt);
+     236             :       else
+     237           7 :         ROS_WARN_STREAM("[" << m_node_name << "]: " << txt);
+     238           7 :     }
+     239             :     //}
+     240             : 
+     241             :     /* process_new_message() method //{ */
+     242     6786822 :     void process_new_message(const typename MessageType::ConstPtr& msg)
+     243             :     {
+     244     6786822 :       m_latest_message_time = ros::Time::now();
+     245     6785947 :       m_latest_message = msg;
+     246             :       // If the message callback is registered, the new data will immediately be processed,
+     247             :       // so reset the flag. Otherwise, set the flag.
+     248     6790409 :       m_new_data = !m_message_callback;
+     249     6787313 :       m_got_data = true;
+     250     6787313 :       m_new_data_cv.notify_one();
+     251     6794029 :     }
+     252             :     //}
+     253             : 
+     254             :     /* data_callback() method //{ */
+     255           0 :     virtual void data_callback(const typename MessageType::ConstPtr& msg)
+     256             :     {
+     257             :       {
+     258           0 :         std::lock_guard lck(m_new_data_mtx);
+     259           0 :         if (m_timeout_manager && m_timeout_id.has_value())
+     260           0 :           m_timeout_manager->reset(m_timeout_id.value());
+     261           0 :         process_new_message(msg);
+     262             :       }
+     263             : 
+     264             :       // execute the callback after unlocking the mutex to enable multi-threaded callback execution
+     265           0 :       if (m_message_callback)
+     266           0 :         m_message_callback(msg);
+     267           0 :     }
+     268             :     //}
+     269             :   };
+     270             :   //}
+     271             : 
+     272             :   /* SubscribeHandler_threadsafe class //{ */
+     273             :   template <typename MessageType>
+     274             :   class SubscribeHandler<MessageType>::ImplThreadsafe : public SubscribeHandler<MessageType>::Impl
+     275             :   {
+     276             :   private:
+     277             :     using impl_class_t = SubscribeHandler<MessageType>::Impl;
+     278             : 
+     279             :   public:
+     280             :     using timeout_callback_t = typename impl_class_t::timeout_callback_t;
+     281             :     using message_callback_t = typename impl_class_t::message_callback_t;
+     282             : 
+     283             :     friend class SubscribeHandler<MessageType>;
+     284             : 
+     285             :   public:
+     286        7090 :     ImplThreadsafe(const SubscribeHandlerOptions& options, const message_callback_t& message_callback = message_callback_t())
+     287        7090 :         : impl_class_t::Impl(options, message_callback)
+     288             :     {
+     289        7090 :     }
+     290             : 
+     291             :   public:
+     292     3098156 :     virtual bool hasMsg() const override
+     293             :     {
+     294     6196316 :       std::lock_guard lck(m_mtx);
+     295     6196514 :       return impl_class_t::hasMsg();
+     296             :     }
+     297      580775 :     virtual bool newMsg() const override
+     298             :     {
+     299     1160498 :       std::lock_guard lck(m_mtx);
+     300     1159945 :       return impl_class_t::newMsg();
+     301             :     }
+     302           0 :     virtual bool usedMsg() const override
+     303             :     {
+     304           0 :       std::lock_guard lck(m_mtx);
+     305           0 :       return impl_class_t::usedMsg();
+     306             :     }
+     307     2256653 :     virtual typename MessageType::ConstPtr getMsg() override
+     308             :     {
+     309     4513336 :       std::lock_guard lck(m_mtx);
+     310     4513012 :       return impl_class_t::getMsg();
+     311             :     }
+     312     2256406 :     virtual typename MessageType::ConstPtr peekMsg() const override
+     313             :     {
+     314     4512787 :       std::lock_guard lck(m_mtx);
+     315     4512725 :       return impl_class_t::peekMsg();
+     316             :     }
+     317      740748 :     virtual ros::Time lastMsgTime() const override
+     318             :     {
+     319     1481693 :       std::lock_guard lck(m_mtx);
+     320     1481626 :       return impl_class_t::lastMsgTime();
+     321             :     };
+     322         362 :     virtual std::string topicName() const override
+     323             :     {
+     324         724 :       std::lock_guard lck(m_mtx);
+     325         724 :       return impl_class_t::topicName();
+     326             :     };
+     327        7094 :     virtual void start() override
+     328             :     {
+     329       14188 :       std::lock_guard lck(m_mtx);
+     330       14188 :       return impl_class_t::start();
+     331             :     }
+     332           5 :     virtual void stop() override
+     333             :     {
+     334          10 :       std::lock_guard lck(m_mtx);
+     335          10 :       return impl_class_t::stop();
+     336             :     }
+     337             : 
+     338       14180 :     virtual ~ImplThreadsafe() override = default;
+     339             : 
+     340             :   protected:
+     341     6789814 :     virtual void data_callback(const typename MessageType::ConstPtr& msg) override
+     342             :     {
+     343             :       {
+     344    13583190 :         std::scoped_lock lck(m_mtx, this->m_new_data_mtx);
+     345     6771798 :         if (this->m_timeout_manager && this->m_timeout_id.has_value())
+     346      169276 :           this->m_timeout_manager->reset(this->m_timeout_id.value());
+     347     6759471 :         impl_class_t::process_new_message(msg);
+     348             :       }
+     349             : 
+     350             :       // execute the callback after unlocking the mutex to enable multi-threaded callback execution
+     351     6769049 :       if (this->m_message_callback)
+     352     3727500 :         impl_class_t::m_message_callback(msg);
+     353     6760489 :     }
+     354             : 
+     355             :   private:
+     356             :     mutable std::recursive_mutex m_mtx;
+     357             :   };
+     358             :   //}
+     359             : 
+     360             : }  // namespace mrs_lib
+     361             : 
+     362             : #endif  // SUBSCRIBE_HANDLER_HPP
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.overview.html b/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.overview.html new file mode 100644 index 0000000000..c387463802 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.overview.html @@ -0,0 +1,111 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ Overview +
+ + diff --git a/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.png b/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..70801f86e8741bd2798cde7ee5fdf5843d6796c3 GIT binary patch literal 1519 zcmVF##mn$3#|4LJ*w>h;0UPBU|^h zB$h_5W=Pv4S*mpna6%yX8L1>e7$JC|LcIJPe^cnuL?KQ0fq7oeWtXyC{Gxn!d^!N< z*=3NKT^?{=$Z9;$1Z*KDfF06FMKX&@4AK;)!D$W1sECjr@mV``&FotWZ|U>^>=>8` zgQAZqQD>q&A|GSbLs+zSp(}jjF?M`GgK_ab{}72BF=AmB>&j;gC{pADC^E?$1l?UnQq<6WQ07-)Jddca3QIr;b$(~>WtJv9@f zX~YAnvla)ygrlwSZ4=7(j16zS^r6}_wy&H2>iG-QGY$Z+*S_!DzOTpI`SN1c0l0C$ zQNY(8@$J1w zoIf%HIQDOubje+0L7o6cpA7@Dj2QE%Xmkq!HG_blo_LgrdxAXQQV(aDqMmJ|8p;SB z67y9i%siIndY(lP9y#9`nGiTJHsNWuE{_t^0MaY1paA7v?%|5fHK>fBFk;`46!z%g zb5B;7VS~-#b}0pH_oPYsioHFO;w*aeAHUf*3kn|}G@-(8Y7EVvQ8-_mT;lO|h2z%q z5HgHXrGPh0*_Aw|K9>~m$9W9Z$HRm?J*83e zOwxIH`53TNg?!l>i#TBiX`X-o7*KrDth~n-|B3&1T4CVWmG6>3K-+6;1Y5f>)r`81 zo)nxf{WpjmZ(N~sC>1@C24n6feFP|%nnO4L8mH(VEb8{dy5lbOnwrw`ez+_fu_Ka8fn#Z|Z z09?6I86KH%aih6WDXvn|%}`U5my#o-Z@bJnDFHQ1e&^~X4B@?NmH0+w0jc7?CfLif zs|-*lH5i?9<RVt88$IFR+TjW9bxFyzS9|24M|FJ?WMRKk002EuaGo<=?kms zudqz_LKV2l_9McyL9Yk{hR6*q{fIE^I8``pZjOAvCJc9|PzqxgJq!CfP~%?R^x2HXc|KgX_b3IL!yW(m73IA^yWEG&(d2C zVB~%!q;Ef83r}%WXzAZnG&Gn2KT$u*o2j7aH*DScy>nsc{mcH&Pqt3wz%vR5_Xi6z VixoZDtP21D002ovPDHLkV1oL?!xjJl literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/impl/timer.hpp.func-sort-c.html b/mrs_lib/include/mrs_lib/impl/timer.hpp.func-sort-c.html new file mode 100644 index 0000000000..2460b3d0bb --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/timer.hpp.func-sort-c.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/timer.hpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/impl - timer.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:141687.5 %
Date:2024-08-07 22:18:19Functions:33100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ThreadTimer::ThreadTimer<obj_t>(ros::NodeHandle const&, ros::Rate const&, void (obj_t::*)(ros::TimerEvent const&), obj_t*, bool, bool)8
mrs_lib::ThreadTimer::ThreadTimer<obj_t>(ros::NodeHandle const&, ros::Duration const&, void (obj_t::*)(ros::TimerEvent const&), obj_t*, bool, bool)8
mrs_lib::ROSTimer::ROSTimer<obj_t>(ros::NodeHandle const&, ros::Rate const&, void (obj_t::*)(ros::TimerEvent const&), obj_t*, bool, bool)8
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/impl/timer.hpp.func.html b/mrs_lib/include/mrs_lib/impl/timer.hpp.func.html new file mode 100644 index 0000000000..ec48f685f4 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/timer.hpp.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/timer.hpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/impl - timer.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:141687.5 %
Date:2024-08-07 22:18:19Functions:33100.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ThreadTimer::ThreadTimer<obj_t>(ros::NodeHandle const&, ros::Rate const&, void (obj_t::*)(ros::TimerEvent const&), obj_t*, bool, bool)8
mrs_lib::ThreadTimer::ThreadTimer<obj_t>(ros::NodeHandle const&, ros::Duration const&, void (obj_t::*)(ros::TimerEvent const&), obj_t*, bool, bool)8
mrs_lib::ROSTimer::ROSTimer<obj_t>(ros::NodeHandle const&, ros::Rate const&, void (obj_t::*)(ros::TimerEvent const&), obj_t*, bool, bool)8
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/impl/timer.hpp.gcov.frameset.html b/mrs_lib/include/mrs_lib/impl/timer.hpp.gcov.frameset.html new file mode 100644 index 0000000000..25b7f54de2 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/timer.hpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/timer.hpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/impl/timer.hpp.gcov.html b/mrs_lib/include/mrs_lib/impl/timer.hpp.gcov.html new file mode 100644 index 0000000000..9de041767f --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/timer.hpp.gcov.html @@ -0,0 +1,180 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/timer.hpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/impl - timer.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:141687.5 %
Date:2024-08-07 22:18:19Functions:33100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef MRS_TIMER_HPP
+       2             : #define MRS_TIMER_HPP
+       3             : 
+       4             : // | ------------------------ ROSTimer ------------------------ |
+       5             : 
+       6             : /* ROSTimer constructors //{ */
+       7             : 
+       8             : // duration + oneshot + autostart
+       9             : #include <chrono>
+      10             : #include <mutex>
+      11             : template <class ObjectType>
+      12             : ROSTimer::ROSTimer(const ros::NodeHandle& nh, const ros::Duration& duration, void (ObjectType::*const callback)(const ros::TimerEvent&),
+      13             :                    ObjectType* const obj, const bool oneshot, const bool autostart) {
+      14             : 
+      15             :   this->timer_ = std::make_unique<ros::Timer>(nh.createTimer(duration, callback, obj, oneshot, autostart));
+      16             : }
+      17             : 
+      18             : // rate + oneshot + autostart
+      19             : template <class ObjectType>
+      20           8 : ROSTimer::ROSTimer(const ros::NodeHandle& nh, const ros::Rate& rate, void (ObjectType::*const callback)(const ros::TimerEvent&), ObjectType* const obj,
+      21           8 :                    const bool oneshot, const bool autostart) {
+      22             : 
+      23           8 :   this->timer_ = std::make_unique<ros::Timer>(nh.createTimer(rate, callback, obj, oneshot, autostart));
+      24           8 : }
+      25             : 
+      26             : //}
+      27             : 
+      28             : // | ----------------------- ThreadTimer ---------------------- |
+      29             : 
+      30             : /* class ThreadTimer::Impl //{ */
+      31             : 
+      32             : class ThreadTimer::Impl {
+      33             : public:
+      34             :   Impl(const std::function<void(const ros::TimerEvent&)>& callback, const ros::Duration& delay_dur, const bool oneshot);
+      35             :   ~Impl();
+      36             : 
+      37             :   void start();
+      38             :   void stop();
+      39             :   void setPeriod(const ros::Duration& duration, const bool reset = true);
+      40             :   void setCallback(const std::function<void(const ros::TimerEvent&)>& callback);
+      41             : 
+      42             :   friend class ThreadTimer;
+      43             : 
+      44             :   // to keep rule of five since we have a custom destructor
+      45             :   Impl(const Impl&) = delete;
+      46             :   Impl(Impl&&) = delete;
+      47             :   Impl& operator=(const Impl&) = delete;
+      48             :   Impl& operator=(Impl&&) = delete;
+      49             : 
+      50             : private:
+      51             :   std::thread thread_;
+      52             :   std::function<void(const ros::TimerEvent&)> callback_;
+      53             : 
+      54             :   bool oneshot_;
+      55             : 
+      56             :   bool breakableSleep(const ros::Time& until);
+      57             :   void threadFcn();
+      58             : 
+      59             :   std::mutex mutex_wakeup_;
+      60             :   std::condition_variable wakeup_cond_;
+      61             :   std::recursive_mutex mutex_state_;
+      62             :   bool running_;
+      63             :   ros::Duration delay_dur_;
+      64             :   bool ending_;
+      65             :   ros::Time next_expected_;
+      66             :   ros::Time last_expected_;
+      67             :   ros::Time last_real_;
+      68             : 
+      69             : };
+      70             : 
+      71             : //}
+      72             : 
+      73             : /* ThreadTimer constructors and destructors//{ */
+      74             : 
+      75             : template <class ObjectType>
+      76           8 : ThreadTimer::ThreadTimer([[maybe_unused]] const ros::NodeHandle& nh, const ros::Rate& rate, void (ObjectType::*const callback)(const ros::TimerEvent&),
+      77             :                          ObjectType* const obj, const bool oneshot, const bool autostart)
+      78           8 :   : ThreadTimer(nh, rate.expectedCycleTime(), callback, obj, oneshot, autostart)
+      79             : {
+      80           8 : }
+      81             : 
+      82             : template <class ObjectType>
+      83           8 : ThreadTimer::ThreadTimer([[maybe_unused]] const ros::NodeHandle& nh, const ros::Duration& duration,
+      84           8 :                          void (ObjectType::*const callback)(const ros::TimerEvent&), ObjectType* const obj, bool oneshot, const bool autostart) 
+      85             : {
+      86           8 :   const auto cbk = std::bind(callback, obj, std::placeholders::_1);
+      87           8 :   if (duration == ros::Duration(0))
+      88           0 :     oneshot = true;
+      89           8 :   this->impl_ = std::make_unique<Impl>(cbk, duration, oneshot);
+      90           8 :   if (autostart)
+      91           0 :     this->impl_->start();
+      92           8 : }
+      93             : 
+      94             : //}
+      95             : 
+      96             : #endif  // MRS_TIMER_HPP
+
+
+
+ + + + +
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Current view:top level - mrs_lib/include/mrs_lib/impl - transformer.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:556485.9 %
Date:2024-08-07 22:18:19Functions:424887.5 %
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Function Name Sort by function nameHit count Sort by hit count
std::optional<Eigen::Quaternion<double, 0> > mrs_lib::Transformer::doTransform<Eigen::Quaternion<double, 0> >(Eigen::Quaternion<double, 0> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)0
geometry_msgs::Quaternion_<std::allocator<void> > mrs_lib::Transformer::copyChangeFrame<geometry_msgs::Quaternion_<std::allocator<void> > >(geometry_msgs::Quaternion_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
geometry_msgs::Point_<std::allocator<void> > mrs_lib::Transformer::copyChangeFrame<geometry_msgs::Point_<std::allocator<void> > >(geometry_msgs::Point_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::Transformer::copyChangeFrame<geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
cv::Point3_<double> mrs_lib::Transformer::copyChangeFrame<cv::Point3_<double> >(cv::Point3_<double> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
Eigen::Quaternion<double, 0> mrs_lib::Transformer::copyChangeFrame<Eigen::Quaternion<double, 0> >(Eigen::Quaternion<double, 0> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
std::optional<cv::Point3_<double> > mrs_lib::Transformer::doTransform<cv::Point3_<double> >(cv::Point3_<double> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)1
std::optional<cv::Point3_<double> > mrs_lib::Transformer::transformImpl<cv::Point3_<double> >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, cv::Point3_<double> const&)1
std::optional<geometry_msgs::Quaternion_<std::allocator<void> > > mrs_lib::Transformer::transformSingle<geometry_msgs::Quaternion_<std::allocator<void> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, geometry_msgs::Quaternion_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)1
std::optional<cv::Point3_<double> > mrs_lib::Transformer::transform<cv::Point3_<double> >(cv::Point3_<double> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)1
std::optional<Eigen::Quaternion<double, 0> > mrs_lib::Transformer::transformImpl<Eigen::Quaternion<double, 0> >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, Eigen::Quaternion<double, 0> const&)2
std::optional<Eigen::Quaternion<double, 0> > mrs_lib::Transformer::transform<Eigen::Quaternion<double, 0> >(Eigen::Quaternion<double, 0> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)2
std::optional<geometry_msgs::Point_<std::allocator<void> > > mrs_lib::Transformer::transform<geometry_msgs::Point_<std::allocator<void> > >(geometry_msgs::Point_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)4
std::optional<geometry_msgs::Quaternion_<std::allocator<void> > > mrs_lib::Transformer::transform<geometry_msgs::Quaternion_<std::allocator<void> > >(geometry_msgs::Quaternion_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)5
std::optional<geometry_msgs::Quaternion_<std::allocator<void> > > mrs_lib::Transformer::doTransform<geometry_msgs::Quaternion_<std::allocator<void> > >(geometry_msgs::Quaternion_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)6
std::optional<geometry_msgs::Quaternion_<std::allocator<void> > > mrs_lib::Transformer::transformImpl<geometry_msgs::Quaternion_<std::allocator<void> > >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, geometry_msgs::Quaternion_<std::allocator<void> > const&)6
std::optional<Eigen::Matrix<double, 3, 1, 0, 3, 1> > mrs_lib::Transformer::transform<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)6
std::optional<geometry_msgs::Point_<std::allocator<void> > > mrs_lib::Transformer::doTransform<geometry_msgs::Point_<std::allocator<void> > >(geometry_msgs::Point_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)16
std::optional<geometry_msgs::Point_<std::allocator<void> > > mrs_lib::Transformer::transformImpl<geometry_msgs::Point_<std::allocator<void> > >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, geometry_msgs::Point_<std::allocator<void> > const&)16
std::optional<geometry_msgs::Vector3_<std::allocator<void> > > mrs_lib::Transformer::doTransform<geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)18
std::optional<geometry_msgs::Vector3_<std::allocator<void> > > mrs_lib::Transformer::transformImpl<geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, geometry_msgs::Vector3_<std::allocator<void> > const&)18
geometry_msgs::Vector3Stamped_<std::allocator<void> > mrs_lib::Transformer::copyChangeFrame<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)94
void mrs_lib::Transformer::setHeader<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)94
std::optional<geometry_msgs::Vector3Stamped_<std::allocator<void> > > mrs_lib::Transformer::transform<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)811
std::optional<mrs_msgs::ReferenceStamped_<std::allocator<void> > > mrs_lib::Transformer::transformSingle<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)21053
std::optional<mrs_msgs::ReferenceStamped_<std::allocator<void> > > mrs_lib::Transformer::transformSingle<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)21053
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)21053
geometry_msgs::PointStamped_<std::allocator<void> > mrs_lib::Transformer::copyChangeFrame<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)25986
void mrs_lib::Transformer::setHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)25986
std::optional<mrs_msgs::ReferenceStamped_<std::allocator<void> > > mrs_lib::Transformer::transform<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)100522
std::optional<geometry_msgs::PoseStamped_<std::allocator<void> > > mrs_lib::Transformer::transform<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)107531
geometry_msgs::PoseStamped_<std::allocator<void> > mrs_lib::Transformer::copyChangeFrame<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)196944
void mrs_lib::Transformer::setHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)196945
std::optional<geometry_msgs::PointStamped_<std::allocator<void> > > mrs_lib::Transformer::doTransform<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)246897
std::optional<geometry_msgs::PointStamped_<std::allocator<void> > > mrs_lib::Transformer::transformSingle<geometry_msgs::PointStamped_<std::allocator<void> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, geometry_msgs::PointStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)272430
std::optional<geometry_msgs::PointStamped_<std::allocator<void> > > mrs_lib::Transformer::transformSingle<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)272853
std::optional<geometry_msgs::PointStamped_<std::allocator<void> > > mrs_lib::Transformer::transformImpl<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, geometry_msgs::PointStamped_<std::allocator<void> > const&)272885
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> > const&)298783
std::optional<geometry_msgs::PoseStamped_<std::allocator<void> > > mrs_lib::Transformer::transformSingle<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)644589
std::optional<geometry_msgs::PoseStamped_<std::allocator<void> > > mrs_lib::Transformer::transformSingle<geometry_msgs::PoseStamped_<std::allocator<void> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, geometry_msgs::PoseStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)645234
std::optional<geometry_msgs::PoseStamped_<std::allocator<void> > > mrs_lib::Transformer::doTransform<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)690960
std::optional<geometry_msgs::Vector3Stamped_<std::allocator<void> > > mrs_lib::Transformer::transformSingle<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)834720
std::optional<geometry_msgs::Vector3Stamped_<std::allocator<void> > > mrs_lib::Transformer::transformSingle<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)834748
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&)834890
std::optional<geometry_msgs::Vector3Stamped_<std::allocator<void> > > mrs_lib::Transformer::doTransform<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)835565
std::optional<geometry_msgs::Vector3Stamped_<std::allocator<void> > > mrs_lib::Transformer::transformImpl<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, geometry_msgs::Vector3Stamped_<std::allocator<void> > const&)835659
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> > const&)841924
std::optional<geometry_msgs::PoseStamped_<std::allocator<void> > > mrs_lib::Transformer::transformImpl<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, geometry_msgs::PoseStamped_<std::allocator<void> > const&)887901
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/impl - transformer.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:556485.9 %
Date:2024-08-07 22:18:19Functions:424887.5 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
std::optional<geometry_msgs::Quaternion_<std::allocator<void> > > mrs_lib::Transformer::doTransform<geometry_msgs::Quaternion_<std::allocator<void> > >(geometry_msgs::Quaternion_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)6
std::optional<geometry_msgs::PoseStamped_<std::allocator<void> > > mrs_lib::Transformer::doTransform<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)690960
std::optional<geometry_msgs::PointStamped_<std::allocator<void> > > mrs_lib::Transformer::doTransform<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)246897
std::optional<geometry_msgs::Vector3Stamped_<std::allocator<void> > > mrs_lib::Transformer::doTransform<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)835565
std::optional<geometry_msgs::Point_<std::allocator<void> > > mrs_lib::Transformer::doTransform<geometry_msgs::Point_<std::allocator<void> > >(geometry_msgs::Point_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)16
std::optional<geometry_msgs::Vector3_<std::allocator<void> > > mrs_lib::Transformer::doTransform<geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)18
std::optional<cv::Point3_<double> > mrs_lib::Transformer::doTransform<cv::Point3_<double> >(cv::Point3_<double> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)1
std::optional<Eigen::Quaternion<double, 0> > mrs_lib::Transformer::doTransform<Eigen::Quaternion<double, 0> >(Eigen::Quaternion<double, 0> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)0
std::optional<geometry_msgs::Quaternion_<std::allocator<void> > > mrs_lib::Transformer::transformImpl<geometry_msgs::Quaternion_<std::allocator<void> > >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, geometry_msgs::Quaternion_<std::allocator<void> > const&)6
std::optional<geometry_msgs::PoseStamped_<std::allocator<void> > > mrs_lib::Transformer::transformImpl<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, geometry_msgs::PoseStamped_<std::allocator<void> > const&)887901
std::optional<geometry_msgs::PointStamped_<std::allocator<void> > > mrs_lib::Transformer::transformImpl<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, geometry_msgs::PointStamped_<std::allocator<void> > const&)272885
std::optional<geometry_msgs::Vector3Stamped_<std::allocator<void> > > mrs_lib::Transformer::transformImpl<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, geometry_msgs::Vector3Stamped_<std::allocator<void> > const&)835659
std::optional<geometry_msgs::Point_<std::allocator<void> > > mrs_lib::Transformer::transformImpl<geometry_msgs::Point_<std::allocator<void> > >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, geometry_msgs::Point_<std::allocator<void> > const&)16
std::optional<geometry_msgs::Vector3_<std::allocator<void> > > mrs_lib::Transformer::transformImpl<geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, geometry_msgs::Vector3_<std::allocator<void> > const&)18
std::optional<cv::Point3_<double> > mrs_lib::Transformer::transformImpl<cv::Point3_<double> >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, cv::Point3_<double> const&)1
std::optional<Eigen::Quaternion<double, 0> > mrs_lib::Transformer::transformImpl<Eigen::Quaternion<double, 0> >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, Eigen::Quaternion<double, 0> const&)2
geometry_msgs::Quaternion_<std::allocator<void> > mrs_lib::Transformer::copyChangeFrame<geometry_msgs::Quaternion_<std::allocator<void> > >(geometry_msgs::Quaternion_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
geometry_msgs::PoseStamped_<std::allocator<void> > mrs_lib::Transformer::copyChangeFrame<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)196944
geometry_msgs::PointStamped_<std::allocator<void> > mrs_lib::Transformer::copyChangeFrame<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)25986
geometry_msgs::Vector3Stamped_<std::allocator<void> > mrs_lib::Transformer::copyChangeFrame<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)94
geometry_msgs::Point_<std::allocator<void> > mrs_lib::Transformer::copyChangeFrame<geometry_msgs::Point_<std::allocator<void> > >(geometry_msgs::Point_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::Transformer::copyChangeFrame<geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
cv::Point3_<double> mrs_lib::Transformer::copyChangeFrame<cv::Point3_<double> >(cv::Point3_<double> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
Eigen::Quaternion<double, 0> mrs_lib::Transformer::copyChangeFrame<Eigen::Quaternion<double, 0> >(Eigen::Quaternion<double, 0> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
std::optional<geometry_msgs::Quaternion_<std::allocator<void> > > mrs_lib::Transformer::transformSingle<geometry_msgs::Quaternion_<std::allocator<void> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, geometry_msgs::Quaternion_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)1
std::optional<geometry_msgs::PoseStamped_<std::allocator<void> > > mrs_lib::Transformer::transformSingle<geometry_msgs::PoseStamped_<std::allocator<void> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, geometry_msgs::PoseStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)645234
std::optional<geometry_msgs::PoseStamped_<std::allocator<void> > > mrs_lib::Transformer::transformSingle<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)644589
std::optional<geometry_msgs::PointStamped_<std::allocator<void> > > mrs_lib::Transformer::transformSingle<geometry_msgs::PointStamped_<std::allocator<void> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, geometry_msgs::PointStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)272430
std::optional<geometry_msgs::PointStamped_<std::allocator<void> > > mrs_lib::Transformer::transformSingle<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)272853
std::optional<geometry_msgs::Vector3Stamped_<std::allocator<void> > > mrs_lib::Transformer::transformSingle<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)834748
std::optional<geometry_msgs::Vector3Stamped_<std::allocator<void> > > mrs_lib::Transformer::transformSingle<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)834720
std::optional<mrs_msgs::ReferenceStamped_<std::allocator<void> > > mrs_lib::Transformer::transformSingle<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)21053
std::optional<mrs_msgs::ReferenceStamped_<std::allocator<void> > > mrs_lib::Transformer::transformSingle<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)21053
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> > const&)841924
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> > const&)298783
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&)834890
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)21053
void mrs_lib::Transformer::setHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)196945
void mrs_lib::Transformer::setHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)25986
void mrs_lib::Transformer::setHeader<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)94
std::optional<geometry_msgs::Quaternion_<std::allocator<void> > > mrs_lib::Transformer::transform<geometry_msgs::Quaternion_<std::allocator<void> > >(geometry_msgs::Quaternion_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)5
std::optional<geometry_msgs::PoseStamped_<std::allocator<void> > > mrs_lib::Transformer::transform<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)107531
std::optional<geometry_msgs::Vector3Stamped_<std::allocator<void> > > mrs_lib::Transformer::transform<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)811
std::optional<geometry_msgs::Point_<std::allocator<void> > > mrs_lib::Transformer::transform<geometry_msgs::Point_<std::allocator<void> > >(geometry_msgs::Point_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)4
std::optional<cv::Point3_<double> > mrs_lib::Transformer::transform<cv::Point3_<double> >(cv::Point3_<double> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)1
std::optional<Eigen::Quaternion<double, 0> > mrs_lib::Transformer::transform<Eigen::Quaternion<double, 0> >(Eigen::Quaternion<double, 0> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)2
std::optional<Eigen::Matrix<double, 3, 1, 0, 3, 1> > mrs_lib::Transformer::transform<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)6
std::optional<mrs_msgs::ReferenceStamped_<std::allocator<void> > > mrs_lib::Transformer::transform<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)100522
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Current view:top level - mrs_lib/include/mrs_lib/impl - transformer.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:556485.9 %
Date:2024-08-07 22:18:19Functions:424887.5 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef TRANSFORMER_HPP
+       2             : #define TRANSFORMER_HPP
+       3             : 
+       4             : // clang: MatousFormat
+       5             : 
+       6             : namespace mrs_lib
+       7             : {
+       8             : 
+       9             :   // | --------------------- helper methods --------------------- |
+      10             : 
+      11             :   /* getHeader() overloads for different message types (pointers, pointclouds etc) //{ */
+      12             : 
+      13             :   template <typename msg_t>
+      14     1996650 :   std_msgs::Header Transformer::getHeader(const msg_t& msg)
+      15             :   {
+      16     1996650 :     return msg.header;
+      17             :   }
+      18             : 
+      19             :   template <typename pt_t>
+      20             :   std_msgs::Header Transformer::getHeader(const pcl::PointCloud<pt_t>& cloud)
+      21             :   {
+      22             :     std_msgs::Header ret;
+      23             :     pcl_conversions::fromPCL(cloud.header, ret);
+      24             :     return ret;
+      25             :   }
+      26             : 
+      27             :   //}
+      28             : 
+      29             :   /* setHeader() overloads for different message types (pointers, pointclouds etc) //{ */
+      30             : 
+      31             :   template <typename msg_t>
+      32      223025 :   void Transformer::setHeader(msg_t& msg, const std_msgs::Header& header)
+      33             :   {
+      34      223025 :     msg.header = header;
+      35      223025 :   }
+      36             : 
+      37             :   template <typename pt_t>
+      38             :   void Transformer::setHeader(pcl::PointCloud<pt_t>& cloud, const std_msgs::Header& header)
+      39             :   {
+      40             :     pcl_conversions::toPCL(header, cloud.header);
+      41             :   }
+      42             : 
+      43             :   //}
+      44             : 
+      45             :   /* copyChangeFrame() helper function //{ */
+      46             : 
+      47             :   template <typename T>
+      48      223024 :   T Transformer::copyChangeFrame(const T& what, const std::string& frame_id)
+      49             :   {
+      50      223024 :     T ret = what;
+      51             :     if constexpr (has_header_member_v<T>)
+      52             :     {
+      53      446049 :       std_msgs::Header new_header = getHeader(what);
+      54      223025 :       new_header.frame_id = frame_id;
+      55      223025 :       setHeader(ret, new_header);
+      56             :     }
+      57      223025 :     return ret;
+      58             :   }
+      59             : 
+      60             :   //}
+      61             : 
+      62             :   /* transformImpl() //{ */
+      63             : 
+      64             :   template <class T>
+      65     1996488 :   std::optional<T> Transformer::transformImpl(const geometry_msgs::TransformStamped& tf, const T& what)
+      66             :   {
+      67     3992960 :     const std::string from_frame = frame_from(tf);
+      68     3992945 :     const std::string to_frame = frame_to(tf);
+      69             : 
+      70     1996480 :     if (from_frame == to_frame)
+      71      223025 :       return copyChangeFrame(what, from_frame);
+      72             : 
+      73     3546917 :     const std::string latlon_frame_name = resolveFrameImpl(LATLON_ORIGIN);
+      74             : 
+      75             :     // First, check if the transformation is from/to the latlon frame
+      76             :     // if conversion between UVM and LatLon coordinates is defined for this message, it may be resolved
+      77             :     if constexpr (UTMLL_exists_v<Transformer, T>)
+      78             :     {
+      79             :       // check for transformation from LAT-LON GPS
+      80      937867 :       if (from_frame == latlon_frame_name)
+      81             :       {
+      82           2 :         const std::optional<T> tmp = LLtoUTM(what, getFramePrefix(from_frame));
+      83           2 :         if (!tmp.has_value())
+      84           0 :           return std::nullopt;
+      85           2 :         return doTransform(tmp.value(), tf);
+      86             :       }
+      87             :       // check for transformation to LAT-LON GPS
+      88      937872 :       else if (to_frame == latlon_frame_name)
+      89             :       {
+      90        4318 :         const std::optional<T> tmp = doTransform(what, tf);
+      91        2160 :         if (!tmp.has_value())
+      92           0 :           return std::nullopt;
+      93        2160 :         return UTMtoLL(tmp.value(), getFramePrefix(to_frame));
+      94             :       }
+      95             :     }
+      96             :     else
+      97             :     {
+      98             :       // by default, transformation from/to LATLON is undefined, so return nullopt if it's attempted
+      99      835592 :       if (from_frame == latlon_frame_name || to_frame == latlon_frame_name)
+     100             :       {
+     101           2 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[" << node_name_ << "]: Transformer: cannot transform message of this type (" << typeid(T).name() << ") to/from latitude/longitude coordinates!");
+     102           2 :         return std::nullopt;
+     103             :       }
+     104             :     }
+     105             : 
+     106             :     // otherwise it's just an ol' borin' transformation
+     107     1771300 :     return doTransform(what, tf);
+     108             :   }
+     109             : 
+     110             :   //}
+     111             : 
+     112             :   /* doTransform() //{ */
+     113             : 
+     114             :   template <class T>
+     115     1773463 :   std::optional<T> Transformer::doTransform(const T& what, const geometry_msgs::TransformStamped& tf)
+     116             :   {
+     117             :     try
+     118             :     {
+     119     3546840 :       T result;
+     120     1773444 :       tf2::doTransform(what, result, tf);
+     121     1773457 :       return result;
+     122             :     }
+     123           0 :     catch (tf2::TransformException& ex)
+     124             :     {
+     125           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: Transformer: Error during transform from \"%s\" frame to \"%s\" frame.\n\tMSG: %s", node_name_.c_str(), frame_from(tf).c_str(),
+     126             :                         frame_to(tf).c_str(), ex.what());
+     127           0 :       return std::nullopt;
+     128             :     }
+     129             :   }
+     130             : 
+     131             :   //}
+     132             : 
+     133             :   // | ------------------ user-callable methods ----------------- |
+     134             : 
+     135             :   /* transformSingle() //{ */
+     136             : 
+     137             :   template <class T>
+     138     1773215 :   std::optional<T> Transformer::transformSingle(const T& what, const std::string& to_frame_raw)
+     139             :   {
+     140     3547939 :     const std_msgs::Header orig_header = getHeader(what);
+     141     3547511 :     return transformSingle(orig_header.frame_id, what, to_frame_raw, orig_header.stamp);
+     142             :   }
+     143             : 
+     144             :   template <class T>
+     145     1773466 :   std::optional<T> Transformer::transformSingle(const std::string& from_frame_raw, const T& what, const std::string& to_frame_raw, const ros::Time& time_stamp)
+     146             :   {
+     147     3548169 :     std::scoped_lock lck(mutex_);
+     148             : 
+     149     1774731 :     if (!initialized_)
+     150             :     {
+     151           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: Transformer: cannot transform, not initialized", node_name_.c_str());
+     152           0 :       return std::nullopt;
+     153             :     }
+     154             : 
+     155     3549440 :     const std::string from_frame = resolveFrameImpl(from_frame_raw);
+     156     3549402 :     const std::string to_frame = resolveFrameImpl(to_frame_raw);
+     157     3549403 :     const std::string latlon_frame = resolveFrameImpl(LATLON_ORIGIN);
+     158             : 
+     159             :     // get the transform
+     160     3549439 :     const auto tf_opt = getTransformImpl(from_frame, to_frame, time_stamp, latlon_frame);
+     161     1774725 :     if (!tf_opt.has_value())
+     162       14543 :       return std::nullopt;
+     163     1760169 :     const geometry_msgs::TransformStamped& tf = tf_opt.value();
+     164             : 
+     165             :     // do the transformation
+     166     3520327 :     const geometry_msgs::TransformStamped tf_resolved = create_transform(from_frame, to_frame, tf.header.stamp, tf.transform);
+     167     1760176 :     return transformImpl(tf_resolved, what);
+     168             :   }
+     169             : 
+     170             :   //}
+     171             : 
+     172             :   /* transform() //{ */
+     173             : 
+     174             :   template <class T>
+     175      208882 :   std::optional<T> Transformer::transform(const T& what, const geometry_msgs::TransformStamped& tf)
+     176             :   {
+     177      417764 :     std::scoped_lock lck(mutex_);
+     178             : 
+     179      208882 :     if (!initialized_)
+     180             :     {
+     181           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: Transformer: cannot transform, not initialized", node_name_.c_str());
+     182           0 :       return std::nullopt;
+     183             :     }
+     184             : 
+     185      417764 :     const std::string from_frame = resolveFrameImpl(frame_from(tf));
+     186      417764 :     const std::string to_frame = resolveFrameImpl(frame_to(tf));
+     187      417764 :     const geometry_msgs::TransformStamped tf_resolved = create_transform(from_frame, to_frame, tf.header.stamp, tf.transform);
+     188             : 
+     189      208882 :     return transformImpl(tf_resolved, what);
+     190             :   }
+     191             : 
+     192             :   /* //} */
+     193             : 
+     194             : }
+     195             : 
+     196             : #endif // TRANSFORMER_HPP
+
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Date:2024-08-07 22:18:19Functions:81266.7 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::UKF<4, 1, 2>::setConstants(double, double, double)0
mrs_lib::UKF<4, 1, 2>::setTransitionModel(std::function<Eigen::Matrix<double, 4, 1, 0, 4, 1> (Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, double)> const&)0
mrs_lib::UKF<4, 1, 2>::setObservationModel(std::function<Eigen::Matrix<double, 2, 1, 0, 2, 1> (Eigen::Matrix<double, 4, 1, 0, 4, 1> const&)> const&)0
mrs_lib::UKF<4, 1, 2>::UKF()0
mrs_lib::UKF<4, 1, 2>::computeWeights()1
mrs_lib::UKF<4, 1, 2>::UKF(std::function<Eigen::Matrix<double, 4, 1, 0, 4, 1> (Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, double)> const&, std::function<Eigen::Matrix<double, 2, 1, 0, 2, 1> (Eigen::Matrix<double, 4, 1, 0, 4, 1> const&)> const&, double, double, double)1
mrs_lib::UKF<4, 1, 2>::computeInverse(Eigen::Matrix<double, 2, 2, 0, 2, 2> const&) const100
mrs_lib::UKF<4, 1, 2>::computeKalmanGain(Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 4, 2, 0, 4, 2> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&) const100
mrs_lib::UKF<4, 1, 2>::correct(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&) const100
mrs_lib::UKF<4, 1, 2>::predict(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, double) const100
mrs_lib::UKF<4, 1, 2>::computePaSqrt(Eigen::Matrix<double, 4, 4, 0, 4, 4> const&) const200
mrs_lib::UKF<4, 1, 2>::computeSigmas(Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&) const200
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/impl - ukf.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:7710474.0 %
Date:2024-08-07 22:18:19Functions:81266.7 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::UKF<4, 1, 2>::setConstants(double, double, double)0
mrs_lib::UKF<4, 1, 2>::computeWeights()1
mrs_lib::UKF<4, 1, 2>::setTransitionModel(std::function<Eigen::Matrix<double, 4, 1, 0, 4, 1> (Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, double)> const&)0
mrs_lib::UKF<4, 1, 2>::setObservationModel(std::function<Eigen::Matrix<double, 2, 1, 0, 2, 1> (Eigen::Matrix<double, 4, 1, 0, 4, 1> const&)> const&)0
mrs_lib::UKF<4, 1, 2>::UKF(std::function<Eigen::Matrix<double, 4, 1, 0, 4, 1> (Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, double)> const&, std::function<Eigen::Matrix<double, 2, 1, 0, 2, 1> (Eigen::Matrix<double, 4, 1, 0, 4, 1> const&)> const&, double, double, double)1
mrs_lib::UKF<4, 1, 2>::UKF()0
mrs_lib::UKF<4, 1, 2>::computePaSqrt(Eigen::Matrix<double, 4, 4, 0, 4, 4> const&) const200
mrs_lib::UKF<4, 1, 2>::computeSigmas(Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&) const200
mrs_lib::UKF<4, 1, 2>::computeInverse(Eigen::Matrix<double, 2, 2, 0, 2, 2> const&) const100
mrs_lib::UKF<4, 1, 2>::computeKalmanGain(Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 4, 2, 0, 4, 2> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&) const100
mrs_lib::UKF<4, 1, 2>::correct(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&) const100
mrs_lib::UKF<4, 1, 2>::predict(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, double) const100
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Current view:top level - mrs_lib/include/mrs_lib/impl - ukf.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:7710474.0 %
Date:2024-08-07 22:18:19Functions:81266.7 %
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+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : 
+       3             : #ifndef UKF_HPP
+       4             : #define UKF_HPP
+       5             : 
+       6             : /**  \file
+       7             :      \brief Implements UKF - a class implementing the Unscented Kalman Filter.
+       8             :      \author Tomáš Báča - bacatoma@fel.cvut.cz (original implementation)
+       9             :      \author Matouš Vrba - vrbamato@fel.cvut.cz (rewrite, documentation)
+      10             :  */
+      11             : 
+      12             : #include <ros/ros.h>
+      13             : #include <mrs_lib/ukf.h>
+      14             : 
+      15             : namespace mrs_lib
+      16             : {
+      17             :   /* constructor //{ */
+      18             : 
+      19             :   template <int n_states, int n_inputs, int n_measurements>
+      20           0 :   UKF<n_states, n_inputs, n_measurements>::UKF()
+      21             :   {
+      22           0 :   }
+      23             : 
+      24             :   template <int n_states, int n_inputs, int n_measurements>
+      25           1 :   UKF<n_states, n_inputs, n_measurements>::UKF(const transition_model_t& transition_model, const observation_model_t& observation_model, const double alpha, const double kappa, const double beta)
+      26           1 :     : m_alpha(alpha), m_kappa(kappa), m_beta(beta), m_Wm(W_t::Zero()), m_Wc(W_t::Zero()), m_transition_model(transition_model), m_observation_model(observation_model)
+      27             :   {
+      28           1 :     assert(alpha > 0.0);
+      29           1 :     computeWeights();
+      30           1 :   }
+      31             : 
+      32             :   //}
+      33             : 
+      34             :   /* computeWeights() //{ */
+      35             : 
+      36             :   template <int n_states, int n_inputs, int n_measurements>
+      37           1 :   void UKF<n_states, n_inputs, n_measurements>::computeWeights()
+      38             :   {
+      39             :     // initialize lambda
+      40             :     /* m_lambda = double(n) * (m_alpha * m_alpha - 1.0); */
+      41           1 :     m_lambda = m_alpha*m_alpha*(double(n) + m_kappa) - double(n);
+      42             : 
+      43             :     // initialize first terms of the weights
+      44           1 :     m_Wm(0) = m_lambda / (double(n) + m_lambda);
+      45           1 :     m_Wc(0) = m_Wm(0) + (1.0 - m_alpha*m_alpha + m_beta);
+      46             : 
+      47             :     // initialize the rest of the weights
+      48           9 :     for (int i = 1; i < w; i++)
+      49             :     {
+      50           8 :       m_Wm(i) = (1.0 - m_Wm(0))/(w - 1.0);
+      51           8 :       m_Wc(i) = m_Wm(i);
+      52             :     }
+      53           1 :   }
+      54             : 
+      55             :   //}
+      56             : 
+      57             :   /* setConstants() //{ */
+      58             : 
+      59             :   template <int n_states, int n_inputs, int n_measurements>
+      60             :   // update the UKF constants
+      61           0 :   void UKF<n_states, n_inputs, n_measurements>::setConstants(const double alpha, const double kappa, const double beta)
+      62             :   {
+      63           0 :     m_alpha = alpha;
+      64           0 :     m_kappa = kappa;
+      65           0 :     m_beta  = beta;
+      66             : 
+      67           0 :     computeWeights();
+      68           0 :   }
+      69             : 
+      70             :   //}
+      71             : 
+      72             :     /* setTransitionModel() method //{ */
+      73             : 
+      74             :     template <int n_states, int n_inputs, int n_measurements>
+      75           0 :     void UKF<n_states, n_inputs, n_measurements>::setTransitionModel(const transition_model_t& transition_model)
+      76             :     {
+      77           0 :       m_transition_model = transition_model;
+      78           0 :     }
+      79             : 
+      80             :     //}
+      81             : 
+      82             :     /* setObservationModel() method //{ */
+      83             : 
+      84             :     template <int n_states, int n_inputs, int n_measurements>
+      85           0 :     void UKF<n_states, n_inputs, n_measurements>::setObservationModel(const observation_model_t& observation_model)
+      86             :     {
+      87           0 :       m_observation_model = observation_model;
+      88           0 :     }
+      89             : 
+      90             :     //}
+      91             : 
+      92             :   /* computePaSqrt() method //{ */
+      93             :   template <int n_states, int n_inputs, int n_measurements>
+      94         200 :   typename UKF<n_states, n_inputs, n_measurements>::P_t UKF<n_states, n_inputs, n_measurements>::computePaSqrt(const P_t& P) const
+      95             :   {
+      96             :     // calculate the square root of the covariance matrix
+      97         200 :     const P_t Pa = (double(n) + m_lambda)*P;
+      98             : 
+      99             :     /* Eigen::SelfAdjointEigenSolver<P_t> es(Pa); */
+     100         200 :     Eigen::LLT<P_t> llt(Pa);
+     101         200 :     if (llt.info() != Eigen::Success)
+     102             :     {
+     103           0 :       P_t tmp = Pa + (double(n) + m_lambda)*1e-9*P_t::Identity();
+     104           0 :       llt.compute(tmp);
+     105           0 :       if (llt.info() != Eigen::Success)
+     106             :       {
+     107           0 :         ROS_WARN("UKF: taking the square root of covariance during sigma point generation failed.");
+     108           0 :         throw square_root_exception();
+     109             :       }
+     110             :     }
+     111             : 
+     112         200 :     const P_t Pa_sqrt = llt.matrixL();
+     113         400 :     return Pa_sqrt;
+     114             :   }
+     115             :   //}
+     116             : 
+     117             :   /* computeInverse() method //{ */
+     118             :   template <int n_states, int n_inputs, int n_measurements>
+     119         100 :   typename UKF<n_states, n_inputs, n_measurements>::Pzz_t UKF<n_states, n_inputs, n_measurements>::computeInverse(const Pzz_t& Pzz) const
+     120             :   {
+     121         100 :     Eigen::ColPivHouseholderQR<Pzz_t> qr(Pzz);
+     122         100 :     if (!qr.isInvertible())
+     123             :     {
+     124             :       // add some stuff to the tmp matrix diagonal to make it invertible
+     125           0 :       Pzz_t tmp = Pzz + 1e-9*Pzz_t::Identity(Pzz.rows(), Pzz.cols());
+     126           0 :       qr.compute(tmp);
+     127           0 :       if (!qr.isInvertible())
+     128             :       {
+     129             :         // never managed to make this happen except for explicitly putting NaNs in the input
+     130           0 :         ROS_ERROR("UKF: could not compute matrix inversion!!! Fix your covariances (the measurement's is probably too low...)");
+     131           0 :         throw inverse_exception();
+     132             :       }
+     133           0 :       ROS_WARN("UKF: artificially inflating matrix for inverse computation! Check your covariances (the measurement's might be too low...)");
+     134             :     }
+     135         100 :     Pzz_t ret = qr.inverse();
+     136         200 :     return ret;
+     137             :   }
+     138             :   //}
+     139             : 
+     140             :   /* computeKalmanGain() method //{ */
+     141             :   template <int n_states, int n_inputs, int n_measurements>
+     142         100 :   typename UKF<n_states, n_inputs, n_measurements>::K_t UKF<n_states, n_inputs, n_measurements>::computeKalmanGain([[maybe_unused]] const x_t& x, [[maybe_unused]] const z_t& inn, const K_t& Pxz, const Pzz_t& Pzz) const
+     143             :   {
+     144         100 :     const Pzz_t Pzz_inv = computeInverse(Pzz);
+     145         100 :     const K_t K = Pxz * Pzz_inv;
+     146         200 :     return K;
+     147             :   }
+     148             :   //}
+     149             : 
+     150             :   /* computeSigmas() method //{ */
+     151             :   template <int n_states, int n_inputs, int n_measurements>
+     152         200 :   typename UKF<n_states, n_inputs, n_measurements>::X_t UKF<n_states, n_inputs, n_measurements>::computeSigmas(const x_t& x, const P_t& P) const
+     153             :   {
+     154             :     // calculate sigma points
+     155             :     // fill in the middle of the elipsoid
+     156         200 :     X_t S;
+     157         200 :     S.col(0) = x;
+     158             : 
+     159         200 :     const P_t P_sqrt = computePaSqrt(P);
+     160         200 :     const auto xrep = x.replicate(1, n);
+     161             : 
+     162             :     // positive sigma points
+     163         200 :     S.template block<n, n>(0, 1) = xrep + P_sqrt;
+     164             : 
+     165             :     // negative sigma points
+     166         200 :     S.template block<n, n>(0, n+1) = xrep - P_sqrt;
+     167             : 
+     168             :     /* std::cout << "x: " << std::endl << x << std::endl; */
+     169             :     /* std::cout << "S rowmean: " << std::endl << S.rowwise().mean() << std::endl; */
+     170             : 
+     171         400 :     return S;
+     172             :   }
+     173             :   //}
+     174             : 
+     175             :   /* predict() method //{ */
+     176             : 
+     177             :   template <int n_states, int n_inputs, int n_measurements>
+     178         100 :   typename UKF<n_states, n_inputs, n_measurements>::statecov_t UKF<n_states, n_inputs, n_measurements>::predict(const statecov_t& sc, const u_t& u, const Q_t& Q, double dt) const
+     179             :   {
+     180         100 :     const auto& x = sc.x;
+     181         100 :     const auto& P = sc.P;
+     182         100 :     statecov_t ret;
+     183             : 
+     184         100 :     const X_t S = computeSigmas(x, P);
+     185             : 
+     186             :     // propagate sigmas through the transition model
+     187         100 :     X_t X;
+     188        1000 :     for (int i = 0; i < w; i++)
+     189             :     {
+     190         900 :       X.col(i) = m_transition_model(S.col(i), u, dt);
+     191             :     }
+     192             : 
+     193             :     /* std::cout << "x: " << std::endl << x << std::endl; */
+     194             :     /* std::cout << "X rowmean: " << std::endl << X.rowwise().mean() << std::endl; */
+     195             :     /* std::cout << "m_Wm sum: " << m_Wm.sum() << std::endl; */
+     196             : 
+     197             :     // recompute the state vector
+     198         100 :     ret.x = x_t::Zero();
+     199        1000 :     for (int i = 0; i < w; i++)
+     200             :     {
+     201             :       //TODO: WHY DOES THIS SHIT WORK IF I SUBSTITUTE m_Wm(i) FOR 1.0/w ??
+     202         900 :       x_t tmp = 1.0/w * X.col(i);
+     203             :       /* x_t tmp = m_Wm(i) * X.col(i); */
+     204         900 :       ret.x += tmp;
+     205             :     }
+     206             : 
+     207             :     // recompute the covariance
+     208         100 :     ret.P = P_t::Zero();
+     209        1000 :     for (int i = 0; i < w; i++)
+     210             :     {
+     211         900 :       ret.P += m_Wc(i) * (X.col(i) - ret.x) * (X.col(i) - ret.x).transpose();
+     212             :     }
+     213         100 :     ret.P += Q;
+     214             : 
+     215         200 :     return ret;
+     216             :   }
+     217             : 
+     218             :   //}
+     219             : 
+     220             :   /* correct() method //{ */
+     221             : 
+     222             :   template <int n_states, int n_inputs, int n_measurements>
+     223         100 :   typename UKF<n_states, n_inputs, n_measurements>::statecov_t UKF<n_states, n_inputs, n_measurements>::correct(const statecov_t& sc, const z_t& z, const R_t& R) const
+     224             :   {
+     225         100 :     const auto& x = sc.x;
+     226         100 :     const auto& P = sc.P;
+     227         100 :     const X_t S = computeSigmas(x, P);
+     228             : 
+     229             :     // propagate sigmas through the observation model
+     230         100 :     Z_t Z_exp(z.rows(), w);
+     231        1000 :     for (int i = 0; i < w; i++)
+     232             :     {
+     233         900 :       Z_exp.col(i) = m_observation_model(S.col(i));
+     234             :     }
+     235             : 
+     236             :     // compute expected measurement
+     237         100 :     z_t z_exp = z_t::Zero(z.rows());
+     238        1000 :     for (int i = 0; i < w; i++)
+     239             :     {
+     240         900 :       z_exp += m_Wm(i) * Z_exp.col(i);
+     241             :     }
+     242             : 
+     243             :     // compute the covariance of measurement
+     244         100 :     Pzz_t Pzz = Pzz_t::Zero(z.rows(), z.rows());
+     245        1000 :     for (int i = 0; i < w; i++)
+     246             :     {
+     247         900 :       Pzz += m_Wc(i) * (Z_exp.col(i) - z_exp) * (Z_exp.col(i) - z_exp).transpose();
+     248             :     }
+     249         100 :     Pzz += R;
+     250             : 
+     251             :     // compute cross covariance
+     252         100 :     K_t Pxz = K_t::Zero(n, z.rows());
+     253        1000 :     for (int i = 0; i < w; i++)
+     254             :     {
+     255         900 :       Pxz += m_Wc(i) * (S.col(i) - x) * (Z_exp.col(i) - z_exp).transpose();
+     256             :     }
+     257             : 
+     258             :     // compute Kalman gain
+     259         100 :     const z_t inn = (z - z_exp); // innovation
+     260         100 :     const K_t K = computeKalmanGain(sc.x, inn, Pxz, Pzz);
+     261             : 
+     262             :     // check whether the inverse produced valid numbers
+     263         100 :     if (!K.array().isFinite().all())
+     264             :     {
+     265           0 :       ROS_ERROR("UKF: inverting of Pzz in correction update produced non-finite numbers!!! Fix your covariances (the measurement's is probably too low...)");
+     266           0 :       throw inverse_exception();
+     267             :     }
+     268             : 
+     269             :     // correct
+     270         100 :     statecov_t ret;
+     271         100 :     ret.x = x + K * inn;
+     272         100 :     ret.P = P - K * Pzz * K.transpose();
+     273         200 :     return ret;
+     274             :   }
+     275             : 
+     276             :   //}
+     277             : 
+     278             : }  // namespace mrs_lib
+     279             : 
+     280             : #endif
+
+
+
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Current view:top level - mrs_lib/include/mrs_lib/impl - vector_converter.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1818100.0 %
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Function Name Sort by function nameHit count Sort by hit count
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::impl::convertTo<geometry_msgs::Vector3_<std::allocator<void> > >(double, double, double)8
cv::Vec<double, 3> mrs_lib::impl::convertTo<cv::Vec<double, 3> >(double, double, double)8
cv::Vec<float, 3> mrs_lib::impl::convertTo<cv::Vec<float, 3> >(double, double, double)8
pcl::PointXYZ mrs_lib::impl::convertTo<pcl::PointXYZ>(double, double, double)8
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::impl::convertTo<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(double, double, double)8
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::impl::convertTo<Eigen::Matrix<float, 3, 1, 0, 3, 1> >(double, double, double)8
std::enable_if<has_xmem_v<geometry_msgs::Vector3_<std::allocator<void> > >, std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)14
std::enable_if<(has_squarebracket_operator_v<cv::Vec<double, 3> >)&&(!(has_xfun_v<cv::Vec<double, 3> >)), std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<cv::Vec<double, 3> >(cv::Vec<double, 3> const&)14
std::enable_if<(has_squarebracket_operator_v<cv::Vec<float, 3> >)&&(!(has_xfun_v<cv::Vec<float, 3> >)), std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<cv::Vec<float, 3> >(cv::Vec<float, 3> const&)14
std::enable_if<has_xmem_v<pcl::PointXYZ>, std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<pcl::PointXYZ>(pcl::PointXYZ const&)14
std::enable_if<has_xfun_v<Eigen::Matrix<double, 3, 1, 0, 3, 1> >, std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)14
std::enable_if<has_xfun_v<Eigen::Matrix<float, 3, 1, 0, 3, 1> >, std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)14
std::enable_if<(!(has_xyz_constructor_v<geometry_msgs::Vector3_<std::allocator<void> > >))&&(has_xmem_v<geometry_msgs::Vector3_<std::allocator<void> > >), void>::type mrs_lib::impl::convertTo<geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> >&, double, double, double)14
std::enable_if<has_xyz_constructor_v<cv::Vec<double, 3> >, void>::type mrs_lib::impl::convertTo<cv::Vec<double, 3> >(cv::Vec<double, 3>&, double, double, double)14
std::enable_if<has_xyz_constructor_v<cv::Vec<float, 3> >, void>::type mrs_lib::impl::convertTo<cv::Vec<float, 3> >(cv::Vec<float, 3>&, double, double, double)14
std::enable_if<has_xyz_constructor_v<pcl::PointXYZ>, void>::type mrs_lib::impl::convertTo<pcl::PointXYZ>(pcl::PointXYZ&, double, double, double)14
std::enable_if<has_xyz_constructor_v<Eigen::Matrix<double, 3, 1, 0, 3, 1> >, void>::type mrs_lib::impl::convertTo<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1>&, double, double, double)14
std::enable_if<has_xyz_constructor_v<Eigen::Matrix<float, 3, 1, 0, 3, 1> >, void>::type mrs_lib::impl::convertTo<Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1>&, double, double, double)14
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Current view:top level - mrs_lib/include/mrs_lib/impl - vector_converter.hpp (source / functions)HitTotalCoverage
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Function Name Sort by function nameHit count Sort by hit count
std::enable_if<has_xmem_v<geometry_msgs::Vector3_<std::allocator<void> > >, std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)14
std::enable_if<(has_squarebracket_operator_v<cv::Vec<double, 3> >)&&(!(has_xfun_v<cv::Vec<double, 3> >)), std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<cv::Vec<double, 3> >(cv::Vec<double, 3> const&)14
std::enable_if<(has_squarebracket_operator_v<cv::Vec<float, 3> >)&&(!(has_xfun_v<cv::Vec<float, 3> >)), std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<cv::Vec<float, 3> >(cv::Vec<float, 3> const&)14
std::enable_if<has_xmem_v<pcl::PointXYZ>, std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<pcl::PointXYZ>(pcl::PointXYZ const&)14
std::enable_if<has_xfun_v<Eigen::Matrix<double, 3, 1, 0, 3, 1> >, std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)14
std::enable_if<has_xfun_v<Eigen::Matrix<float, 3, 1, 0, 3, 1> >, std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)14
std::enable_if<(!(has_xyz_constructor_v<geometry_msgs::Vector3_<std::allocator<void> > >))&&(has_xmem_v<geometry_msgs::Vector3_<std::allocator<void> > >), void>::type mrs_lib::impl::convertTo<geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> >&, double, double, double)14
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::impl::convertTo<geometry_msgs::Vector3_<std::allocator<void> > >(double, double, double)8
std::enable_if<has_xyz_constructor_v<cv::Vec<double, 3> >, void>::type mrs_lib::impl::convertTo<cv::Vec<double, 3> >(cv::Vec<double, 3>&, double, double, double)14
cv::Vec<double, 3> mrs_lib::impl::convertTo<cv::Vec<double, 3> >(double, double, double)8
std::enable_if<has_xyz_constructor_v<cv::Vec<float, 3> >, void>::type mrs_lib::impl::convertTo<cv::Vec<float, 3> >(cv::Vec<float, 3>&, double, double, double)14
cv::Vec<float, 3> mrs_lib::impl::convertTo<cv::Vec<float, 3> >(double, double, double)8
std::enable_if<has_xyz_constructor_v<pcl::PointXYZ>, void>::type mrs_lib::impl::convertTo<pcl::PointXYZ>(pcl::PointXYZ&, double, double, double)14
pcl::PointXYZ mrs_lib::impl::convertTo<pcl::PointXYZ>(double, double, double)8
std::enable_if<has_xyz_constructor_v<Eigen::Matrix<double, 3, 1, 0, 3, 1> >, void>::type mrs_lib::impl::convertTo<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1>&, double, double, double)14
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::impl::convertTo<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(double, double, double)8
std::enable_if<has_xyz_constructor_v<Eigen::Matrix<float, 3, 1, 0, 3, 1> >, void>::type mrs_lib::impl::convertTo<Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1>&, double, double, double)14
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::impl::convertTo<Eigen::Matrix<float, 3, 1, 0, 3, 1> >(double, double, double)8
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Test:MRS UAV System - Test coverage reportLines:1818100.0 %
Date:2024-08-07 22:18:19Functions:1818100.0 %
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /**  \file vector_converter.hpp
+       2             :      \brief Implements the convertTo() and convertFrom() functions for conversion between different vector representations (Eigen, OpenCV, tf2 etc.).
+       3             :      \author Matouš Vrba - vrbamato@fel.cvut.cz
+       4             :  */
+       5             : #ifndef VECTOR_CONVERTER_HPP
+       6             : #define VECTOR_CONVERTER_HPP
+       7             : 
+       8             : #include <experimental/type_traits>
+       9             : 
+      10             : namespace mrs_lib
+      11             : {
+      12             :   namespace impl
+      13             :   {
+      14             :     using unw_t = std::tuple<double, double, double>;
+      15             : 
+      16             :     /* SFINAE magic - only for black wizards! //{ */
+      17             :     
+      18             :     #define GENERATE_HAS_MEMBER_FUNC(func, rettype)                                \
+      19             :     template<class T> using _has_##func##fun_chk =                                 \
+      20             :           decltype(std::declval<T &>().func());                                    \
+      21             :     template<class T> constexpr bool has_##func##fun_v =                           \
+      22             :           std::experimental::is_detected_convertible_v<rettype, _has_##func##fun_chk, T>;
+      23             :     
+      24             :     #define GENERATE_HAS_MEMBER(memb, type)                                        \
+      25             :     template<class T> using _has_##memb##mem_chk =                                 \
+      26             :           decltype(std::declval<T &>().memb);                                      \
+      27             :     template<class T> constexpr bool has_##memb##mem_v =                           \
+      28             :           std::experimental::is_detected_convertible_v<type, _has_##memb##mem_chk, T>;
+      29             :     
+      30             :     GENERATE_HAS_MEMBER_FUNC(x, double)
+      31             :     GENERATE_HAS_MEMBER(x, double)
+      32             : 
+      33             :     template<class T> using _has_squarebracket_operator_chk = decltype(std::declval<T &>()[0]);
+      34             :     template<class T> constexpr bool has_squarebracket_operator_v = std::experimental::is_detected_convertible_v<double, _has_squarebracket_operator_chk, T>;
+      35             : 
+      36             :     template<class T> constexpr bool has_xyz_constructor_v = std::experimental::is_constructible_v<T, double, double, double>;
+      37             :     
+      38             :     //}
+      39             : 
+      40             :     // convertFrom specialization for Eigen types
+      41             :     template <typename in_t>
+      42          28 :     std::enable_if_t<has_xfun_v<in_t>, unw_t> convertFrom(const in_t& in)
+      43             :     {
+      44          28 :       return {in.x(), in.y(), in.z()};
+      45             :     }
+      46             : 
+      47             :     // convertFrom specialization for plain member types
+      48             :     template <typename in_t>
+      49          28 :     std::enable_if_t<has_xmem_v<in_t>, unw_t> convertFrom(const in_t& in)
+      50             :     {
+      51          28 :       return {in.x, in.y, in.z};
+      52             :     }
+      53             : 
+      54             :     // convertFrom specialization for OpenCV vectors
+      55             :     template <typename in_t>
+      56          28 :     std::enable_if_t<has_squarebracket_operator_v<in_t> && !has_xfun_v<in_t>, unw_t> convertFrom(const in_t& in)
+      57             :     {
+      58          28 :       return {in[0], in[1], in[2]};
+      59             :     }
+      60             : 
+      61             :     // convertTo specialization for types with a constructor that takes three doubles
+      62             :     template <typename ret_t>
+      63          70 :     std::enable_if_t<has_xyz_constructor_v<ret_t>, void> convertTo(ret_t& out, const double x, const double y, const double z)
+      64             :     {
+      65          70 :       out = {x, y, z};
+      66          70 :     }
+      67             : 
+      68             :     // convertTo specialization for other types
+      69             :     template <typename ret_t>
+      70          14 :     std::enable_if_t<!has_xyz_constructor_v<ret_t> && has_xmem_v<ret_t>, void> convertTo(ret_t& out, const double x, const double y, const double z)
+      71             :     {
+      72          14 :       out.x = x;
+      73          14 :       out.y = y;
+      74          14 :       out.z = z;
+      75          14 :     }
+      76             : 
+      77             :     template <typename ret_t>
+      78          48 :     ret_t convertTo(const double x, const double y, const double z)
+      79             :     {
+      80          48 :       ret_t ret;
+      81          48 :       convertTo(ret, x, y, z);
+      82          48 :       return ret;
+      83             :     }
+      84             : 
+      85             :   }  // namespace impl
+      86             : 
+      87             : }  // namespace mrs_lib
+      88             : 
+      89             : #endif // VECTOR_CONVERTER_HPP
+
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Test:MRS UAV System - Test coverage reportLines:78198879.0 %
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+
+ +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
ukf.h +
0.0%
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dynamic_reconfigure_mgr.h +
65.5%65.5%
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<unnamed>65.5 %57 / 8732.9 %28 / 85
scope_timer.h +
33.3%33.3%
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<unnamed>33.3 %2 / 633.3 %1 / 3
msg_extractor.h +
33.3%33.3%
+ 		33.3 %33 / 9934.1 %15 / 44
<unnamed>33.3 %33 / 9934.1 %15 / 44
repredictor.h +
90.1%90.1%
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<unnamed>90.1 %100 / 11145.5 %20 / 44
subscribe_handler.h +
86.3%86.3%
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<unnamed>86.3 %44 / 5148.2 %394 / 818
lkf.h +
81.5%81.5%
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<unnamed>81.5 %44 / 5453.2 %25 / 47
transformer.h +
85.0%85.0%
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<unnamed>85.0 %51 / 6077.8 %14 / 18
attitude_converter.h +
85.2%85.2%
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<unnamed>85.2 %23 / 2781.8 %9 / 11
mutex.h +
100.0%
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<unnamed>100.0 %11 / 1183.8 %67 / 80
timer.h +
100.0%
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<unnamed>100.0 %4 / 485.7 %6 / 7
publisher_handler.h +
100.0%
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<unnamed>100.0 %4 / 499.2 %118 / 119
timeout_manager.h +
80.0%80.0%
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<unnamed>80.0 %4 / 5-0 / 0
visual_object.h +
100.0%
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<unnamed>100.0 %2 / 2100.0 %1 / 1
quadratic_throttle_model.h +
100.0%
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<unnamed>100.0 %4 / 4100.0 %2 / 2
gps_conversions.h +
76.5%76.5%
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<unnamed>76.5 %104 / 136100.0 %4 / 4
utils.h +
100.0%
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<unnamed>100.0 %15 / 15100.0 %5 / 5
service_client_handler.h +
100.0%
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<unnamed>100.0 %3 / 3100.0 %24 / 24
vector_converter.h +
100.0%
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<unnamed>100.0 %5 / 5100.0 %36 / 36
param_loader.h +
90.3%90.3%
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<unnamed>90.3 %271 / 300100.0 %78 / 78
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+
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Date:2024-08-07 22:18:19Functions:847142859.3 %
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
ukf.h +
0.0%
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33.3%33.3%
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<unnamed>33.3 %2 / 633.3 %1 / 3
msg_extractor.h +
33.3%33.3%
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<unnamed>33.3 %33 / 9934.1 %15 / 44
dynamic_reconfigure_mgr.h +
65.5%65.5%
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<unnamed>65.5 %57 / 8732.9 %28 / 85
gps_conversions.h +
76.5%76.5%
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<unnamed>76.5 %104 / 136100.0 %4 / 4
timeout_manager.h +
80.0%80.0%
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<unnamed>80.0 %4 / 5-0 / 0
lkf.h +
81.5%81.5%
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<unnamed>81.5 %44 / 5453.2 %25 / 47
transformer.h +
85.0%85.0%
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<unnamed>85.0 %51 / 6077.8 %14 / 18
attitude_converter.h +
85.2%85.2%
+ 		85.2 %23 / 2781.8 %9 / 11
<unnamed>85.2 %23 / 2781.8 %9 / 11
subscribe_handler.h +
86.3%86.3%
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<unnamed>86.3 %44 / 5148.2 %394 / 818
repredictor.h +
90.1%90.1%
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<unnamed>90.1 %100 / 11145.5 %20 / 44
param_loader.h +
90.3%90.3%
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<unnamed>90.3 %271 / 300100.0 %78 / 78
visual_object.h +
100.0%
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<unnamed>100.0 %2 / 2100.0 %1 / 1
service_client_handler.h +
100.0%
+ 		100.0 %3 / 3100.0 %24 / 24
<unnamed>100.0 %3 / 3100.0 %24 / 24
quadratic_throttle_model.h +
100.0%
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<unnamed>100.0 %4 / 4100.0 %2 / 2
timer.h +
100.0%
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<unnamed>100.0 %4 / 485.7 %6 / 7
publisher_handler.h +
100.0%
+ 		100.0 %4 / 499.2 %118 / 119
<unnamed>100.0 %4 / 499.2 %118 / 119
vector_converter.h +
100.0%
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<unnamed>100.0 %5 / 5100.0 %36 / 36
mutex.h +
100.0%
+ 		100.0 %11 / 1183.8 %67 / 80
<unnamed>100.0 %11 / 1183.8 %67 / 80
utils.h +
100.0%
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<unnamed>100.0 %15 / 15100.0 %5 / 5
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+
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Test:MRS UAV System - Test coverage reportLines:78198879.0 %
Date:2024-08-07 22:18:19Functions:847142859.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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attitude_converter.h +
85.2%85.2%
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<unnamed>85.2 %23 / 2781.8 %9 / 11
dynamic_reconfigure_mgr.h +
65.5%65.5%
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<unnamed>65.5 %57 / 8732.9 %28 / 85
gps_conversions.h +
76.5%76.5%
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<unnamed>76.5 %104 / 136100.0 %4 / 4
lkf.h +
81.5%81.5%
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<unnamed>81.5 %44 / 5453.2 %25 / 47
msg_extractor.h +
33.3%33.3%
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<unnamed>33.3 %33 / 9934.1 %15 / 44
mutex.h +
100.0%
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<unnamed>100.0 %11 / 1183.8 %67 / 80
param_loader.h +
90.3%90.3%
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<unnamed>90.3 %271 / 300100.0 %78 / 78
publisher_handler.h +
100.0%
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<unnamed>100.0 %4 / 499.2 %118 / 119
quadratic_throttle_model.h +
100.0%
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<unnamed>100.0 %4 / 4100.0 %2 / 2
repredictor.h +
90.1%90.1%
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<unnamed>90.1 %100 / 11145.5 %20 / 44
scope_timer.h +
33.3%33.3%
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<unnamed>33.3 %2 / 633.3 %1 / 3
service_client_handler.h +
100.0%
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<unnamed>100.0 %3 / 3100.0 %24 / 24
subscribe_handler.h +
86.3%86.3%
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<unnamed>86.3 %44 / 5148.2 %394 / 818
timeout_manager.h +
80.0%80.0%
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<unnamed>80.0 %4 / 5-0 / 0
timer.h +
100.0%
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<unnamed>100.0 %4 / 485.7 %6 / 7
transformer.h +
85.0%85.0%
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<unnamed>85.0 %51 / 6077.8 %14 / 18
ukf.h +
0.0%
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utils.h +
100.0%
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<unnamed>100.0 %15 / 15100.0 %5 / 5
vector_converter.h +
100.0%
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<unnamed>100.0 %5 / 5100.0 %36 / 36
visual_object.h +
100.0%
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<unnamed>100.0 %2 / 2100.0 %1 / 1
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
ukf.h +
0.0%
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dynamic_reconfigure_mgr.h +
65.5%65.5%
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scope_timer.h +
33.3%33.3%
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msg_extractor.h +
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repredictor.h +
90.1%90.1%
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subscribe_handler.h +
86.3%86.3%
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81.5%81.5%
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transformer.h +
85.0%85.0%
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attitude_converter.h +
85.2%85.2%
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100.0%
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timer.h +
100.0%
+ 		100.0 %4 / 485.7 %6 / 7
publisher_handler.h +
100.0%
+ 		100.0 %4 / 499.2 %118 / 119
timeout_manager.h +
80.0%80.0%
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visual_object.h +
100.0%
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quadratic_throttle_model.h +
100.0%
+ 		100.0 %4 / 4100.0 %2 / 2
gps_conversions.h +
76.5%76.5%
+ 		76.5 %104 / 136100.0 %4 / 4
utils.h +
100.0%
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service_client_handler.h +
100.0%
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vector_converter.h +
100.0%
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param_loader.h +
90.3%90.3%
+ 		90.3 %271 / 300100.0 %78 / 78
+
+
+ + + + +
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Date:2024-08-07 22:18:19Functions:847142859.3 %
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
ukf.h +
0.0%
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scope_timer.h +
33.3%33.3%
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msg_extractor.h +
33.3%33.3%
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dynamic_reconfigure_mgr.h +
65.5%65.5%
+ 		65.5 %57 / 8732.9 %28 / 85
gps_conversions.h +
76.5%76.5%
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timeout_manager.h +
80.0%80.0%
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lkf.h +
81.5%81.5%
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transformer.h +
85.0%85.0%
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attitude_converter.h +
85.2%85.2%
+ 		85.2 %23 / 2781.8 %9 / 11
subscribe_handler.h +
86.3%86.3%
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repredictor.h +
90.1%90.1%
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param_loader.h +
90.3%90.3%
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visual_object.h +
100.0%
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service_client_handler.h +
100.0%
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quadratic_throttle_model.h +
100.0%
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timer.h +
100.0%
+ 		100.0 %4 / 485.7 %6 / 7
publisher_handler.h +
100.0%
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vector_converter.h +
100.0%
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mutex.h +
100.0%
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utils.h +
100.0%
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_libHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:78198879.0 %
Date:2024-08-07 22:18:19Functions:847142859.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
attitude_converter.h +
85.2%85.2%
+ 		85.2 %23 / 2781.8 %9 / 11
dynamic_reconfigure_mgr.h +
65.5%65.5%
+ 		65.5 %57 / 8732.9 %28 / 85
gps_conversions.h +
76.5%76.5%
+ 		76.5 %104 / 136100.0 %4 / 4
lkf.h +
81.5%81.5%
+ 		81.5 %44 / 5453.2 %25 / 47
msg_extractor.h +
33.3%33.3%
+ 		33.3 %33 / 9934.1 %15 / 44
mutex.h +
100.0%
+ 		100.0 %11 / 1183.8 %67 / 80
param_loader.h +
90.3%90.3%
+ 		90.3 %271 / 300100.0 %78 / 78
publisher_handler.h +
100.0%
+ 		100.0 %4 / 499.2 %118 / 119
quadratic_throttle_model.h +
100.0%
+ 		100.0 %4 / 4100.0 %2 / 2
repredictor.h +
90.1%90.1%
+ 		90.1 %100 / 11145.5 %20 / 44
scope_timer.h +
33.3%33.3%
+ 		33.3 %2 / 633.3 %1 / 3
service_client_handler.h +
100.0%
+ 		100.0 %3 / 3100.0 %24 / 24
subscribe_handler.h +
86.3%86.3%
+ 		86.3 %44 / 5148.2 %394 / 818
timeout_manager.h +
80.0%80.0%
+ 		80.0 %4 / 5-0 / 0
timer.h +
100.0%
+ 		100.0 %4 / 485.7 %6 / 7
transformer.h +
85.0%85.0%
+ 		85.0 %51 / 6077.8 %14 / 18
ukf.h +
0.0%
+ 		0.0 %0 / 40.0 %0 / 2
utils.h +
100.0%
+ 		100.0 %15 / 15100.0 %5 / 5
vector_converter.h +
100.0%
+ 		100.0 %5 / 5100.0 %36 / 36
visual_object.h +
100.0%
+ 		100.0 %2 / 2100.0 %1 / 1
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+ + + diff --git a/mrs_lib/include/mrs_lib/lkf.h.func-sort-c.html b/mrs_lib/include/mrs_lib/lkf.h.func-sort-c.html new file mode 100644 index 0000000000..c1b2f1105f --- /dev/null +++ b/mrs_lib/include/mrs_lib/lkf.h.func-sort-c.html @@ -0,0 +1,268 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/lkf.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - lkf.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:445481.5 %
Date:2024-08-07 22:18:19Functions:254753.2 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::varstepLKF<3, 1, 1>::varstepLKF(std::function<Eigen::Matrix<double, 3, 3, 0, 3, 3> (double)> const&, std::function<Eigen::Matrix<double, 3, 1, 0, 3, 1> (double)> const&, Eigen::Matrix<double, 1, 3, 1, 1, 3> const&)0
mrs_lib::varstepLKF<6, 2, 2>::varstepLKF(std::function<Eigen::Matrix<double, 6, 6, 0, 6, 6> (double)> const&, std::function<Eigen::Matrix<double, 6, 2, 0, 6, 2> (double)> const&, Eigen::Matrix<double, 2, 6, 0, 2, 6> const&)0
mrs_lib::LKF<2, 1, 1>::LKF(Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 1, 2, 1, 1, 2> const&)0
mrs_lib::LKF<3, 1, 1>::LKF()0
std::enable_if<(1)!=(0), Eigen::Matrix<double, 4, 1, 0, 4, 1> >::type mrs_lib::LKF<4, 1, 2>::state_predict<1>(Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&)0
mrs_lib::LKF<4, 1, 2>::covariance_predict(Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, double)0
mrs_lib::LKF<4, 1, 2>::correction_optimized(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 2, 4, 0, 2, 4> const&)0
mrs_lib::LKF<4, 1, 2>::invert_W(Eigen::Matrix<double, 2, 2, 0, 2, 2>)0
mrs_lib::LKF<4, 1, 2>::LKF(Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 2, 4, 0, 2, 4> const&)0
mrs_lib::LKF<4, 1, 2>::LKF()0
mrs_lib::LKF<6, 2, 2>::LKF()0
mrs_lib::varstepLKF<3, 1, 1>::predict(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, double) const0
mrs_lib::varstepLKF<6, 2, 2>::predict(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, double) const0
mrs_lib::LKF<2, 1, 1>::inverse_exception::what() const0
mrs_lib::LKF<2, 1, 1>::predict(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, double) const0
mrs_lib::LKF<3, 1, 1>::inverse_exception::what() const0
std::enable_if<(4)>=(0), mrs_lib::KalmanFilter<4, 1, 2>::statecov_t>::type mrs_lib::LKF<4, 1, 2>::correction_impl<4>(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 2, 4, 0, 2, 4> const&) const0
mrs_lib::LKF<4, 1, 2>::computeKalmanGain(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 2, 4, 0, 2, 4> const&) const0
mrs_lib::LKF<4, 1, 2>::inverse_exception::what() const0
mrs_lib::LKF<4, 1, 2>::correct(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&) const0
mrs_lib::LKF<4, 1, 2>::predict(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, double) const0
mrs_lib::LKF<6, 2, 2>::inverse_exception::what() const0
mrs_lib::varstepLKF<2, 1, 1>::varstepLKF(std::function<Eigen::Matrix<double, 2, 2, 0, 2, 2> (double)> const&, std::function<Eigen::Matrix<double, 2, 1, 0, 2, 1> (double)> const&, Eigen::Matrix<double, 1, 2, 1, 1, 2> const&)3
mrs_lib::LKF<2, 1, 1>::LKF()3
mrs_lib::LKF<6, 2, 2>::LKF(Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, Eigen::Matrix<double, 6, 2, 0, 6, 2> const&, Eigen::Matrix<double, 2, 6, 0, 2, 6> const&)115
mrs_lib::LKF<3, 1, 1>::LKF(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 1, 3, 1, 1, 3> const&)202
mrs_lib::LKF<2, 1, 1>::invert_W(Eigen::Matrix<double, 1, 1, 0, 1, 1>)5840
std::enable_if<(2)>=(0), mrs_lib::KalmanFilter<2, 1, 1>::statecov_t>::type mrs_lib::LKF<2, 1, 1>::correction_impl<2>(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 2, 1, 1, 2> const&) const5840
mrs_lib::LKF<2, 1, 1>::computeKalmanGain(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 2, 1, 1, 2> const&) const5840
mrs_lib::LKF<2, 1, 1>::correct(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&) const5840
std::enable_if<(1)!=(0), Eigen::Matrix<double, 2, 1, 0, 2, 1> >::type mrs_lib::LKF<2, 1, 1>::state_predict<1>(Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&)17297
mrs_lib::LKF<2, 1, 1>::covariance_predict(Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, double)17297
mrs_lib::varstepLKF<2, 1, 1>::predict(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, double) const17297
mrs_lib::LKF<6, 2, 2>::predict(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, double) const194603
mrs_lib::LKF<6, 2, 2>::covariance_predict(Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, double)194611
std::enable_if<(2)!=(0), Eigen::Matrix<double, 6, 1, 0, 6, 1> >::type mrs_lib::LKF<6, 2, 2>::state_predict<2>(Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, Eigen::Matrix<double, 6, 1, 0, 6, 1> const&, Eigen::Matrix<double, 6, 2, 0, 6, 2> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&)194612
mrs_lib::LKF<6, 2, 2>::invert_W(Eigen::Matrix<double, 2, 2, 0, 2, 2>)225048
std::enable_if<(6)>=(0), mrs_lib::KalmanFilter<6, 2, 2>::statecov_t>::type mrs_lib::LKF<6, 2, 2>::correction_impl<6>(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 2, 6, 0, 2, 6> const&) const225304
mrs_lib::LKF<6, 2, 2>::correct(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&) const225395
mrs_lib::LKF<6, 2, 2>::computeKalmanGain(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 2, 6, 0, 2, 6> const&) const225531
mrs_lib::LKF<3, 1, 1>::covariance_predict(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, double)334116
mrs_lib::LKF<3, 1, 1>::predict(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, double) const334193
std::enable_if<(1)!=(0), Eigen::Matrix<double, 3, 1, 0, 3, 1> >::type mrs_lib::LKF<3, 1, 1>::state_predict<1>(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&)334220
mrs_lib::LKF<3, 1, 1>::invert_W(Eigen::Matrix<double, 1, 1, 0, 1, 1>)517614
mrs_lib::LKF<3, 1, 1>::computeKalmanGain(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 3, 1, 1, 3> const&) const518823
mrs_lib::LKF<3, 1, 1>::correct(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&) const519717
std::enable_if<(3)>=(0), mrs_lib::KalmanFilter<3, 1, 1>::statecov_t>::type mrs_lib::LKF<3, 1, 1>::correction_impl<3>(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 3, 1, 1, 3> const&) const520015
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/lkf.h.func.html b/mrs_lib/include/mrs_lib/lkf.h.func.html new file mode 100644 index 0000000000..4111df5286 --- /dev/null +++ b/mrs_lib/include/mrs_lib/lkf.h.func.html @@ -0,0 +1,268 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/lkf.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - lkf.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:445481.5 %
Date:2024-08-07 22:18:19Functions:254753.2 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::varstepLKF<2, 1, 1>::varstepLKF(std::function<Eigen::Matrix<double, 2, 2, 0, 2, 2> (double)> const&, std::function<Eigen::Matrix<double, 2, 1, 0, 2, 1> (double)> const&, Eigen::Matrix<double, 1, 2, 1, 1, 2> const&)3
mrs_lib::varstepLKF<3, 1, 1>::varstepLKF(std::function<Eigen::Matrix<double, 3, 3, 0, 3, 3> (double)> const&, std::function<Eigen::Matrix<double, 3, 1, 0, 3, 1> (double)> const&, Eigen::Matrix<double, 1, 3, 1, 1, 3> const&)0
mrs_lib::varstepLKF<6, 2, 2>::varstepLKF(std::function<Eigen::Matrix<double, 6, 6, 0, 6, 6> (double)> const&, std::function<Eigen::Matrix<double, 6, 2, 0, 6, 2> (double)> const&, Eigen::Matrix<double, 2, 6, 0, 2, 6> const&)0
std::enable_if<(1)!=(0), Eigen::Matrix<double, 2, 1, 0, 2, 1> >::type mrs_lib::LKF<2, 1, 1>::state_predict<1>(Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&)17297
mrs_lib::LKF<2, 1, 1>::covariance_predict(Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, double)17297
mrs_lib::LKF<2, 1, 1>::invert_W(Eigen::Matrix<double, 1, 1, 0, 1, 1>)5840
mrs_lib::LKF<2, 1, 1>::LKF(Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 1, 2, 1, 1, 2> const&)0
mrs_lib::LKF<2, 1, 1>::LKF()3
std::enable_if<(1)!=(0), Eigen::Matrix<double, 3, 1, 0, 3, 1> >::type mrs_lib::LKF<3, 1, 1>::state_predict<1>(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&)334220
mrs_lib::LKF<3, 1, 1>::covariance_predict(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, double)334116
mrs_lib::LKF<3, 1, 1>::invert_W(Eigen::Matrix<double, 1, 1, 0, 1, 1>)517614
mrs_lib::LKF<3, 1, 1>::LKF(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 1, 3, 1, 1, 3> const&)202
mrs_lib::LKF<3, 1, 1>::LKF()0
std::enable_if<(1)!=(0), Eigen::Matrix<double, 4, 1, 0, 4, 1> >::type mrs_lib::LKF<4, 1, 2>::state_predict<1>(Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&)0
mrs_lib::LKF<4, 1, 2>::covariance_predict(Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, double)0
mrs_lib::LKF<4, 1, 2>::correction_optimized(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 2, 4, 0, 2, 4> const&)0
mrs_lib::LKF<4, 1, 2>::invert_W(Eigen::Matrix<double, 2, 2, 0, 2, 2>)0
mrs_lib::LKF<4, 1, 2>::LKF(Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 2, 4, 0, 2, 4> const&)0
mrs_lib::LKF<4, 1, 2>::LKF()0
std::enable_if<(2)!=(0), Eigen::Matrix<double, 6, 1, 0, 6, 1> >::type mrs_lib::LKF<6, 2, 2>::state_predict<2>(Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, Eigen::Matrix<double, 6, 1, 0, 6, 1> const&, Eigen::Matrix<double, 6, 2, 0, 6, 2> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&)194612
mrs_lib::LKF<6, 2, 2>::covariance_predict(Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, double)194611
mrs_lib::LKF<6, 2, 2>::invert_W(Eigen::Matrix<double, 2, 2, 0, 2, 2>)225048
mrs_lib::LKF<6, 2, 2>::LKF(Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, Eigen::Matrix<double, 6, 2, 0, 6, 2> const&, Eigen::Matrix<double, 2, 6, 0, 2, 6> const&)115
mrs_lib::LKF<6, 2, 2>::LKF()0
mrs_lib::varstepLKF<2, 1, 1>::predict(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, double) const17297
mrs_lib::varstepLKF<3, 1, 1>::predict(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, double) const0
mrs_lib::varstepLKF<6, 2, 2>::predict(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, double) const0
std::enable_if<(2)>=(0), mrs_lib::KalmanFilter<2, 1, 1>::statecov_t>::type mrs_lib::LKF<2, 1, 1>::correction_impl<2>(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 2, 1, 1, 2> const&) const5840
mrs_lib::LKF<2, 1, 1>::computeKalmanGain(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 2, 1, 1, 2> const&) const5840
mrs_lib::LKF<2, 1, 1>::inverse_exception::what() const0
mrs_lib::LKF<2, 1, 1>::correct(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&) const5840
mrs_lib::LKF<2, 1, 1>::predict(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, double) const0
std::enable_if<(3)>=(0), mrs_lib::KalmanFilter<3, 1, 1>::statecov_t>::type mrs_lib::LKF<3, 1, 1>::correction_impl<3>(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 3, 1, 1, 3> const&) const520015
mrs_lib::LKF<3, 1, 1>::computeKalmanGain(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 3, 1, 1, 3> const&) const518823
mrs_lib::LKF<3, 1, 1>::inverse_exception::what() const0
mrs_lib::LKF<3, 1, 1>::correct(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&) const519717
mrs_lib::LKF<3, 1, 1>::predict(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, double) const334193
std::enable_if<(4)>=(0), mrs_lib::KalmanFilter<4, 1, 2>::statecov_t>::type mrs_lib::LKF<4, 1, 2>::correction_impl<4>(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 2, 4, 0, 2, 4> const&) const0
mrs_lib::LKF<4, 1, 2>::computeKalmanGain(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 2, 4, 0, 2, 4> const&) const0
mrs_lib::LKF<4, 1, 2>::inverse_exception::what() const0
mrs_lib::LKF<4, 1, 2>::correct(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&) const0
mrs_lib::LKF<4, 1, 2>::predict(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, double) const0
std::enable_if<(6)>=(0), mrs_lib::KalmanFilter<6, 2, 2>::statecov_t>::type mrs_lib::LKF<6, 2, 2>::correction_impl<6>(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 2, 6, 0, 2, 6> const&) const225304
mrs_lib::LKF<6, 2, 2>::computeKalmanGain(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 2, 6, 0, 2, 6> const&) const225531
mrs_lib::LKF<6, 2, 2>::inverse_exception::what() const0
mrs_lib::LKF<6, 2, 2>::correct(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&) const225395
mrs_lib::LKF<6, 2, 2>::predict(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, double) const194603
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Current view:top level - mrs_lib/include/mrs_lib - lkf.h (source / functions)HitTotalCoverage
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Date:2024-08-07 22:18:19Functions:254753.2 %
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+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : /**  \file LKF
+       3             :      \brief Defines LKF - a class, implementing the Linear Kalman Filter \cite LKF, as well as a few specialized variants.
+       4             :      \author Matouš Vrba - vrbamato@fel.cvut.cz
+       5             :  */
+       6             : #ifndef LKFSYSTEMMODELS_H
+       7             : #define LKFSYSTEMMODELS_H
+       8             : 
+       9             : #include <mrs_lib/kalman_filter.h>
+      10             : #include <iostream>
+      11             : 
+      12             : namespace mrs_lib
+      13             : {
+      14             : 
+      15             :   /* class LKF //{ */
+      16             :   /**
+      17             :   * \brief Implementation of the Linear Kalman filter \cite LKF.
+      18             :   *
+      19             :   * The Linear Kalman filter (abbreviated LKF, \cite LKF) may be used for state filtration or estimation of linear
+      20             :   * stochastic discrete systems. It assumes that noise variables are sampled from multivariate gaussian distributions
+      21             :   * and takes into account apriori known parameters of these distributions (namely zero means and covariance matrices,
+      22             :   * which have to be specified by the user and are tunable parameters).
+      23             :   *
+      24             :   * The LKF C++ class itself is templated. This has its advantages and disadvantages. Main disadvantage is that it
+      25             :   * may be harder to use if you're not familiar with C++ templates, which, admittedly, can get somewhat messy,
+      26             :   * espetially during compilation. Another disadvantage is that if used unwisely, the compilation times can get
+      27             :   * much higher when using templates. The main advantage is compile-time checking (if it compiles, then it has
+      28             :   * a lower chance of crashing at runtime) and enabling more effective optimalizations during compilation. Also in case
+      29             :   * of Eigen, the code is arguably more readable when you use aliases to the specific Matrix instances instead of
+      30             :   * having Eigen::MatrixXd and Eigen::VectorXd everywhere.
+      31             :   *
+      32             :   * \tparam n_states         number of states of the system (length of the \f$ \mathbf{x} \f$ vector).
+      33             :   * \tparam n_inputs         number of inputs of the system (length of the \f$ \mathbf{u} \f$ vector).
+      34             :   * \tparam n_measurements   number of measurements of the system (length of the \f$ \mathbf{z} \f$ vector).
+      35             :   *
+      36             :   */
+      37             :   template <int n_states, int n_inputs, int n_measurements>
+      38             :   class LKF : public KalmanFilter<n_states, n_inputs, n_measurements>
+      39             :   {
+      40             :   public:
+      41             :     /* LKF definitions (typedefs, constants etc) //{ */
+      42             :     static constexpr int n = n_states;            /*!< \brief Length of the state vector of the system. */
+      43             :     static constexpr int m = n_inputs;            /*!< \brief Length of the input vector of the system. */
+      44             :     static constexpr int p = n_measurements;      /*!< \brief Length of the measurement vector of the system. */
+      45             :     using Base_class = KalmanFilter<n, m, p>; /*!< \brief Base class of this class. */
+      46             : 
+      47             :     using x_t = typename Base_class::x_t;                /*!< \brief State vector type \f$n \times 1\f$ */
+      48             :     using u_t = typename Base_class::u_t;                /*!< \brief Input vector type \f$m \times 1\f$ */
+      49             :     using z_t = typename Base_class::z_t;                /*!< \brief Measurement vector type \f$p \times 1\f$ */
+      50             :     using P_t = typename Base_class::P_t;                /*!< \brief State uncertainty covariance matrix type \f$n \times n\f$ */
+      51             :     using R_t = typename Base_class::R_t;                /*!< \brief Measurement noise covariance matrix type \f$p \times p\f$ */
+      52             :     using Q_t = typename Base_class::Q_t;                /*!< \brief Process noise covariance matrix type \f$n \times n\f$ */
+      53             :     using statecov_t = typename Base_class::statecov_t;  /*!< \brief Helper struct for passing around the state and its covariance in one variable */
+      54             : 
+      55             :     typedef Eigen::Matrix<double, n, n> A_t;  /*!< \brief System transition matrix type \f$n \times n\f$ */
+      56             :     typedef Eigen::Matrix<double, n, m> B_t;  /*!< \brief Input to state mapping matrix type \f$n \times m\f$ */
+      57             :     typedef Eigen::Matrix<double, p, n> H_t;  /*!< \brief State to measurement mapping matrix type \f$p \times n\f$ */
+      58             :     typedef Eigen::Matrix<double, n, p> K_t;  /*!< \brief Kalman gain matrix type \f$n \times p\f$ */
+      59             : 
+      60             :   /*!
+      61             :     * \brief This exception is thrown when taking the inverse of a matrix fails.
+      62             :     *
+      63             :     * You should catch this exception in your code and act accordingly if it appears
+      64             :     * (e.g. reset the state and covariance or modify the measurement/process noise parameters).
+      65             :     */
+      66             :     struct inverse_exception : public std::exception
+      67             :     {
+      68             :     /*!
+      69             :       * \brief Returns the error message, describing what caused the exception.
+      70             :       *
+      71             :       * \return  The error message, describing what caused the exception.
+      72             :       */
+      73           0 :       const char* what() const throw()
+      74             :       {
+      75           0 :         return "LKF: could not compute matrix inversion!!! Fix your covariances (the measurement's is probably too low...)";
+      76             :       }
+      77             :     };
+      78             :     //}
+      79             : 
+      80             :   public:
+      81             :   /*!
+      82             :     * \brief Convenience default constructor.
+      83             :     *
+      84             :     * This constructor should not be used if applicable. If used, the main constructor has to be called afterwards,
+      85             :     * before using this class, otherwise the LKF object is invalid (not initialized).
+      86             :     */
+      87           3 :     LKF(){};
+      88             : 
+      89             :   /*!
+      90             :     * \brief The main constructor.
+      91             :     *
+      92             :     * \param A             The state transition matrix.
+      93             :     * \param B             The input to state mapping matrix.
+      94             :     * \param H             The state to measurement mapping matrix.
+      95             :     */
+      96         317 :     LKF(const A_t& A, const B_t& B, const H_t& H) : A(A), B(B), H(H){};
+      97             : 
+      98             :     /* correct() method //{ */
+      99             :   /*!
+     100             :     * \brief Applies the correction (update, measurement, data) step of the Kalman filter.
+     101             :     *
+     102             :     * This method applies the linear Kalman filter correction step to the state and covariance
+     103             :     * passed in \p sc using the measurement \p z and measurement noise \p R. The updated state
+     104             :     * and covariance after the correction step is returned.
+     105             :     *
+     106             :     * \param sc          The state and covariance to which the correction step is to be applied.
+     107             :     * \param z           The measurement vector to be used for correction.
+     108             :     * \param R           The measurement noise covariance matrix to be used for correction.
+     109             :     * \return            The state and covariance after the correction update.
+     110             :     */
+     111      750952 :     virtual statecov_t correct(const statecov_t& sc, const z_t& z, const R_t& R) const override
+     112             :     {
+     113             :       /* return correct_optimized(sc, z, R, H); */
+     114      750952 :       return correction_impl(sc, z, R, H);
+     115             :     };
+     116             :     //}
+     117             : 
+     118             :     /* predict() method //{ */
+     119             :   /*!
+     120             :     * \brief Applies the prediction (time) step of the Kalman filter.
+     121             :     *
+     122             :     * This method applies the linear Kalman filter prediction step to the state and covariance
+     123             :     * passed in \p sc using the input \p u and process noise \p Q. The process noise covariance
+     124             :     * \p Q is scaled by the \p dt parameter. The updated state and covariance after
+     125             :     * the prediction step is returned.
+     126             :     *
+     127             :     * \param sc          The state and covariance to which the prediction step is to be applied.
+     128             :     * \param u           The input vector to be used for prediction.
+     129             :     * \param Q           The process noise covariance matrix to be used for prediction.
+     130             :     * \param dt          Used to scale the process noise covariance \p Q.
+     131             :     * \return            The state and covariance after the prediction step.
+     132             :     *
+     133             :     * \note Note that the \p dt parameter is only used to scale the process noise covariance \p Q it
+     134             :     * does not change the system matrices #A or #B (because there is no unambiguous way to do this)!
+     135             :     * If you have a changing time step duration and a dynamic system, you have to change the #A and #B
+     136             :     * matrices manually.
+     137             :     */
+     138      528796 :     virtual statecov_t predict(const statecov_t& sc, const u_t& u, const Q_t& Q, [[maybe_unused]] double dt) const override
+     139             :     {
+     140      528796 :       statecov_t ret;
+     141      528156 :       ret.x = state_predict(A, sc.x, B, u);
+     142      528182 :       ret.P = covariance_predict(A, sc.P, Q, dt);
+     143      527715 :       return ret;
+     144             :     };
+     145             :     //}
+     146             : 
+     147             :   public:
+     148             :     A_t A;  /*!< \brief The system transition matrix \f$n \times n\f$ */
+     149             :     B_t B;  /*!< \brief The input to state mapping matrix \f$n \times m\f$ */
+     150             :     H_t H;  /*!< \brief The state to measurement mapping matrix \f$p \times n\f$ */
+     151             : 
+     152             :   protected:
+     153             :     /* covariance_predict() method //{ */
+     154      546024 :     static P_t covariance_predict(const A_t& A, const P_t& P, const Q_t& Q, const double dt)
+     155             :     {
+     156      546024 :       return A * P * A.transpose() + dt*Q;
+     157             :     }
+     158             :     //}
+     159             : 
+     160             :     /* state_predict() method //{ */
+     161             :     template <int check = n_inputs>
+     162             :     static inline typename std::enable_if<check == 0, x_t>::type state_predict(const A_t& A, const x_t& x, [[maybe_unused]] const B_t& B,
+     163             :                                                                                [[maybe_unused]] const u_t& u)
+     164             :     {
+     165             :       return A * x;
+     166             :     }
+     167             : 
+     168             :     template <int check = n_inputs>
+     169      546129 :     static inline typename std::enable_if<check != 0, x_t>::type state_predict(const A_t& A, const x_t& x, const B_t& B, const u_t& u)
+     170             :     {
+     171      546129 :       return A * x + B * u;
+     172             :     }
+     173             :     //}
+     174             : 
+     175             :   protected:
+     176             :     /* invert_W() method //{ */
+     177      748502 :     static R_t invert_W(R_t W)
+     178             :     {
+     179      748502 :       Eigen::ColPivHouseholderQR<R_t> qr(W);
+     180      750657 :       if (!qr.isInvertible())
+     181             :       {
+     182             :         // add some stuff to the tmp matrix diagonal to make it invertible
+     183       52738 :         R_t ident = R_t::Identity(W.rows(), W.cols());
+     184       52745 :         W += 1e-9 * ident;
+     185       52777 :         qr.compute(W);
+     186       52804 :         if (!qr.isInvertible())
+     187             :         {
+     188             :           // never managed to make this happen except for explicitly putting NaNs in the input
+     189           0 :           throw inverse_exception();
+     190             :         }
+     191             :       }
+     192      748285 :       const R_t W_inv = qr.inverse();
+     193     1497120 :       return W_inv;
+     194             :     }
+     195             :     //}
+     196             : 
+     197             :     /* computeKalmanGain() method //{ */
+     198      750194 :     virtual K_t computeKalmanGain(const statecov_t& sc, [[maybe_unused]] const z_t& z, const R_t& R, const H_t& H) const
+     199             :     {
+     200             :       // calculation of the kalman gain K
+     201      750194 :       const R_t W = H * sc.P * H.transpose() + R;
+     202      750974 :       const R_t W_inv = invert_W(W);
+     203      748092 :       const K_t K = sc.P * H.transpose() * W_inv;
+     204     1500366 :       return K;
+     205             :     }
+     206             :     //}
+     207             : 
+     208             :     /* correction_impl() method //{ */
+     209             :     template<int check=n>
+     210      751159 :     typename std::enable_if<check >= 0, statecov_t>::type correction_impl(const statecov_t& sc, const z_t& z, const R_t& R, const H_t& H) const
+     211             :     {
+     212             :       // the correction phase
+     213      751159 :       statecov_t ret;
+     214      750781 :       const K_t K = computeKalmanGain(sc, z, R, H);
+     215      750202 :       ret.x = sc.x + K * (z - (H * sc.x));
+     216      750374 :       ret.P = (P_t::Identity() - (K * H)) * sc.P;
+     217     1500650 :       return ret;
+     218             :     }
+     219             : 
+     220             :     template<int check=n>
+     221             :     typename std::enable_if<check < 0, statecov_t>::type correction_impl(const statecov_t& sc, const z_t& z, const R_t& R, const H_t& H) const
+     222             :     {
+     223             :       // the correction phase
+     224             :       statecov_t ret;
+     225             :       const K_t K = computeKalmanGain(sc, z, R, H);
+     226             :       ret.x = sc.x + K * (z - (H * sc.x));
+     227             :       ret.P = (P_t::Identity(sc.P.rows(), sc.P.cols()) - (K * H)) * sc.P;
+     228             :       return ret;
+     229             :     }
+     230             :     //}
+     231             : 
+     232             :     // NOT USED METHODS
+     233             :     /* correction_optimized() method //{ */
+     234             :     // No notable performance gain was observed for the matrix sizes we use, so this is not used.
+     235           0 :     static statecov_t correction_optimized(const statecov_t& sc, const z_t& z, const R_t& R, const H_t& H)
+     236             :     {
+     237           0 :       statecov_t ret = sc;
+     238           0 :       const H_t B(H*sc.P.transpose());
+     239           0 :       const K_t K((B*H.transpose() + R).ldlt().solve(B).transpose());
+     240           0 :       ret.x.noalias() += K*(z - H*sc.x);
+     241           0 :       ret.P.noalias() -= K*H*sc.P;
+     242           0 :       return ret;
+     243             :     }
+     244             : 
+     245             :     /* static statecov_t correction_optimized(const statecov_t& sc, const z_t& z, const R_t& R, const H_t& H) */
+     246             :     /* { */
+     247             :     /*   statecov_t ret; */
+     248             :     /*   const H_t B = H*sc.P.transpose(); */
+     249             :     /*   const K_t K = (B*H.transpose() + R).partialPivLu().solve(B).transpose(); */
+     250             :     /*   ret.x = sc.x + K*(z - H*sc.x); */
+     251             :     /*   ret.P = sc.P - K*H*sc.P; */
+     252             :     /*   return ret; */
+     253             :     /* } */
+     254             :     //}
+     255             :   };
+     256             :   //}
+     257             : 
+     258             :   /* class dtMatrixLKF //{ */
+     259             :   template <int n_states, int n_inputs, int n_measurements>
+     260             :   class varstepLKF : public LKF<n_states, n_inputs, n_measurements>
+     261             :   {
+     262             :   public:
+     263             :     /* LKF definitions (typedefs, constants etc) //{ */
+     264             :     static const int n = n_states;
+     265             :     static const int m = n_inputs;
+     266             :     static const int p = n_measurements;
+     267             :     using Base_class = LKF<n, m, p>;
+     268             : 
+     269             :     using x_t = typename Base_class::x_t;
+     270             :     using u_t = typename Base_class::u_t;
+     271             :     using z_t = typename Base_class::z_t;
+     272             :     using P_t = typename Base_class::P_t;
+     273             :     using R_t = typename Base_class::R_t;
+     274             :     using statecov_t = typename Base_class::statecov_t;
+     275             :     using A_t = typename Base_class::A_t;  // measurement mapping p*n
+     276             :     using B_t = typename Base_class::B_t;  // process covariance n*n
+     277             :     using H_t = typename Base_class::H_t;  // measurement mapping p*n
+     278             :     using Q_t = typename Base_class::Q_t;  // process covariance n*n
+     279             : 
+     280             :     using generateA_t = std::function<A_t(double)>;
+     281             :     using generateB_t = std::function<B_t(double)>;
+     282             :     //}
+     283             : 
+     284             :   public:
+     285             : 
+     286             :   /*!
+     287             :     * \brief The main constructor.
+     288             :     *
+     289             :     * \param generateA a function, which returns the state transition matrix \p A based on the time difference \p dt.
+     290             :     * \param generateB a function, which returns the input to state mapping matrix \p B based on the time difference \p dt.
+     291             :     * \param H         the state to measurement mapping matrix.
+     292             :     */
+     293           3 :     varstepLKF(const generateA_t& generateA, const generateB_t& generateB, const H_t& H)
+     294           3 :       : m_generateA(generateA), m_generateB(generateB)
+     295             :     {
+     296           3 :       Base_class::H = H;
+     297           3 :     };
+     298             : 
+     299             :     /* predict() method //{ */
+     300             :   /*!
+     301             :     * \brief Applies the prediction (time) step of the Kalman filter.
+     302             :     *
+     303             :     * This method applies the linear Kalman filter prediction step to the state and covariance
+     304             :     * passed in \p sc using the input \p u and process noise \p Q. The process noise covariance
+     305             :     * \p Q is scaled by the \p dt parameter. The updated state and covariance after
+     306             :     * the prediction step is returned.
+     307             :     *
+     308             :     * \param sc          The state and covariance to which the prediction step is to be applied.
+     309             :     * \param u           The input vector to be used for prediction.
+     310             :     * \param Q           The process noise covariance matrix to be used for prediction.
+     311             :     * \param dt          Used to scale the process noise covariance \p Q and to generate the state transition and input to state mapping matrices \p A and \B using the functions, passed in the object's constructor.
+     312             :     * \return            The state and covariance after the prediction step.
+     313             :     *
+     314             :     * \note Note that the \p dt parameter is used to scale the process noise covariance \p Q and to generate the system matrices #A or #B using the functions, passed in the constructor!
+     315             :     */
+     316       17297 :     virtual statecov_t predict(const statecov_t& sc, const u_t& u, const Q_t& Q, double dt) const override
+     317             :     {
+     318       17297 :       statecov_t ret;
+     319       17297 :       A_t A = m_generateA(dt);
+     320       17297 :       B_t B = m_generateB(dt);
+     321       17297 :       ret.x = Base_class::state_predict(A, sc.x, B, u);
+     322       17297 :       ret.P = Base_class::covariance_predict(A, sc.P, Q, dt);
+     323       34594 :       return ret;
+     324             :     };
+     325             :     //}
+     326             :     
+     327             :   private:
+     328             :     generateA_t m_generateA;
+     329             :     generateB_t m_generateB;
+     330             :   };
+     331             :   //}
+     332             : 
+     333             :   /* class LKF_MRS_odom //{ */
+     334             :   class LKF_MRS_odom : public LKF<3, 1, 1>
+     335             :   {
+     336             :   public:
+     337             :     /* LKF definitions (typedefs, constants etc) //{ */
+     338             :     static const int n = 3;
+     339             :     static const int m = 1;
+     340             :     static const int p = 1;
+     341             :     using Base_class = LKF<n, m, p>;
+     342             : 
+     343             :     using x_t = typename Base_class::x_t;
+     344             :     using u_t = typename Base_class::u_t;
+     345             :     using z_t = typename Base_class::z_t;
+     346             :     using P_t = typename Base_class::P_t;
+     347             :     using R_t = typename Base_class::R_t;
+     348             :     using statecov_t = typename Base_class::statecov_t;
+     349             :     using A_t = typename Base_class::A_t;  // measurement mapping p*n
+     350             :     using B_t = typename Base_class::B_t;  // process covariance n*n
+     351             :     using H_t = typename Base_class::H_t;  // measurement mapping p*n
+     352             :     using Q_t = typename Base_class::Q_t;  // process covariance n*n
+     353             : 
+     354             :     using coeff_A_t = A_t;                            // matrix of constant coefficients in matrix A
+     355             :     typedef Eigen::Matrix<unsigned, n, n> dtexp_A_t;  // matrix of dt exponents in matrix A
+     356             :     using coeff_B_t = B_t;                            // matrix of constant coefficients in matrix B
+     357             :     typedef Eigen::Matrix<unsigned, n, m> dtexp_B_t;  // matrix of dt exponents in matrix B
+     358             :     //}
+     359             : 
+     360             :   public:
+     361             :     LKF_MRS_odom(const std::vector<H_t>& Hs, const double default_dt = 1);
+     362             :     virtual statecov_t predict(const statecov_t& sc, const u_t& u, const Q_t& Q, double dt) const override;
+     363             :     virtual statecov_t correct(const statecov_t& sc, const z_t& z, const R_t& R, int param = 0) const;
+     364             : 
+     365             :   public:
+     366             :     x_t state_predict_optimized(const x_t& x_prev, const u_t& u, double dt) const;
+     367             :     P_t covariance_predict_optimized(const P_t& P, const Q_t& Q, double dt) const;
+     368             : 
+     369             :   private:
+     370             :     std::vector<H_t> m_Hs;
+     371             :   };
+     372             :   //}
+     373             : 
+     374             : }  // namespace mrs_lib
+     375             : 
+     376             : #endif // LKFSYSTEMMODELS_H
+
+
+
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+ + diff --git a/mrs_lib/include/mrs_lib/lkf.h.gcov.png b/mrs_lib/include/mrs_lib/lkf.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..05cf672e576224906233fe48ec21708336bc253d GIT binary patch literal 1750 zcmV;{1}XW8P)=6legnx+l_P+MYm!lPS#C}Nxki0KGD^nk)CSbq7WG>_kok@cd06$*#L+i(P!undeF?0}4}V4Hzz zJ18#dU<`x^)|f2w8ts?S9mr(jg5_EX9Z{SlgrGC5OBg5+90x}FcnhS}ATGu}PHqq0 z9H`2W#l_^TZjekUtj_|*&rwA46m~SJJrxlejK}O~=|G+dGlAqyJ)i_=7cgR#(qj#A z&?)?>Um0-Rk%*Z-AQ7e`$lN9OwM zTGJTxEY2F*Hs#m~I6zSda%m~6O3Ec=ZNh8dDk12SpWFt&TyD#_bjQ?(5OCOzf!Fg6 zaEKz_$_m4n*8>6ozou&4L(U}oE&9`_ra*gT@5P^rtTT^ za5S4Hav>kMm71um62Iq!CF?`;j5Hv@(%H=RnARB`3aTZC$vTCR3#iDm%|#WcT@>|@ z1cYhJIvOoA%@H?C&a}AJ&0MbOdR_iPmjyU`-E87XqX9T;Tht6V`XiD)up9L zlUN&uisw$!vkHf`hDf4>qHY$dB4f}JJ@E1h%s+5q$LZu|3K$ELk*po}=Z?n5LJCHT z{FDPY&k|8`P^mn#22x7h(w89Blk}rOYLm&@NRY1s`fNQ@q*{$g%KSclB zEhEPszc#6*cbwCle+1z)4_7m@34Gbru0m4{Y23qOa3$`68(+$rHZPJG-HdF#6S21_XQZI(&$ z;z*Fzhrm{Y{EZ8B~yZ~tVV^X0VsN{DI9_ks3Bh1L@r;A&0c5MZFi z9b+?hSzsH*z`iOY=JD>3_+alU0C@XkS1XFk;woBKuY!#Dm~O~}iKYj(njK+Gwb8vG zVcUEgXZ4CrgZCj|8(Z3E?7f>d#rg{@zZA&ku?IREe1&3h{s}!Ghr%~fbPtKbs|w^V zfS=p&byNKGVZ8X6ZZ((ZG#wzYXUIWLBE5eUKX@3g?Ud~3t$xiLLz~{Z(!?Ivyqb6R z!Y(5R5H8f^=Uy22fB3mF&$k|a23>_ebNE>bG5wYkNVA)960qDBzEw{)>%hv%=C3)^ zbk4Q}_udm;;8(N&y@;zjBC?jNz%QxnyE{#%1OHd{9Uz@jm~LC&HiEihOx@MQ$}24z-zRls#8bC&;+v)$A(vKiojj3b#V sYQfaRxmlm>Jiz7HX$@zTer%uSA5hR)7d&;<(*OVf07*qoM6N<$f>Mk-2LJ#7 literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/msg_extractor.h.func-sort-c.html b/mrs_lib/include/mrs_lib/msg_extractor.h.func-sort-c.html new file mode 100644 index 0000000000..7792a79711 --- /dev/null +++ b/mrs_lib/include/mrs_lib/msg_extractor.h.func-sort-c.html @@ -0,0 +1,256 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/msg_extractor.h - functions + + + + + + + + + + + + + + +
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Test:MRS UAV System - Test coverage reportLines:339933.3 %
Date:2024-08-07 22:18:19Functions:154434.1 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::getHeading(boost::shared_ptr<geometry_msgs::PoseWithCovariance_<std::allocator<void> > const> const&)0
mrs_lib::getHeading(boost::shared_ptr<geometry_msgs::Pose_<std::allocator<void> > const> const&)0
mrs_lib::getHeading(boost::shared_ptr<mrs_msgs::Reference_<std::allocator<void> > const> const&)0
mrs_lib::getHeading(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)0
mrs_lib::getHeading(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::getHeading(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)0
mrs_lib::getPosition(boost::shared_ptr<geometry_msgs::PoseWithCovariance_<std::allocator<void> > const> const&)0
mrs_lib::getPosition(boost::shared_ptr<geometry_msgs::TwistWithCovariance_<std::allocator<void> > const> const&)0
mrs_lib::getPosition(boost::shared_ptr<geometry_msgs::Pose_<std::allocator<void> > const> const&)0
mrs_lib::getPosition(boost::shared_ptr<geometry_msgs::Twist_<std::allocator<void> > const> const&)0
mrs_lib::getPosition(boost::shared_ptr<mrs_msgs::Reference_<std::allocator<void> > const> const&)0
mrs_lib::getPosition(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)0
mrs_lib::getPosition(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::getVelocity(geometry_msgs::TwistWithCovariance_<std::allocator<void> > const&)0
mrs_lib::getVelocity(geometry_msgs::Twist_<std::allocator<void> > const&)0
mrs_lib::getVelocity(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)0
mrs_lib::getVelocity(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)0
mrs_lib::getVelocity(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)0
mrs_lib::getVelocity(nav_msgs::Odometry_<std::allocator<void> > const&)0
mrs_lib::getXYZ(geometry_msgs::Vector3_<std::allocator<void> > const&)0
mrs_lib::getXYZ(boost::shared_ptr<geometry_msgs::Point_<std::allocator<void> > const> const&)0
mrs_lib::getXYZ(boost::shared_ptr<geometry_msgs::Vector3_<std::allocator<void> > const> const&)0
mrs_lib::getYaw(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)0
mrs_lib::getYaw(geometry_msgs::Pose_<std::allocator<void> > const&)0
mrs_lib::getYaw(boost::shared_ptr<geometry_msgs::PoseWithCovariance_<std::allocator<void> > const> const&)0
mrs_lib::getYaw(boost::shared_ptr<geometry_msgs::Pose_<std::allocator<void> > const> const&)0
mrs_lib::getYaw(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)0
mrs_lib::getYaw(nav_msgs::Odometry_<std::allocator<void> > const&)0
mrs_lib::getPose(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)0
mrs_lib::getHeading(mrs_msgs::Reference_<std::allocator<void> > const&)344
mrs_lib::getHeading(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)344
mrs_lib::getPosition(mrs_msgs::Reference_<std::allocator<void> > const&)344
mrs_lib::getPosition(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)344
mrs_lib::getPosition(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)344
mrs_lib::getPose(nav_msgs::Odometry_<std::allocator<void> > const&)1833
mrs_lib::getHeading(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)246369
mrs_lib::getHeading(nav_msgs::Odometry_<std::allocator<void> > const&)246369
mrs_lib::getHeading(geometry_msgs::Pose_<std::allocator<void> > const&)246371
mrs_lib::getHeading(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)246374
mrs_lib::getPosition(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)246376
mrs_lib::getPosition(geometry_msgs::Pose_<std::allocator<void> > const&)246376
mrs_lib::getPosition(nav_msgs::Odometry_<std::allocator<void> > const&)246377
mrs_lib::getPosition(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)246378
mrs_lib::getXYZ(geometry_msgs::Point_<std::allocator<void> > const&)247066
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+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/msg_extractor.h.func.html b/mrs_lib/include/mrs_lib/msg_extractor.h.func.html new file mode 100644 index 0000000000..58743961c9 --- /dev/null +++ b/mrs_lib/include/mrs_lib/msg_extractor.h.func.html @@ -0,0 +1,256 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/msg_extractor.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - msg_extractor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:339933.3 %
Date:2024-08-07 22:18:19Functions:154434.1 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::getHeading(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)246374
mrs_lib::getHeading(geometry_msgs::Pose_<std::allocator<void> > const&)246371
mrs_lib::getHeading(boost::shared_ptr<geometry_msgs::PoseWithCovariance_<std::allocator<void> > const> const&)0
mrs_lib::getHeading(boost::shared_ptr<geometry_msgs::Pose_<std::allocator<void> > const> const&)0
mrs_lib::getHeading(boost::shared_ptr<mrs_msgs::Reference_<std::allocator<void> > const> const&)0
mrs_lib::getHeading(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)0
mrs_lib::getHeading(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::getHeading(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)246369
mrs_lib::getHeading(mrs_msgs::Reference_<std::allocator<void> > const&)344
mrs_lib::getHeading(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)0
mrs_lib::getHeading(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)344
mrs_lib::getHeading(nav_msgs::Odometry_<std::allocator<void> > const&)246369
mrs_lib::getPosition(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)246376
mrs_lib::getPosition(geometry_msgs::Pose_<std::allocator<void> > const&)246376
mrs_lib::getPosition(boost::shared_ptr<geometry_msgs::PoseWithCovariance_<std::allocator<void> > const> const&)0
mrs_lib::getPosition(boost::shared_ptr<geometry_msgs::TwistWithCovariance_<std::allocator<void> > const> const&)0
mrs_lib::getPosition(boost::shared_ptr<geometry_msgs::Pose_<std::allocator<void> > const> const&)0
mrs_lib::getPosition(boost::shared_ptr<geometry_msgs::Twist_<std::allocator<void> > const> const&)0
mrs_lib::getPosition(boost::shared_ptr<mrs_msgs::Reference_<std::allocator<void> > const> const&)0
mrs_lib::getPosition(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)0
mrs_lib::getPosition(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::getPosition(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)246378
mrs_lib::getPosition(mrs_msgs::Reference_<std::allocator<void> > const&)344
mrs_lib::getPosition(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)344
mrs_lib::getPosition(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)344
mrs_lib::getPosition(nav_msgs::Odometry_<std::allocator<void> > const&)246377
mrs_lib::getVelocity(geometry_msgs::TwistWithCovariance_<std::allocator<void> > const&)0
mrs_lib::getVelocity(geometry_msgs::Twist_<std::allocator<void> > const&)0
mrs_lib::getVelocity(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)0
mrs_lib::getVelocity(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)0
mrs_lib::getVelocity(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)0
mrs_lib::getVelocity(nav_msgs::Odometry_<std::allocator<void> > const&)0
mrs_lib::getXYZ(geometry_msgs::Point_<std::allocator<void> > const&)247066
mrs_lib::getXYZ(geometry_msgs::Vector3_<std::allocator<void> > const&)0
mrs_lib::getXYZ(boost::shared_ptr<geometry_msgs::Point_<std::allocator<void> > const> const&)0
mrs_lib::getXYZ(boost::shared_ptr<geometry_msgs::Vector3_<std::allocator<void> > const> const&)0
mrs_lib::getYaw(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)0
mrs_lib::getYaw(geometry_msgs::Pose_<std::allocator<void> > const&)0
mrs_lib::getYaw(boost::shared_ptr<geometry_msgs::PoseWithCovariance_<std::allocator<void> > const> const&)0
mrs_lib::getYaw(boost::shared_ptr<geometry_msgs::Pose_<std::allocator<void> > const> const&)0
mrs_lib::getYaw(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)0
mrs_lib::getYaw(nav_msgs::Odometry_<std::allocator<void> > const&)0
mrs_lib::getPose(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)0
mrs_lib::getPose(nav_msgs::Odometry_<std::allocator<void> > const&)1833
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - msg_extractor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:339933.3 %
Date:2024-08-07 22:18:19Functions:154434.1 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : // clang: TomasFormat
+       2             : /**  \file
+       3             :  *   \brief utility functions for getting stuff from ROS msgs
+       4             :  *   \author Tomas Baca - tomas.baca@fel.cvut.cz
+       5             :  */
+       6             : #ifndef MRS_LIB_MSG_EXTRACTOR_H
+       7             : #define MRS_LIB_MSG_EXTRACTOR_H
+       8             : 
+       9             : #include <mrs_msgs/TrackerCommand.h>
+      10             : #include <mrs_msgs/Reference.h>
+      11             : #include <mrs_msgs/ReferenceStamped.h>
+      12             : 
+      13             : #include <nav_msgs/Odometry.h>
+      14             : 
+      15             : #include <mrs_lib/attitude_converter.h>
+      16             : 
+      17             : namespace mrs_lib
+      18             : {
+      19             : 
+      20             : /* geometry_msgs::Point //{ */
+      21             : 
+      22             : /**
+      23             :  * @brief get XYZ from geometry_msgs::Point
+      24             :  *
+      25             :  * @param data point
+      26             :  *
+      27             :  * @return x, y, z
+      28             :  */
+      29      247066 : std::tuple<double, double, double> getXYZ(const geometry_msgs::Point& data) {
+      30             : 
+      31      247066 :   double x = data.x;
+      32      247066 :   double y = data.y;
+      33      247066 :   double z = data.z;
+      34             : 
+      35      494124 :   return std::tuple(x, y, z);
+      36             : }
+      37             : 
+      38             : /**
+      39             :  * @brief get XYZ from geometry_msgs::PointConstPtr
+      40             :  *
+      41             :  * @param data point (ConstPtr)
+      42             :  *
+      43             :  * @return x, y, z
+      44             :  */
+      45           0 : std::tuple<double, double, double> getXYZ(const geometry_msgs::PointConstPtr& data) {
+      46             : 
+      47           0 :   return getXYZ(*data);
+      48             : }
+      49             : 
+      50             : //}
+      51             : 
+      52             : /* geometry_msgs::Vector3 //{ */
+      53             : 
+      54             : /**
+      55             :  * @brief get XYZ from geometry_msgs::Vector3
+      56             :  *
+      57             :  * @param data vector3
+      58             :  *
+      59             :  * @return x, y, z
+      60             :  */
+      61           0 : std::tuple<double, double, double> getXYZ(const geometry_msgs::Vector3& data) {
+      62             : 
+      63           0 :   double x = data.x;
+      64           0 :   double y = data.y;
+      65           0 :   double z = data.z;
+      66             : 
+      67           0 :   return std::tuple(x, y, z);
+      68             : }
+      69             : 
+      70             : /**
+      71             :  * @brief get XYZ from geometry_msgs::Vector3ConstPtr
+      72             :  *
+      73             :  * @param data vector3 (ConstPtr)
+      74             :  *
+      75             :  * @return x, y, z
+      76             :  */
+      77           0 : std::tuple<double, double, double> getXYZ(const geometry_msgs::Vector3ConstPtr& data) {
+      78             : 
+      79           0 :   return getXYZ(*data);
+      80             : }
+      81             : 
+      82             : //}
+      83             : 
+      84             : /* geometry_msgs::Pose //{ */
+      85             : 
+      86             : /* getPosition() //{ */
+      87             : 
+      88             : /**
+      89             :  * @brief get position from geometry_msgs::Pose
+      90             :  *
+      91             :  * @param data pose
+      92             :  *
+      93             :  * @return x, y, z
+      94             :  */
+      95      246376 : std::tuple<double, double, double> getPosition(const geometry_msgs::Pose& data) {
+      96             : 
+      97      246376 :   return getXYZ(data.position);
+      98             : }
+      99             : 
+     100             : /**
+     101             :  * @brief get position from geometry_msgs::PoseConstPtr
+     102             :  *
+     103             :  * @param data pose (ConstPtr)
+     104             :  *
+     105             :  * @return x, y, z
+     106             :  */
+     107           0 : std::tuple<double, double, double> getPosition(const geometry_msgs::PoseConstPtr& data) {
+     108             : 
+     109           0 :   return getPosition(*data);
+     110             : }
+     111             : 
+     112             : //}
+     113             : 
+     114             : /* getHeading() //{ */
+     115             : 
+     116             : /**
+     117             :  * @brief get heading from geometry_msgs::Pose
+     118             :  *
+     119             :  * @param data pose
+     120             :  *
+     121             :  * @return heading
+     122             :  */
+     123      246371 : double getHeading(const geometry_msgs::Pose& data) {
+     124             : 
+     125      246371 :   return mrs_lib::AttitudeConverter(data.orientation).getHeading();
+     126             : }
+     127             : 
+     128             : /**
+     129             :  * @brief get heading from geometry_msgs::PoseConstPtr
+     130             :  *
+     131             :  * @param data pose (ConstPtr)
+     132             :  *
+     133             :  * @return heading
+     134             :  */
+     135           0 : double getHeading(const geometry_msgs::PoseConstPtr& data) {
+     136             : 
+     137           0 :   return getHeading(*data);
+     138             : }
+     139             : 
+     140             : //}
+     141             : 
+     142             : /* getYaw() //{ */
+     143             : 
+     144             : /**
+     145             :  * @brief get yaw from geometry_msgs::Pose
+     146             :  *
+     147             :  * @param data pose
+     148             :  *
+     149             :  * @return yaw
+     150             :  */
+     151           0 : double getYaw(const geometry_msgs::Pose& data) {
+     152             : 
+     153           0 :   return mrs_lib::AttitudeConverter(data.orientation).getYaw();
+     154             : }
+     155             : 
+     156             : /**
+     157             :  * @brief get yaw from geometry_msgs::PoseConstPtr
+     158             :  *
+     159             :  * @param data pose (ConstPtr)
+     160             :  *
+     161             :  * @return yaw
+     162             :  */
+     163           0 : double getYaw(const geometry_msgs::PoseConstPtr& data) {
+     164             : 
+     165           0 :   return getYaw(*data);
+     166             : }
+     167             : 
+     168             : //}
+     169             : 
+     170             : //}
+     171             : 
+     172             : /* geometry_msgs::PoseWithCovariance //{ */
+     173             : 
+     174             : /* getPosition() //{ */
+     175             : 
+     176             : /**
+     177             :  * @brief get position from geometry_msgs::PoseWithCovariance
+     178             :  *
+     179             :  * @param data pose with covariance
+     180             :  *
+     181             :  * @return x, y, z
+     182             :  */
+     183      246376 : std::tuple<double, double, double> getPosition(const geometry_msgs::PoseWithCovariance& data) {
+     184             : 
+     185      246376 :   return getPosition(data.pose);
+     186             : }
+     187             : 
+     188             : /**
+     189             :  * @brief get position from geometry_msgs::PoseWithCovarianceConstPtr
+     190             :  *
+     191             :  * @param data pose with covariance (ConstPtr)
+     192             :  *
+     193             :  * @return x, y, z
+     194             :  */
+     195           0 : std::tuple<double, double, double> getPosition(const geometry_msgs::PoseWithCovarianceConstPtr& data) {
+     196             : 
+     197           0 :   return getPosition(*data);
+     198             : }
+     199             : 
+     200             : //}
+     201             : 
+     202             : /* getHeading() //{ */
+     203             : 
+     204             : /**
+     205             :  * @brief get heading from geometry_msgs::PoseWithCovariance
+     206             :  *
+     207             :  * @param data pose with covariance
+     208             :  *
+     209             :  * @return heading
+     210             :  */
+     211      246374 : double getHeading(const geometry_msgs::PoseWithCovariance& data) {
+     212             : 
+     213      246374 :   return getHeading(data.pose);
+     214             : }
+     215             : 
+     216             : /**
+     217             :  * @brief get heading from geometry_msgs::PoseWithCovarianceConstPtr
+     218             :  *
+     219             :  * @param data pose with covariance (ConstPtr)
+     220             :  *
+     221             :  * @return heading
+     222             :  */
+     223           0 : double getHeading(const geometry_msgs::PoseWithCovarianceConstPtr& data) {
+     224             : 
+     225           0 :   return getHeading(*data);
+     226             : }
+     227             : 
+     228             : //}
+     229             : 
+     230             : /* getYaw() //{ */
+     231             : 
+     232             : /**
+     233             :  * @brief get yaw from geometry_msgs::PoseWithCovariance
+     234             :  *
+     235             :  * @param data pose with covariance
+     236             :  *
+     237             :  * @return yaw
+     238             :  */
+     239           0 : double getYaw(const geometry_msgs::PoseWithCovariance& data) {
+     240             : 
+     241           0 :   return getYaw(data.pose);
+     242             : }
+     243             : 
+     244             : /**
+     245             :  * @brief get yaw from geometry_msgs::PoseWithCovarianceConstPtr
+     246             :  *
+     247             :  * @param data pose with covariance (ConstPtr)
+     248             :  *
+     249             :  * @return yaw
+     250             :  */
+     251           0 : double getYaw(const geometry_msgs::PoseWithCovarianceConstPtr& data) {
+     252             : 
+     253           0 :   return getYaw(*data);
+     254             : }
+     255             : 
+     256             : //}
+     257             : 
+     258             : //}
+     259             : 
+     260             : /* geometry_msgs::Twist //{ */
+     261             : 
+     262             : /* getVelocity() //{ */
+     263             : 
+     264             : /**
+     265             :  * @brief get velocity from geometry_msgs::Twist
+     266             :  *
+     267             :  * @param data twist
+     268             :  *
+     269             :  * @return x, y, z
+     270             :  */
+     271           0 : std::tuple<double, double, double> getVelocity(const geometry_msgs::Twist& data) {
+     272             : 
+     273           0 :   return getXYZ(data.linear);
+     274             : }
+     275             : 
+     276             : /**
+     277             :  * @brief get position from geometry_msgs::TwistConstPtr
+     278             :  *
+     279             :  * @param data twist (ConstPtr)
+     280             :  *
+     281             :  * @return x, y, z
+     282             :  */
+     283           0 : std::tuple<double, double, double> getPosition(const geometry_msgs::TwistConstPtr& data) {
+     284             : 
+     285           0 :   return getVelocity(*data);
+     286             : }
+     287             : 
+     288             : //}
+     289             : 
+     290             : //}
+     291             : 
+     292             : /* geometry_msgs::TwistWithCovariance //{ */
+     293             : 
+     294             : /* getVelocity() //{ */
+     295             : 
+     296             : /**
+     297             :  * @brief get velocity from geometry_msgs::TwistWithCovariance
+     298             :  *
+     299             :  * @param data twistwithcovariance
+     300             :  *
+     301             :  * @return x, y, z
+     302             :  */
+     303           0 : std::tuple<double, double, double> getVelocity(const geometry_msgs::TwistWithCovariance& data) {
+     304             : 
+     305           0 :   return getVelocity(data.twist);
+     306             : }
+     307             : 
+     308             : /**
+     309             :  * @brief get position from geometry_msgs::TwistWithCovarianceConstPtr
+     310             :  *
+     311             :  * @param data twistwithcovariance (ConstPtr)
+     312             :  *
+     313             :  * @return x, y, z
+     314             :  */
+     315           0 : std::tuple<double, double, double> getPosition(const geometry_msgs::TwistWithCovarianceConstPtr& data) {
+     316             : 
+     317           0 :   return getVelocity(*data);
+     318             : }
+     319             : 
+     320             : //}
+     321             : 
+     322             : //}
+     323             : 
+     324             : /* nav_msgs::Odometry //{ */
+     325             : 
+     326             : /* getPosition() //{ */
+     327             : 
+     328             : /**
+     329             :  * @brief get position from nav_msgs::Odometry
+     330             :  *
+     331             :  * @param data odometry
+     332             :  *
+     333             :  * @return x, y, z
+     334             :  */
+     335      246377 : std::tuple<double, double, double> getPosition(const nav_msgs::Odometry& data) {
+     336             : 
+     337      246377 :   return getPosition(data.pose);
+     338             : }
+     339             : 
+     340             : /**
+     341             :  * @brief get position from nav_msgs::OdometryConstPtr
+     342             :  *
+     343             :  * @param data odometry (ConstPtr)
+     344             :  *
+     345             :  * @return x, y, z
+     346             :  */
+     347      246378 : std::tuple<double, double, double> getPosition(const nav_msgs::OdometryConstPtr& data) {
+     348             : 
+     349      246378 :   return getPosition(*data);
+     350             : }
+     351             : 
+     352             : //}
+     353             : 
+     354             : /* getVelocity() //{ */
+     355             : 
+     356             : /**
+     357             :  * @brief get position from nav_msgs::Odometry
+     358             :  *
+     359             :  * @param data odometry
+     360             :  *
+     361             :  * @return x, y, z
+     362             :  */
+     363           0 : std::tuple<double, double, double> getVelocity(const nav_msgs::Odometry& data) {
+     364             : 
+     365           0 :   return getVelocity(data.twist);
+     366             : }
+     367             : 
+     368             : /**
+     369             :  * @brief get velocity from nav_msgs::OdometryConstPtr
+     370             :  *
+     371             :  * @param data odometry (ConstPtr)
+     372             :  *
+     373             :  * @return x, y, z
+     374             :  */
+     375           0 : std::tuple<double, double, double> getVelocity(const nav_msgs::OdometryConstPtr& data) {
+     376             : 
+     377           0 :   return getVelocity(*data);
+     378             : }
+     379             : 
+     380             : //}
+     381             : 
+     382             : /* getHeading() //{ */
+     383             : 
+     384             : /**
+     385             :  * @brief get heading from nav_msgs::Odometry
+     386             :  *
+     387             :  * @param data odometry
+     388             :  *
+     389             :  * @return heading
+     390             :  */
+     391      246369 : double getHeading(const nav_msgs::Odometry& data) {
+     392             : 
+     393      246369 :   return getHeading(data.pose);
+     394             : }
+     395             : 
+     396             : /**
+     397             :  * @brief get heading from nav_msgs::OdometryConstPtr
+     398             :  *
+     399             :  * @param data odometry (ConstPtr)
+     400             :  *
+     401             :  * @return heading
+     402             :  */
+     403      246369 : double getHeading(const nav_msgs::OdometryConstPtr& data) {
+     404             : 
+     405      246369 :   return getHeading(*data);
+     406             : }
+     407             : 
+     408             : //}
+     409             : 
+     410             : /* getYaw() //{ */
+     411             : 
+     412             : /**
+     413             :  * @brief get yaw from nav_msgs::Odometry
+     414             :  *
+     415             :  * @param data odometry
+     416             :  *
+     417             :  * @return yaw
+     418             :  */
+     419           0 : double getYaw(const nav_msgs::Odometry& data) {
+     420             : 
+     421           0 :   return getYaw(data.pose);
+     422             : }
+     423             : 
+     424             : /**
+     425             :  * @brief get yaw from nav_msgs::OdometryConstPtr
+     426             :  *
+     427             :  * @param data odometry (ConstPtr)
+     428             :  *
+     429             :  * @return yaw
+     430             :  */
+     431           0 : double getYaw(const nav_msgs::OdometryConstPtr& data) {
+     432             : 
+     433           0 :   return getYaw(*data);
+     434             : }
+     435             : 
+     436             : //}
+     437             : 
+     438             : /* getPose() //{ */
+     439             : 
+     440             : /**
+     441             :  * @brief returns the Pose part of the nav_msgs::Odometry message
+     442             :  *
+     443             :  * @param data odometry
+     444             :  *
+     445             :  * @return pose
+     446             :  */
+     447        1833 : geometry_msgs::Pose getPose(const nav_msgs::Odometry& data) {
+     448             : 
+     449        1833 :   return data.pose.pose;
+     450             : }
+     451             : 
+     452             : /**
+     453             :  * @brief returns the Pose part of the nav_msgs::OdometryConstPtr message
+     454             :  *
+     455             :  * @param data odometry (ConstPtr)
+     456             :  *
+     457             :  * @return pose
+     458             :  */
+     459           0 : geometry_msgs::Pose getPose(const nav_msgs::OdometryConstPtr& data) {
+     460             : 
+     461           0 :   return getPose(*data);
+     462             : }
+     463             : 
+     464             : //}
+     465             : 
+     466             : //}
+     467             : 
+     468             : /* mrs_msgs::TrackerCommand //{ */
+     469             : 
+     470             : /* getPosition() //{ */
+     471             : 
+     472             : /**
+     473             :  * @brief get position data from mrs_msgs::TrackerCommand
+     474             :  *
+     475             :  * @param data position command
+     476             :  *
+     477             :  * @return x, y, z
+     478             :  */
+     479         344 : std::tuple<double, double, double> getPosition(const mrs_msgs::TrackerCommand& data) {
+     480             : 
+     481         344 :   return getXYZ(data.position);
+     482             : }
+     483             : 
+     484             : /**
+     485             :  * @brief get position data from mrs_msgs::TrackerCommandConstPtr
+     486             :  *
+     487             :  * @param data position command (ConstPtr)
+     488             :  *
+     489             :  * @return x, y, z
+     490             :  */
+     491           0 : std::tuple<double, double, double> getPosition(const mrs_msgs::TrackerCommandConstPtr& data) {
+     492             : 
+     493           0 :   return getPosition(*data);
+     494             : }
+     495             : 
+     496             : //}
+     497             : 
+     498             : /* getVelocity() //{ */
+     499             : 
+     500             : /**
+     501             :  * @brief get velocity data from mrs_msgs::TrackerCommand
+     502             :  *
+     503             :  * @param data position command
+     504             :  *
+     505             :  * @return x, y, z
+     506             :  */
+     507           0 : std::tuple<double, double, double> getVelocity(const mrs_msgs::TrackerCommand& data) {
+     508             : 
+     509           0 :   return getXYZ(data.velocity);
+     510             : }
+     511             : 
+     512             : /**
+     513             :  * @brief get velocity data from mrs_msgs::TrackerCommandConstPtr
+     514             :  *
+     515             :  * @param data position command (ConstPtr)
+     516             :  *
+     517             :  * @return x, y, z
+     518             :  */
+     519           0 : std::tuple<double, double, double> getVelocity(const mrs_msgs::TrackerCommandConstPtr& data) {
+     520             : 
+     521           0 :   return getVelocity(*data);
+     522             : }
+     523             : 
+     524             : //}
+     525             : 
+     526             : /* getHeading() //{ */
+     527             : 
+     528             : /**
+     529             :  * @brief get heading from mrs_msgs::TrackerCommand
+     530             :  *
+     531             :  * @param data position command
+     532             :  *
+     533             :  * @return heading
+     534             :  */
+     535           0 : double getHeading(const mrs_msgs::TrackerCommand& data) {
+     536             : 
+     537           0 :   double heading = 0;
+     538             : 
+     539           0 :   if (data.use_heading) {
+     540             : 
+     541           0 :     heading = data.heading;
+     542             : 
+     543           0 :   } else if (data.use_orientation) {
+     544             : 
+     545           0 :     heading = mrs_lib::AttitudeConverter(data.orientation).getHeading();
+     546             :   }
+     547             : 
+     548           0 :   return heading;
+     549             : }
+     550             : 
+     551             : /**
+     552             :  * @brief get heading from mrs_msgs::TrackerCommandConstPtr
+     553             :  *
+     554             :  * @param data position command (ConstPtr)
+     555             :  *
+     556             :  * @return heading
+     557             :  */
+     558           0 : double getHeading(const mrs_msgs::TrackerCommandConstPtr& data) {
+     559             : 
+     560           0 :   return getHeading(*data);
+     561             : }
+     562             : 
+     563             : //}
+     564             : 
+     565             : //}
+     566             : 
+     567             : /* mrs_msgs::Reference //{ */
+     568             : 
+     569             : /* getPosition() //{ */
+     570             : 
+     571             : /**
+     572             :  * @brief get position from mrs_msgs::Reference
+     573             :  *
+     574             :  * @param data reference
+     575             :  *
+     576             :  * @return x, y, z
+     577             :  */
+     578         344 : std::tuple<double, double, double> getPosition(const mrs_msgs::Reference& data) {
+     579             : 
+     580         344 :   return getXYZ(data.position);
+     581             : }
+     582             : 
+     583             : /**
+     584             :  * @brief get position from mrs_msgs::ReferenceConstPtr
+     585             :  *
+     586             :  * @param data reference (ContrPtr)
+     587             :  *
+     588             :  * @return x, y, z
+     589             :  */
+     590           0 : std::tuple<double, double, double> getPosition(const mrs_msgs::ReferenceConstPtr& data) {
+     591             : 
+     592           0 :   return getPosition(*data);
+     593             : }
+     594             : 
+     595             : //}
+     596             : 
+     597             : /* getHeading() //{ */
+     598             : 
+     599             : /**
+     600             :  * @brief get heading from mrs_msgs::Reference
+     601             :  *
+     602             :  * @param data reference
+     603             :  *
+     604             :  * @return heading
+     605             :  */
+     606         344 : double getHeading(const mrs_msgs::Reference& data) {
+     607             : 
+     608         344 :   return data.heading;
+     609             : }
+     610             : 
+     611             : /**
+     612             :  * @brief get heading from mrs_msgs::ReferenceConstPtr
+     613             :  *
+     614             :  * @param data reference (ContrPtr)
+     615             :  *
+     616             :  * @return heading
+     617             :  */
+     618           0 : double getHeading(const mrs_msgs::ReferenceConstPtr& data) {
+     619             : 
+     620           0 :   return getHeading(*data);
+     621             : }
+     622             : 
+     623             : //}
+     624             : 
+     625             : //}
+     626             : 
+     627             : /* mrs_msgs::ReferenceStamped //{ */
+     628             : 
+     629             : /* getPosition() //{ */
+     630             : 
+     631             : /**
+     632             :  * @brief get position from mrs_msgs::ReferenceStamped
+     633             :  *
+     634             :  * @param data reference stamped
+     635             :  *
+     636             :  * @return x, y, z
+     637             :  */
+     638         344 : std::tuple<double, double, double> getPosition(const mrs_msgs::ReferenceStamped& data) {
+     639             : 
+     640         344 :   return getPosition(data.reference);
+     641             : }
+     642             : 
+     643             : /**
+     644             :  * @brief get position from mrs_msgs::ReferenceStampedConstPtr
+     645             :  *
+     646             :  * @param data reference stamped (ContrPtr)
+     647             :  *
+     648             :  * @return x, y, z
+     649             :  */
+     650           0 : std::tuple<double, double, double> getPosition(const mrs_msgs::ReferenceStampedConstPtr& data) {
+     651             : 
+     652           0 :   return getPosition(*data);
+     653             : }
+     654             : 
+     655             : //}
+     656             : 
+     657             : /* getHeading() //{ */
+     658             : 
+     659             : /**
+     660             :  * @brief get heading from mrs_msgs::ReferenceStamped
+     661             :  *
+     662             :  * @param data referencestamped
+     663             :  *
+     664             :  * @return heading
+     665             :  */
+     666         344 : double getHeading(const mrs_msgs::ReferenceStamped& data) {
+     667             : 
+     668         344 :   return getHeading(data.reference);
+     669             : }
+     670             : 
+     671             : /**
+     672             :  * @brief get heading from mrs_msgs::ReferenceStampedConstPtr
+     673             :  *
+     674             :  * @param data referencestamped (ContrPtr)
+     675             :  *
+     676             :  * @return heading
+     677             :  */
+     678           0 : double getHeading(const mrs_msgs::ReferenceStampedConstPtr& data) {
+     679             : 
+     680           0 :   return getHeading(*data);
+     681             : }
+     682             : 
+     683             : //}
+     684             : 
+     685             : //}
+     686             : 
+     687             : }  // namespace mrs_lib
+     688             : 
+     689             : //}
+     690             : 
+     691             : #endif  // MRS_LIB_MSG_EXTRACTOR_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + diff --git a/mrs_lib/include/mrs_lib/msg_extractor.h.gcov.png b/mrs_lib/include/mrs_lib/msg_extractor.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..8043ecf807c268d9ebf3ec73e92b93e3796c8069 GIT binary patch literal 1287 zcmV+i1^D`jP)o6G8|QE17xcIDPQ~O}I%wnMSorb!w5W z0Y!DQCakha+q@xH*lxd^|F-j=&QM(1pFiEYu!)Tr=-RiB`&d+9L}*2{sBI|FFr12D z9}Ps**N^XGBATa9-HYGtB}|XjE7fZGp0&-MU3~y zLwt28Vw=vzJ;CfTj(Z+oiqUxIVNwc_du-_?agUWt8H(7Zb8!!+tu>-BvZwjuL8lZF z_W=BI9qwUdp480VsfcYl8}}d-qy2I8d18`3+Vb&2kyV_fh;2F>_aGEgZ0)l5U8}gP z>t;OloV>cwE*D6123-0OUKcJx&&|AwB62gAtu<36*qS4=uXUkU?ob!nLAyBj|LCDIBo5(3y(=!tqZvj(|3Ff^Oxrygkox~V3rHN<&Ti95B4t4JqSex zTOaIQ>q0I>{^!l))rGbqw&^Q8!G@|8270X^`{@VM)(o-mdQXQL}`1POm8-^ zau49yAH}3S&Fy7RBgD~S;nnsu8QvOV<(}-ecG#O}Yrvk@$$RANX*%yM&pimmgnh2{ zElNAYkz(P+_B5^g%X1GxF>z1RviDv0G+W+^E7~8`?vdSkILz*ox?h&(p74<3*8qAr z`Ju%^P_cO49&vWC!xZr7{R2%1_Tc+-T~z=8002ovPDHLkV1gERfj9sF literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/mutex.h.func-sort-c.html b/mrs_lib/include/mrs_lib/mutex.h.func-sort-c.html new file mode 100644 index 0000000000..7ece0b1526 --- /dev/null +++ b/mrs_lib/include/mrs_lib/mutex.h.func-sort-c.html @@ -0,0 +1,400 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/mutex.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - mutex.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1111100.0 %
Date:2024-08-07 22:18:19Functions:678083.8 %
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Function Name Sort by function nameHit count Sort by hit count
std::tuple<double, double, double, double> mrs_lib::get_mutexed<double, double, double, double>(std::mutex&, double&, double&, double&, double&)0
mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const mrs_lib::get_mutexed<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const>(std::mutex&, mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)0
mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const mrs_lib::get_mutexed<mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const>(std::mutex&, mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&)0
Eigen::Matrix<double, 2, 2, 0, 2, 2> mrs_lib::get_mutexed<Eigen::Matrix<double, 2, 2, 0, 2, 2> >(std::mutex&, Eigen::Matrix<double, 2, 2, 0, 2, 2>&)0
mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >(std::mutex&, mrs_msgs::SpeedTrackerCommand_<std::allocator<void> >&)0
mrs_lib::KalmanFilter<2, 1, 1>::statecov_t mrs_lib::get_mutexed<mrs_lib::KalmanFilter<2, 1, 1>::statecov_t>(std::mutex&, mrs_lib::KalmanFilter<2, 1, 1>::statecov_t&)0
auto mrs_lib::set_mutexed<Eigen::Matrix<double, 2, 1, 0, 2, 1> >(std::mutex&, Eigen::Matrix<double, 2, 1, 0, 2, 1>, Eigen::Matrix<double, 2, 1, 0, 2, 1>&)0
auto mrs_lib::set_mutexed<Eigen::Matrix<double, 2, 2, 0, 2, 2> >(std::mutex&, Eigen::Matrix<double, 2, 2, 0, 2, 2>, Eigen::Matrix<double, 2, 2, 0, 2, 2>&)0
auto mrs_lib::set_mutexed<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(std::mutex&, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>&)0
auto mrs_lib::set_mutexed<Eigen::Matrix<double, 3, 3, 0, 3, 3> >(std::mutex&, Eigen::Matrix<double, 3, 3, 0, 3, 3>, Eigen::Matrix<double, 3, 3, 0, 3, 3>&)0
auto mrs_lib::set_mutexed<Eigen::Matrix<double, 6, 1, 0, 6, 1> >(std::mutex&, Eigen::Matrix<double, 6, 1, 0, 6, 1>, Eigen::Matrix<double, 6, 1, 0, 6, 1>&)0
auto mrs_lib::set_mutexed<Eigen::Matrix<double, 6, 6, 0, 6, 6> >(std::mutex&, Eigen::Matrix<double, 6, 6, 0, 6, 6>, Eigen::Matrix<double, 6, 6, 0, 6, 6>&)0
auto mrs_lib::set_mutexed<mrs_lib::KalmanFilter<2, 1, 1>::statecov_t>(std::mutex&, mrs_lib::KalmanFilter<2, 1, 1>::statecov_t, mrs_lib::KalmanFilter<2, 1, 1>::statecov_t&)0
mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> > >(std::mutex&, mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> >&)1
mrs_uav_trajectory_generation::drsConfig mrs_lib::get_mutexed<mrs_uav_trajectory_generation::drsConfig>(std::mutex&, mrs_uav_trajectory_generation::drsConfig&)38
auto mrs_lib::set_mutexed<mrs_uav_trajectory_generation::drsConfig>(std::mutex&, mrs_uav_trajectory_generation::drsConfig, mrs_uav_trajectory_generation::drsConfig&)108
auto mrs_lib::set_mutexed<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> >, mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> >&)160
auto mrs_lib::set_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig, mrs_uav_controllers::mpc_controllerConfig&)216
auto mrs_lib::set_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig, mrs_uav_controllers::se3_controllerConfig&)217
mrs_msgs::ObstacleSectors_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ObstacleSectors_<std::allocator<void> > >(std::mutex&, mrs_msgs::ObstacleSectors_<std::allocator<void> >&)436
mrs_msgs::VelocityReference_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::VelocityReference_<std::allocator<void> > >(std::mutex&, mrs_msgs::VelocityReference_<std::allocator<void> >&)824
mrs_msgs::ReferenceStamped_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(std::mutex&, mrs_msgs::ReferenceStamped_<std::allocator<void> >&)1101
auto mrs_lib::set_mutexed<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraints_<std::allocator<void> >, mrs_msgs::DynamicsConstraints_<std::allocator<void> >&)2470
auto mrs_lib::set_mutexed<mrs_uav_controllers::se3_controller::Gains_t>(std::mutex&, mrs_uav_controllers::se3_controller::Gains_t, mrs_uav_controllers::se3_controller::Gains_t&)4656
int mrs_lib::get_mutexed<int>(std::mutex&, int&)9364
std::tuple<bool, bool, ros::Time, ros::Time> mrs_lib::get_mutexed<bool, bool, ros::Time, ros::Time>(std::mutex&, bool&, bool&, ros::Time&, ros::Time&)12443
std::tuple<int, double> mrs_lib::get_mutexed<int, double>(std::mutex&, int&, double&)16163
auto mrs_lib::set_mutexed<mrs_uav_controllers::mpc_controller::Gains_t>(std::mutex&, mrs_uav_controllers::mpc_controller::Gains_t, mrs_uav_controllers::mpc_controller::Gains_t&)16197
std::tuple<double, double> mrs_lib::get_mutexed<double, double>(std::mutex&, double&, double&)17210
std::optional<double> mrs_lib::get_mutexed<std::optional<double> >(std::mutex&, std::optional<double>&)18995
std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const mrs_lib::get_mutexed<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const>(std::mutex&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)19605
std::tuple<bool, double, double> mrs_lib::get_mutexed<bool, double, double>(std::mutex&, bool&, double&, double&)22000
std::tuple<double, double, double, double, double, double, double> mrs_lib::get_mutexed<double, double, double, double, double, double, double>(std::mutex&, double&, double&, double&, double&, double&, double&, double&)23531
std::tuple<double, double, double> mrs_lib::get_mutexed<double, double, double>(std::mutex&, double&, double&, double&)28123
mrs_uav_controllers::se3_controller::Gains_t mrs_lib::get_mutexed<mrs_uav_controllers::se3_controller::Gains_t>(std::mutex&, mrs_uav_controllers::se3_controller::Gains_t&)33070
auto mrs_lib::set_mutexed<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::mutex&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&)37525
mrs_uav_controllers::se3_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig&)58630
std::tuple<Eigen::Matrix<double, -1, 1, 0, -1, 1>, double> mrs_lib::get_mutexed<Eigen::Matrix<double, -1, 1, 0, -1, 1>, double>(std::mutex&, Eigen::Matrix<double, -1, 1, 0, -1, 1>&, double&)81134
mrs_msgs::MpcPredictionFullState_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::MpcPredictionFullState_<std::allocator<void> > >(std::mutex&, mrs_msgs::MpcPredictionFullState_<std::allocator<void> >&)81238
mrs_uav_trackers::mpc_trackerConfig mrs_lib::get_mutexed<mrs_uav_trackers::mpc_trackerConfig>(std::mutex&, mrs_uav_trackers::mpc_trackerConfig&)83968
mrs_uav_controllers::mpc_controller::Gains_t mrs_lib::get_mutexed<mrs_uav_controllers::mpc_controller::Gains_t>(std::mutex&, mrs_uav_controllers::mpc_controller::Gains_t&)87427
std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > mrs_lib::get_mutexed<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::mutex&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&)89451
auto mrs_lib::set_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput, mrs_uav_managers::Controller::ControlOutput&)111188
auto mrs_lib::set_mutexed<mrs_msgs::Float64Stamped_<std::allocator<void> > >(std::mutex&, mrs_msgs::Float64Stamped_<std::allocator<void> >, mrs_msgs::Float64Stamped_<std::allocator<void> >&)155524
mrs_uav_controllers::mpc_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig&)159513
mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> >&)164925
Eigen::Matrix<double, 6, 6, 0, 6, 6> mrs_lib::get_mutexed<Eigen::Matrix<double, 6, 6, 0, 6, 6> >(std::mutex&, Eigen::Matrix<double, 6, 6, 0, 6, 6>&)194532
Eigen::Matrix<double, 1, 1, 0, 1, 1> const mrs_lib::get_mutexed<Eigen::Matrix<double, 1, 1, 0, 1, 1> const>(std::mutex&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&)206645
mrs_msgs::UavState_<std::allocator<void> > const mrs_lib::get_mutexed<mrs_msgs::UavState_<std::allocator<void> > const>(std::mutex&, mrs_msgs::UavState_<std::allocator<void> > const&)207698
Eigen::Matrix<double, 2, 2, 0, 2, 2> const mrs_lib::get_mutexed<Eigen::Matrix<double, 2, 2, 0, 2, 2> const>(std::mutex&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&)214188
auto mrs_lib::set_mutexed<std::optional<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >(std::mutex&, std::optional<Eigen::Matrix<double, 3, 1, 0, 3, 1> >, std::optional<Eigen::Matrix<double, 3, 1, 0, 3, 1> >&)229934
std::tuple<std::optional<double>, std::optional<double> > mrs_lib::get_mutexed<std::optional<double>, std::optional<double> >(std::mutex&, std::optional<double>&, std::optional<double>&)231008
std::optional<Eigen::Matrix<double, 3, 1, 0, 3, 1> > mrs_lib::get_mutexed<std::optional<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >(std::mutex&, std::optional<Eigen::Matrix<double, 3, 1, 0, 3, 1> >&)250003
std::tuple<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > mrs_lib::get_mutexed<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Matrix<double, -1, -1, 0, -1, -1> >(std::mutex&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&)257138
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::get_mutexed<Eigen::Matrix<double, -1, -1, 0, -1, -1> >(std::mutex&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&)268609
mrs_msgs::DynamicsConstraints_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraints_<std::allocator<void> >&)291208
mrs_msgs::Float64Stamped_<std::allocator<void> > const mrs_lib::get_mutexed<mrs_msgs::Float64Stamped_<std::allocator<void> > const>(std::mutex&, mrs_msgs::Float64Stamped_<std::allocator<void> > const&)312539
Eigen::Matrix<double, 3, 3, 0, 3, 3> mrs_lib::get_mutexed<Eigen::Matrix<double, 3, 3, 0, 3, 3> >(std::mutex&, Eigen::Matrix<double, 3, 3, 0, 3, 3>&)331962
std::tuple<mrs_msgs::UavState_<std::allocator<void> >, double> mrs_lib::get_mutexed<mrs_msgs::UavState_<std::allocator<void> >, double>(std::mutex&, mrs_msgs::UavState_<std::allocator<void> >&, double&)344392
std::vector<double, std::allocator<double> > const mrs_lib::get_mutexed<std::vector<double, std::allocator<double> > const>(std::mutex&, std::vector<double, std::allocator<double> > const&)345440
nav_msgs::Odometry_<std::allocator<void> > const mrs_lib::get_mutexed<nav_msgs::Odometry_<std::allocator<void> > const>(std::mutex&, nav_msgs::Odometry_<std::allocator<void> > const&)380424
auto mrs_lib::set_mutexed<nav_msgs::Odometry_<std::allocator<void> > >(std::mutex&, nav_msgs::Odometry_<std::allocator<void> >, nav_msgs::Odometry_<std::allocator<void> >&)415404
auto mrs_lib::set_mutexed<mrs_lib::KalmanFilter<6, 2, 2>::statecov_t>(std::mutex&, mrs_lib::KalmanFilter<6, 2, 2>::statecov_t, mrs_lib::KalmanFilter<6, 2, 2>::statecov_t&)419967
mrs_lib::KalmanFilter<6, 2, 2>::statecov_t mrs_lib::get_mutexed<mrs_lib::KalmanFilter<6, 2, 2>::statecov_t>(std::mutex&, mrs_lib::KalmanFilter<6, 2, 2>::statecov_t&)420063
auto mrs_lib::set_mutexed<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >(std::mutex&, mrs_msgs::Float64ArrayStamped_<std::allocator<void> >, mrs_msgs::Float64ArrayStamped_<std::allocator<void> >&)570904
Eigen::Matrix<double, 2, 1, 0, 2, 1> const mrs_lib::get_mutexed<Eigen::Matrix<double, 2, 1, 0, 2, 1> const>(std::mutex&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&)627632
std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > mrs_lib::get_mutexed<std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > >(std::mutex&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > >&)719513
double const mrs_lib::get_mutexed<double const>(std::mutex&, double const&)751955
mrs_uav_managers::Controller::ControlOutput mrs_lib::get_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput&)823414
auto mrs_lib::set_mutexed<mrs_lib::KalmanFilter<3, 1, 1>::statecov_t>(std::mutex&, mrs_lib::KalmanFilter<3, 1, 1>::statecov_t, mrs_lib::KalmanFilter<3, 1, 1>::statecov_t&)852851
mrs_lib::KalmanFilter<3, 1, 1>::statecov_t mrs_lib::get_mutexed<mrs_lib::KalmanFilter<3, 1, 1>::statecov_t>(std::mutex&, mrs_lib::KalmanFilter<3, 1, 1>::statecov_t&)853718
ros::Time mrs_lib::get_mutexed<ros::Time>(std::mutex&, ros::Time&)994452
unsigned int mrs_lib::get_mutexed<unsigned int>(std::mutex&, unsigned int&)1024337
mrs_msgs::UavState_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::UavState_<std::allocator<void> > >(std::mutex&, mrs_msgs::UavState_<std::allocator<void> >&)1053732
auto mrs_lib::set_mutexed<mrs_msgs::UavState_<std::allocator<void> > >(std::mutex&, mrs_msgs::UavState_<std::allocator<void> >, mrs_msgs::UavState_<std::allocator<void> >&)1079091
auto mrs_lib::set_mutexed<double>(std::mutex&, double, double&)1227048
double mrs_lib::get_mutexed<double>(std::mutex&, double&)1815692
mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const mrs_lib::get_mutexed<mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const>(std::mutex&, mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&)2630098
mrs_uav_managers::estimation_manager::StateMachine::SMState_t const mrs_lib::get_mutexed<mrs_uav_managers::estimation_manager::StateMachine::SMState_t const>(std::mutex&, mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&)2673574
mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const mrs_lib::get_mutexed<mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const>(std::mutex&, mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&)2892343
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/mutex.h.func.html b/mrs_lib/include/mrs_lib/mutex.h.func.html new file mode 100644 index 0000000000..67f1fb375d --- /dev/null +++ b/mrs_lib/include/mrs_lib/mutex.h.func.html @@ -0,0 +1,400 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/mutex.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - mutex.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1111100.0 %
Date:2024-08-07 22:18:19Functions:678083.8 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
std::tuple<Eigen::Matrix<double, -1, 1, 0, -1, 1>, double> mrs_lib::get_mutexed<Eigen::Matrix<double, -1, 1, 0, -1, 1>, double>(std::mutex&, Eigen::Matrix<double, -1, 1, 0, -1, 1>&, double&)81134
std::tuple<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > mrs_lib::get_mutexed<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Matrix<double, -1, -1, 0, -1, -1> >(std::mutex&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&)257138
std::tuple<mrs_msgs::UavState_<std::allocator<void> >, double> mrs_lib::get_mutexed<mrs_msgs::UavState_<std::allocator<void> >, double>(std::mutex&, mrs_msgs::UavState_<std::allocator<void> >&, double&)344392
std::tuple<std::optional<double>, std::optional<double> > mrs_lib::get_mutexed<std::optional<double>, std::optional<double> >(std::mutex&, std::optional<double>&, std::optional<double>&)231008
std::tuple<bool, bool, ros::Time, ros::Time> mrs_lib::get_mutexed<bool, bool, ros::Time, ros::Time>(std::mutex&, bool&, bool&, ros::Time&, ros::Time&)12443
std::tuple<bool, double, double> mrs_lib::get_mutexed<bool, double, double>(std::mutex&, bool&, double&, double&)22000
std::tuple<double, double> mrs_lib::get_mutexed<double, double>(std::mutex&, double&, double&)17210
std::tuple<double, double, double> mrs_lib::get_mutexed<double, double, double>(std::mutex&, double&, double&, double&)28123
std::tuple<double, double, double, double> mrs_lib::get_mutexed<double, double, double, double>(std::mutex&, double&, double&, double&, double&)0
std::tuple<double, double, double, double, double, double, double> mrs_lib::get_mutexed<double, double, double, double, double, double, double>(std::mutex&, double&, double&, double&, double&, double&, double&, double&)23531
std::tuple<int, double> mrs_lib::get_mutexed<int, double>(std::mutex&, int&, double&)16163
mrs_uav_managers::estimation_manager::StateMachine::SMState_t const mrs_lib::get_mutexed<mrs_uav_managers::estimation_manager::StateMachine::SMState_t const>(std::mutex&, mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&)2673574
Eigen::Matrix<double, 1, 1, 0, 1, 1> const mrs_lib::get_mutexed<Eigen::Matrix<double, 1, 1, 0, 1, 1> const>(std::mutex&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&)206645
Eigen::Matrix<double, 2, 1, 0, 2, 1> const mrs_lib::get_mutexed<Eigen::Matrix<double, 2, 1, 0, 2, 1> const>(std::mutex&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&)627632
Eigen::Matrix<double, 2, 2, 0, 2, 2> const mrs_lib::get_mutexed<Eigen::Matrix<double, 2, 2, 0, 2, 2> const>(std::mutex&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&)214188
mrs_msgs::Float64Stamped_<std::allocator<void> > const mrs_lib::get_mutexed<mrs_msgs::Float64Stamped_<std::allocator<void> > const>(std::mutex&, mrs_msgs::Float64Stamped_<std::allocator<void> > const&)312539
mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const mrs_lib::get_mutexed<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const>(std::mutex&, mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)0
mrs_msgs::UavState_<std::allocator<void> > const mrs_lib::get_mutexed<mrs_msgs::UavState_<std::allocator<void> > const>(std::mutex&, mrs_msgs::UavState_<std::allocator<void> > const&)207698
nav_msgs::Odometry_<std::allocator<void> > const mrs_lib::get_mutexed<nav_msgs::Odometry_<std::allocator<void> > const>(std::mutex&, nav_msgs::Odometry_<std::allocator<void> > const&)380424
mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const mrs_lib::get_mutexed<mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const>(std::mutex&, mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&)0
mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const mrs_lib::get_mutexed<mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const>(std::mutex&, mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&)2630098
mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const mrs_lib::get_mutexed<mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const>(std::mutex&, mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&)2892343
std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const mrs_lib::get_mutexed<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const>(std::mutex&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)19605
std::vector<double, std::allocator<double> > const mrs_lib::get_mutexed<std::vector<double, std::allocator<double> > const>(std::mutex&, std::vector<double, std::allocator<double> > const&)345440
double const mrs_lib::get_mutexed<double const>(std::mutex&, double const&)751955
mrs_uav_managers::Controller::ControlOutput mrs_lib::get_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput&)823414
mrs_uav_trackers::mpc_trackerConfig mrs_lib::get_mutexed<mrs_uav_trackers::mpc_trackerConfig>(std::mutex&, mrs_uav_trackers::mpc_trackerConfig&)83968
mrs_uav_controllers::mpc_controller::Gains_t mrs_lib::get_mutexed<mrs_uav_controllers::mpc_controller::Gains_t>(std::mutex&, mrs_uav_controllers::mpc_controller::Gains_t&)87427
mrs_uav_controllers::se3_controller::Gains_t mrs_lib::get_mutexed<mrs_uav_controllers::se3_controller::Gains_t>(std::mutex&, mrs_uav_controllers::se3_controller::Gains_t&)33070
mrs_uav_controllers::mpc_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig&)159513
mrs_uav_controllers::se3_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig&)58630
mrs_uav_trajectory_generation::drsConfig mrs_lib::get_mutexed<mrs_uav_trajectory_generation::drsConfig>(std::mutex&, mrs_uav_trajectory_generation::drsConfig&)38
ros::Time mrs_lib::get_mutexed<ros::Time>(std::mutex&, ros::Time&)994452
Eigen::Matrix<double, 2, 2, 0, 2, 2> mrs_lib::get_mutexed<Eigen::Matrix<double, 2, 2, 0, 2, 2> >(std::mutex&, Eigen::Matrix<double, 2, 2, 0, 2, 2>&)0
Eigen::Matrix<double, 3, 3, 0, 3, 3> mrs_lib::get_mutexed<Eigen::Matrix<double, 3, 3, 0, 3, 3> >(std::mutex&, Eigen::Matrix<double, 3, 3, 0, 3, 3>&)331962
Eigen::Matrix<double, 6, 6, 0, 6, 6> mrs_lib::get_mutexed<Eigen::Matrix<double, 6, 6, 0, 6, 6> >(std::mutex&, Eigen::Matrix<double, 6, 6, 0, 6, 6>&)194532
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::get_mutexed<Eigen::Matrix<double, -1, -1, 0, -1, -1> >(std::mutex&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&)268609
mrs_msgs::ObstacleSectors_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ObstacleSectors_<std::allocator<void> > >(std::mutex&, mrs_msgs::ObstacleSectors_<std::allocator<void> >&)436
mrs_msgs::ReferenceStamped_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(std::mutex&, mrs_msgs::ReferenceStamped_<std::allocator<void> >&)1101
mrs_msgs::VelocityReference_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::VelocityReference_<std::allocator<void> > >(std::mutex&, mrs_msgs::VelocityReference_<std::allocator<void> >&)824
mrs_msgs::DynamicsConstraints_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraints_<std::allocator<void> >&)291208
mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >(std::mutex&, mrs_msgs::SpeedTrackerCommand_<std::allocator<void> >&)0
mrs_msgs::MpcPredictionFullState_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::MpcPredictionFullState_<std::allocator<void> > >(std::mutex&, mrs_msgs::MpcPredictionFullState_<std::allocator<void> >&)81238
mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> > >(std::mutex&, mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> >&)1
mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> >&)164925
mrs_msgs::UavState_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::UavState_<std::allocator<void> > >(std::mutex&, mrs_msgs::UavState_<std::allocator<void> >&)1053732
mrs_lib::KalmanFilter<2, 1, 1>::statecov_t mrs_lib::get_mutexed<mrs_lib::KalmanFilter<2, 1, 1>::statecov_t>(std::mutex&, mrs_lib::KalmanFilter<2, 1, 1>::statecov_t&)0
mrs_lib::KalmanFilter<3, 1, 1>::statecov_t mrs_lib::get_mutexed<mrs_lib::KalmanFilter<3, 1, 1>::statecov_t>(std::mutex&, mrs_lib::KalmanFilter<3, 1, 1>::statecov_t&)853718
mrs_lib::KalmanFilter<6, 2, 2>::statecov_t mrs_lib::get_mutexed<mrs_lib::KalmanFilter<6, 2, 2>::statecov_t>(std::mutex&, mrs_lib::KalmanFilter<6, 2, 2>::statecov_t&)420063
std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > mrs_lib::get_mutexed<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::mutex&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&)89451
std::optional<Eigen::Matrix<double, 3, 1, 0, 3, 1> > mrs_lib::get_mutexed<std::optional<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >(std::mutex&, std::optional<Eigen::Matrix<double, 3, 1, 0, 3, 1> >&)250003
std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > mrs_lib::get_mutexed<std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > >(std::mutex&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > >&)719513
std::optional<double> mrs_lib::get_mutexed<std::optional<double> >(std::mutex&, std::optional<double>&)18995
double mrs_lib::get_mutexed<double>(std::mutex&, double&)1815692
int mrs_lib::get_mutexed<int>(std::mutex&, int&)9364
unsigned int mrs_lib::get_mutexed<unsigned int>(std::mutex&, unsigned int&)1024337
auto mrs_lib::set_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput, mrs_uav_managers::Controller::ControlOutput&)111188
auto mrs_lib::set_mutexed<mrs_uav_controllers::mpc_controller::Gains_t>(std::mutex&, mrs_uav_controllers::mpc_controller::Gains_t, mrs_uav_controllers::mpc_controller::Gains_t&)16197
auto mrs_lib::set_mutexed<mrs_uav_controllers::se3_controller::Gains_t>(std::mutex&, mrs_uav_controllers::se3_controller::Gains_t, mrs_uav_controllers::se3_controller::Gains_t&)4656
auto mrs_lib::set_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig, mrs_uav_controllers::mpc_controllerConfig&)216
auto mrs_lib::set_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig, mrs_uav_controllers::se3_controllerConfig&)217
auto mrs_lib::set_mutexed<mrs_uav_trajectory_generation::drsConfig>(std::mutex&, mrs_uav_trajectory_generation::drsConfig, mrs_uav_trajectory_generation::drsConfig&)108
auto mrs_lib::set_mutexed<Eigen::Matrix<double, 2, 1, 0, 2, 1> >(std::mutex&, Eigen::Matrix<double, 2, 1, 0, 2, 1>, Eigen::Matrix<double, 2, 1, 0, 2, 1>&)0
auto mrs_lib::set_mutexed<Eigen::Matrix<double, 2, 2, 0, 2, 2> >(std::mutex&, Eigen::Matrix<double, 2, 2, 0, 2, 2>, Eigen::Matrix<double, 2, 2, 0, 2, 2>&)0
auto mrs_lib::set_mutexed<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(std::mutex&, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>&)0
auto mrs_lib::set_mutexed<Eigen::Matrix<double, 3, 3, 0, 3, 3> >(std::mutex&, Eigen::Matrix<double, 3, 3, 0, 3, 3>, Eigen::Matrix<double, 3, 3, 0, 3, 3>&)0
auto mrs_lib::set_mutexed<Eigen::Matrix<double, 6, 1, 0, 6, 1> >(std::mutex&, Eigen::Matrix<double, 6, 1, 0, 6, 1>, Eigen::Matrix<double, 6, 1, 0, 6, 1>&)0
auto mrs_lib::set_mutexed<Eigen::Matrix<double, 6, 6, 0, 6, 6> >(std::mutex&, Eigen::Matrix<double, 6, 6, 0, 6, 6>, Eigen::Matrix<double, 6, 6, 0, 6, 6>&)0
auto mrs_lib::set_mutexed<mrs_msgs::Float64Stamped_<std::allocator<void> > >(std::mutex&, mrs_msgs::Float64Stamped_<std::allocator<void> >, mrs_msgs::Float64Stamped_<std::allocator<void> >&)155524
auto mrs_lib::set_mutexed<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraints_<std::allocator<void> >, mrs_msgs::DynamicsConstraints_<std::allocator<void> >&)2470
auto mrs_lib::set_mutexed<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >(std::mutex&, mrs_msgs::Float64ArrayStamped_<std::allocator<void> >, mrs_msgs::Float64ArrayStamped_<std::allocator<void> >&)570904
auto mrs_lib::set_mutexed<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> >, mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> >&)160
auto mrs_lib::set_mutexed<mrs_msgs::UavState_<std::allocator<void> > >(std::mutex&, mrs_msgs::UavState_<std::allocator<void> >, mrs_msgs::UavState_<std::allocator<void> >&)1079091
auto mrs_lib::set_mutexed<nav_msgs::Odometry_<std::allocator<void> > >(std::mutex&, nav_msgs::Odometry_<std::allocator<void> >, nav_msgs::Odometry_<std::allocator<void> >&)415404
auto mrs_lib::set_mutexed<mrs_lib::KalmanFilter<2, 1, 1>::statecov_t>(std::mutex&, mrs_lib::KalmanFilter<2, 1, 1>::statecov_t, mrs_lib::KalmanFilter<2, 1, 1>::statecov_t&)0
auto mrs_lib::set_mutexed<mrs_lib::KalmanFilter<3, 1, 1>::statecov_t>(std::mutex&, mrs_lib::KalmanFilter<3, 1, 1>::statecov_t, mrs_lib::KalmanFilter<3, 1, 1>::statecov_t&)852851
auto mrs_lib::set_mutexed<mrs_lib::KalmanFilter<6, 2, 2>::statecov_t>(std::mutex&, mrs_lib::KalmanFilter<6, 2, 2>::statecov_t, mrs_lib::KalmanFilter<6, 2, 2>::statecov_t&)419967
auto mrs_lib::set_mutexed<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::mutex&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&)37525
auto mrs_lib::set_mutexed<std::optional<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >(std::mutex&, std::optional<Eigen::Matrix<double, 3, 1, 0, 3, 1> >, std::optional<Eigen::Matrix<double, 3, 1, 0, 3, 1> >&)229934
auto mrs_lib::set_mutexed<double>(std::mutex&, double, double&)1227048
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/mutex.h.gcov.frameset.html b/mrs_lib/include/mrs_lib/mutex.h.gcov.frameset.html new file mode 100644 index 0000000000..c07acea5c8 --- /dev/null +++ b/mrs_lib/include/mrs_lib/mutex.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/mutex.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/mutex.h.gcov.html b/mrs_lib/include/mrs_lib/mutex.h.gcov.html new file mode 100644 index 0000000000..80a55c0685 --- /dev/null +++ b/mrs_lib/include/mrs_lib/mutex.h.gcov.html @@ -0,0 +1,260 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/mutex.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - mutex.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1111100.0 %
Date:2024-08-07 22:18:19Functions:678083.8 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
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+       1             : /**  \file
+       2             :      \brief Defines helper routines for getting and setting variables under mutex locks
+       3             :      \author Tomas Baca - tomas.baca@fel.cvut.cz
+       4             :  */
+       5             : #ifndef MUTEX_H
+       6             : #define MUTEX_H
+       7             : 
+       8             : #include <iostream>
+       9             : #include <mutex>
+      10             : #include <tuple>
+      11             : 
+      12             : namespace mrs_lib
+      13             : {
+      14             : 
+      15             : /**
+      16             :  * @brief thread-safe getter and setter for values of variables (args)
+      17             :  *
+      18             :  * @tparam GetArgs types of the variables to get
+      19             :  * @tparam SetArgs types of the variables to set
+      20             :  * @param mut mutex which protects the variables
+      21             :  * @param get tuple of variable references to obtain the values from
+      22             :  * @param to_set tuple of variable references to set the new values from \p from_set
+      23             :  * @param from_set tuple of the new values to be set to \p to_set
+      24             :  *
+      25             :  * @return tuple of the values from \p get
+      26             :  */
+      27             : template <class... GetArgs, class... SetArgs>
+      28             : std::tuple<GetArgs...> get_set_mutexed(std::mutex& mut, std::tuple<GetArgs&...> get, std::tuple<SetArgs...> from_set, std::tuple<SetArgs&...> to_set) {
+      29             : 
+      30             :   std::scoped_lock lock(mut);
+      31             : 
+      32             :   std::tuple<GetArgs...> result = get;
+      33             :   to_set = from_set;
+      34             : 
+      35             :   return result;
+      36             : }
+      37             : 
+      38             : /**
+      39             :  * @brief thread-safe getter for values of variables (args)
+      40             :  *
+      41             :  * @tparam Args types of the variables
+      42             :  * @param mut mutex which protects the variables
+      43             :  * @param args variables to obtain the values from
+      44             :  *
+      45             :  * @return std::tuple of the values
+      46             :  */
+      47             : template <class... Args>
+      48     1033142 : std::tuple<Args...> get_mutexed(std::mutex& mut, Args&... args) {
+      49             : 
+      50     2066284 :   std::scoped_lock lock(mut);
+      51             : 
+      52     1033142 :   std::tuple result = std::tuple(args...);
+      53             : 
+      54     2066284 :   return result;
+      55             : }
+      56             : 
+      57             : 
+      58             : /**
+      59             :  * @brief thread-safe getter a value from a variable
+      60             :  *
+      61             :  * @tparam T type of the variable
+      62             :  * @param mut mutex which protects the variable
+      63             :  * @param arg variable to obtain the value from
+      64             :  *
+      65             :  * @return value of the variable
+      66             :  */
+      67             : template <class T>
+      68    21092357 : T get_mutexed(std::mutex& mut, T& arg) {
+      69             : 
+      70    34316245 :   std::scoped_lock lock(mut);
+      71             : 
+      72    42189361 :   return arg;
+      73             : }
+      74             : 
+      75             : /**
+      76             :  * @brief base case of the variadic template for set_mutexed()
+      77             :  *
+      78             :  * @tparam T variable type
+      79             :  * @param what value to set
+      80             :  * @param where reference to be set
+      81             :  */
+      82             : template <class T>
+      83             : void set_mutexed_impl(const T what, T& where) {
+      84             : 
+      85             :   where = what;
+      86             : }
+      87             : 
+      88             : /**
+      89             :  * @brief general case of the variadic template for set_mutexed()
+      90             :  *
+      91             :  * @tparam T type of the next variable to set
+      92             :  * @tparam Args types of the rest of the variables
+      93             :  * @param what value to set
+      94             :  * @param where reference to be set
+      95             :  * @param args the remaining arguments
+      96             :  */
+      97             : template <class T, class... Args>
+      98             : void set_mutexed_impl(const T what, T& where, Args... args) {
+      99             : 
+     100             :   where = what;
+     101             : 
+     102             :   set_mutexed_impl(args...);
+     103             : }
+     104             : 
+     105             : /**
+     106             :  * @brief thread-safe setter for a variable
+     107             :  *
+     108             :  * @tparam T type of the variable
+     109             :  * @param mut mutex to be locked
+     110             :  * @param what value to set
+     111             :  * @param where reference to be set
+     112             :  *
+     113             :  * @return
+     114             :  */
+     115             : template <class T>
+     116     5123460 : auto set_mutexed(std::mutex& mut, const T what, T& where) {
+     117             : 
+     118     8991044 :   std::scoped_lock lock(mut);
+     119             : 
+     120     5115859 :   where = what;
+     121             : 
+     122    10241857 :   return where;
+     123             : }
+     124             : 
+     125             : /**
+     126             :  * @brief thread-safe setter for multiple variables
+     127             :  *
+     128             :  * example:
+     129             :  *   set_mutexed(my_mutex_, a, a_, b, b_, c, c_);
+     130             :  *   where a, b, c are the values to be set
+     131             :  *         a_, b_, c_ are the variables to be updated
+     132             :  *
+     133             :  * @tparam Args types of the variables
+     134             :  * @param mut mutex to be locked
+     135             :  * @param args
+     136             :  *
+     137             :  * @return alternating list of values that were just set
+     138             :  */
+     139             : template <class... Args>
+     140             : auto set_mutexed(std::mutex& mut, Args&... args) {
+     141             : 
+     142             :   std::scoped_lock lock(mut);
+     143             : 
+     144             :   set_mutexed_impl(args...);
+     145             : 
+     146             :   return std::tuple(args...);
+     147             : }
+     148             : 
+     149             : /**
+     150             :  * @brief thread-safe setter for multiple variables
+     151             :  *
+     152             :  * example:
+     153             :  *   set_mutexed(mu_mutex, std::tuple(a, b, c), std::forward_as_tuple(a_, b_, c_));
+     154             :  *   where a, b, c are the values to be set
+     155             :  *         a_, b_, c_ are the updated variables
+     156             :  *
+     157             :  * @tparam Args types of the variables
+     158             :  * @param mut mutex to be locked
+     159             :  * @param from std::tuple of the values
+     160             :  * @param to std::tuple of reference to the variablaes
+     161             :  *
+     162             :  * @return
+     163             :  */
+     164             : template <class... Args>
+     165             : auto set_mutexed(std::mutex& mut, const std::tuple<Args...> from, std::tuple<Args&...> to) {
+     166             : 
+     167             :   std::scoped_lock lock(mut);
+     168             : 
+     169             :   to = from;
+     170             : 
+     171             :   return to;
+     172             : }
+     173             : 
+     174             : }  // namespace mrs_lib
+     175             : 
+     176             : #endif
+
+
+
+ + + + +
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Current view:top level - mrs_lib/include/mrs_lib - param_loader.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:27130090.3 %
Date:2024-08-07 22:18:19Functions:7878100.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ParamLoader::loadParam2(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue const&)1
XmlRpc::XmlRpcValue mrs_lib::ParamLoader::loadParam2<XmlRpc::XmlRpcValue>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue const&)1
mrs_lib::ParamLoader::print_warning(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
void mrs_lib::ParamLoader::loadMatrixArray<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > >&)1
void mrs_lib::ParamLoader::loadMatrixArray<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > >&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&)1
Eigen::Matrix<float, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixKnown2<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, int)1
Eigen::Matrix<float, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixKnown2<float, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, -1, -1, 0, -1, -1> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, -1, -1, 0, -1, -1> > > const&, int, int)1
bool mrs_lib::ParamLoader::loadMatrixStatic<0, 0, double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 0, 0, ((Eigen::StorageOptions)0)|((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)1) : ((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 0, 0>&)1
bool mrs_lib::ParamLoader::loadMatrixStatic<3, 3, float, Eigen::Product<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, 0> >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>&, Eigen::MatrixBase<Eigen::Product<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, 0> > const&)1
bool mrs_lib::ParamLoader::loadMatrixDynamic<double, Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> const> const, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const> >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> const> const, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const> > const&, int, int)1
bool mrs_lib::ParamLoader::loadMatrixDynamic<double, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&, int, int)1
Eigen::Matrix<double, 0, 0, ((Eigen::StorageOptions)0)|((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)1) : ((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 0, 0> mrs_lib::ParamLoader::loadMatrixStatic2<0, 0, double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> mrs_lib::ParamLoader::loadMatrixStatic2<3, 3, float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> mrs_lib::ParamLoader::loadMatrixStatic2<3, 3, float, Eigen::Product<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, 0> >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::MatrixBase<Eigen::Product<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, 0> > const&)1
bool mrs_lib::ParamLoader::loadParamReusable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&)1
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixDynamic2<double, Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> const> const, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const> >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> const> const, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const> > const&, int, int)1
std::pair<Eigen::Matrix<double, 0, 0, ((Eigen::StorageOptions)0)|((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)1) : ((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 0, 0>, bool> mrs_lib::ParamLoader::loadMatrixStatic_internal<0, 0, double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 0, 0, ((Eigen::StorageOptions)0)|((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)1) : ((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 0, 0> const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)1
bool mrs_lib::ParamLoader::loadMatrixKnown<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1>&, int, int)2
bool mrs_lib::ParamLoader::loadMatrixKnown<float, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, -1, -1, 0, -1, -1> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1>&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, -1, -1, 0, -1, -1> > > const&, int, int)2
std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > mrs_lib::ParamLoader::loadMatrixArray2<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&)2
bool mrs_lib::ParamLoader::loadMatrixStatic<3, 3, float, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> > > const&)2
mrs_lib::ParamLoader::loadParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&, XmlRpc::XmlRpcValue const&)2
bool mrs_lib::ParamLoader::loadParam<XmlRpc::XmlRpcValue>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&, XmlRpc::XmlRpcValue const&)2
mrs_lib::ParamLoader::printValue(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&)3
std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > mrs_lib::ParamLoader::loadMatrixArray2<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)3
bool mrs_lib::ParamLoader::loadMatrixStatic<3, 3, float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>&)3
mrs_lib::ParamLoader::resetLoadedSuccessfully()3
mrs_lib::ParamLoader::loadParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&)3
bool mrs_lib::ParamLoader::loadParam<XmlRpc::XmlRpcValue>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&)3
std::pair<Eigen::Matrix<float, -1, -1, 0, -1, -1>, bool> mrs_lib::ParamLoader::loadMatrixKnown_internal<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)4
mrs_lib::ParamLoader::printValue_recursive(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&, unsigned int)5
std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > mrs_lib::ParamLoader::loadMatrixArray_internal<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)5
mrs_lib::ParamLoader::resolved(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)5
std::pair<Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>, bool> mrs_lib::ParamLoader::loadMatrixStatic_internal<3, 3, float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)6
std::pair<XmlRpc::XmlRpcValue, bool> mrs_lib::ParamLoader::load<XmlRpc::XmlRpcValue>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)6
mrs_lib::ParamLoader::printError(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)7
void mrs_lib::ParamLoader::printValue<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1> const&)8
std::pair<Eigen::Matrix<float, -1, -1, 0, -1, -1>, bool> mrs_lib::ParamLoader::loadMatrixX<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t, mrs_lib::ParamLoader::swap_t, bool)10
mrs_lib::ParamLoader::resetUniques()20
bool mrs_lib::ParamLoader::loadParam<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)39
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixDynamic2<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, int)87
bool mrs_lib::ParamLoader::loadMatrixDynamic<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, int, int)89
bool mrs_lib::ParamLoader::loadMatrixStatic<3, 3, double, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 3, 3, 0, 3, 3> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 3, 3, 0, 3, 3> > > const&)108
bool mrs_lib::ParamLoader::loadMatrixDynamic<double, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 4, 4, 0, 4, 4> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 4, 4, 0, 4, 4> > > const&, int, int)108
std::pair<Eigen::Matrix<double, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>, bool> mrs_lib::ParamLoader::loadMatrixStatic_internal<3, 3, double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)108
std::pair<Eigen::Matrix<double, -1, -1, 0, -1, -1>, bool> mrs_lib::ParamLoader::loadMatrixDynamic_internal<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)199
bool mrs_lib::ParamLoader::loadMatrixKnown<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, int, int)432
std::pair<Eigen::Matrix<double, -1, -1, 0, -1, -1>, bool> mrs_lib::ParamLoader::loadMatrixKnown_internal<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)432
std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > mrs_lib::ParamLoader::loadParam2<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)540
std::pair<Eigen::Matrix<double, -1, -1, 0, -1, -1>, bool> mrs_lib::ParamLoader::loadMatrixX<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t, mrs_lib::ParamLoader::swap_t, bool)745
void mrs_lib::ParamLoader::printValue<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&)749
bool mrs_lib::ParamLoader::loadParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&, double const&)864
void mrs_lib::ParamLoader::printValue<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<double, std::allocator<double> > const&)1188
std::pair<std::vector<double, std::allocator<double> >, bool> mrs_lib::ParamLoader::load<std::vector<double, std::allocator<double> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<double, std::allocator<double> > const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)1188
bool mrs_lib::ParamLoader::loadParam<std::vector<double, std::allocator<double> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<double, std::allocator<double> >&)1188
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, std::basic_string_view<char, std::char_traits<char> >)1832
mrs_lib::ParamLoader::setPrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2175
mrs_lib::ParamLoader::addYamlFileFromParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2896
void mrs_lib::ParamLoader::printValue<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&)3795
std::pair<std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >, bool> mrs_lib::ParamLoader::load<std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)3796
bool mrs_lib::ParamLoader::loadParam<std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >&)3796
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, bool, std::basic_string_view<char, std::char_traits<char> >)4218
mrs_lib::ParamLoader::loadedSuccessfully()4732
void mrs_lib::ParamLoader::printValue<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int const&)5473
std::pair<int, bool> mrs_lib::ParamLoader::load<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)5473
bool mrs_lib::ParamLoader::loadParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&)5473
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&, bool const&)6392
mrs_lib::ParamLoader::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)12133
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&)12823
bool mrs_lib::ParamLoader::loadParam<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&)17933
void mrs_lib::ParamLoader::printValue<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)18513
std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool> mrs_lib::ParamLoader::load<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)18513
void mrs_lib::ParamLoader::printValue<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool const&)19215
std::pair<bool, bool> mrs_lib::ParamLoader::load<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)19215
bool mrs_lib::ParamLoader::loadParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&)43503
void mrs_lib::ParamLoader::printValue<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double const&)44365
std::pair<double, bool> mrs_lib::ParamLoader::load<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)44367
mrs_lib::ParamLoader::check_duplicit_loading(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)93316
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Current view:top level - mrs_lib/include/mrs_lib - param_loader.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:27130090.3 %
Date:2024-08-07 22:18:19Functions:7878100.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ParamLoader::loadParam2(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue const&)1
XmlRpc::XmlRpcValue mrs_lib::ParamLoader::loadParam2<XmlRpc::XmlRpcValue>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue const&)1
std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > mrs_lib::ParamLoader::loadParam2<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)540
mrs_lib::ParamLoader::printError(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)7
mrs_lib::ParamLoader::printValue(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&)3
void mrs_lib::ParamLoader::printValue<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&)3795
void mrs_lib::ParamLoader::printValue<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)18513
void mrs_lib::ParamLoader::printValue<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool const&)19215
void mrs_lib::ParamLoader::printValue<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&)749
void mrs_lib::ParamLoader::printValue<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<double, std::allocator<double> > const&)1188
void mrs_lib::ParamLoader::printValue<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double const&)44365
void mrs_lib::ParamLoader::printValue<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1> const&)8
void mrs_lib::ParamLoader::printValue<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int const&)5473
mrs_lib::ParamLoader::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)12133
std::pair<Eigen::Matrix<double, -1, -1, 0, -1, -1>, bool> mrs_lib::ParamLoader::loadMatrixX<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t, mrs_lib::ParamLoader::swap_t, bool)745
std::pair<Eigen::Matrix<float, -1, -1, 0, -1, -1>, bool> mrs_lib::ParamLoader::loadMatrixX<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t, mrs_lib::ParamLoader::swap_t, bool)10
mrs_lib::ParamLoader::resetUniques()20
mrs_lib::ParamLoader::print_warning(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
void mrs_lib::ParamLoader::loadMatrixArray<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > >&)1
void mrs_lib::ParamLoader::loadMatrixArray<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > >&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&)1
bool mrs_lib::ParamLoader::loadMatrixKnown<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, int, int)432
bool mrs_lib::ParamLoader::loadMatrixKnown<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1>&, int, int)2
bool mrs_lib::ParamLoader::loadMatrixKnown<float, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, -1, -1, 0, -1, -1> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1>&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, -1, -1, 0, -1, -1> > > const&, int, int)2
std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > mrs_lib::ParamLoader::loadMatrixArray2<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)3
std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > mrs_lib::ParamLoader::loadMatrixArray2<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&)2
Eigen::Matrix<float, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixKnown2<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, int)1
Eigen::Matrix<float, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixKnown2<float, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, -1, -1, 0, -1, -1> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, -1, -1, 0, -1, -1> > > const&, int, int)1
bool mrs_lib::ParamLoader::loadMatrixStatic<0, 0, double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 0, 0, ((Eigen::StorageOptions)0)|((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)1) : ((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 0, 0>&)1
bool mrs_lib::ParamLoader::loadMatrixStatic<3, 3, double, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 3, 3, 0, 3, 3> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 3, 3, 0, 3, 3> > > const&)108
bool mrs_lib::ParamLoader::loadMatrixStatic<3, 3, float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>&)3
bool mrs_lib::ParamLoader::loadMatrixStatic<3, 3, float, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> > > const&)2
bool mrs_lib::ParamLoader::loadMatrixStatic<3, 3, float, Eigen::Product<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, 0> >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>&, Eigen::MatrixBase<Eigen::Product<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, 0> > const&)1
bool mrs_lib::ParamLoader::loadMatrixDynamic<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, int, int)89
bool mrs_lib::ParamLoader::loadMatrixDynamic<double, Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> const> const, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const> >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> const> const, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const> > const&, int, int)1
bool mrs_lib::ParamLoader::loadMatrixDynamic<double, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&, int, int)1
bool mrs_lib::ParamLoader::loadMatrixDynamic<double, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 4, 4, 0, 4, 4> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 4, 4, 0, 4, 4> > > const&, int, int)108
Eigen::Matrix<double, 0, 0, ((Eigen::StorageOptions)0)|((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)1) : ((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 0, 0> mrs_lib::ParamLoader::loadMatrixStatic2<0, 0, double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> mrs_lib::ParamLoader::loadMatrixStatic2<3, 3, float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> mrs_lib::ParamLoader::loadMatrixStatic2<3, 3, float, Eigen::Product<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, 0> >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::MatrixBase<Eigen::Product<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, 0> > const&)1
bool mrs_lib::ParamLoader::loadParamReusable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&)1
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixDynamic2<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, int)87
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixDynamic2<double, Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> const> const, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const> >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> const> const, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const> > const&, int, int)1
mrs_lib::ParamLoader::loadedSuccessfully()4732
mrs_lib::ParamLoader::addYamlFileFromParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2896
mrs_lib::ParamLoader::printValue_recursive(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&, unsigned int)5
mrs_lib::ParamLoader::check_duplicit_loading(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)93316
mrs_lib::ParamLoader::resetLoadedSuccessfully()3
std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > mrs_lib::ParamLoader::loadMatrixArray_internal<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)5
std::pair<Eigen::Matrix<double, -1, -1, 0, -1, -1>, bool> mrs_lib::ParamLoader::loadMatrixKnown_internal<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)432
std::pair<Eigen::Matrix<float, -1, -1, 0, -1, -1>, bool> mrs_lib::ParamLoader::loadMatrixKnown_internal<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)4
std::pair<Eigen::Matrix<double, 0, 0, ((Eigen::StorageOptions)0)|((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)1) : ((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 0, 0>, bool> mrs_lib::ParamLoader::loadMatrixStatic_internal<0, 0, double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 0, 0, ((Eigen::StorageOptions)0)|((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)1) : ((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 0, 0> const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)1
std::pair<Eigen::Matrix<double, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>, bool> mrs_lib::ParamLoader::loadMatrixStatic_internal<3, 3, double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)108
std::pair<Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>, bool> mrs_lib::ParamLoader::loadMatrixStatic_internal<3, 3, float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)6
std::pair<Eigen::Matrix<double, -1, -1, 0, -1, -1>, bool> mrs_lib::ParamLoader::loadMatrixDynamic_internal<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)199
std::pair<XmlRpc::XmlRpcValue, bool> mrs_lib::ParamLoader::load<XmlRpc::XmlRpcValue>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)6
std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool> mrs_lib::ParamLoader::load<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)18513
std::pair<std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >, bool> mrs_lib::ParamLoader::load<std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)3796
std::pair<std::vector<double, std::allocator<double> >, bool> mrs_lib::ParamLoader::load<std::vector<double, std::allocator<double> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<double, std::allocator<double> > const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)1188
std::pair<bool, bool> mrs_lib::ParamLoader::load<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)19215
std::pair<double, bool> mrs_lib::ParamLoader::load<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)44367
std::pair<int, bool> mrs_lib::ParamLoader::load<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)5473
mrs_lib::ParamLoader::resolved(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)5
mrs_lib::ParamLoader::loadParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&)3
mrs_lib::ParamLoader::loadParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&, XmlRpc::XmlRpcValue const&)2
bool mrs_lib::ParamLoader::loadParam<XmlRpc::XmlRpcValue>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&)3
bool mrs_lib::ParamLoader::loadParam<XmlRpc::XmlRpcValue>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&, XmlRpc::XmlRpcValue const&)2
bool mrs_lib::ParamLoader::loadParam<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&)17933
bool mrs_lib::ParamLoader::loadParam<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)39
bool mrs_lib::ParamLoader::loadParam<std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >&)3796
bool mrs_lib::ParamLoader::loadParam<std::vector<double, std::allocator<double> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<double, std::allocator<double> >&)1188
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&)12823
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&, bool const&)6392
bool mrs_lib::ParamLoader::loadParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&)43503
bool mrs_lib::ParamLoader::loadParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&, double const&)864
bool mrs_lib::ParamLoader::loadParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&)5473
mrs_lib::ParamLoader::setPrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2175
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, std::basic_string_view<char, std::char_traits<char> >)1832
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, bool, std::basic_string_view<char, std::char_traits<char> >)4218
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Current view:top level - mrs_lib/include/mrs_lib - param_loader.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:27130090.3 %
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+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : /**  \file
+       3             :      \brief Defines ParamLoader - a convenience class for loading static ROS parameters.
+       4             :      \author Matouš Vrba - vrbamato@fel.cvut.cz
+       5             :  */
+       6             : 
+       7             : #ifndef PARAM_LOADER_H
+       8             : #define PARAM_LOADER_H
+       9             : 
+      10             : #include <ros/ros.h>
+      11             : #include <string>
+      12             : #include <map>
+      13             : #include <unordered_set>
+      14             : #include <iostream>
+      15             : #include <Eigen/Dense>
+      16             : #include <std_msgs/ColorRGBA.h>
+      17             : #include <mrs_lib/param_provider.h>
+      18             : 
+      19             : namespace mrs_lib
+      20             : {
+      21             : 
+      22             : /*** ParamLoader CLASS //{ **/
+      23             : 
+      24             : /**
+      25             : * \brief Convenience class for loading parameters from rosparam server.
+      26             : *
+      27             : * The parameters can be loaded as compulsory. If a compulsory parameter is not found
+      28             : * on the rosparam server (e.g. because it is missing in the launchfile or the yaml config file),
+      29             : * an internal flag is set to false, indicating that the parameter loading procedure failed.
+      30             : * This flag can be checked using the loaded_successfully() method after all parameters were
+      31             : * attempted to be loaded (see usage example usage below).
+      32             : *
+      33             : * The loaded parameter names and corresponding values are printed to stdout by default
+      34             : * for user convenience. Special cases such as loading of Eigen matrices or loading
+      35             : * of std::vectors of various values are also provided.
+      36             : *
+      37             : * To load parameters into the `rosparam` server, use a launchfile prefferably.
+      38             : * See documentation of ROS launchfiles here: http://wiki.ros.org/roslaunch/XML.
+      39             : * Specifically, the `param` XML tag is used for loading parameters directly from the launchfile: http://wiki.ros.org/roslaunch/XML/param,
+      40             : * and the `rosparam` XML tag tag is used for loading parameters from a `yaml` file: http://wiki.ros.org/roslaunch/XML/rosparam.
+      41             : *
+      42             : */
+      43             : class ParamLoader
+      44             : {
+      45             : 
+      46             : private:
+      47             :   enum unique_t
+      48             :   {
+      49             :     UNIQUE = true,
+      50             :     REUSABLE = false
+      51             :   };
+      52             :   enum optional_t
+      53             :   {
+      54             :     OPTIONAL = true,
+      55             :     COMPULSORY = false
+      56             :   };
+      57             :   enum swap_t
+      58             :   {
+      59             :     SWAP = true,
+      60             :     NO_SWAP = false
+      61             :   };
+      62             : 
+      63             :   template <typename T>
+      64             :   using MatrixX = Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic>;
+      65             : 
+      66             : private:
+      67             :   bool m_load_successful, m_print_values;
+      68             :   std::string m_node_name;
+      69             :   std::string m_prefix;
+      70             :   const ros::NodeHandle& m_nh;
+      71             :   mrs_lib::ParamProvider m_pp;
+      72             :   std::unordered_set<std::string> m_loaded_params;
+      73             : 
+      74             :   /* printing helper functions //{ */
+      75             :   /* printError and print_warning functions //{*/
+      76           7 :   void printError(const std::string& str)
+      77             :   {
+      78           7 :     if (m_node_name.empty())
+      79           7 :       ROS_ERROR_STREAM(str);
+      80             :     else
+      81           0 :       ROS_ERROR_STREAM("[" << m_node_name << "]: " << str);
+      82           7 :   }
+      83           1 :   void print_warning(const std::string& str)
+      84             :   {
+      85           1 :     if (m_node_name.empty())
+      86           1 :       ROS_WARN_STREAM(str);
+      87             :     else
+      88           0 :       ROS_WARN_STREAM("[" << m_node_name << "]: " << str);
+      89           1 :   }
+      90             :   //}
+      91             : 
+      92             :   /* printValue function and overloads //{ */
+      93             : 
+      94             :   template <typename T>
+      95       87566 :   void printValue(const std::string& name, const T& value)
+      96             :   {
+      97       87566 :     if (m_node_name.empty())
+      98       48840 :       std::cout << "\t" << name << ":\t" << value << std::endl;
+      99             :     else
+     100       38728 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << name << "':\t" << value);
+     101       87568 :   }
+     102             : 
+     103             :   template <typename T>
+     104        4983 :   void printValue(const std::string& name, const std::vector<T>& value)
+     105             :   {
+     106        9966 :     std::stringstream strstr;
+     107        4983 :     if (m_node_name.empty())
+     108        2408 :       strstr << "\t";
+     109        4983 :     strstr << name << ":\t";
+     110        4983 :     size_t it = 0;
+     111       17407 :     for (const auto& elem : value)
+     112             :     {
+     113       12424 :       strstr << elem;
+     114       12424 :       if (it < value.size() - 1)
+     115        7996 :         strstr << ", ";
+     116       12424 :       it++;
+     117             :     }
+     118        4983 :     if (m_node_name.empty())
+     119        2408 :       std::cout << strstr.str() << std::endl;
+     120             :     else
+     121        2575 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << strstr.str());
+     122        4983 :   }
+     123             : 
+     124             :   template <typename T1, typename T2>
+     125             :   void printValue(const std::string& name, const std::map<T1, T2>& value)
+     126             :   {
+     127             :     std::stringstream strstr;
+     128             :     if (m_node_name.empty())
+     129             :       strstr << "\t";
+     130             :     strstr << name << ":" << std::endl;
+     131             :     size_t it = 0;
+     132             :     for (const auto& pair : value)
+     133             :     {
+     134             :       strstr << pair.first << " = " << pair.second;
+     135             :       if (it < value.size() - 1)
+     136             :         strstr << std::endl;
+     137             :       it++;
+     138             :     }
+     139             :     if (m_node_name.empty())
+     140             :       std::cout << strstr.str() << std::endl;
+     141             :     else
+     142             :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << strstr.str());
+     143             :   }
+     144             : 
+     145             :   template <typename T>
+     146         757 :   void printValue(const std::string& name, const MatrixX<T>& value)
+     147             :   {
+     148        1514 :     std::stringstream strstr;
+     149             :     /* const Eigen::IOFormat fmt(4, 0, ", ", "\n", "\t\t[", "]"); */
+     150             :     /* strstr << value.format(fmt); */
+     151        2271 :     const Eigen::IOFormat fmt;
+     152         757 :     strstr << value.format(fmt);
+     153         757 :     if (m_node_name.empty())
+     154         109 :       std::cout << "\t" << name << ":\t" << std::endl << strstr.str() << std::endl;
+     155             :     else
+     156         648 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << name << "':" << std::endl << strstr.str());
+     157         757 :   }
+     158             : 
+     159           5 :   std::string printValue_recursive(const std::string& name, XmlRpc::XmlRpcValue& value, unsigned depth = 0)
+     160             :   {
+     161          10 :     std::stringstream strstr;
+     162           8 :     for (unsigned it = 0; it < depth; it++)
+     163           3 :       strstr << "\t";
+     164           5 :     strstr << name << ":";
+     165           5 :     switch (value.getType())
+     166             :     {
+     167           1 :       case XmlRpc::XmlRpcValue::TypeArray:
+     168             :         {
+     169           2 :           for (int it = 0; it < value.size(); it++)
+     170             :           {
+     171           1 :             strstr << std::endl;
+     172           2 :             const std::string name = "[" + std::to_string(it) + "]";
+     173           1 :             strstr << printValue_recursive(name, value[it], depth+1);
+     174             :           }
+     175           1 :           break;
+     176             :         }
+     177           1 :       case XmlRpc::XmlRpcValue::TypeStruct:
+     178             :         {
+     179           1 :           int it = 0;
+     180           2 :           for (auto& pair : value)
+     181             :           {
+     182           1 :             strstr << std::endl;
+     183           1 :             strstr << printValue_recursive(pair.first, pair.second, depth+1);
+     184           1 :             it++;
+     185             :           }
+     186           1 :           break;
+     187             :         }
+     188           3 :       default:
+     189             :         {
+     190           3 :           strstr << "\t" << value;
+     191           3 :           break;
+     192             :         }
+     193             :     }
+     194          10 :     return strstr.str();
+     195             :   }
+     196             : 
+     197           3 :   void printValue(const std::string& name, XmlRpc::XmlRpcValue& value)
+     198             :   {
+     199           6 :     const std::string txt = printValue_recursive(name, value);
+     200           3 :     if (m_node_name.empty())
+     201           3 :       std::cout << txt << std::endl;
+     202             :     else
+     203           0 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << txt);
+     204           3 :   }
+     205             : 
+     206             :   //}
+     207             :   
+     208           5 :   std::string resolved(const std::string& param_name)
+     209             :   {
+     210           5 :     return m_nh.resolveName(param_name);
+     211             :   }
+     212             :   //}
+     213             : 
+     214             :   /* check_duplicit_loading checks whether the parameter was already loaded - returns true if yes //{ */
+     215       93316 :   bool check_duplicit_loading(const std::string& name)
+     216             :   {
+     217       93316 :     if (m_loaded_params.count(name))
+     218             :     {
+     219           2 :       printError(std::string("Tried to load parameter ") + name + std::string(" twice"));
+     220           2 :       m_load_successful = false;
+     221           2 :       return true;
+     222             :     } else
+     223             :     {
+     224       93314 :       return false;
+     225             :     }
+     226             :   }
+     227             :   //}
+     228             : 
+     229             :   /* helper functions for loading dynamic Eigen matrices //{ */
+     230             :   // loadMatrixX helper function for loading dynamic Eigen matrices //{
+     231             :   template <typename T>
+     232         755 :   std::pair<MatrixX<T>, bool> loadMatrixX(const std::string& name, const MatrixX<T>& default_value, int rows, int cols = Eigen::Dynamic, optional_t optional = OPTIONAL, unique_t unique = UNIQUE, swap_t swap = NO_SWAP, bool printValues = true)
+     233             :   {
+     234        1510 :     const std::string name_prefixed = m_prefix + name;
+     235        1510 :     MatrixX<T> loaded = default_value;
+     236         755 :     bool used_rosparam_value = false;
+     237             :     // first, check if the user already tried to load this parameter
+     238         755 :     if (unique && check_duplicit_loading(name_prefixed))
+     239           0 :       return {loaded, used_rosparam_value};
+     240             : 
+     241             :     // this function only accepts dynamic columns (you can always transpose the matrix afterward)
+     242         755 :     if (rows < 0)
+     243             :     {
+     244             :       // if the parameter was compulsory, alert the user and set the flag
+     245           0 :       printError(std::string("Invalid expected matrix dimensions for parameter ") + resolved(name_prefixed));
+     246           0 :       m_load_successful = false;
+     247           0 :       return {loaded, used_rosparam_value};
+     248             :     }
+     249         755 :     const bool expect_zero_matrix = rows == 0;
+     250         755 :     if (expect_zero_matrix)
+     251             :     {
+     252           1 :       if (cols > 0)
+     253             :       {
+     254           0 :         printError(std::string("Invalid expected matrix dimensions for parameter ") + resolved(name_prefixed) + ". One dimension indicates zero matrix, but other expects non-zero.");
+     255           0 :         m_load_successful = false;
+     256           0 :         return {loaded, used_rosparam_value};
+     257             :       }
+     258             :     }
+     259             : 
+     260         755 :     bool cur_load_successful = true;
+     261         755 :     bool check_size_exact = true;
+     262         755 :     if (cols <= 0)  // this means that the cols dimension is dynamic or a zero matrix is expected
+     263         197 :       check_size_exact = false;
+     264             : 
+     265        1510 :     std::vector<T> tmp_vec;
+     266             :     // try to load the parameter
+     267         755 :     const bool success = m_pp.getParam(name_prefixed, tmp_vec);
+     268             :     // check if the loaded vector has correct length
+     269         755 :     bool correct_size = (int)tmp_vec.size() == rows * cols;
+     270         755 :     if (!check_size_exact && !expect_zero_matrix)
+     271         196 :       correct_size = (int)tmp_vec.size() % rows == 0;  // if the cols dimension is dynamic, the size just has to be divisable by rows
+     272             : 
+     273         755 :     if (success && correct_size)
+     274             :     {
+     275             :       // if successfully loaded, everything is in order
+     276             :       // transform the vector to the matrix
+     277         638 :       if (cols <= 0 && rows > 0)
+     278         196 :         cols = tmp_vec.size() / rows;
+     279         638 :       if (swap)
+     280          87 :         std::swap(rows, cols);
+     281         638 :       loaded = Eigen::Map<Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>, Eigen::Unaligned>(tmp_vec.data(), rows, cols);
+     282         638 :       used_rosparam_value = true;
+     283             :     } else
+     284             :     {
+     285         117 :       if (success && !correct_size)
+     286             :       {
+     287             :         // warn the user that this parameter was not successfully loaded because of wrong vector length (might be an oversight)
+     288           3 :         std::string warning =
+     289             :             std::string("Matrix parameter ") + name_prefixed
+     290             :             + std::string(" could not be loaded because the vector has a wrong length " + std::to_string(tmp_vec.size()) + " instead of expected ");
+     291             :         // process the message correctly based on whether the loaded matrix should be dynamic or static
+     292           1 :         if (cols <= 0)  // for dynamic matrices
+     293           0 :           warning = warning + std::string("number divisible by ") + std::to_string(rows);
+     294             :         else  // for static matrices
+     295           1 :           warning = warning + std::to_string(rows * cols);
+     296           1 :         print_warning(warning);
+     297             :       }
+     298             :       // if it was not loaded, the default value is used (set at the beginning of the function)
+     299         117 :       if (!optional)
+     300             :       {
+     301             :         // if the parameter was compulsory, alert the user and set the flag
+     302           3 :         printError(std::string("Could not load non-optional parameter ") + resolved(name_prefixed));
+     303           3 :         cur_load_successful = false;
+     304             :       }
+     305             :     }
+     306             : 
+     307             :     // check if load was a success
+     308         755 :     if (cur_load_successful)
+     309             :     {
+     310         752 :       if (m_print_values && printValues)
+     311         747 :         printValue(name_prefixed, loaded);
+     312         752 :       m_loaded_params.insert(name_prefixed);
+     313             :     } else
+     314             :     {
+     315           3 :       m_load_successful = false;
+     316             :     }
+     317             :     // finally, return the resulting value
+     318         755 :     return {loaded, used_rosparam_value};
+     319             :   }
+     320             :   //}
+     321             : 
+     322             :   /* loadMatrixStatic_internal helper function for loading static Eigen matrices //{ */
+     323             :   template <int rows, int cols, typename T>
+     324         115 :   std::pair<Eigen::Matrix<T, rows, cols>, bool> loadMatrixStatic_internal(const std::string& name, const Eigen::Matrix<T, rows, cols>& default_value, optional_t optional, unique_t unique)
+     325             :   {
+     326         345 :     const auto [dynamic, loaded_ok] = loadMatrixX(name, MatrixX<T>(default_value), rows, cols, optional, unique, NO_SWAP);
+     327         230 :     return {dynamic, loaded_ok};
+     328             :   }
+     329             :   //}
+     330             : 
+     331             :   /* loadMatrixKnown_internal helper function for loading EigenXd matrices with known dimensions //{ */
+     332             :   template <typename T>
+     333         436 :   std::pair<MatrixX<T>, bool> loadMatrixKnown_internal(const std::string& name, const MatrixX<T>& default_value, int rows, int cols, optional_t optional, unique_t unique)
+     334             :   {
+     335         872 :     MatrixX<T> loaded = default_value;
+     336             :     // first, check that at least one dimension is set
+     337         436 :     if (rows <= 0 || cols <= 0)
+     338             :     {
+     339           0 :       printError(std::string("Invalid expected matrix dimensions for parameter ") + resolved(name) + std::string(" (use loadMatrixDynamic?)"));
+     340           0 :       m_load_successful = false;
+     341           0 :       return {loaded, false};
+     342             :     }
+     343             : 
+     344         436 :     return loadMatrixX(name, default_value, rows, cols, optional, unique, NO_SWAP);
+     345             :   }
+     346             :   //}
+     347             : 
+     348             :   /* loadMatrixDynamic_internal helper function for loading Eigen matrices with one dynamic (unspecified) dimension //{ */
+     349             :   template <typename T>
+     350         199 :   std::pair<MatrixX<T>, bool> loadMatrixDynamic_internal(const std::string& name, const MatrixX<T>& default_value, int rows, int cols, optional_t optional, unique_t unique)
+     351             :   {
+     352         398 :     MatrixX<T> loaded = default_value;
+     353             : 
+     354             :     // next, check that at least one dimension is set
+     355         199 :     if (rows <= 0 && cols <= 0)
+     356             :     {
+     357           0 :       printError(std::string("Invalid expected matrix dimensions for parameter ") + resolved(name) + std::string(" (at least one dimension must be specified)"));
+     358           0 :       m_load_successful = false;
+     359           0 :       return {loaded, false};
+     360             :     }
+     361             : 
+     362         199 :     swap_t swap = NO_SWAP;
+     363         199 :     if (rows <= 0)
+     364             :     {
+     365          87 :       std::swap(rows, cols);
+     366          87 :       swap = SWAP;
+     367             :     }
+     368         199 :     return loadMatrixX(name, default_value, rows, cols, optional, unique, swap);
+     369             :   }
+     370             :   //}
+     371             :   //}
+     372             : 
+     373             :   /* loadMatrixArray_internal helper function for loading an array of EigenXd matrices with known dimensions //{ */
+     374             :   template <typename T>
+     375           5 :   std::vector<MatrixX<T>> loadMatrixArray_internal(const std::string& name, const std::vector<MatrixX<T>>& default_value, optional_t optional, unique_t unique)
+     376             :   {
+     377          10 :     const std::string name_prefixed = m_prefix + name;
+     378             :     int rows;
+     379          10 :     std::vector<int> cols;
+     380           5 :     bool success = true;
+     381           5 :     success = success && m_pp.getParam(name_prefixed + "/rows", rows);
+     382           5 :     success = success && m_pp.getParam(name_prefixed + "/cols", cols);
+     383             : 
+     384          10 :     std::vector<MatrixX<T>> loaded;
+     385           5 :     loaded.reserve(cols.size());
+     386             : 
+     387           5 :     int total_cols = 0;
+     388             :     /* check correctness of loaded parameters so far calculate the total dimension //{ */
+     389             : 
+     390           5 :     if (!success)
+     391             :     {
+     392           0 :       printError(std::string("Failed to load ") + resolved(name_prefixed) + std::string("/rows or ") + resolved(name_prefixed) + std::string("/cols"));
+     393           0 :       m_load_successful = false;
+     394           0 :       return default_value;
+     395             :     }
+     396           5 :     if (rows < 0)
+     397             :     {
+     398           0 :       printError(std::string("Invalid expected matrix dimensions for parameter ") + resolved(name_prefixed) + std::string(" (rows and cols must be >= 0)"));
+     399           0 :       m_load_successful = false;
+     400           0 :       return default_value;
+     401             :     }
+     402          15 :     for (const auto& col : cols)
+     403             :     {
+     404          10 :       if (col < 0)
+     405             :       {
+     406           0 :         printError(std::string("Invalid expected matrix dimensions for parameter ") + resolved(name_prefixed) + std::string(" (rows and cols must be >= 0)"));
+     407           0 :         m_load_successful = false;
+     408           0 :         return default_value;
+     409             :       }
+     410          10 :       total_cols += col;
+     411             :     }
+     412             :     
+     413             :     //}
+     414             : 
+     415          15 :     const auto [loaded_matrix, loaded_ok] = loadMatrixX(name + "/data", MatrixX<T>(), rows, total_cols, optional, unique, NO_SWAP, false);
+     416             :     /* std::cout << "loaded_matrix: " << loaded_matrix << std::endl; */
+     417             :     /* std::cout << "loaded_matrix: " << loaded_matrix.rows() << "x" << loaded_matrix.cols() << std::endl; */
+     418             :     /* std::cout << "expected dims: " << rows << "x" << total_cols << std::endl; */
+     419           5 :     if (loaded_matrix.rows() != rows || loaded_matrix.cols() != total_cols)
+     420             :     {
+     421           0 :       m_load_successful = false;
+     422           0 :       return default_value;
+     423             :     }
+     424             : 
+     425           5 :     int cols_loaded = 0;
+     426          15 :     for (unsigned it = 0; it < cols.size(); it++)
+     427             :     {
+     428          10 :       const int cur_cols = cols.at(it);
+     429          10 :       const MatrixX<T> cur_mat = loaded_matrix.block(0, cols_loaded, rows, cur_cols);
+     430             :       /* std::cout << "cur_mat: " << cur_mat << std::endl; */
+     431          10 :       loaded.push_back(cur_mat);
+     432          10 :       cols_loaded += cur_cols;
+     433          10 :       printValue(name_prefixed + "/matrix#" + std::to_string(it), cur_mat);
+     434             :     }
+     435           5 :     return loaded;
+     436             :   }
+     437             :   //}
+     438             : 
+     439             :   /* load helper function for generic types //{ */
+     440             :   // This function tries to load a parameter with name 'name' and a default value.
+     441             :   // You can use the flag 'optional' to not throw a ROS_ERROR when the parameter
+     442             :   // cannot be loaded and the flag 'printValues' to set whether the loaded
+     443             :   // value and name of the parameter should be printed to cout.
+     444             :   // If 'optional' is set to false and the parameter could not be loaded,
+     445             :   // the flag 'load_successful' is set to false and a ROS_ERROR message
+     446             :   // is printer.
+     447             :   // If 'unique' flag is set to false then the parameter is not checked
+     448             :   // for being loaded twice.
+     449             :   // Returns a tuple, containing either the loaded or the default value and a bool,
+     450             :   // indicating if the value was loaded (true) or the default value was used (false).
+     451             :   template <typename T>
+     452       92558 :   std::pair<T, bool> load(const std::string& name, const T& default_value, optional_t optional = OPTIONAL, unique_t unique = UNIQUE)
+     453             :   {
+     454      185116 :     const std::string name_prefixed = m_prefix + name;
+     455      116061 :     T loaded = default_value;
+     456       92558 :     if (unique && check_duplicit_loading(name_prefixed))
+     457           2 :       return {loaded, false};
+     458             : 
+     459       92556 :     bool cur_load_successful = true;
+     460             :     // try to load the parameter
+     461       92556 :     const bool success = m_pp.getParam(name_prefixed, loaded);
+     462       92556 :     if (!success)
+     463             :     {
+     464             :       // if it was not loaded, set the default value
+     465        1652 :       loaded = default_value;
+     466        1652 :       if (!optional)
+     467             :       {
+     468             :         // if the parameter was compulsory, alert the user and set the flag
+     469           2 :         printError(std::string("Could not load non-optional parameter ") + resolved(name_prefixed));
+     470           2 :         cur_load_successful = false;
+     471             :       }
+     472             :     }
+     473             : 
+     474       92556 :     if (cur_load_successful)
+     475             :     {
+     476             :       // everything is fine and just print the name_prefixed and value if required
+     477       92554 :       if (m_print_values)
+     478       92554 :         printValue(name_prefixed, loaded);
+     479             :       // mark the param name_prefixed as successfully loaded
+     480       92554 :       m_loaded_params.insert(name_prefixed);
+     481             :     } else
+     482             :     {
+     483           2 :       m_load_successful = false;
+     484             :     }
+     485             :     // finally, return the resulting value
+     486       92556 :     return {loaded, success};
+     487             :   }
+     488             :   //}
+     489             : 
+     490             : public:
+     491             :   /*!
+     492             :     * \brief Main constructor.
+     493             :     *
+     494             :     * \param nh            The parameters will be loaded from rosparam using this node handle.
+     495             :     * \param printValues  If true, the loaded values will be printed to stdout using std::cout or ROS_INFO if node_name is not empty.
+     496             :     * \param node_name     Optional node name used when printing the loaded values or loading errors.
+     497             :     */
+     498        4218 :   ParamLoader(const ros::NodeHandle& nh, bool printValues = true, std::string_view node_name = std::string())
+     499        4218 :       : m_load_successful(true),
+     500             :         m_print_values(printValues),
+     501             :         m_node_name(node_name),
+     502             :         m_nh(nh),
+     503        4218 :         m_pp(nh, m_node_name)
+     504             :   {
+     505             :     /* std::cout << "Initialized1 ParamLoader for node " << node_name << std::endl; */
+     506        4218 :   }
+     507             : 
+     508             :   /* Constructor overloads //{ */
+     509             :   /*!
+     510             :     * \brief Convenience overload to enable writing ParamLoader pl(nh, node_name);
+     511             :     *
+     512             :     * \param nh            The parameters will be loaded from rosparam using this node handle.
+     513             :     * \param node_name     Optional node name used when printing the loaded values or loading errors.
+     514             :     */
+     515        1832 :   ParamLoader(const ros::NodeHandle& nh, std::string_view node_name)
+     516        1832 :       : ParamLoader(nh, true, node_name)
+     517             :   {
+     518             :     /* std::cout << "Initialized2 ParamLoader for node " << node_name << std::endl; */
+     519        1832 :   }
+     520             : 
+     521             :   /*!
+     522             :     * \brief Convenience overload to enable writing ParamLoader pl(nh, "node_name");
+     523             :     *
+     524             :     * \param nh            The parameters will be loaded from rosparam using this node handle.
+     525             :     * \param node_name     Optional node name used when printing the loaded values or loading errors.
+     526             :     */
+     527             :   ParamLoader(const std::string& filepath, const ros::NodeHandle& nh)
+     528             :     : ParamLoader(nh, "none")
+     529             :   {
+     530             :     YAML::Node node = YAML::Load(filepath);
+     531             :   }
+     532             :   //}
+     533             : 
+     534             :   /* setPrefix function //{ */
+     535             :   
+     536             :   /*!
+     537             :     * \brief All loaded parameters will be prefixed with this string.
+     538             :     *
+     539             :     * \param prefix  the prefix to be applied to all loaded parameters from now on.
+     540             :     */
+     541        2175 :   void setPrefix(const std::string& prefix)
+     542             :   {
+     543        2175 :     m_prefix = prefix;
+     544        2175 :   }
+     545             :   
+     546             :   //}
+     547             : 
+     548             :   /* getPrefix function //{ */
+     549             :   
+     550             :   /*!
+     551             :     * \brief Returns the current parameter name prefix.
+     552             :     *
+     553             :     * \return the current prefix to be applied to the loaded parameters.
+     554             :     */
+     555             :   std::string getPrefix()
+     556             :   {
+     557             :     return m_prefix;
+     558             :   }
+     559             :   
+     560             :   //}
+     561             : 
+     562             :   /* addYamlFile() function //{ */
+     563             :   
+     564             :   /*!
+     565             :     * \brief Adds the specified file as a source of static parameters.
+     566             :     *
+     567             :     * \param filepath The full path to the yaml file to be loaded.
+     568             :     * \return true if loading and parsing the file was successful, false otherwise.
+     569             :     */
+     570       12133 :   bool addYamlFile(const std::string& filepath)
+     571             :   {
+     572       12133 :     return m_pp.addYamlFile(filepath);
+     573             :   }
+     574             :   //}
+     575             : 
+     576             :   /* addYamlFileFromParam() function //{ */
+     577             :   
+     578             :   /*!
+     579             :     * \brief Loads a filepath from a parameter loads that file as a YAML.
+     580             :     *
+     581             :     * \param param_name Name of the parameter from which to load the YAML filename to be loaded.
+     582             :     * \return true      if loading and parsing the file was successful, false otherwise.
+     583             :     */
+     584        2896 :   bool addYamlFileFromParam(const std::string& param_name)
+     585             :   {
+     586        5792 :     std::string filepath;
+     587        2896 :     if (!loadParam(param_name, filepath))
+     588           0 :       return false;
+     589        2896 :     return m_pp.addYamlFile(filepath);
+     590             :   }
+     591             :   //}
+     592             : 
+     593             :   /* loadedSuccessfully function //{ */
+     594             :   /*!
+     595             :     * \brief Indicates whether all compulsory parameters were successfully loaded.
+     596             :     *
+     597             :     * \return false if any compulsory parameter was not loaded (is not present at rosparam server). Otherwise returns true.
+     598             :     */
+     599        4732 :   bool loadedSuccessfully()
+     600             :   {
+     601        4732 :     return m_load_successful;
+     602             :   }
+     603             :   //}
+     604             : 
+     605             :   /* resetLoadedSuccessfully function //{ */
+     606             :   /*!
+     607             :     * \brief Resets the loadedSuccessfully flag back to true.
+     608             :     */
+     609           3 :   void resetLoadedSuccessfully()
+     610             :   {
+     611           3 :     m_load_successful = true;
+     612           3 :   }
+     613             :   //}
+     614             : 
+     615             :   /* resetUniques function //{ */
+     616             :   /*!
+     617             :     * \brief Resets the list of already loaded parameter names used when checking for uniqueness.
+     618             :     */
+     619          20 :   void resetUniques()
+     620             :   {
+     621          20 :     m_loaded_params.clear();
+     622          20 :   }
+     623             :   //}
+     624             : 
+     625             :   /* loadParam function for optional parameters //{ */
+     626             :   /*!
+     627             :     * \brief Loads a parameter from the rosparam server with a default value.
+     628             :     *
+     629             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     630             :     * the default value is used.
+     631             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     632             :     *
+     633             :     * \param name          Name of the parameter in the rosparam server.
+     634             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     635             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     636             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     637             :     */
+     638             :   template <typename T>
+     639        7297 :   bool loadParam(const std::string& name, T& out_value, const T& default_value)
+     640             :   {
+     641        7297 :     const auto [ret, success] = load<T>(name, default_value, OPTIONAL, UNIQUE);
+     642        7297 :     out_value = ret;
+     643        7338 :     return success;
+     644             :   }
+     645             :   /*!
+     646             :     * \brief Loads a parameter from the rosparam server with a default value.
+     647             :     *
+     648             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     649             :     * the default value is used.
+     650             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     651             :     *
+     652             :     * \param name          Name of the parameter in the rosparam server.
+     653             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     654             :     * \return              The loaded parameter value.
+     655             :     */
+     656             :   template <typename T>
+     657         541 :   T loadParam2(const std::string& name, const T& default_value)
+     658             :   {
+     659        1082 :     const auto loaded = load<T>(name, default_value, OPTIONAL, UNIQUE);
+     660        1082 :     return loaded.first;
+     661             :   }
+     662             :   /*!
+     663             :     * \brief Loads a parameter from the rosparam server with a default value.
+     664             :     *
+     665             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     666             :     * the default value is used.
+     667             :     * Using this method, the parameter can be loaded multiple times using the same ParamLoader instance without error.
+     668             :     *
+     669             :     * \param name          Name of the parameter in the rosparam server.
+     670             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     671             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     672             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     673             :     */
+     674             :   template <typename T>
+     675             :   bool loadParamReusable(const std::string& name, T& out_value, const T& default_value)
+     676             :   {
+     677             :     const auto [ret, success] = load<T>(name, default_value, OPTIONAL, REUSABLE);
+     678             :     out_value = ret;
+     679             :     return success;
+     680             :   }
+     681             :   /*!
+     682             :     * \brief Loads an optional reusable parameter from the rosparam server.
+     683             :     *
+     684             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     685             :     * the default value is used.
+     686             :     * Using this method, the parameter can be loaded multiple times using the same ParamLoader instance without error.
+     687             :     *
+     688             :     * \param name          Name of the parameter in the rosparam server.
+     689             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     690             :     * \return              The loaded parameter value.
+     691             :     */
+     692             :   template <typename T>
+     693             :   T loadParamReusable2(const std::string& name, const T& default_value)
+     694             :   {
+     695             :     const auto [ret, success] = load<T>(name, default_value, OPTIONAL, REUSABLE);
+     696             :     return ret;
+     697             :   }
+     698             :   //}
+     699             : 
+     700             :   /* loadParam function for compulsory parameters //{ */
+     701             :   /*!
+     702             :     * \brief Loads a compulsory parameter from the rosparam server.
+     703             :     *
+     704             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     705             :     * the loading process is unsuccessful (loaded_successfully() will return false).
+     706             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     707             :     *
+     708             :     * \param name          Name of the parameter in the rosparam server.
+     709             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     710             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     711             :     */
+     712             :   template <typename T>
+     713       84719 :   bool loadParam(const std::string& name, T& out_value)
+     714             :   {
+     715      107639 :     const auto [ret, success] = load<T>(name, T(), COMPULSORY, UNIQUE);
+     716       84719 :     out_value = ret;
+     717      107639 :     return success;
+     718             :   }
+     719             :   /*!
+     720             :     * \brief Loads a compulsory parameter from the rosparam server.
+     721             :     *
+     722             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     723             :     * the loading process is unsuccessful (loaded_successfully() will return false).
+     724             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     725             :     *
+     726             :     * \param name          Name of the parameter in the rosparam server.
+     727             :     * \return              The loaded parameter value.
+     728             :     */
+     729             :   template <typename T>
+     730             :   T loadParam2(const std::string& name)
+     731             :   {
+     732             :     const auto [ret, success] = load<T>(name, T(), COMPULSORY, UNIQUE);
+     733             :     return ret;
+     734             :   }
+     735             :   /*!
+     736             :     * \brief Loads a compulsory parameter from the rosparam server.
+     737             :     *
+     738             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     739             :     * the loading process is unsuccessful (loaded_successfully() will return false).
+     740             :     * Using this method, the parameter can be loaded multiple times using the same ParamLoader instance without error.
+     741             :     *
+     742             :     * \param name          Name of the parameter in the rosparam server.
+     743             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     744             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     745             :     */
+     746             :   template <typename T>
+     747           1 :   bool loadParamReusable(const std::string& name, T& out_value)
+     748             :   {
+     749           2 :     const auto [ret, success] = load<T>(name, T(), COMPULSORY, REUSABLE);
+     750           1 :     out_value = ret;
+     751           2 :     return success;
+     752             :   }
+     753             :   /*!
+     754             :     * \brief Loads a compulsory parameter from the rosparam server.
+     755             :     *
+     756             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     757             :     * the loading process is unsuccessful (loaded_successfully() will return false).
+     758             :     * Using this method, the parameter can be loaded multiple times using the same ParamLoader instance without error.
+     759             :     *
+     760             :     * \param name          Name of the parameter in the rosparam server.
+     761             :     * \return              The loaded parameter value.
+     762             :     */
+     763             :   template <typename T>
+     764             :   T loadParamReusable2(const std::string& name)
+     765             :   {
+     766             :     const auto [ret, success] = load<T>(name, T(), COMPULSORY, REUSABLE);
+     767             :     return ret;
+     768             :   }
+     769             :   //}
+     770             : 
+     771             :   /* loadParam specializations for ros::Duration type //{ */
+     772             : 
+     773             :   /*!
+     774             :     * \brief An overload for loading ros::Duration.
+     775             :     *
+     776             :     * The duration will be loaded as a \p double, representing a number of seconds, and then converted to ros::Duration.
+     777             :     *
+     778             :     * \param name          Name of the parameter in the rosparam server.
+     779             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     780             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     781             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     782             :     */
+     783             :   bool loadParam(const std::string& name, ros::Duration& out, const ros::Duration& default_value)
+     784             :   {
+     785             :     double secs;
+     786             :     const bool ret = loadParam<double>(name, secs, default_value.toSec());
+     787             :     out = ros::Duration(secs);
+     788             :     return ret;
+     789             :   }
+     790             : 
+     791             :   /*!
+     792             :     * \brief An overload for loading ros::Duration.
+     793             :     *
+     794             :     * The duration will be loaded as a \p double, representing a number of seconds, and then converted to ros::Duration.
+     795             :     *
+     796             :     * \param name          Name of the parameter in the rosparam server.
+     797             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     798             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     799             :     */
+     800             :   bool loadParam(const std::string& name, ros::Duration& out)
+     801             :   {
+     802             :     double secs;
+     803             :     const bool ret = loadParam<double>(name, secs);
+     804             :     out = ros::Duration(secs);
+     805             :     return ret;
+     806             :   }
+     807             :   
+     808             :   //}
+     809             : 
+     810             :   /* loadParam specializations for std_msgs::ColorRGBA type //{ */
+     811             : 
+     812             :   /*!
+     813             :     * \brief An overload for loading std_msgs::ColorRGBA.
+     814             :     *
+     815             :     * The color will be loaded as several \p double -typed variables, representing the R, G, B and A color elements.
+     816             :     *
+     817             :     * \param name          Name of the parameter in the rosparam server.
+     818             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     819             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     820             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     821             :     */
+     822             :   bool loadParam(const std::string& name, std_msgs::ColorRGBA& out, const std_msgs::ColorRGBA& default_value = {})
+     823             :   {
+     824             :     std_msgs::ColorRGBA res;
+     825             :     bool ret = true;
+     826             :     ret = ret & loadParam(name+"/r", res.r, default_value.r);
+     827             :     ret = ret & loadParam(name+"/g", res.g, default_value.g);
+     828             :     ret = ret & loadParam(name+"/b", res.b, default_value.b);
+     829             :     ret = ret & loadParam(name+"/a", res.a, default_value.a);
+     830             :     if (ret)
+     831             :       out = res;
+     832             :     return ret;
+     833             :   }
+     834             : 
+     835             :   /*!
+     836             :     * \brief An overload for loading std_msgs::ColorRGBA.
+     837             :     *
+     838             :     * The color will be loaded as several \p double -typed variables, representing the R, G, B and A color elements.
+     839             :     *
+     840             :     * \param name          Name of the parameter in the rosparam server.
+     841             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     842             :     * \return              The loaded parameter value.
+     843             :     */
+     844             :   std_msgs::ColorRGBA loadParam2(const std::string& name, const std_msgs::ColorRGBA& default_value = {})
+     845             :   {
+     846             :     std_msgs::ColorRGBA ret;
+     847             :     loadParam(name, ret, default_value);
+     848             :     return ret;
+     849             :   }
+     850             : 
+     851             :   //}
+     852             : 
+     853             :   /* loadParam specializations for XmlRpc::Value type //{ */
+     854             : 
+     855             :   /*!
+     856             :     * \brief An overload for loading an optional XmlRpc::XmlRpcValue.
+     857             :     *
+     858             :     * This can be used if you want to manually parse some more complex parameter but still take advantage of ParamLoader.
+     859             :     * \warning  XmlRpc::XmlRpcValue must be loaded from a rosparam server and not directly from a YAML file
+     860             :     * (i.e. you cannot use it to load parameters from a file added using the addYamlFile() or addYamlFileFromParam() methods).
+     861             :     *
+     862             :     * \param name          Name of the parameter in the rosparam server.
+     863             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     864             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     865             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     866             :     */
+     867           2 :   bool loadParam(const std::string& name, XmlRpc::XmlRpcValue& out, const XmlRpc::XmlRpcValue& default_value)
+     868             :   {
+     869           2 :     return loadParam<XmlRpc::XmlRpcValue>(name, out, default_value);
+     870             :   }
+     871             : 
+     872             :   /*!
+     873             :     * \brief An overload for loading a compulsory XmlRpc::XmlRpcValue.
+     874             :     *
+     875             :     * This can be used if you want to manually parse some more complex parameter but still take advantage of ParamLoader.
+     876             :     * \warning  XmlRpc::XmlRpcValue must be loaded from a rosparam server and not directly from a YAML file
+     877             :     * (i.e. you cannot use it to load parameters from a file added using the addYamlFile() or addYamlFileFromParam() methods).
+     878             :     *
+     879             :     * \param name          Name of the parameter in the rosparam server.
+     880             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     881             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     882             :     */
+     883           3 :   bool loadParam(const std::string& name, XmlRpc::XmlRpcValue& out)
+     884             :   {
+     885           3 :     return loadParam<XmlRpc::XmlRpcValue>(name, out);
+     886             :   }
+     887             : 
+     888             :   /*!
+     889             :     * \brief An overload for loading an optional XmlRpc::XmlRpcValue.
+     890             :     *
+     891             :     * This can be used if you want to manually parse some more complex parameter but still take advantage of ParamLoader.
+     892             :     * \warning  XmlRpc::XmlRpcValue must be loaded from a rosparam server and not directly from a YAML file
+     893             :     * (i.e. you cannot use it to load parameters from a file added using the addYamlFile() or addYamlFileFromParam() methods).
+     894             :     *
+     895             :     * \param name          Name of the parameter in the rosparam server.
+     896             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     897             :     * \return              the loaded parameter.
+     898             :     */
+     899           1 :   XmlRpc::XmlRpcValue loadParam2(const std::string& name, const XmlRpc::XmlRpcValue& default_value)
+     900             :   {
+     901           1 :     return loadParam2<XmlRpc::XmlRpcValue>(name, default_value);
+     902             :   }
+     903             : 
+     904             :   //}
+     905             : 
+     906             :   /* loadParam specializations and convenience functions for Eigen dynamic matrix type //{ */
+     907             : 
+     908             :   /*!
+     909             :     * \brief An overload for loading Eigen matrices.
+     910             :     *
+     911             :     * Matrix dimensions are deduced from the provided default value.
+     912             :     * For compulsory Eigen matrices, use loadMatrixStatic(), loadMatrixKnown() or loadMatrixDynamic().
+     913             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     914             :     * the default value is used.
+     915             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     916             :     *
+     917             :     * \param name          Name of the parameter in the rosparam server.
+     918             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     919             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     920             :     * \return              True if loaded successfully, false otherwise.
+     921             :     */
+     922             :   template <typename T>
+     923             :   bool loadParam(const std::string& name, MatrixX<T>& mat, const MatrixX<T>& default_value)
+     924             :   {
+     925             :     const int rows = default_value.rows();
+     926             :     const int cols = default_value.cols();
+     927             :     const bool loaded_ok = loadMatrixDynamic(name, mat, default_value, rows, cols);
+     928             :     return loaded_ok;
+     929             :   }
+     930             : 
+     931             :   /*!
+     932             :     * \brief An overload for loading Eigen matrices.
+     933             :     *
+     934             :     * Matrix dimensions are deduced from the provided default value.
+     935             :     * For compulsory Eigen matrices, use loadMatrixStatic(), loadMatrixKnown() or loadMatrixDynamic().
+     936             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     937             :     * the default value is used.
+     938             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     939             :     *
+     940             :     * \param name          Name of the parameter in the rosparam server.
+     941             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     942             :     * \return              The loaded parameter value.
+     943             :     */
+     944             :   template <typename T>
+     945             :   MatrixX<T> loadParam2(const std::string& name, const MatrixX<T>& default_value)
+     946             :   {
+     947             :     MatrixX<T> ret;
+     948             :     loadParam(name, ret, default_value);
+     949             :     return ret;
+     950             :   }
+     951             :   
+     952             :   //}
+     953             : 
+     954             :   // loadMatrixStatic function for loading of static Eigen::Matrices //{
+     955             : 
+     956             :   /*!
+     957             :     * \brief Specialized method for loading compulsory Eigen matrix parameters.
+     958             :     *
+     959             :     * This variant assumes that the matrix dimensions are known in compiletime.
+     960             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+     961             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     962             :     * the loading process is unsuccessful.
+     963             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     964             :     *
+     965             :     * \tparam rows  Expected number of rows of the matrix.
+     966             :     * \tparam cols  Expected number of columns of the matrix.
+     967             :     *
+     968             :     * \param name  Name of the parameter in the rosparam server.
+     969             :     * \param mat   Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     970             :     * \return      true if loaded successfully, false otherwise.
+     971             :     *
+     972             :     */
+     973             :   template <int rows, int cols, typename T>
+     974           4 :   bool loadMatrixStatic(const std::string& name, Eigen::Matrix<T, rows, cols>& mat)
+     975             :   {
+     976           4 :     const auto [ret, loaded_ok] = loadMatrixStatic_internal<rows, cols, T>(name, Eigen::Matrix<T, rows, cols>::Zero(), COMPULSORY, UNIQUE);
+     977           4 :     mat = ret;
+     978           4 :     return loaded_ok;
+     979             :   }
+     980             : 
+     981             :   /*!
+     982             :     * \brief Specialized method for loading Eigen matrix parameters with default value.
+     983             :     *
+     984             :     * This variant assumes that the matrix dimensions are known in compiletime.
+     985             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+     986             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     987             :     * the default value is used.
+     988             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     989             :     *
+     990             :     * \tparam rows          Expected number of rows of the matrix.
+     991             :     * \tparam cols          Expected number of columns of the matrix.
+     992             :     *
+     993             :     * \param name          Name of the parameter in the rosparam server.
+     994             :     * \param mat           Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     995             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     996             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     997             :     *
+     998             :     */
+     999             :   template <int rows, int cols, typename T, typename Derived>
+    1000         111 :   bool loadMatrixStatic(const std::string& name, Eigen::Matrix<T, rows, cols>& mat, const Eigen::MatrixBase<Derived>& default_value)
+    1001             :   {
+    1002         111 :     const auto [ret, loaded_ok] = loadMatrixStatic_internal<rows, cols, T>(name, Eigen::Matrix<T, rows, cols>(default_value), OPTIONAL, UNIQUE);
+    1003         111 :     mat = ret;
+    1004         111 :     return loaded_ok;
+    1005             :   }
+    1006             : 
+    1007             :   /*!
+    1008             :     * \brief Specialized method for loading compulsory Eigen matrix parameters.
+    1009             :     *
+    1010             :     * This variant assumes that the matrix dimensions are known in compiletime.
+    1011             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1012             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1013             :     * the loading process is unsuccessful.
+    1014             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1015             :     *
+    1016             :     * \tparam rows  Expected number of rows of the matrix.
+    1017             :     * \tparam cols  Expected number of columns of the matrix.
+    1018             :     *
+    1019             :     * \param name  Name of the parameter in the rosparam server.
+    1020             :     * \return      The loaded parameter value.
+    1021             :     *
+    1022             :     */
+    1023             :   template <int rows, int cols, typename T = double>
+    1024           2 :   Eigen::Matrix<T, rows, cols> loadMatrixStatic2(const std::string& name)
+    1025             :   {
+    1026           2 :     Eigen::Matrix<T, rows, cols> ret;
+    1027           2 :     loadMatrixStatic(name, ret);
+    1028           2 :     return ret;
+    1029             :   }
+    1030             : 
+    1031             :   /*!
+    1032             :     * \brief Specialized method for loading Eigen matrix parameters with default value.
+    1033             :     *
+    1034             :     * This variant assumes that the matrix dimensions are known in compiletime.
+    1035             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1036             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1037             :     * the default value is used.
+    1038             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1039             :     *
+    1040             :     * \tparam rows          Expected number of rows of the matrix.
+    1041             :     * \tparam cols          Expected number of columns of the matrix.
+    1042             :     *
+    1043             :     * \param name          Name of the parameter in the rosparam server.
+    1044             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+    1045             :     * \return              The loaded parameter value.
+    1046             :     *
+    1047             :     */
+    1048             :   template <int rows, int cols, typename T, typename Derived>
+    1049           1 :   Eigen::Matrix<T, rows, cols> loadMatrixStatic2(const std::string& name, const Eigen::MatrixBase<Derived>& default_value)
+    1050             :   {
+    1051           1 :     Eigen::Matrix<T, rows, cols> ret;
+    1052           1 :     loadMatrixStatic(name, ret, default_value);
+    1053           1 :     return ret;
+    1054             :   }
+    1055             :   //}
+    1056             : 
+    1057             :   // loadMatrixKnown function for loading of Eigen matrices with known dimensions //{
+    1058             : 
+    1059             :   /*!
+    1060             :     * \brief Specialized method for loading compulsory Eigen matrix parameters.
+    1061             :     *
+    1062             :     * This variant assumes that the matrix dimensions are known in runtime, but not compiletime.
+    1063             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1064             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1065             :     * the loading process is unsuccessful.
+    1066             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1067             :     *
+    1068             :     * \param name  Name of the parameter in the rosparam server.
+    1069             :     * \param mat   Reference to the variable to which the parameter value will be stored (such as a class member variable).
+    1070             :     * \param rows  Expected number of rows of the matrix.
+    1071             :     * \param cols  Expected number of columns of the matrix.
+    1072             :     * \return      true if loaded successfully, false otherwise.
+    1073             :     */
+    1074             :   template <typename T>
+    1075         434 :   bool loadMatrixKnown(const std::string& name, MatrixX<T>& mat, int rows, int cols)
+    1076             :   {
+    1077         868 :     const auto [ret, loaded_ok] = loadMatrixKnown_internal(name, MatrixX<T>(), rows, cols, COMPULSORY, UNIQUE);
+    1078         434 :     mat = ret;
+    1079         868 :     return loaded_ok;
+    1080             :   }
+    1081             : 
+    1082             :   /*!
+    1083             :     * \brief Specialized method for loading Eigen matrix parameters with default value.
+    1084             :     *
+    1085             :     * This variant assumes that the matrix dimensions are known in runtime, but not compiletime.
+    1086             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1087             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1088             :     * the default value is used.
+    1089             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1090             :     *
+    1091             :     * \param name          Name of the parameter in the rosparam server.
+    1092             :     * \param mat           Reference to the variable to which the parameter value will be stored (such as a class member variable).
+    1093             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+    1094             :     * \param rows          Expected number of rows of the matrix.
+    1095             :     * \param cols          Expected number of columns of the matrix.
+    1096             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+    1097             :     */
+    1098             :   template <typename T, typename Derived>
+    1099           2 :   bool loadMatrixKnown(const std::string& name, MatrixX<T>& mat, const Eigen::MatrixBase<Derived>& default_value, int rows, int cols)
+    1100             :   {
+    1101           4 :     const auto [ret, loaded_ok] = loadMatrixKnown_internal(name, MatrixX<T>(default_value), rows, cols, OPTIONAL, UNIQUE);
+    1102           2 :     mat = ret;
+    1103           4 :     return loaded_ok;
+    1104             :   }
+    1105             : 
+    1106             :   /*!
+    1107             :     * \brief Specialized method for loading compulsory Eigen matrix parameters.
+    1108             :     *
+    1109             :     * This variant assumes that the matrix dimensions are known in runtime, but not compiletime.
+    1110             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1111             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1112             :     * the loading process is unsuccessful.
+    1113             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1114             :     *
+    1115             :     * \param name  Name of the parameter in the rosparam server.
+    1116             :     * \param rows  Expected number of rows of the matrix.
+    1117             :     * \param cols  Expected number of columns of the matrix.
+    1118             :     * \return      The loaded parameter value.
+    1119             :     */
+    1120             :   template <typename T = double>
+    1121           1 :   MatrixX<T> loadMatrixKnown2(const std::string& name, int rows, int cols)
+    1122             :   {
+    1123           1 :     MatrixX<T> ret;
+    1124           1 :     loadMatrixKnown(name, ret, rows, cols);
+    1125           1 :     return ret;
+    1126             :   }
+    1127             : 
+    1128             :   /*!
+    1129             :     * \brief Specialized method for loading Eigen matrix parameters with default value.
+    1130             :     *
+    1131             :     * This variant assumes that the matrix dimensions are known in runtime, but not compiletime.
+    1132             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1133             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1134             :     * the default value is used.
+    1135             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1136             :     *
+    1137             :     * \param name          Name of the parameter in the rosparam server.
+    1138             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+    1139             :     * \param rows          Expected number of rows of the matrix.
+    1140             :     * \param cols          Expected number of columns of the matrix.
+    1141             :     * \return              The loaded parameter value.
+    1142             :     */
+    1143             :   template <typename T, typename Derived>
+    1144           1 :   MatrixX<T> loadMatrixKnown2(const std::string& name, const Eigen::MatrixBase<Derived>& default_value, int rows, int cols)
+    1145             :   {
+    1146           1 :     MatrixX<T> ret;
+    1147           1 :     loadMatrixKnown(name, ret, default_value, rows, cols);
+    1148           1 :     return ret;
+    1149             :   }
+    1150             :   //}
+    1151             : 
+    1152             :   // loadMatrixDynamic function for half-dynamic loading of MatrixX<T> //{
+    1153             : 
+    1154             :   /*!
+    1155             :     * \brief Specialized method for loading compulsory dynamic Eigen matrix parameters.
+    1156             :     *
+    1157             :     * This variant assumes that the only one of the matrix dimensions are known, the other is selected based on the loaded value.
+    1158             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1159             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1160             :     * the loading process is unsuccessful.
+    1161             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1162             :     *
+    1163             :     * \param name  Name of the parameter in the rosparam server.
+    1164             :     * \param mat   Reference to the variable to which the parameter value will be stored (such as a class member variable).
+    1165             :     * \param rows  Expected number of rows of the matrix (negative value indicates that the number of rows is to be deduced from the specified number of columns and the size of the loaded array).
+    1166             :     * \param cols  Expected number of columns of the matrix (negative value indicates that the number of columns is to be deduced from the specified number of rows and the size of the loaded array).
+    1167             :     * \return      true if loaded successfully, false otherwise.
+    1168             :     */
+    1169             :   template <typename T>
+    1170          89 :   bool loadMatrixDynamic(const std::string& name, MatrixX<T>& mat, int rows, int cols)
+    1171             :   {
+    1172         178 :     const auto [ret, loaded_ok] = loadMatrixDynamic_internal(name, MatrixX<T>(), rows, cols, COMPULSORY, UNIQUE);
+    1173          89 :     mat = ret;
+    1174         178 :     return loaded_ok;
+    1175             :   }
+    1176             : 
+    1177             :   /*!
+    1178             :     * \brief Specialized method for loading compulsory dynamic Eigen matrix parameters.
+    1179             :     *
+    1180             :     * This variant assumes that the only one of the matrix dimensions are known, the other is selected based on the loaded value.
+    1181             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1182             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1183             :     * the default value is used.
+    1184             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1185             :     *
+    1186             :     * \param name          Name of the parameter in the rosparam server.
+    1187             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+    1188             :     * \param mat           Reference to the variable to which the parameter value will be stored (such as a class member variable).
+    1189             :     * \param rows          Expected number of rows of the matrix (negative value indicates that the number of rows is to be deduced from the specified number of columns and the size of the loaded array).
+    1190             :     * \param cols          Expected number of columns of the matrix (negative value indicates that the number of columns is to be deduced from the specified number of rows and the size of the loaded array).
+    1191             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+    1192             :     */
+    1193             :   template <typename T, typename Derived>
+    1194         110 :   bool loadMatrixDynamic(const std::string& name, MatrixX<T>& mat, const Eigen::MatrixBase<Derived>& default_value, int rows, int cols)
+    1195             :   {
+    1196         220 :     const auto [ret, loaded_ok] = loadMatrixDynamic_internal(name, MatrixX<T>(default_value), rows, cols, OPTIONAL, UNIQUE);
+    1197         110 :     mat = ret;
+    1198         220 :     return loaded_ok;
+    1199             :   }
+    1200             : 
+    1201             :   /*!
+    1202             :     * \brief Specialized method for loading compulsory dynamic Eigen matrix parameters.
+    1203             :     *
+    1204             :     * This variant assumes that the only one of the matrix dimensions are known, the other is selected based on the loaded value.
+    1205             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1206             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1207             :     * the loading process is unsuccessful.
+    1208             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1209             :     *
+    1210             :     * \param name  Name of the parameter in the rosparam server.
+    1211             :     * \param rows  Expected number of rows of the matrix (negative value indicates that the number of rows is to be deduced from the specified number of columns and the size of the loaded array).
+    1212             :     * \param cols  Expected number of columns of the matrix (negative value indicates that the number of columns is to be deduced from the specified number of rows and the size of the loaded array).
+    1213             :     * \return      The loaded parameter value.
+    1214             :     */
+    1215             :   template <typename T = double>
+    1216          87 :   MatrixX<T> loadMatrixDynamic2(const std::string& name, int rows, int cols)
+    1217             :   {
+    1218          87 :     MatrixX<T> ret;
+    1219          87 :     loadMatrixDynamic(name, ret, rows, cols);
+    1220          87 :     return ret;
+    1221             :   }
+    1222             : 
+    1223             :   /*!
+    1224             :     * \brief Specialized method for loading compulsory dynamic Eigen matrix parameters.
+    1225             :     *
+    1226             :     * This variant assumes that the only one of the matrix dimensions are known, the other is selected based on the loaded value.
+    1227             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1228             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1229             :     * the default value is used.
+    1230             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1231             :     *
+    1232             :     * \param name          Name of the parameter in the rosparam server.
+    1233             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+    1234             :     * \param rows          Expected number of rows of the matrix (negative value indicates that the number of rows is to be deduced from the specified number of columns and the size of the loaded array).
+    1235             :     * \param cols          Expected number of columns of the matrix (negative value indicates that the number of columns is to be deduced from the specified number of rows and the size of the loaded array).
+    1236             :     * \return              The loaded parameter value.
+    1237             :     */
+    1238             :   template <typename T, typename Derived>
+    1239           1 :   MatrixX<T> loadMatrixDynamic2(const std::string& name, const Eigen::MatrixBase<Derived>& default_value, int rows, int cols)
+    1240             :   {
+    1241           1 :     MatrixX<T> ret;
+    1242           1 :     loadMatrixDynamic(name, ret, default_value, rows, cols);
+    1243           1 :     return ret;
+    1244             :   }
+    1245             : 
+    1246             :   //}
+    1247             : 
+    1248             :   // loadMatrixArray function for loading of an array of MatrixX<T> with known dimensions //{
+    1249             :   /*!
+    1250             :     * \brief Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matrices.
+    1251             :     *
+    1252             :     * The number of rows and columns of the matrices to be loaded is specified in the \c rosparam parameter. Specifically, the \c name/rows value specifies the
+    1253             :     * number of rows, which must be common to all the loaded matrices (i.e. it is one integer >= 0), and the \c name/cols value specifies the number of columns of
+    1254             :     * each matrix (i.e. it is an array of integers > 0). The \c name/data array contains the values of the elements of the matrices and it must have length
+    1255             :     * \f$ r\sum_i c_i \f$, where \f$ r \f$ is the common number of rows and \f$ c_i \f$ is the number of columns of the \f$ i \f$-th matrix.
+    1256             :     * A typical structure of a \c yaml file, specifying the
+    1257             :     * matrix array to be loaded using this method, is
+    1258             :     *
+    1259             :     * \code{.yaml}
+    1260             :     *
+    1261             :     * matrix_array:
+    1262             :     *   rows: 3
+    1263             :     *   cols: [1, 2]
+    1264             :     *   data: [-5.0, 0.0, 23.0,
+    1265             :     *          -5.0, 0.0, 12.0,
+    1266             :     *           2.0,   4.0,  7.0]
+    1267             :     *
+    1268             :     * \endcode
+    1269             :     *
+    1270             :     * which will be loaded as a \c std::vector, containing one \f$ 3\times 1 \f$ matrix and one \f$ 3\times 2 \f$ matrix.
+    1271             :     *
+    1272             :     * If the dimensions of the loaded matrices do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1273             :     * If the parameter with the specified name is not found on the \c rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1274             :     * the loading process is unsuccessful.
+    1275             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1276             :     *
+    1277             :     * \param name  Name of the parameter in the rosparam server.
+    1278             :     * \param mat   Reference to the variable to which the parameter value will be stored (such as a class member variable).
+    1279             :     *
+    1280             :     */
+    1281             :   template <typename T>
+    1282           1 :   void loadMatrixArray(const std::string& name, std::vector<MatrixX<T>>& mat)
+    1283             :   {
+    1284           1 :     mat = loadMatrixArray2<double>(name);
+    1285           1 :   }
+    1286             : 
+    1287             :   /*!
+    1288             :     * \brief Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matrices.
+    1289             :     *
+    1290             :     * This overload of the loadMatrixArray() method takes a default value for the parameter, which is used in case a \c rosparam with the specified name is not
+    1291             :     * found in the \c rosparam server, instead of causing an unsuccessful load. This makes specifying the parameter value in the \c rosparam server optional.
+    1292             :     *
+    1293             :     * \param name           Name of the parameter in the rosparam server.
+    1294             :     * \param mat            Reference to the variable to which the parameter value will be stored (such as a class member variable).
+    1295             :     * \param default_value  The default value to be used in case the parameter is not found on the \c rosparam server.
+    1296             :     *
+    1297             :     */
+    1298             :   template <typename T>
+    1299           1 :   void loadMatrixArray(const std::string& name, std::vector<MatrixX<T>>& mat, const std::vector<MatrixX<T>>& default_value)
+    1300             :   {
+    1301           1 :     mat = loadMatrixArray2(name, default_value);
+    1302           1 :   }
+    1303             : 
+    1304             :   /*!
+    1305             :     * \brief Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matrices.
+    1306             :     *
+    1307             :     * This method works in the same way as the loadMatrixArray() method for compulsory parameters, except that the loaded
+    1308             :     * parameter is returned and not stored in the reference parameter.
+    1309             :     *
+    1310             :     * \param name           Name of the parameter in the rosparam server.
+    1311             :     * \returns              The loaded parameter or a default constructed object of the respective type.
+    1312             :     *
+    1313             :     */
+    1314             :   template <typename T = double>
+    1315           3 :   std::vector<MatrixX<T>> loadMatrixArray2(const std::string& name)
+    1316             :   {
+    1317           3 :     return loadMatrixArray_internal(name, std::vector<MatrixX<T>>(), COMPULSORY, UNIQUE);
+    1318             :   }
+    1319             : 
+    1320             :   /*!
+    1321             :     * \brief Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matrices.
+    1322             :     *
+    1323             :     * This method works in the same way as the loadMatrixArray() method for optional parameters, except that the loaded
+    1324             :     * parameter is returned and not stored in the reference parameter.
+    1325             :     *
+    1326             :     * \param name           Name of the parameter in the rosparam server.
+    1327             :     * \param default_value  The default value to be used in case the parameter is not found on the \c rosparam server.
+    1328             :     * \returns              The loaded parameter or the default value.
+    1329             :     *
+    1330             :     */
+    1331             :   template <typename T>
+    1332           2 :   std::vector<MatrixX<T>> loadMatrixArray2(const std::string& name, const std::vector<MatrixX<T>>& default_value)
+    1333             :   {
+    1334           2 :     return loadMatrixArray_internal(name, default_value, OPTIONAL, UNIQUE);
+    1335             :   }
+    1336             :   //}
+    1337             : 
+    1338             :   //}
+    1339             : 
+    1340             : };
+    1341             : //}
+    1342             : 
+    1343             :   /*!
+    1344             :     * \brief An overload for loading ros::Duration.
+    1345             :     *
+    1346             :     * The duration will be loaded as a \p double, representing a number of seconds, and then converted to ros::Duration.
+    1347             :     *
+    1348             :     * \param name          Name of the parameter in the rosparam server.
+    1349             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+    1350             :     * \return              The loaded parameter value.
+    1351             :     */
+    1352             :   template <>
+    1353             :   ros::Duration ParamLoader::loadParam2<ros::Duration>(const std::string& name, const ros::Duration& default_value);
+    1354             : 
+    1355             :   /*!
+    1356             :     * \brief An overload for loading ros::Duration.
+    1357             :     *
+    1358             :     * The duration will be loaded as a \p double, representing a number of seconds, and then converted to ros::Duration.
+    1359             :     *
+    1360             :     * \param name          Name of the parameter in the rosparam server.
+    1361             :     * \return              The loaded parameter value.
+    1362             :     */
+    1363             :   template <>
+    1364             :   ros::Duration ParamLoader::loadParam2<ros::Duration>(const std::string& name);
+    1365             : 
+    1366             : }  // namespace mrs_lib
+    1367             : 
+    1368             : #endif  // PARAM_LOADER_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/param_loader.h.gcov.overview.html b/mrs_lib/include/mrs_lib/param_loader.h.gcov.overview.html new file mode 100644 index 0000000000..06a945b67d --- /dev/null +++ b/mrs_lib/include/mrs_lib/param_loader.h.gcov.overview.html @@ -0,0 +1,362 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/param_loader.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_lib/include/mrs_lib/param_loader.h.gcov.png b/mrs_lib/include/mrs_lib/param_loader.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..a4d4e2202f27269e5f25a66abde48f1cb954de81 GIT binary patch literal 4406 zcmV-65y|d}P)?dmV;-Eh=eLQB(e%tMAqI2=3>TAChE z6XB?B!BO9Imv2F+82;!2@QoQAj zkZ*hw+~lD>kBvuS_ys)H7n4V__?8Tj14BX9V)A&?$??GD*tSgA3lD6N#b*AEqjsTa z*s(Q>FI^&ZLG;^$kUUBuzJO5&9u0r8XjMUvArLy4CJh32(&l-_<3&-IavBKMTUI zudn~;`u>T(e*XLZ?|Xgy^F^0oFn2MS8O2m1JXbs&?)${EiUp+f6JLMr6OWG4itvP2 zH$=IPqtfivR3ZMqrv*=R(mm$#qP)jOKAATu>%Uhv`2;r54`wgIVP>gTZTeHG(3soVzSj z(~53d24hz)@q63Kk;;|&bgptiEYOSqI9#Jxg%Un5B4Asl4<3TrBg-2i4Kbe z?N3BPugQ?8L=gksHlZy$!y3n0`gE=Mm9q0N>MFAwHLdHWJ{7l2VaV$m^}guiUJ)@v zp@ND+PE=&i$?YHaTr*jh(>#}Sk_W;8t06yBE< zcFoH|GF@tfx+o>GBy|`PF4*Kuan(JBR`-HXDi|RsP41pPcIQM8YUQ|{nFh>kGc)(Y zM=^!tU|83-eG1E&k?OsQf#+J)^b@C0VN0!3IL>`e7>qgukVdNCwAM7MuU4oa?irhw z=49C#i;U3hhP%q}c&Q2AQ#tOG4C&~&Fn8=i=L=0YI`+bl)(O>kJbcty27o1JCv#7i z(wB`-V4Uw4k3u;1%1746nL{R0qeT+-+zdrhLw#8Ls8X8AV9lWE!Ql1cF{Fj3zzmW* zTw?ZI0QNay2t>{+&9uS}#D*+RKz0$Y0lr|V_nBtKPz?CCgfNFxEoyQUD-g{|2c3bM zal-aOFrT>rRIY6>Q}h9B_;<9}Y|Otl*R;J=ztSASlw^!E`^%u%+gUGmgAgF z?_w9L0mT3jkfiM6y^|I8g46ewA&A3c$Q;Sm2O#)NLlqru0_)mZyXF_ zODFE3T-Q4s<4o)mbhK5{Q+Sv9$o6b*8J84%phx&&drzq*+ybxgmE1|Z+4Qby(92R7 zi_Ja&DV%{JRZn5sF6(k3IhayRzX&}eP+HNWh>(g=-@)d}QdopYPS{DNEPXs-$%n)n zSLE92s;;HjBB^AHmNwswz?TN)Hpy-9JS`<1&9u#PiM?)UCmJ(Di(freyi6^nlEPxb zi@7W6oo{Bb`ApAuO8yGfH0Q1}@RO!5<0^_*eG7CQfurZkDhwgnvj>X>JOS_r^Xi_e z20*i$c7;(;Un7Ljtg|CWuZ7CoYiYt{8Uld}8Ks9pG+}do*wvxu*bE zE60g;C&2?VFtSp%g$P1C7+ep;v!lX3-2Zs%6+Ct|{XD(?WzWUA(k=tg z@mpt=xrbX#cnYycBf`1XR+VE);flqi8G}VLq3)V)rNrB*eLfoV2JS6EjVIdIK|XFO_^KVv!LF-Vl`3*bGNyO36to1nkmZG2Nu4IDNzDpp=sF~PZc19oLo3_Kd38UP zR2@~b(n$yK+4TGamXuLHJw9(dmoUQ%ycD3NQe6mrr=TvmJ?A-*~6XEvq397sQl<(Jt>FvLe12^?`Btv|W{gx^)SPY~8gl z$ItTB0oU=XQj@e5XmZ8LH&}qkmalreZOd14nhmr7Vpi7jp?`nLkN$P3Zh$Cwiz6pcpegr^H=7jn5j zxs;6&;mB3&oWZdHw9Z8Mslb)DSl|oamwzf}<|RP!7w0-V4uDmHDl}s8&I`)kz>G%` z?2xQJesrod^mM7Iad{P@4FD%i1nZ!uTGHdMk=ciJYrJrvNF^R#GhU8Wv>ds!DEe>ZI45D z#Zd)930T=fE+0gN2rC&_<(&vUQ?W&z&(-y5{1th&Gvo(j*gZ)O~Yk(q1Q>DWi-&e&(BH`AAx8D7Xm1GG_` zeg2wVrDNyqKzB?h+UMNJaf@#knD9hu`jNsx`s7@`UalgtyV11GnouKETa@%XNX^$&Gz% zc%QHgn_2qem91`urXx^2-pdBCsuqAiGaAPdYF{T5_fZuH16(e^cg9nb-%}MXYr|=+ zsRTG;++IL3A>1AMg+FJnD^TaRIlxZ$(bAVlsOMKx9>2Nf>kcI2v~Xa=UrDBMJ2!J@!6=%+cCQ2=LsI+p$~m zZHg{D&!`6>?@1bfbq|t?FxkVRnj_x=VfWkB%chT1F7@?6_^(GPJ>bf*Xb1f;aJMbJ z6>!xY>+U1$_aF}|*H*u5%7qZ+uR|x`dz{;k`^dFWbjIpF0`eNRt^4Y2?=wYoqLcnA zggVOuEOkce`X=Q))zzehMq%;f$YH z)IW%*y&eFrFvywV_yBhZ+~38c6+LY{E(PJG@c1#L$AvRB?CJ5yfZ5`bZa$31!a6=1 zk7|z9;De0-0PU1MRswccoo(wP3F6!%XLu6?A%b6wm4tvVrr+AEM0th7xAswABb-4O z>aPsn=r&r115^e`wyjXtyQP*El*IiCC6ChkC zXrY(^FEA|~$&O-yCb{QU|6H*Eg)L%DwuYzmk(+TsWogF2{7%*w7yn^wiuQmu8%#p4 z#R(gz)`a$b27uaW2<{vM;2~spseSC*kdV|rYt3qV`gVs2dtrhPbkdg}d4E$MZAQuy zT3Y5R-&&L%%qcU}dGFSu@;k>lv53b9Yfjt~NySl*U+S+%4S>*EMA1tbfagR29@^|0 zfd=8$2%HssOo^~*1g5=FO0U%PJC*{+D_Z+lih&$Ip~5FrsD=uDlzEt%enhWpUs@@@ zOJ~lDciD;ldk!~1md)?-%^T};Y_Z7*ucz0a2;hAqfFP9Y(elGH9sAe-m``fhV*u!k z*E->`2H?cd6e&f)28aW=~ui0l$4_OL_ z@MepV^!o4m>xa^2=rP&wEuj=Cu$(TFHn;QUY+CyCC5N1)i4zd*Vb28}+fjT&;Eue{xI0g(VDY}cao(8y5 zPiT8Q4Av1aU9v$yITSU6u9sQ6)(vdyzZPf>P1+eLkoEVx^ithO7eJ5fM@F5Ij zH1@W^pkd*VjABfb3*Zq5C5aQ-k%=cvA~?mMPq;X3AD;wVTWppAw>$^ny@5+fiLXG| zQ@|c*0a4^V*ahNf8;laT$X?_T9OaPv&^CQeYM*5Z1v2gEDUy$ZGyd_yiTGRNQD+|; zz$HPM`*?yO9RT-;gQsd=4))xY+@m?F*L{y4%b!1I7}Kt-)P#w{bXEmPGoV1usd8n} wp7#2~bA9D0G;I6uRMI)h6s*m+r07*qoM6N<$f)oynZvX%Q literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/publisher_handler.h.func-sort-c.html b/mrs_lib/include/mrs_lib/publisher_handler.h.func-sort-c.html new file mode 100644 index 0000000000..92adc46705 --- /dev/null +++ b/mrs_lib/include/mrs_lib/publisher_handler.h.func-sort-c.html @@ -0,0 +1,556 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/publisher_handler.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - publisher_handler.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-08-07 22:18:19Functions:11811999.2 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()0
mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::PublisherHandler()1
mrs_lib::PublisherHandler_impl<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::~PublisherHandler_impl()1
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::PublisherHandler()2
mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::~PublisherHandler()2
mrs_lib::PublisherHandler<std_msgs::Int64_<std::allocator<void> > >::~PublisherHandler()2
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~PublisherHandler_impl()2
mrs_lib::PublisherHandler_impl<std_msgs::Int64_<std::allocator<void> > >::~PublisherHandler_impl()2
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~PublisherHandler()4
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::PublisherHandler()31
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler_impl()31
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler()62
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<std_msgs::String_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler_impl()115
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler_impl()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::PublisherHandler()217
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::PublisherHandler()224
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::PublisherHandler()224
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler_impl()224
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler_impl()317
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler()326
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler()339
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::PublisherHandler()432
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler()432
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::PublisherHandler()432
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::PublisherHandler()432
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler_impl()432
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler_impl()432
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler_impl()432
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler()448
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler_impl()531
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler_impl()627
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::PublisherHandler()635
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::~PublisherHandler()635
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::PublisherHandler()648
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler_impl()648
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler()665
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::PublisherHandler()751
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::PublisherHandler()828
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler_impl()828
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler()864
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler()864
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler()864
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler()1068
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::PublisherHandler()1149
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler()1296
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler()1656
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler()1776
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler()156517
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/publisher_handler.h.func.html b/mrs_lib/include/mrs_lib/publisher_handler.h.func.html new file mode 100644 index 0000000000..5e684c5e56 --- /dev/null +++ b/mrs_lib/include/mrs_lib/publisher_handler.h.func.html @@ -0,0 +1,556 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/publisher_handler.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - publisher_handler.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-08-07 22:18:19Functions:11811999.2 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::PublisherHandler()432
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler()864
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler()432
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::PublisherHandler()224
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler()339
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::PublisherHandler()648
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler()1296
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::PublisherHandler()1149
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler()1776
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::PublisherHandler()432
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler()864
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::PublisherHandler()2
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~PublisherHandler()4
mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::PublisherHandler()1
mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::~PublisherHandler()2
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::PublisherHandler()828
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler()1656
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::PublisherHandler()751
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler()1068
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::PublisherHandler()217
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler()326
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::PublisherHandler()635
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::~PublisherHandler()635
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()324
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::PublisherHandler()224
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler()448
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler()665
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler()156517
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::PublisherHandler()31
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler()62
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<std_msgs::Int64_<std::allocator<void> > >::~PublisherHandler()2
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::PublisherHandler()108
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::~PublisherHandler()216
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::PublisherHandler()432
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler()864
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler_impl()432
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler_impl()216
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler_impl()115
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler_impl()648
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler_impl()627
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler_impl()432
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~PublisherHandler_impl()2
mrs_lib::PublisherHandler_impl<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::~PublisherHandler_impl()1
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler_impl()828
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler_impl()317
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()0
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler_impl()224
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler_impl()531
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler_impl()31
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<std_msgs::Int64_<std::allocator<void> > >::~PublisherHandler_impl()2
mrs_lib::PublisherHandler_impl<std_msgs::String_<std::allocator<void> > >::~PublisherHandler_impl()108
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler_impl()432
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/publisher_handler.h.gcov.frameset.html b/mrs_lib/include/mrs_lib/publisher_handler.h.gcov.frameset.html new file mode 100644 index 0000000000..79755e1cb1 --- /dev/null +++ b/mrs_lib/include/mrs_lib/publisher_handler.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/publisher_handler.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/publisher_handler.h.gcov.html b/mrs_lib/include/mrs_lib/publisher_handler.h.gcov.html new file mode 100644 index 0000000000..00e1554364 --- /dev/null +++ b/mrs_lib/include/mrs_lib/publisher_handler.h.gcov.html @@ -0,0 +1,256 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/publisher_handler.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - publisher_handler.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-08-07 22:18:19Functions:11811999.2 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /**  \file
+       2             :      \brief Defines PublisherHandler and related convenience classes for upgrading the ROS publisher
+       3             :      \author Tomas Baca - tomas.baca@fel.cvut.cz
+       4             :  */
+       5             : #ifndef PUBLISHER_HANDLER_H
+       6             : #define PUBLISHER_HANDLER_H
+       7             : 
+       8             : #include <ros/ros.h>
+       9             : #include <ros/package.h>
+      10             : 
+      11             : #include <atomic>
+      12             : #include <string>
+      13             : #include <mutex>
+      14             : 
+      15             : namespace mrs_lib
+      16             : {
+      17             : 
+      18             : /* class PublisherHandler_impl //{ */
+      19             : 
+      20             : /**
+      21             :  * @brief implementation of the publisher handler
+      22             :  */
+      23             : template <class TopicType>
+      24             : class PublisherHandler_impl {
+      25             : 
+      26             : public:
+      27             :   /**
+      28             :    * @brief default constructor
+      29             :    */
+      30             :   PublisherHandler_impl(void);
+      31             : 
+      32             :   /**
+      33             :    * @brief default destructor
+      34             :    */
+      35        7431 :   ~PublisherHandler_impl(void){};
+      36             : 
+      37             :   /**
+      38             :    * @brief constructor
+      39             :    *
+      40             :    * @param nh ROS node handler
+      41             :    * @param address topic address
+      42             :    * @param buffer_size buffer size
+      43             :    * @param latch latching
+      44             :    */
+      45             :   PublisherHandler_impl(ros::NodeHandle& nh, const std::string& address, const unsigned int& buffer_size = 1, const bool& latch = false,
+      46             :                         const double& rate = 0.0);
+      47             : 
+      48             :   /**
+      49             :    * @brief publish message
+      50             :    *
+      51             :    * @param msg data
+      52             :    *
+      53             :    */
+      54             :   void publish(const TopicType& msg);
+      55             : 
+      56             :   /**
+      57             :    * @brief publish message, boost ptr overload
+      58             :    *
+      59             :    * @param msg
+      60             :    */
+      61             :   void publish(const boost::shared_ptr<TopicType>& msg);
+      62             : 
+      63             :   /**
+      64             :    * @brief publish message, boost const ptr overload
+      65             :    *
+      66             :    * @param msg
+      67             :    */
+      68             :   void publish(const boost::shared_ptr<TopicType const>& msg);
+      69             : 
+      70             :   /**
+      71             :    * @brief get number of subscribers
+      72             :    *
+      73             :    * @return the number of subscribers
+      74             :    */
+      75             :   unsigned int getNumSubscribers(void);
+      76             : 
+      77             : private:
+      78             :   ros::Publisher    publisher_;
+      79             :   std::mutex        mutex_publisher_;
+      80             :   std::atomic<bool> publisher_initialized_;
+      81             : 
+      82             :   bool      throttle_ = false;
+      83             :   double    throttle_min_dt_;
+      84             :   ros::Time last_time_published_;
+      85             : };
+      86             : 
+      87             : //}
+      88             : 
+      89             : /* class PublisherHandler //{ */
+      90             : 
+      91             : /**
+      92             :  * @brief user wrapper of the publisher handler implementation
+      93             :  */
+      94             : template <class TopicType>
+      95             : class PublisherHandler {
+      96             : 
+      97             : public:
+      98             :   /**
+      99             :    * @brief generic constructor
+     100             :    */
+     101       10235 :   PublisherHandler(void){};
+     102             : 
+     103             :   /**
+     104             :    * @brief generic destructor
+     105             :    */
+     106      172987 :   ~PublisherHandler(void){};
+     107             : 
+     108             :   /**
+     109             :    * @brief operator=
+     110             :    *
+     111             :    * @param other
+     112             :    *
+     113             :    * @return
+     114             :    */
+     115             :   PublisherHandler& operator=(const PublisherHandler& other);
+     116             : 
+     117             :   /**
+     118             :    * @brief copy constructor
+     119             :    *
+     120             :    * @param other
+     121             :    */
+     122             :   PublisherHandler(const PublisherHandler& other);
+     123             : 
+     124             :   /**
+     125             :    * @brief constructor
+     126             :    *
+     127             :    * @param nh ROS node handler
+     128             :    * @param address topic address
+     129             :    * @param buffer_size buffer size
+     130             :    * @param latch latching
+     131             :    */
+     132         254 :   PublisherHandler(ros::NodeHandle& nh, const std::string& address, const unsigned int& buffer_size = 1, const bool& latch = false, const double& rate = 0);
+     133             : 
+     134             :   /**
+     135             :    * @brief publish message
+     136             :    *
+     137             :    * @param msg
+     138             :    */
+     139             :   void publish(const TopicType& msg);
+     140             : 
+     141             :   /**
+     142             :    * @brief publish message, boost ptr overload
+     143             :    *
+     144             :    * @param msg
+     145             :    */
+     146             :   void publish(const boost::shared_ptr<TopicType>& msg);
+     147             : 
+     148             :   /**
+     149             :    * @brief publish message, boost const ptr overload
+     150             :    *
+     151             :    * @param msg
+     152             :    */
+     153             :   void publish(const boost::shared_ptr<TopicType const>& msg);
+     154             : 
+     155             :   /**
+     156             :    * @brief get number of subscribers
+     157             :    *
+     158             :    * @return the number of subscribers
+     159             :    */
+     160             :   unsigned int getNumSubscribers(void);
+     161             : 
+     162             : private:
+     163             :   std::shared_ptr<PublisherHandler_impl<TopicType>> impl_;
+     164             : };
+     165             : 
+     166             : //}
+     167             : 
+     168             : }  // namespace mrs_lib
+     169             : 
+     170             : #include <mrs_lib/impl/publisher_handler.hpp>
+     171             : 
+     172             : #endif  // PUBLISHER_HANDLER_H
+
+
+
+ + + + +
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mrs_lib::quadratic_throttle_model::forceToThrottle(mrs_lib::quadratic_throttle_model::MotorParams_t, double)93556
mrs_lib::quadratic_throttle_model::throttleToForce(mrs_lib::quadratic_throttle_model::MotorParams_t, double)129924
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mrs_lib::quadratic_throttle_model::forceToThrottle(mrs_lib::quadratic_throttle_model::MotorParams_t, double)93556
mrs_lib::quadratic_throttle_model::throttleToForce(mrs_lib::quadratic_throttle_model::MotorParams_t, double)129924
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+
          Line data    Source code
+
+       1             : #ifndef QUADRATIC_THRUST_MODEL_H
+       2             : #define QUADRATIC_THRUST_MODEL_H
+       3             : 
+       4             : #include <cmath>
+       5             : 
+       6             : namespace mrs_lib
+       7             : {
+       8             : 
+       9             : namespace quadratic_throttle_model
+      10             : {
+      11             : 
+      12             : typedef struct
+      13             : {
+      14             :   double A;
+      15             :   double B;
+      16             :   int    n_motors;
+      17             : } MotorParams_t;
+      18             : 
+      19      129924 : double inline throttleToForce(const MotorParams_t motor_params, const double throttle) {
+      20             : 
+      21      129924 :   return motor_params.n_motors * pow((throttle - motor_params.B) / motor_params.A, 2);
+      22             : }
+      23             : 
+      24       93556 : double inline forceToThrottle(const MotorParams_t motor_params, const double force) {
+      25             : 
+      26       93556 :   return sqrt(force / motor_params.n_motors) * motor_params.A + motor_params.B;
+      27             : }
+      28             : 
+      29             : }  // namespace quadratic_throttle_model
+      30             : 
+      31             : }  // namespace mrs_lib
+      32             : 
+      33             : #endif  // QUADRATIC_THRUST_MODEL_H
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::correctFrom(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::predictFrom(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&, ros::Time const&, ros::Time const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::addMeasurement<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<3, 1, 1> > const&, double const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::addInputChangeWithNoise<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<3, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t::info_t(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, std::shared_ptr<mrs_lib::varstepLKF<3, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, std::shared_ptr<mrs_lib::varstepLKF<3, 1, 1> > const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&, int const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t> > > > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::earlier(mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&)0
std::enable_if<!(false), mrs_lib::KalmanFilter<3, 1, 1>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::predictTo<false>(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::Repredictor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<3, 1, 1> > const&, unsigned int)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::correctFrom(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::predictFrom(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&, ros::Time const&, ros::Time const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::addMeasurement<false>(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<6, 2, 2> > const&, double const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::addInputChangeWithNoise<false>(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<6, 2, 2> > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t::info_t(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, std::shared_ptr<mrs_lib::varstepLKF<6, 2, 2> > const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&, int const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, std::shared_ptr<mrs_lib::varstepLKF<6, 2, 2> > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t> > > > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::earlier(mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&)0
std::enable_if<!(false), mrs_lib::KalmanFilter<6, 2, 2>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::predictTo<false>(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::Repredictor(Eigen::Matrix<double, 6, 1, 0, 6, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<6, 2, 2> > const&, unsigned int)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::Repredictor(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, unsigned int)1
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::info_t::info_t(ros::Time const&)2
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::Repredictor(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, unsigned int)2
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::addMeasurement<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, double const&)100
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t const&, int const&)100
std::enable_if<!(false), mrs_lib::KalmanFilter<2, 1, 1>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::predictTo<false>(ros::Time const&)102
std::enable_if<true, void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::addInputChange<true>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&)111
std::enable_if<true, void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::addInputChangeWithNoise<true>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&)193
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::addInputChangeWithNoise<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&)200
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&)200
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::correctFrom(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::info_t const&)295
std::enable_if<true, void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::addMeasurement<true>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, double const&)295
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t> > > > const&)300
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::predictFrom(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::info_t const&, ros::Time const&, ros::Time const&)590
std::enable_if<true, mrs_lib::KalmanFilter<2, 1, 1>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::predictTo<true>(ros::Time const&)590
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&)615
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::earlier(mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t const&)2049
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::correctFrom(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t const&)5150
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t const&)7189
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::predictFrom(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t const&, ros::Time const&, ros::Time const&)16205
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/repredictor.h.func.html b/mrs_lib/include/mrs_lib/repredictor.h.func.html new file mode 100644 index 0000000000..3f93c2d144 --- /dev/null +++ b/mrs_lib/include/mrs_lib/repredictor.h.func.html @@ -0,0 +1,256 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/repredictor.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - repredictor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10011190.1 %
Date:2024-08-07 22:18:19Functions:204445.5 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::correctFrom(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t const&)5150
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::predictFrom(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t const&, ros::Time const&, ros::Time const&)16205
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::addMeasurement<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, double const&)100
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::addInputChangeWithNoise<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&)200
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t const&)7189
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&)615
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&)200
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t const&, int const&)100
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t> > > > const&)300
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::earlier(mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t const&)2049
std::enable_if<!(false), mrs_lib::KalmanFilter<2, 1, 1>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::predictTo<false>(ros::Time const&)102
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::Repredictor(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, unsigned int)1
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::correctFrom(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::info_t const&)295
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::predictFrom(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::info_t const&, ros::Time const&, ros::Time const&)590
std::enable_if<true, void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::addInputChange<true>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&)111
std::enable_if<true, void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::addMeasurement<true>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, double const&)295
std::enable_if<true, void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::addInputChangeWithNoise<true>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&)193
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::info_t::info_t(ros::Time const&)2
std::enable_if<true, mrs_lib::KalmanFilter<2, 1, 1>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::predictTo<true>(ros::Time const&)590
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::Repredictor(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, unsigned int)2
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::correctFrom(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::predictFrom(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&, ros::Time const&, ros::Time const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::addMeasurement<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<3, 1, 1> > const&, double const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::addInputChangeWithNoise<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<3, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t::info_t(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, std::shared_ptr<mrs_lib::varstepLKF<3, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, std::shared_ptr<mrs_lib::varstepLKF<3, 1, 1> > const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&, int const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t> > > > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::earlier(mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&)0
std::enable_if<!(false), mrs_lib::KalmanFilter<3, 1, 1>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::predictTo<false>(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::Repredictor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<3, 1, 1> > const&, unsigned int)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::correctFrom(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::predictFrom(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&, ros::Time const&, ros::Time const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::addMeasurement<false>(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<6, 2, 2> > const&, double const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::addInputChangeWithNoise<false>(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<6, 2, 2> > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t::info_t(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, std::shared_ptr<mrs_lib::varstepLKF<6, 2, 2> > const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&, int const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, std::shared_ptr<mrs_lib::varstepLKF<6, 2, 2> > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t> > > > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::earlier(mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&)0
std::enable_if<!(false), mrs_lib::KalmanFilter<6, 2, 2>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::predictTo<false>(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::Repredictor(Eigen::Matrix<double, 6, 1, 0, 6, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<6, 2, 2> > const&, unsigned int)0
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/repredictor.h.gcov.frameset.html b/mrs_lib/include/mrs_lib/repredictor.h.gcov.frameset.html new file mode 100644 index 0000000000..d18e49adfb --- /dev/null +++ b/mrs_lib/include/mrs_lib/repredictor.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/repredictor.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/repredictor.h.gcov.html b/mrs_lib/include/mrs_lib/repredictor.h.gcov.html new file mode 100644 index 0000000000..cdd820b0fc --- /dev/null +++ b/mrs_lib/include/mrs_lib/repredictor.h.gcov.html @@ -0,0 +1,637 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/repredictor.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - repredictor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10011190.1 %
Date:2024-08-07 22:18:19Functions:204445.5 %
Legend: Lines: + hit + not hit +
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          Line data    Source code
+
+       1             : #ifndef REPREDICTOR_H
+       2             : #define REPREDICTOR_H
+       3             : 
+       4             : #include <Eigen/Dense>
+       5             : #include <boost/circular_buffer.hpp>
+       6             : #include <std_msgs/Time.h>
+       7             : #include <functional>
+       8             : #include <ros/ros.h>
+       9             : #include <mrs_lib/utils.h>
+      10             : 
+      11             : namespace mrs_lib
+      12             : {
+      13             :   /**
+      14             :    * \brief Implementation of the Repredictor for fusing measurements with variable delays.
+      15             :    *
+      16             :    * A standard state-space system model is assumed for the repredictor with system inputs and measurements,
+      17             :    * generated from the system state vector. The inputs and measurements may be delayed with varying durations (an older measurement may become available after
+      18             :    * a newer one). A typical use-case scenario is when you have one "fast" but imprecise sensor and one "slow" but precise sensor and you want to use them both
+      19             :    * to get a good prediction (eg. height from the Garmin LiDAR, which comes at 100Hz, and position from a SLAM, which comes at 10Hz with a long delay). If the
+      20             :    * slow sensor is significantly slower than the fast one, fusing its measurement at the time it arrives without taking into account the sensor's delay may
+      21             :    * significantly bias your latest estimate.
+      22             :    *
+      23             :    * To accomodate this, the Repredictor keeps a buffer of N last inputs and measurements (N is specified
+      24             :    * in the constructor). This buffer is then used to re-predict the desired state to a specific time, as
+      25             :    * requested by the user. Note that the re-prediction is evaluated in a lazy manner only when the user requests it,
+      26             :    * so it goes through the whole history buffer every time a prediction is requested.
+      27             :    *
+      28             :    * The Repredictor utilizes a fusion Model (specified as the template parameter), which should implement
+      29             :    * the predict() and correct() methods. This Model is used for fusing the system inputs and measurements
+      30             :    * as well as for predictions. Typically, this Model will be some kind of a Kalman Filter (LKF, UKF etc.).
+      31             :    * \note The Model should be able to accomodate predictions with varying time steps in order for
+      32             :    * the Repredictor to work correctly (see eg. the varstepLKF class).
+      33             :    *
+      34             :    * \tparam Model                  the prediction and correction model (eg. a Kalman Filter).
+      35             :    * \tparam disable_reprediction   if true, reprediction is disabled and the class will act like a dumb LKF (for evaluation purposes).
+      36             :    *
+      37             :    */
+      38             :   template <class Model, bool disable_reprediction=false>
+      39             :   class Repredictor
+      40             :   {
+      41             :   public:
+      42             :     /* states, inputs etc. definitions (typedefs, constants etc) //{ */
+      43             : 
+      44             :     using x_t = typename Model::x_t;                  /*!< \brief State vector type \f$n \times 1\f$ */
+      45             :     using u_t = typename Model::u_t;                  /*!< \brief Input vector type \f$m \times 1\f$ */
+      46             :     using z_t = typename Model::z_t;                  /*!< \brief Measurement vector type \f$p \times 1\f$ */
+      47             :     using P_t = typename Model::P_t;                  /*!< \brief State uncertainty covariance matrix type \f$n \times n\f$ */
+      48             :     using R_t = typename Model::R_t;                  /*!< \brief Measurement noise covariance matrix type \f$p \times p\f$ */
+      49             :     using Q_t = typename Model::Q_t;                  /*!< \brief Process noise covariance matrix type \f$n \times n\f$ */
+      50             :     using statecov_t = typename Model::statecov_t;    /*!< \brief Helper struct for passing around the state and its covariance in one variable */
+      51             :     using ModelPtr = typename std::shared_ptr<Model>; /*!< \brief Shorthand type for a shared pointer-to-Model */
+      52             : 
+      53             :     //}
+      54             : 
+      55             :     /* predictTo() method //{ */
+      56             :     /*!
+      57             :      * \brief Estimates the system state and covariance matrix at the specified time.
+      58             :      *
+      59             :      * The measurement and system input histories are used to estimate the state vector and
+      60             :      * covariance matrix values at the specified time, which are returned.
+      61             :      *
+      62             :      * \param to_stamp   The desired time at which the state vector and covariance matrix should be estimated.
+      63             :      * \return           Returns the estimated state vector and covariance matrix in a single struct.
+      64             :      *
+      65             :      */
+      66             :     template<bool check=disable_reprediction>
+      67         102 :     std::enable_if_t<!check, statecov_t> predictTo(const ros::Time& to_stamp)
+      68             :     {
+      69         102 :       assert(!m_history.empty());
+      70         102 :       auto hist_it = std::begin(m_history);
+      71         102 :       if (hist_it->is_measurement)
+      72             :       {
+      73             :         // if the first history point is measurement, don't use it for correction (to prevent it from being used twice)
+      74           0 :         hist_it->is_measurement = false;
+      75             :       }
+      76             :       // cur_stamp corresponds to the time point of cur_sc estimation
+      77         102 :       auto cur_stamp = hist_it->stamp;
+      78             :       // cur_sc is the current state and covariance estimate
+      79         102 :       auto cur_sc = m_sc;
+      80       16103 :       do
+      81             :       {
+      82       16205 :         cur_sc.stamp = hist_it->stamp;
+      83             :         // do the correction if current history point is a measurement
+      84       16205 :         if ((hist_it->is_measurement))
+      85        5150 :           cur_sc = correctFrom(cur_sc, *hist_it);
+      86             : 
+      87             :         // decide whether to predict to the next history point or straight to the desired stamp already
+      88             :         // (whichever comes sooner or directly to the desired stamp if no further history point is available)
+      89       16205 :         ros::Time next_stamp = to_stamp;
+      90       16205 :         if ((hist_it + 1) != std::end(m_history) && (hist_it + 1)->stamp <= to_stamp)
+      91       16103 :           next_stamp = (hist_it + 1)->stamp;
+      92             : 
+      93             :         // do the prediction
+      94       16205 :         cur_sc = predictFrom(cur_sc, *hist_it, cur_stamp, next_stamp);
+      95       16205 :         cur_stamp = next_stamp;
+      96             : 
+      97             :         // increment the history pointer
+      98       16205 :         hist_it++;
+      99       16205 :       } while (hist_it != std::end(m_history) && hist_it->stamp <= to_stamp);
+     100         102 :       cur_sc.stamp = to_stamp;
+     101         204 :       return cur_sc;
+     102             :     }
+     103             : 
+     104             :     /*!
+     105             :      * \brief Estimates the system state and covariance matrix at the specified time.
+     106             :      *
+     107             :      * The measurement and system input histories are used to estimate the state vector and
+     108             :      * covariance matrix values at the specified time, which are returned.
+     109             :      *
+     110             :      * \param to_stamp   The desired time at which the state vector and covariance matrix should be estimated.
+     111             :      * \return           Returns the estimated state vector and covariance matrix in a single struct.
+     112             :      *
+     113             :      * \note This is the variant of the method when reprediction is disabled and will function like a dumb LKF.
+     114             :      *
+     115             :      */
+     116             :     template<bool check=disable_reprediction>
+     117         590 :     std::enable_if_t<check, statecov_t> predictTo(const ros::Time& to_stamp)
+     118             :     {
+     119         590 :       assert(!m_history.empty());
+     120         590 :       const auto& info = m_history.front();
+     121         590 :       auto sc = predictFrom(m_sc, info, info.stamp, to_stamp);
+     122         590 :       sc.stamp = to_stamp;
+     123         590 :       return sc;
+     124             :     }
+     125             :     //}
+     126             : 
+     127             :     /* addInputChangeWithNoise() method //{ */
+     128             :     /*!
+     129             :      * \brief Adds one system input to the history buffer, removing the oldest element in the buffer if it is full.
+     130             :      *
+     131             :      * \param u      The system input vector to be added.
+     132             :      * \param Q      The process noise covariance matrix.
+     133             :      * \param stamp  Time stamp of the input vector and covariance matrix.
+     134             :      * \param model  Optional pointer to a specific Model to be used with this input (eg. mapping it to different states). If it equals to nullptr, the default
+     135             :      * model specified in the constructor will be used.
+     136             :      *
+     137             :      * \note The system input vector will not be added if it is older than the oldest element in the history buffer.
+     138             :      *
+     139             :      */
+     140             :     template<bool check=disable_reprediction>
+     141         200 :     std::enable_if_t<!check> addInputChangeWithNoise(const u_t& u, const Q_t& Q, const ros::Time& stamp, const ModelPtr& model = nullptr)
+     142             :     {
+     143         400 :       const info_t info(stamp, u, Q, model);
+     144             :       // find the next point in the history buffer
+     145         200 :       const auto next_it = std::lower_bound(std::begin(m_history), std::end(m_history), info, &Repredictor<Model>::earlier);
+     146             :       // add the point to the history buffer
+     147         200 :       const auto added = addInfo(info, next_it);
+     148             :       // update all measurements following the newly added system input up to the next system input
+     149         200 :       if (added != std::end(m_history))
+     150        7289 :         for (auto it = added + 1; it != std::end(m_history) && it->is_measurement; it++)
+     151        7089 :           it->updateUsing(info);
+     152         200 :     }
+     153             : 
+     154             :     /*!
+     155             :      * \brief Adds one system input to the history buffer, removing the oldest element in the buffer if it is full.
+     156             :      *
+     157             :      * \param u      The system input vector to be added.
+     158             :      * \param Q      The process noise covariance matrix.
+     159             :      * \param stamp  Time stamp of the input vector and covariance matrix.
+     160             :      * \param model  Optional pointer to a specific Model to be used with this input (eg. mapping it to different states). If it equals to nullptr, the default
+     161             :      * model specified in the constructor will be used.
+     162             :      *
+     163             :      * \note This is the variant of the method when reprediction is disabled and will function like a dumb LKF.
+     164             :      *
+     165             :      */
+     166             :     template<bool check=disable_reprediction>
+     167         193 :     std::enable_if_t<check> addInputChangeWithNoise(const u_t& u, const Q_t& Q, [[maybe_unused]] const ros::Time& stamp, const ModelPtr& model = nullptr)
+     168             :     {
+     169         193 :       if (m_history.empty())
+     170           2 :         m_history.push_back({stamp});
+     171         193 :       m_history.front().u = u;
+     172         193 :       m_history.front().Q = Q;
+     173         193 :       m_history.front().stamp = stamp;
+     174         193 :       m_history.front().predict_model = model;
+     175         193 :     }
+     176             :     //}
+     177             : 
+     178             :     /* addInputChange() method //{ */
+     179             :     /*!
+     180             :      * \brief Adds one system input to the history buffer, removing the oldest element in the buffer if it is full.
+     181             :      *
+     182             :      * \param u      The system input vector to be added.
+     183             :      * \param stamp  Time stamp of the input vector and covariance matrix.
+     184             :      * \param model  Optional pointer to a specific Model to be used with this input (eg. mapping it to different states). If it equals to nullptr, the default
+     185             :      * model specified in the constructor will be used.
+     186             :      *
+     187             :      * \note The system input vector will not be added if it is older than the oldest element in the history buffer.
+     188             :      *
+     189             :      */
+     190             :     template<bool check=disable_reprediction>
+     191             :     std::enable_if_t<!check> addInputChange(const u_t& u, const ros::Time& stamp, const ModelPtr& model = nullptr)
+     192             :     {
+     193             :       assert(!m_history.empty());
+     194             :       // find the next point in the history buffer
+     195             :       const auto next_it = std::lower_bound(std::begin(m_history), std::end(m_history), stamp, &Repredictor<Model>::earlier);
+     196             :       // get the previous history point (or the first one to avoid out of bounds)
+     197             :       const auto prev_it = next_it == std::begin(m_history) ? next_it : next_it - 1;
+     198             :       // initialize a new history info point
+     199             :       const info_t info(stamp, u, prev_it->Q, model);
+     200             :       // add the point to the history buffer
+     201             :       const auto added = addInfo(info, next_it);
+     202             :       // update all measurements following the newly added system input up to the next system input
+     203             :       if (added != std::end(m_history))
+     204             :         for (auto it = added + 1; it != std::end(m_history) && it->is_measurement; it++)
+     205             :           it->updateUsing(info);
+     206             :     }
+     207             : 
+     208             :     /*!
+     209             :      * \brief Adds one system input to the history buffer, removing the oldest element in the buffer if it is full.
+     210             :      *
+     211             :      * \param u      The system input vector to be added.
+     212             :      * \param stamp  Time stamp of the input vector and covariance matrix.
+     213             :      * \param model  Optional pointer to a specific Model to be used with this input (eg. mapping it to different states). If it equals to nullptr, the default
+     214             :      * model specified in the constructor will be used.
+     215             :      *
+     216             :      * \note This is the variant of the method when reprediction is disabled and will function like a dumb LKF.
+     217             :      *
+     218             :      */
+     219             :     template<bool check=disable_reprediction>
+     220         111 :     std::enable_if_t<check> addInputChange(const u_t& u, [[maybe_unused]] const ros::Time& stamp, const ModelPtr& model = nullptr)
+     221             :     {
+     222         111 :       if (m_history.empty())
+     223           0 :         m_history.push_back({stamp});
+     224         111 :       m_history.front().u = u;
+     225         111 :       m_history.front().stamp = stamp;
+     226         111 :       m_history.front().predict_model = model;
+     227         111 :     }
+     228             :     //}
+     229             : 
+     230             :     /* addProcessNoiseChange() method //{ */
+     231             :     /*!
+     232             :      * \brief Adds one system input to the history buffer, removing the oldest element in the buffer if it is full.
+     233             :      *
+     234             :      * \param Q      The process noise covariance matrix.
+     235             :      * \param stamp  Time stamp of the input vector and covariance matrix.
+     236             :      * \param model  Optional pointer to a specific Model to be used with this covariance matrix (eg. mapping it to different states). If it equals to nullptr,
+     237             :      * the default model specified in the constructor will be used.
+     238             :      *
+     239             :      * \note The new element will not be added if it is older than the oldest element in the history buffer.
+     240             :      *
+     241             :      */
+     242             :     template<bool check=disable_reprediction>
+     243             :     std::enable_if_t<!check> addProcessNoiseChange(const Q_t& Q, const ros::Time& stamp, const ModelPtr& model = nullptr)
+     244             :     {
+     245             :       assert(!m_history.empty());
+     246             :       // find the next point in the history buffer
+     247             :       const auto next_it = std::lower_bound(std::begin(m_history), std::end(m_history), stamp, &Repredictor<Model>::earlier);
+     248             :       // get the previous history point (or the first one to avoid out of bounds)
+     249             :       const auto prev_it = next_it == std::begin(m_history) ? next_it : next_it - 1;
+     250             :       // initialize a new history info point
+     251             :       const info_t info(stamp, prev_it->u, Q, model);
+     252             :       // add the point to the history buffer
+     253             :       const auto added = addInfo(info, next_it);
+     254             :       // update all measurements following the newly added system input up to the next system input
+     255             :       if (added != std::end(m_history))
+     256             :         for (auto it = added + 1; it != std::end(m_history) && it->is_measurement; it++)
+     257             :           it->updateUsing(info);
+     258             :     }
+     259             : 
+     260             :     /*!
+     261             :      * \brief Adds one system input to the history buffer, removing the oldest element in the buffer if it is full.
+     262             :      *
+     263             :      * \param Q      The process noise covariance matrix.
+     264             :      * \param stamp  Time stamp of the input vector and covariance matrix.
+     265             :      * \param model  Optional pointer to a specific Model to be used with this covariance matrix (eg. mapping it to different states). If it equals to nullptr,
+     266             :      * the default model specified in the constructor will be used.
+     267             :      *
+     268             :      * \note This is the variant of the method when reprediction is disabled and will function like a dumb LKF.
+     269             :      *
+     270             :      */
+     271             :     template<bool check=disable_reprediction>
+     272             :     std::enable_if_t<check> addProcessNoiseChange(const Q_t& Q, [[maybe_unused]] const ros::Time& stamp, const ModelPtr& model = nullptr)
+     273             :     {
+     274             :       if (m_history.empty())
+     275             :         m_history.push_back({stamp});
+     276             :       m_history.front().Q = Q;
+     277             :       m_history.front().stamp = stamp;
+     278             :       m_history.front().predict_model = model;
+     279             :     }
+     280             :     //}
+     281             : 
+     282             :     /* addMeasurement() method //{ */
+     283             :     /*!
+     284             :      * \brief Adds one measurement to the history buffer, removing the oldest element in the buffer if it is full.
+     285             :      *
+     286             :      * \param z      The measurement vector to be added.
+     287             :      * \param R      The measurement noise covariance matrix, corresponding to the measurement vector.
+     288             :      * \param stamp  Time stamp of the measurement vector and covariance matrix.
+     289             :      * \param model  Optional pointer to a specific Model to be used with this measurement (eg. mapping it from different states). If it equals to nullptr, the
+     290             :      * default model specified in the constructor will be used.
+     291             :      *
+     292             :      * \note The measurement vector will not be added if it is older than the oldest element in the history buffer.
+     293             :      *
+     294             :      */
+     295             :     template<bool check=disable_reprediction>
+     296         100 :     std::enable_if_t<!check> addMeasurement(const z_t& z, const R_t& R, const ros::Time& stamp, const ModelPtr& model = nullptr, const double& meas_id = -1)
+     297             :     {
+     298         100 :       assert(!m_history.empty());
+     299             :       // helper variable for searching of the next point in the history buffer
+     300         100 :       const auto next_it = std::lower_bound(std::begin(m_history), std::end(m_history), stamp, &Repredictor<Model>::earlier);
+     301             :       // get the previous history point (or the first one to avoid out of bounds)
+     302         100 :       const auto prev_it = next_it == std::begin(m_history) ? next_it : next_it - 1;
+     303             :       // initialize a new history info point
+     304         100 :       const info_t info(stamp, z, R, model, *prev_it, meas_id);
+     305             :       // add the point to the history buffer
+     306         100 :       addInfo(info, next_it);
+     307         100 :     }
+     308             : 
+     309             :     /*!
+     310             :      * \brief Adds one measurement to the history buffer, removing the oldest element in the buffer if it is full.
+     311             :      *
+     312             :      * \param z      The measurement vector to be added.
+     313             :      * \param R      The measurement noise covariance matrix, corresponding to the measurement vector.
+     314             :      * \param stamp  Time stamp of the measurement vector and covariance matrix.
+     315             :      * \param model  Optional pointer to a specific Model to be used with this measurement (eg. mapping it from different states). If it equals to nullptr, the
+     316             :      * default model specified in the constructor will be used.
+     317             :      *
+     318             :      * \note This is the variant of the method when reprediction is disabled and will function like a dumb LKF.
+     319             :      *
+     320             :      */
+     321             :     template<bool check=disable_reprediction>
+     322         295 :     std::enable_if_t<check> addMeasurement(const z_t& z, const R_t& R, const ros::Time& stamp, const ModelPtr& model = nullptr, const double& meas_id = -1)
+     323             :     {
+     324         295 :       if (m_history.empty())
+     325           0 :         m_history.push_back({stamp});
+     326         295 :       auto& info = m_history.front();
+     327         295 :       const ros::Time to_stamp = stamp > info.stamp ? stamp : info.stamp;
+     328         295 :       const auto sc = predictTo(to_stamp);
+     329         295 :       info.z = z;
+     330         295 :       info.R = R;
+     331         295 :       info.stamp = to_stamp;
+     332         295 :       info.is_measurement = true;
+     333         295 :       info.meas_id = meas_id;
+     334         295 :       info.correct_model = model;
+     335         295 :       m_sc = correctFrom(sc, info);
+     336         295 :     }
+     337             :     //}
+     338             : 
+     339             :   public:
+     340             :     /* constructor //{ */
+     341             : 
+     342             :     /*!
+     343             :      * \brief The main constructor.
+     344             :      *
+     345             :      * Initializes the Repredictor with the necessary initial and default values.
+     346             :      *
+     347             :      * \param x0             Initial state.
+     348             :      * \param P0             Covariance matrix of the initial state uncertainty.
+     349             :      * \param u0             Initial system input.
+     350             :      * \param Q0             Default covariance matrix of the process noise.
+     351             :      * \param t0             Time stamp of the initial state.
+     352             :      * \param model          Default prediction and correction model.
+     353             :      * \param hist_len       Length of the history buffer for system inputs and measurements.
+     354             :      */
+     355           3 :     Repredictor(const x_t& x0, const P_t& P0, const u_t& u0, const Q_t& Q0, const ros::Time& t0, const ModelPtr& model, const unsigned hist_len)
+     356           3 :         : m_sc{x0, P0}, m_default_model(model), m_history(history_t(hist_len))
+     357             :     {
+     358           3 :       assert(hist_len > 0);
+     359           3 :       addInputChangeWithNoise(u0, Q0, t0, model);
+     360           3 :     };
+     361             : 
+     362             :     /*!
+     363             :      * \brief Empty constructor.
+     364             :      *
+     365             :      */
+     366             :     Repredictor(){};
+     367             : 
+     368             :     /*!
+     369             :      * \brief Variation of the constructor for cases without a system input.
+     370             :      *
+     371             :      * Initializes the Repredictor with the necessary initial and default values.
+     372             :      * Assumes the system input is zero at t0.
+     373             :      *
+     374             :      * \param x0             Initial state.
+     375             :      * \param P0             Covariance matrix of the initial state uncertainty.
+     376             :      * \param Q0             Default covariance matrix of the process noise.
+     377             :      * \param t0             Time stamp of the initial state.
+     378             :      * \param model          Default prediction and correction model.
+     379             :      * \param hist_len       Length of the history buffer for system inputs and measurements.
+     380             :      */
+     381             :     Repredictor(const x_t& x0, const P_t& P0, const Q_t& Q0, const ros::Time& t0, const ModelPtr& model, const unsigned hist_len)
+     382             :         : m_sc{x0, P0}, m_default_model(model), m_history(history_t(hist_len))
+     383             :     {
+     384             :       assert(hist_len > 0);
+     385             :       const u_t u0{0};
+     386             :       addInputChangeWithNoise(u0, Q0, t0, model);
+     387             :     };
+     388             :     //}
+     389             : 
+     390             :   protected:
+     391             :     // state and covariance corresponding to the oldest element in the history buffer
+     392             :     statecov_t m_sc;
+     393             :     // default model to use for updates
+     394             :     ModelPtr m_default_model;
+     395             : 
+     396             :   private:
+     397             :     /* helper structs and usings //{ */
+     398             : 
+     399             :     struct info_t
+     400             :     {
+     401             :       ros::Time stamp;
+     402             : 
+     403             :       // system input-related information
+     404             :       u_t u;
+     405             :       Q_t Q;
+     406             :       ModelPtr predict_model;
+     407             : 
+     408             :       // measurement-related information (unused in case is_measurement=false)
+     409             :       z_t z;
+     410             :       R_t R;
+     411             :       ModelPtr correct_model;
+     412             :       bool is_measurement;
+     413             :       int meas_id;
+     414             : 
+     415             :       // constructor for a dummy info (for searching in the history)
+     416         617 :       info_t(const ros::Time& stamp) : stamp(stamp), is_measurement(false){};
+     417             : 
+     418             :       // constructor for a system input
+     419         200 :       info_t(const ros::Time& stamp, const u_t& u, const Q_t& Q, const ModelPtr& model)
+     420         200 :           : stamp(stamp), u(u), Q(Q), predict_model(model), is_measurement(false){};
+     421             : 
+     422             :       // constructor for a measurement
+     423         100 :       info_t(const ros::Time& stamp, const z_t& z, const R_t& R, const ModelPtr& model, const info_t& prev_info, const int& meas_id)
+     424         100 :           : stamp(stamp), z(z), R(R), correct_model(model), is_measurement(true), meas_id(meas_id)
+     425             :       {
+     426         100 :         updateUsing(prev_info);
+     427         100 :       };
+     428             : 
+     429             :       // copy system input-related information from a previous info
+     430        7189 :       void updateUsing(const info_t& info)
+     431             :       {
+     432        7189 :         u = info.u;
+     433        7189 :         Q = info.Q;
+     434        7189 :         predict_model = info.predict_model;
+     435        7189 :       };
+     436             :     };
+     437             : 
+     438             : 
+     439             :     //}
+     440             : 
+     441             :   protected:
+     442             :     using history_t = boost::circular_buffer<info_t>;
+     443             :     // the history buffer
+     444             :     history_t m_history;
+     445             : 
+     446             :     // | ---------------- helper debugging methods ---------------- |
+     447             :     /* checkMonotonicity() method //{ */
+     448             :     template <typename T>
+     449             :     bool checkMonotonicity(const T& buf)
+     450             :     {
+     451             :       if (buf.empty())
+     452             :         return true;
+     453             :       for (auto it = std::begin(buf) + 1; it != std::end(buf); it++)
+     454             :         if (earlier(*it, *(it - 1)))
+     455             :           return false;
+     456             :       return true;
+     457             :     }
+     458             :     //}
+     459             : 
+     460             :     /* printBuffer() method //{ */
+     461             :     template <typename T>
+     462             :     void printBuffer(const T& buf)
+     463             :     {
+     464             :       if (buf.empty())
+     465             :         return;
+     466             :       const auto first_stamp = buf.front().stamp;
+     467             :       std::cerr << "first stamp: " << first_stamp << std::endl;
+     468             :       for (size_t it = 0; it < buf.size(); it++)
+     469             :       {
+     470             :         std::cerr << it << ":\t" << buf.at(it).stamp - first_stamp << std::endl;
+     471             :       }
+     472             :     }
+     473             :     //}
+     474             : 
+     475             :   private:
+     476             :     // | -------------- helper implementation methods ------------- |
+     477             : 
+     478             :     /* addInfo() method //{ */
+     479         300 :     typename history_t::iterator addInfo(const info_t& info, const typename history_t::iterator& next_it)
+     480             :     {
+     481             :       // check if the new element would be added before the first element of the history buffer and ignore it if so
+     482         300 :       if (next_it == std::begin(m_history) && !m_history.empty())
+     483             :       {
+     484           0 :         ROS_WARN_STREAM_THROTTLE(1.0, "[Repredictor]: Added history point is older than the oldest by "
+     485             :                                           << (next_it->stamp - info.stamp).toSec()
+     486             :                                           << "s. Ignoring it! Consider increasing the history buffer size (currently: " << m_history.size() << ")");
+     487           0 :         return std::end(m_history);
+     488             :       }
+     489             : 
+     490             :       // check if adding a new element would throw out the oldest one
+     491         300 :       if (m_history.size() == m_history.capacity())
+     492             :       {  // if so, first update m_sc
+     493             :         // figure out, what will be the oldest element in the buffer after inserting the newly received one
+     494           0 :         auto new_oldest = m_history.front();
+     495           0 :         if (m_history.size() == 1 || (m_history.size() > 1 && info.stamp > m_history.at(0).stamp && info.stamp < m_history.at(1).stamp))
+     496             :         {
+     497           0 :           new_oldest = info;
+     498           0 :         } else if (m_history.size() > 1)
+     499             :         {
+     500           0 :           new_oldest = m_history.at(1);
+     501             :         }
+     502             :         // update m_sc to the time of the new oldest element (after inserting the new element)
+     503           0 :         m_sc = predictTo(new_oldest.stamp);
+     504             :         // insert the new element into the history buffer, causing the original oldest element to be removed
+     505             :       }
+     506             : 
+     507             :       // add the new point finally
+     508         300 :       const auto ret = m_history.insert(next_it, info);
+     509             :       /* debug check //{ */
+     510             : 
+     511             : #ifdef REPREDICTOR_DEBUG
+     512             :       if (!checkMonotonicity(m_history))
+     513             :       {
+     514             :         std::cerr << "History buffer is not monotonous after modification!" << std::endl;
+     515             :       }
+     516             :       std::cerr << "Added info (" << m_history.size() << " total)" << std::endl;
+     517             : #endif
+     518             : 
+     519             :       //}
+     520         300 :       return ret;
+     521             :     }
+     522             :     //}
+     523             : 
+     524             :     /* earlier() method //{ */
+     525        2049 :     static bool earlier(const info_t& ob1, const info_t& ob2)
+     526             :     {
+     527        2049 :       return ob1.stamp < ob2.stamp;
+     528             :     }
+     529             :     //}
+     530             : 
+     531             :     /* predictFrom() method //{ */
+     532       16795 :     statecov_t predictFrom(const statecov_t& sc, const info_t& inpt, const ros::Time& from_stamp, const ros::Time& to_stamp)
+     533             :     {
+     534       33590 :       const auto model = inpt.predict_model == nullptr ? m_default_model : inpt.predict_model;
+     535       16795 :       const auto dt = (to_stamp - from_stamp).toSec();
+     536       33590 :       return model->predict(sc, inpt.u, inpt.Q, dt);
+     537             :     }
+     538             :     //}
+     539             : 
+     540             :     /* correctFrom() method //{ */
+     541        5445 :     statecov_t correctFrom(const statecov_t& sc, const info_t& meas)
+     542             :     {
+     543        5445 :       assert(meas.is_measurement);
+     544       10890 :       const auto model = meas.correct_model == nullptr ? m_default_model : meas.correct_model;
+     545        5445 :       auto sc_tmp = sc;
+     546       10890 :       return model->correct(sc_tmp, meas.z, meas.R);
+     547             :     }
+     548             :     //}
+     549             :   };
+     550             : }  // namespace mrs_lib
+     551             : 
+     552             : 
+     553             : #endif  // REPREDICTOR_H
+
+
+
+ + + + +
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mrs_lib::Polygon::ExtraVertices::what() const0
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mrs_lib::Polygon::WrongNumberOfVertices::what() const0
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mrs_lib::Polygon::ExtraVertices::what() const0
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Date:2024-08-07 22:18:19Functions:030.0 %
Legend: Lines: + hit + not hit +
+
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+
          Line data    Source code
+
+       1             : // clang: TomasFormat
+       2             : #ifndef MRS_LIB_POLYGON_H
+       3             : #define MRS_LIB_POLYGON_H
+       4             : 
+       5             : #include <ros/ros.h>
+       6             : #include <eigen3/Eigen/Eigen>
+       7             : #include <vector>
+       8             : #include <geometry_msgs/Point.h>
+       9             : #include <mrs_lib/safety_zone/line_operations.h>
+      10             : 
+      11             : namespace mrs_lib
+      12             : {
+      13             : class Polygon {
+      14             : public:
+      15             :   Polygon(const Eigen::MatrixXd vertices);
+      16             : 
+      17             :   bool isPointInside(const double px, const double py);
+      18             :   bool doesSectionIntersect(const double startX, const double startY, const double endX, const double endY);
+      19             :   bool isClockwise();
+      20             :   void inflateSelf(double amount);
+      21             : 
+      22             :   std::vector<geometry_msgs::Point> getPointMessageVector(const double z);
+      23             : 
+      24             : private:
+      25             :   Eigen::MatrixXd vertices;
+      26             : 
+      27             : public:
+      28             :   // exceptions
+      29             :   struct WrongNumberOfVertices : public std::exception
+      30             :   {
+      31           0 :     const char* what() const throw() {
+      32           0 :       return "Polygon: wrong number of vertices was supplied!";
+      33             :     }
+      34             :   };
+      35             : 
+      36             :   struct WrongNumberOfColumns : public std::exception
+      37             :   {
+      38           0 :     const char* what() const throw() {
+      39           0 :       return "Polygon: wrong number of colums, it should be =2!";
+      40             :     }
+      41             :   };
+      42             : 
+      43             :   struct ExtraVertices : public std::exception
+      44             :   {
+      45           0 :     const char* what() const throw() {
+      46           0 :       return "Polygon: useless vertices detected, polygon methods may break!";
+      47             :     }
+      48             :   };
+      49             : };
+      50             : }  // namespace mrs_lib
+      51             : 
+      52             : #endif  // MRS_LIB_POLYGON_H
+
+
+
+ + + + +
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+ + + diff --git a/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.overview.html b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.overview.html new file mode 100644 index 0000000000..3a568cf9a5 --- /dev/null +++ b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.overview.html @@ -0,0 +1,33 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/safety_zone/polygon.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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mrs_lib::SafetyZone::BorderError::what() const0
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mrs_lib::SafetyZone::BorderError::what() const0
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+
          Line data    Source code
+
+       1             : // clang: TomasFormat
+       2             : #ifndef MRS_LIB_SAFETYZONE_H
+       3             : #define MRS_LIB_SAFETYZONE_H
+       4             : 
+       5             : #include <mrs_lib/safety_zone/polygon.h>
+       6             : #include <visualization_msgs/Marker.h>
+       7             : #include <eigen3/Eigen/Eigen>
+       8             : #include <vector>
+       9             : 
+      10             : namespace mrs_lib
+      11             : {
+      12             : class SafetyZone {
+      13             : public:
+      14             :   SafetyZone(Polygon outerBorder);
+      15             :   ~SafetyZone();
+      16             : 
+      17             :   SafetyZone(const Eigen::MatrixXd& outerBorderMatrix);
+      18             : 
+      19             :   bool isPointValid(const double px, const double py);
+      20             :   bool isPathValid(const double p1x, const double p1y, const double p2x, const double p2y);
+      21             : 
+      22             :   Polygon getBorder();
+      23             : 
+      24             : private:
+      25             :   Polygon* outerBorder;
+      26             : 
+      27             : public:
+      28             :   struct BorderError : public std::exception
+      29             :   {
+      30           0 :     const char* what() const throw() {
+      31           0 :       return "SafeZone: Wrong configuration for the border";
+      32             :     }
+      33             :   };
+      34             : };
+      35             : }  // namespace mrs_lib
+      36             : 
+      37             : #endif  // MRS_LIB_SAFETYZONE_H
+
+
+
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+ + + diff --git a/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.overview.html b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.overview.html new file mode 100644 index 0000000000..20ffd7de34 --- /dev/null +++ b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.overview.html @@ -0,0 +1,30 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/safety_zone/safety_zone.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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mrs_lib::ScopeTimerLogger::loggingEnabled()0
mrs_lib::ScopeTimerLogger::shouldLog()0
mrs_lib::ScopeTimer::time_point::time_point(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)5763907
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+ + + diff --git a/mrs_lib/include/mrs_lib/scope_timer.h.func.html b/mrs_lib/include/mrs_lib/scope_timer.h.func.html new file mode 100644 index 0000000000..9d2b1b51df --- /dev/null +++ b/mrs_lib/include/mrs_lib/scope_timer.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/scope_timer.h - functions + + + + + + + + + + + + + + +
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mrs_lib::ScopeTimer::time_point::time_point(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)5763907
mrs_lib::ScopeTimerLogger::loggingEnabled()0
mrs_lib::ScopeTimerLogger::shouldLog()0
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+
          Line data    Source code
+
+       1             : /**  \file
+       2             :  *   \brief Simple timer which times a duration of its scope, with additional optional checkpoints.
+       3             :  *   \author Daniel Hert - hertdani@fel.cvut.cz
+       4             :  */
+       5             : #ifndef SCOPE_TIMER_H
+       6             : #define SCOPE_TIMER_H
+       7             : 
+       8             : #include <ros/ros.h>
+       9             : #include <chrono>
+      10             : #include <iostream>
+      11             : #include <fstream>
+      12             : #include <iomanip>
+      13             : #include <mutex>
+      14             : /* #include <ctime> */
+      15             : 
+      16             : namespace mrs_lib
+      17             : {
+      18             : 
+      19             : /*//{ ScopeTimerLogger class */
+      20             : 
+      21             : /**
+      22             :  * @brief Simple file logger of scope timer and its checkpoints
+      23             :  */
+      24             : class ScopeTimerLogger {
+      25             : 
+      26             : public:
+      27             :   /**
+      28             :    * @brief The basic constructor with a user-defined path to the logger file, enable flag and float-logging precision
+      29             :    */
+      30             :   ScopeTimerLogger(const std::string& logfile, const bool enable_logging = true, const int log_precision = 10);
+      31             : 
+      32             :   /**
+      33             :    * @brief The basic destructor which closes the logging file
+      34             :    */
+      35             :   ~ScopeTimerLogger();
+      36             : 
+      37             :   /**
+      38             :    * @brief Returns true if a non-empty path to a logger file was given by the user
+      39             :    */
+      40           0 :   bool shouldLog() {
+      41           0 :     return _should_log_;
+      42             :   }
+      43             : 
+      44             :   /**
+      45             :    * @brief Returns true if the enable flag was set to true, a non-empty path to a logger file was given by the user and the logger file stream was successfully
+      46             :    * opened.
+      47             :    */
+      48           0 :   bool loggingEnabled() {
+      49           0 :     return _logging_enabled_;
+      50             :   }
+      51             : 
+      52             :   /**
+      53             :    * @brief Returns the path to the log.
+      54             :    */
+      55             :   std::string getLogFilepath() {
+      56             :     return _log_filepath_;
+      57             :   }
+      58             : 
+      59             :   using chrono_tp = std::chrono::time_point<std::chrono::steady_clock>;
+      60             : 
+      61             :   /**
+      62             :    * @brief Writes the time data of the given scope and empty checkpoints into the logger stream.
+      63             :    */
+      64             :   void log(const std::string& scope, const chrono_tp& time_start, const chrono_tp& time_end);
+      65             : 
+      66             :   /**
+      67             :    * @brief Writes the time data of the given scope and checkpoint labels into the logger stream.
+      68             :    */
+      69             :   void log(const std::string& scope, const std::string& label_from, const std::string& label_to, const chrono_tp& time_start, const chrono_tp& time_end);
+      70             : 
+      71             : private:
+      72             :   bool          _logging_enabled_ = false;
+      73             :   bool          _should_log_      = false;
+      74             :   std::string   _log_filepath_;
+      75             :   std::ofstream _logstream_;
+      76             :   std::mutex    _mutex_logstream_;
+      77             : };
+      78             : 
+      79             : /*//}*/
+      80             : 
+      81             : /**
+      82             :  * @brief Simple timer which will time a duration of a scope and checkpoints inside the scope in ros time and std::chrono time.
+      83             :  */
+      84             : class ScopeTimer {
+      85             : public:
+      86             :   /* time_point() helper struct //{ */
+      87             :   struct time_point
+      88             :   {
+      89             :     using chrono_tp = std::chrono::time_point<std::chrono::steady_clock>;
+      90             : 
+      91             :   public:
+      92     5763907 :     time_point(const std::string& label) : ros_time(ros::Time::now()), chrono_time(std::chrono::steady_clock::now()), label(label) {
+      93     5763419 :     }
+      94             : 
+      95             :     time_point(const std::string& label, const ros::Time& ros_time) : ros_time(ros_time), label(label) {
+      96             :       // helper types to make the code slightly more readable
+      97             :       using float_seconds   = std::chrono::duration<float>;
+      98             :       using chrono_duration = std::chrono::steady_clock::duration;
+      99             :       // prepare ros and chrono current times to minimize their difference
+     100             :       const auto ros_now    = ros::Time::now();
+     101             :       const auto chrono_now = std::chrono::steady_clock::now();
+     102             :       // calculate how old is ros_time
+     103             :       const auto ros_dt = ros_now - ros_time;
+     104             :       // cast ros_dt to chrono type
+     105             :       const auto chrono_dt = std::chrono::duration_cast<chrono_duration>(float_seconds(ros_dt.toSec()));
+     106             :       // calculate ros_time in chrono time and set it to chrono_time
+     107             :       chrono_time = chrono_now - chrono_dt;
+     108             :     }
+     109             : 
+     110             :     ros::Time   ros_time;
+     111             :     chrono_tp   chrono_time;
+     112             :     std::string label;
+     113             :   };
+     114             :   //}
+     115             : 
+     116             : public:
+     117             :   /**
+     118             :    * @brief The basic constructor with a user-defined label of the timer, throttled period and file logger.
+     119             :    */
+     120             :   ScopeTimer(const std::string& label, const ros::Duration& throttle_period = ros::Duration(0), const bool enable = true,
+     121             :              const std::shared_ptr<ScopeTimerLogger> scope_timer_logger = nullptr);
+     122             : 
+     123             :   /**
+     124             :    * @brief The basic constructor with a user-defined label of the timer and a pre-start time, which will also be measured.
+     125             :    */
+     126             :   ScopeTimer(const std::string& label, const time_point& tp0, const ros::Duration& throttle_period = ros::Duration(0), const bool enable = true,
+     127             :              const std::shared_ptr<ScopeTimerLogger> scope_timer_logger = nullptr);
+     128             : 
+     129             :   /**
+     130             :    * @brief The basic constructor with a user-defined label of the timer and file logger.
+     131             :    */
+     132             :   ScopeTimer(const std::string& label, const std::shared_ptr<ScopeTimerLogger> scope_timer_logger, const bool enable = true);
+     133             : 
+     134             :   /**
+     135             :    * @brief Checkpoint, prints the time passed until the point this function is called.
+     136             :    */
+     137             :   void checkpoint(const std::string& label);
+     138             : 
+     139             :   /**
+     140             :    * @brief Getter for scope timer lifetime
+     141             :    *
+     142             :    * @return lifetime as floating point milliseconds
+     143             :    */
+     144             :   float getLifetime();
+     145             : 
+     146             :   /**
+     147             :    * @brief The basic destructor which prints out or logs the scope times, if enabled.
+     148             :    */
+     149             :   ~ScopeTimer();
+     150             : 
+     151             : private:
+     152             :   std::string             _timer_label_;
+     153             :   bool                    _enable_print_or_log;
+     154             :   ros::Duration           _throttle_period_;
+     155             :   std::vector<time_point> checkpoints;
+     156             : 
+     157             :   std::shared_ptr<ScopeTimerLogger> _logger_ = nullptr;
+     158             : 
+     159             :   static std::unordered_map<std::string, ros::Time> last_print_times;
+     160             : };
+     161             : 
+     162             : }  // namespace mrs_lib
+     163             : 
+     164             : #endif
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ServiceClientHandler<mrs_msgs::ConstraintsOverride>::ServiceClientHandler()1
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ConstraintsOverride>::~ServiceClientHandler_impl()1
mrs_lib::ServiceClientHandler<mrs_msgs::Float64Srv>::ServiceClientHandler()2
mrs_lib::ServiceClientHandler<mrs_msgs::ConstraintsOverride>::~ServiceClientHandler()2
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Float64Srv>::~ServiceClientHandler_impl()2
mrs_lib::ServiceClientHandler<mrs_msgs::Float64Srv>::~ServiceClientHandler()4
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler()108
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler()108
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler_impl()108
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::~ServiceClientHandler_impl()108
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler()110
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler_impl()110
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler()216
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::~ServiceClientHandler()216
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler()220
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler()324
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::~ServiceClientHandler_impl()324
mrs_lib::ServiceClientHandler<mrs_msgs::String>::~ServiceClientHandler()648
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler()650
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::~ServiceClientHandler_impl()650
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::ServiceClientHandler()1182
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::~ServiceClientHandler_impl()1182
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::~ServiceClientHandler()1300
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::~ServiceClientHandler()2256
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/service_client_handler.h.func.html b/mrs_lib/include/mrs_lib/service_client_handler.h.func.html new file mode 100644 index 0000000000..19092572bb --- /dev/null +++ b/mrs_lib/include/mrs_lib/service_client_handler.h.func.html @@ -0,0 +1,176 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/service_client_handler.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - service_client_handler.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:33100.0 %
Date:2024-08-07 22:18:19Functions:2424100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ServiceClientHandler<mrs_msgs::Float64Srv>::ServiceClientHandler()2
mrs_lib::ServiceClientHandler<mrs_msgs::Float64Srv>::~ServiceClientHandler()4
mrs_lib::ServiceClientHandler<mrs_msgs::ConstraintsOverride>::ServiceClientHandler()1
mrs_lib::ServiceClientHandler<mrs_msgs::ConstraintsOverride>::~ServiceClientHandler()2
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler()110
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler()220
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler()108
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler()216
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler()108
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::~ServiceClientHandler()216
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler()324
mrs_lib::ServiceClientHandler<mrs_msgs::String>::~ServiceClientHandler()648
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler()650
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::~ServiceClientHandler()1300
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::ServiceClientHandler()1182
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::~ServiceClientHandler()2256
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Float64Srv>::~ServiceClientHandler_impl()2
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ConstraintsOverride>::~ServiceClientHandler_impl()1
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler_impl()110
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler_impl()108
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::~ServiceClientHandler_impl()108
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::~ServiceClientHandler_impl()324
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::~ServiceClientHandler_impl()650
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::~ServiceClientHandler_impl()1182
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+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/service_client_handler.h.gcov.frameset.html b/mrs_lib/include/mrs_lib/service_client_handler.h.gcov.frameset.html new file mode 100644 index 0000000000..6bee985b3e --- /dev/null +++ b/mrs_lib/include/mrs_lib/service_client_handler.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/service_client_handler.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/service_client_handler.h.gcov.html b/mrs_lib/include/mrs_lib/service_client_handler.h.gcov.html new file mode 100644 index 0000000000..430f94a2f1 --- /dev/null +++ b/mrs_lib/include/mrs_lib/service_client_handler.h.gcov.html @@ -0,0 +1,327 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/service_client_handler.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - service_client_handler.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:33100.0 %
Date:2024-08-07 22:18:19Functions:2424100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /**  \file
+       2             :      \brief Defines ServiceClientHandler and related convenience classes for upgrading the ROS service client
+       3             :      \author Tomas Baca - tomas.baca@fel.cvut.cz
+       4             :  */
+       5             : #ifndef SERVICE_CLIENT_HANDLER_H
+       6             : #define SERVICE_CLIENT_HANDLER_H
+       7             : 
+       8             : #include <ros/ros.h>
+       9             : #include <ros/package.h>
+      10             : 
+      11             : #include <string>
+      12             : #include <future>
+      13             : #include <mutex>
+      14             : 
+      15             : namespace mrs_lib
+      16             : {
+      17             : 
+      18             : /* class ServiceClientHandler_impl //{ */
+      19             : 
+      20             : /**
+      21             :  * @brief implementation of the service client handler
+      22             :  */
+      23             : template <class ServiceType>
+      24             : class ServiceClientHandler_impl {
+      25             : 
+      26             : public:
+      27             :   /**
+      28             :    * @brief default constructor
+      29             :    */
+      30             :   ServiceClientHandler_impl(void);
+      31             : 
+      32             :   /**
+      33             :    * @brief default destructor
+      34             :    */
+      35        2485 :   ~ServiceClientHandler_impl(void){};
+      36             : 
+      37             :   /**
+      38             :    * @brief constructor
+      39             :    *
+      40             :    * @param nh ROS node handler
+      41             :    * @param address service address
+      42             :    */
+      43             :   ServiceClientHandler_impl(ros::NodeHandle& nh, const std::string& address);
+      44             : 
+      45             :   /**
+      46             :    * @brief "classic" synchronous service call
+      47             :    *
+      48             :    * @param srv data
+      49             :    *
+      50             :    * @return true when success
+      51             :    */
+      52             :   bool call(ServiceType& srv);
+      53             : 
+      54             :   /**
+      55             :    * @brief "classic" synchronous service call with repeats after an error
+      56             :    *
+      57             :    * @param srv data
+      58             :    * @param attempts how many attempts for the call
+      59             :    *
+      60             :    * @return  true when success
+      61             :    */
+      62             :   bool call(ServiceType& srv, const int& attempts);
+      63             : 
+      64             :   /**
+      65             :    * @brief "classic" synchronous service call with repeats after an error
+      66             :    *
+      67             :    * @param srv data
+      68             :    * @param attempts how many attempts for the call
+      69             :    * @param repeat_delay how long to wait before repeating the call
+      70             :    *
+      71             :    * @return  true when success
+      72             :    */
+      73             :   bool call(ServiceType& srv, const int& attempts, const double& repeat_delay);
+      74             : 
+      75             :   /**
+      76             :    * @brief asynchronous service call
+      77             :    *
+      78             :    * @param srv data
+      79             :    *
+      80             :    * @return future result
+      81             :    */
+      82             :   std::future<ServiceType> callAsync(ServiceType& srv);
+      83             : 
+      84             :   /**
+      85             :    * @brief asynchronous service call with repeates after an error
+      86             :    *
+      87             :    * @param srv data
+      88             :    * @param attempts how many attempts for the call
+      89             :    *
+      90             :    * @return future result
+      91             :    */
+      92             :   std::future<ServiceType> callAsync(ServiceType& srv, const int& attempts);
+      93             : 
+      94             :   /**
+      95             :    * @brief asynchronous service call with repeates after an error
+      96             :    *
+      97             :    * @param srv data
+      98             :    * @param attempts how many attempts for the call
+      99             :    * @param repeat_delay how long to wait before repeating the call
+     100             :    *
+     101             :    * @return future result
+     102             :    */
+     103             :   std::future<ServiceType> callAsync(ServiceType& srv, const int& attempts, const double& repeat_delay);
+     104             : 
+     105             : private:
+     106             :   ros::ServiceClient service_client_;
+     107             :   std::mutex         mutex_service_client_;
+     108             :   std::atomic<bool>  service_initialized_;
+     109             : 
+     110             :   std::string _address_;
+     111             : 
+     112             :   ServiceType async_data_;
+     113             :   int         async_attempts_;
+     114             :   double      async_repeat_delay_;
+     115             :   std::mutex  mutex_async_;
+     116             : 
+     117             :   ServiceType asyncRun(void);
+     118             : };
+     119             : 
+     120             : //}
+     121             : 
+     122             : /* class ServiceClientHandler //{ */
+     123             : 
+     124             : /**
+     125             :  * @brief user wrapper of the service client handler implementation
+     126             :  */
+     127             : template <class ServiceType>
+     128             : class ServiceClientHandler {
+     129             : 
+     130             : public:
+     131             :   /**
+     132             :    * @brief generic constructor
+     133             :    */
+     134        2485 :   ServiceClientHandler(void){};
+     135             : 
+     136             :   /**
+     137             :    * @brief generic destructor
+     138             :    */
+     139        4862 :   ~ServiceClientHandler(void){};
+     140             : 
+     141             :   /**
+     142             :    * @brief operator=
+     143             :    *
+     144             :    * @param other
+     145             :    *
+     146             :    * @return
+     147             :    */
+     148             :   ServiceClientHandler& operator=(const ServiceClientHandler& other);
+     149             : 
+     150             :   /**
+     151             :    * @brief copy constructor
+     152             :    *
+     153             :    * @param other
+     154             :    */
+     155             :   ServiceClientHandler(const ServiceClientHandler& other);
+     156             : 
+     157             :   /**
+     158             :    * @brief constructor
+     159             :    *
+     160             :    * @param nh ROS node handler
+     161             :    * @param address service address
+     162             :    */
+     163             :   ServiceClientHandler(ros::NodeHandle& nh, const std::string& address);
+     164             : 
+     165             :   /**
+     166             :    * @brief initializer
+     167             :    *
+     168             :    * @param nh ROS node handler
+     169             :    * @param address service address
+     170             :    */
+     171             :   void initialize(ros::NodeHandle& nh, const std::string& address);
+     172             : 
+     173             :   /**
+     174             :    * @brief "standard" synchronous call
+     175             :    *
+     176             :    * @param srv data
+     177             :    *
+     178             :    * @return true when success
+     179             :    */
+     180             :   bool call(ServiceType& srv);
+     181             : 
+     182             :   /**
+     183             :    * @brief "standard" synchronous call with repeats after failure
+     184             :    *
+     185             :    * @param srv data
+     186             :    * @param attempts how many attempts for the call
+     187             :    *
+     188             :    * @return true when success
+     189             :    */
+     190             :   bool call(ServiceType& srv, const int& attempts);
+     191             : 
+     192             :   /**
+     193             :    * @brief "standard" synchronous call with repeats after failure
+     194             :    *
+     195             :    * @param srv data
+     196             :    * @param attempts how many attempts for the call
+     197             :    * @param repeat_delay how long to wait before repeating the call
+     198             :    *
+     199             :    * @return true when success
+     200             :    */
+     201             :   bool call(ServiceType& srv, const int& attempts, const double& repeat_delay);
+     202             : 
+     203             :   /**
+     204             :    * @brief asynchronous call
+     205             :    *
+     206             :    * @param srv data
+     207             :    *
+     208             :    * @return future result
+     209             :    */
+     210             :   std::future<ServiceType> callAsync(ServiceType& srv);
+     211             : 
+     212             :   /**
+     213             :    * @brief asynchronous call with repeats after failure
+     214             :    *
+     215             :    * @param srv data
+     216             :    * @param attempts how many attemps for the call
+     217             :    *
+     218             :    * @return future result
+     219             :    */
+     220             :   std::future<ServiceType> callAsync(ServiceType& srv, const int& attempts);
+     221             : 
+     222             :   /**
+     223             :    * @brief asynchronous call with repeats after failure
+     224             :    *
+     225             :    * @param srv data
+     226             :    * @param attempts how many attemps for the call
+     227             :    * @param repeat_delay how long to wait before repeating the call
+     228             :    *
+     229             :    * @return future result
+     230             :    */
+     231             :   std::future<ServiceType> callAsync(ServiceType& srv, const int& attempts, const double& repeat_delay);
+     232             : 
+     233             : private:
+     234             :   std::shared_ptr<ServiceClientHandler_impl<ServiceType>> impl_;
+     235             : };
+     236             : 
+     237             : //}
+     238             : 
+     239             : }  // namespace mrs_lib
+     240             : 
+     241             : #include <mrs_lib/impl/service_client_handler.hpp>
+     242             : 
+     243             : #endif  // SERVICE_CLIENT_HANDLER_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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Date:2024-08-07 22:18:19Functions:39481848.2 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::ProcTfToWorld<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::ProcTfToWorld<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::ProcTfToWorld<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::ProcTfToWorld<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::start()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >&&)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::TfMappingOrigin>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::start()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::TfMappingOrigin>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::control_manager::ControlManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::ProcTfToWorld<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::ProcTfToWorld<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)>(mrs_lib::SubscribeHandlerOptions const&, std::function<void (std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)> const&, void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>))1
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (*)(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&), void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (*)(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&), void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>))1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<Tester>(mrs_lib::SubscribeHandlerOptions const&, void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*)1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*)1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::topicName[abi:cxx11]() const1
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)>(mrs_lib::SubscribeHandlerOptions const&, std::function<void (std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)> const&, void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>))::{lambda()#1}::operator()() const1
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (*)(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&), void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (*)(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&), void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>))::{lambda()#1}::operator()() const1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*)::{lambda()#1}::operator()() const1
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const2
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::getMsg()3
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::getMsg()3
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)3
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::transform_manager::TransformManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)3
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)::{lambda()#1}::operator()() const3
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)4
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)4
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)4
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)4
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const4
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const4
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::stop()5
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::getMsg()5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::lastMsgTime() const5
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::hasMsg() const6
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::lastMsgTime() const7
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::start()9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)> const&)9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >&&)9
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::start()10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >&&)10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)> const&)10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler<mrs_uav_trackers::mpc_tracker::MpcTracker>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::start()10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >&&)10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)> const&)10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler<mrs_uav_trackers::mpc_tracker::MpcTracker>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)::{lambda()#1}::operator()() const10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)::{lambda()#1}::operator()() const10
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::hasMsg() const16
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~SubscribeHandler()20
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()20
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::getMsg()21
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::start()31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)> const&)31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >&&)31
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)31
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*)31
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler<mrs_uav_autostart::automatic_start::AutomaticStart>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*)31
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*)31
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler<mrs_uav_autostart::automatic_start::AutomaticStart>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*)31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::start()31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const>)> const&)31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >&&)31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::start()31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>)> const&)31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler()31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*)31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler<mrs_uav_autostart::automatic_start::AutomaticStart>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*)31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >&&)31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const31
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const31
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*)::{lambda()#1}::operator()() const31
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*)::{lambda()#1}::operator()() const31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*)::{lambda()#1}::operator()() const31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()62
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()62
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::getMsg()89
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::hasMsg() const90
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const104
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const104
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)105
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::transform_manager::TransformManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)105
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)::{lambda()#1}::operator()() const105
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*)108
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::uav_manager::UavManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*)108
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::control_manager::ControlManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::control_manager::ControlManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)108
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::transform_manager::TransformManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::control_manager::ControlManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::transform_manager::TransformManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::transform_manager::TransformManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::SubscribeHandler()108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::control_manager::ControlManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::SubscribeHandler()108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::SubscribeHandler()108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::control_manager::ControlManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::SubscribeHandler()108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::SubscribeHandler()108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::speed_tracker::SpeedTracker::*)(boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const>), mrs_uav_trackers::speed_tracker::SpeedTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::speed_tracker::SpeedTracker::*)(boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const>), mrs_uav_trackers::speed_tracker::SpeedTracker*)108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::SubscribeHandler<mrs_uav_trackers::speed_tracker::SpeedTracker>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_trackers::speed_tracker::SpeedTracker::*)(boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const>), mrs_uav_trackers::speed_tracker::SpeedTracker*)108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::SubscribeHandler()108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::control_manager::ControlManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::SubscribeHandler()108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::SubscribeHandler()108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::control_manager::ControlManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler()108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler<mrs_uav_trajectory_generation::MrsTrajectoryGeneration>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)108
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::control_manager::ControlManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::transform_manager::TransformManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<mrs_uav_trajectory_generation::MrsTrajectoryGeneration>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)108
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*)108
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::uav_manager::UavManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*)108
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::speed_tracker::SpeedTracker::*)(boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const>), mrs_uav_trackers::speed_tracker::SpeedTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::speed_tracker::SpeedTracker::*)(boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const>), mrs_uav_trackers::speed_tracker::SpeedTracker*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)109
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::topicName[abi:cxx11]() const109
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::hasMsg() const109
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const109
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::ProcTfToWorld<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::ProcTfToWorld<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<2>*)111
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::ProcTfToWorld<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::ProcTfToWorld<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<2>*)111
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)111
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)111
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::ProcTfToWorld<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::ProcTfToWorld<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<2>*)::{lambda()#1}::operator()() const111
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const111
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)> const&)112
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >&&)112
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)112
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const112
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)115
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)115
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::HdgPassthrough::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::HdgPassthrough*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::HdgPassthrough::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::HdgPassthrough*)115
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)115
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::HdgPassthrough>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::HdgPassthrough::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::HdgPassthrough*)115
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::TfSource::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfSource*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::TfSource::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfSource*)115
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::HdgPassthrough::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::HdgPassthrough*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::HdgPassthrough::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::HdgPassthrough*)115
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::TfSource>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::TfSource::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfSource*)115
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::HdgPassthrough>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::HdgPassthrough::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::HdgPassthrough*)115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::start()115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const>)> const&)115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::SubscribeHandler()115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >&&)115
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const115
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const115
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::HdgPassthrough::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::HdgPassthrough*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::HdgPassthrough::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::HdgPassthrough*)::{lambda()#1}::operator()() const115
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::TfSource::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfSource*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::TfSource::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfSource*)::{lambda()#1}::operator()() const115
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::HdgPassthrough::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::HdgPassthrough*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::HdgPassthrough::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::HdgPassthrough*)::{lambda()#1}::operator()() const115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const115
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::start()116
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::TfSource::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfSource*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::TfSource::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfSource*)116
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::TfSource>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::TfSource::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfSource*)116
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::TfSource::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfSource*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::TfSource::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfSource*)::{lambda()#1}::operator()() const116
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const120
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::topicName[abi:cxx11]() const132
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)178
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)178
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const178
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::start()209
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)> const&)209
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >&&)209
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::lastMsgTime() const213
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::start()216
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const>)> const&)216
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::SubscribeHandler()216
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >&&)216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::start()216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const>)> const&)216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >&&)216
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::start()216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const>)> const&)216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::SubscribeHandler()216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >&&)216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const216
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::start()220
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>)> const&)220
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >&&)220
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::SubscribeHandler()224
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~SubscribeHandler()230
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::start()247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)> const&)247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler()247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >&&)247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler()247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >&&)247
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::lastMsgTime() const276
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)314
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::getMsg()314
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const314
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)324
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::start()324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)> const&)324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler()324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >&&)324
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const324
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const324
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::start()334
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)> const&)334
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >&&)334
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::start()349
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)> const&)349
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >&&)349
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::start()355
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const>)> const&)355
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::getMsg()380
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler()414
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::~SubscribeHandler()414
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::SubscribeHandler()414
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::~SubscribeHandler()414
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler()415
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::start()425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const>)> const&)425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::SubscribeHandler()425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >&&)425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const425
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::start()432
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)> const&)432
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >&&)432
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::~SubscribeHandler()432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::start()432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>)> const&)432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler()432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >&&)432
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~SubscribeHandler()432
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::~SubscribeHandler()432
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler()435
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::~SubscribeHandler()444
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler()445
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler()445
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::start()463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const>)> const&)463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::SubscribeHandler()463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >&&)463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::start()463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const>)> const&)463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >&&)463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const463
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::~SubscribeHandler()476
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::~SubscribeHandler()494
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler()522
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::~SubscribeHandler()527
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::~SubscribeHandler()531
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::~SubscribeHandler()602
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler()644
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::~SubscribeHandler()648
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::start()652
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)> const&)652
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >&&)652
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::~SubscribeHandler()654
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::getMsg()783
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::hasMsg() const783
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::getMsg()787
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~SubscribeHandler()850
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler()856
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~SubscribeHandler()864
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::~SubscribeHandler()867
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~SubscribeHandler()926
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()926
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::~SubscribeHandler()993
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::~SubscribeHandler()1190
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler()1481
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~SubscribeHandler()2133
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::hasMsg() const2713
mrs_lib::SubscribeHandlerOptions::SubscribeHandlerOptions()2808
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::getMsg()3737
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::getMsg()7230
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::getMsg()9530
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::hasMsg() const9530
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::getMsg()14719
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::hasMsg() const16992
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::hasMsg() const18166
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::hasMsg() const18397
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::hasMsg() const19030
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::getMsg()19138
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::hasMsg() const37264
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::getMsg()40374
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::lastMsgTime() const40374
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::getMsg()52046
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::hasMsg() const58609
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::hasMsg() const73083
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::getMsg()73372
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::hasMsg() const85519
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::hasMsg() const119158
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::hasMsg() const150091
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::getMsg()182255
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::hasMsg() const182261
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::getMsg()206801
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::lastMsgTime() const231216
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::getMsg()250084
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::hasMsg() const269211
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::hasMsg() const426703
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::getMsg()447420
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::lastMsgTime() const468373
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::newMsg() const580831
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::hasMsg() const581783
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::getMsg()658536
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::getMsg()804733
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::hasMsg() const1028793
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/subscribe_handler.h.func.html b/mrs_lib/include/mrs_lib/subscribe_handler.h.func.html new file mode 100644 index 0000000000..5d7790ddad --- /dev/null +++ b/mrs_lib/include/mrs_lib/subscribe_handler.h.func.html @@ -0,0 +1,3352 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/subscribe_handler.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - subscribe_handler.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:445186.3 %
Date:2024-08-07 22:18:19Functions:39481848.2 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::start()432
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)> const&)432
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler()435
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*)108
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)105
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::ProcTfToWorld<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::ProcTfToWorld<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::ProcTfToWorld<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::ProcTfToWorld<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<2>*)111
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::uav_manager::UavManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*)108
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::control_manager::ControlManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::transform_manager::TransformManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)105
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::ProcTfToWorld<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::ProcTfToWorld<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::ProcTfToWorld<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::ProcTfToWorld<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<2>*)111
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::~SubscribeHandler()867
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >&&)432
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::start()31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::getMsg()9530
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)> const&)31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler()445
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::~SubscribeHandler()476
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >&&)31
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::start()216
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const>)> const&)216
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::SubscribeHandler()216
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::control_manager::ControlManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::~SubscribeHandler()432
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >&&)216
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::start()209
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::getMsg()14719
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)> const&)209
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler()445
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)31
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)178
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)178
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::~SubscribeHandler()654
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >&&)209
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::start()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler()414
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::~SubscribeHandler()414
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >&&)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::stop()5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::start()116
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::getMsg()3737
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)> const&)112
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler()415
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)111
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)>(mrs_lib::SubscribeHandlerOptions const&, std::function<void (std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)> const&, void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>))1
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (*)(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&), void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (*)(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&), void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>))1
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)111
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::~SubscribeHandler()527
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >&&)112
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::start()349
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::getMsg()206801
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)> const&)349
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler()644
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)115
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)115
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)4
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::HdgPassthrough::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::HdgPassthrough*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::HdgPassthrough::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::HdgPassthrough*)115
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)115
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)4
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::HdgPassthrough>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::HdgPassthrough::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::HdgPassthrough*)115
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::~SubscribeHandler()993
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >&&)349
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::start()652
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::getMsg()804733
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)> const&)652
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler()1481
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)314
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)108
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::TfSource::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfSource*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::TfSource::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfSource*)115
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::HdgPassthrough::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::HdgPassthrough*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::HdgPassthrough::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::HdgPassthrough*)115
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::TfMappingOrigin>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::transform_manager::TransformManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)108
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::TfSource>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::TfSource::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfSource*)115
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::HdgPassthrough>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::HdgPassthrough::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::HdgPassthrough*)115
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~SubscribeHandler()2133
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >&&)652
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::start()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::SubscribeHandler()414
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::~SubscribeHandler()414
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::start()247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::getMsg()314
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)> const&)247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler()247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*)31
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::control_manager::ControlManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler<mrs_uav_autostart::automatic_start::AutomaticStart>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*)31
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::~SubscribeHandler()494
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >&&)247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::start()220
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::getMsg()182255
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>)> const&)220
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::SubscribeHandler()224
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)112
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::transform_manager::TransformManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::~SubscribeHandler()444
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >&&)220
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::start()425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::getMsg()447420
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const>)> const&)425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::SubscribeHandler()425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~SubscribeHandler()850
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >&&)425
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::start()432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::getMsg()52046
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>)> const&)432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler()432
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)324
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::transform_manager::TransformManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~SubscribeHandler()864
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >&&)432
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::start()216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::getMsg()787
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const>)> const&)216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)216
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~SubscribeHandler()432
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >&&)216
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::start()115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const>)> const&)115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::SubscribeHandler()115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)115
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~SubscribeHandler()230
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >&&)115
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::getMsg()783
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::SubscribeHandler()108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::control_manager::ControlManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::getMsg()380
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::SubscribeHandler()108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::start()10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >&&)10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)> const&)10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler<mrs_uav_trackers::mpc_tracker::MpcTracker>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~SubscribeHandler()20
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::SubscribeHandler()108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::control_manager::ControlManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::start()355
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::getMsg()19138
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const>)> const&)355
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler()247
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)324
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*)31
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler<mrs_uav_autostart::automatic_start::AutomaticStart>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*)31
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::~SubscribeHandler()602
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >&&)247
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::getMsg()21
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::SubscribeHandler()108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::SubscribeHandler()108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::speed_tracker::SpeedTracker::*)(boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const>), mrs_uav_trackers::speed_tracker::SpeedTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::speed_tracker::SpeedTracker::*)(boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const>), mrs_uav_trackers::speed_tracker::SpeedTracker*)108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::SubscribeHandler<mrs_uav_trackers::speed_tracker::SpeedTracker>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_trackers::speed_tracker::SpeedTracker::*)(boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const>), mrs_uav_trackers::speed_tracker::SpeedTracker*)108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::SubscribeHandler()108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::control_manager::ControlManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::getMsg()5
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::SubscribeHandler()108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::start()463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::getMsg()73372
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const>)> const&)463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::SubscribeHandler()463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)463
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~SubscribeHandler()926
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >&&)463
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::start()10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >&&)10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)> const&)10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler<mrs_uav_trackers::mpc_tracker::MpcTracker>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()20
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::start()31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const>)> const&)31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)31
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()62
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >&&)31
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::getMsg()3
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::start()31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>)> const&)31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler()31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*)31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler<mrs_uav_autostart::automatic_start::AutomaticStart>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*)31
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()62
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >&&)31
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::SubscribeHandler()108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::control_manager::ControlManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::start()463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::getMsg()658536
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const>)> const&)463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)463
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()926
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >&&)463
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::getMsg()3
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::start()108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>)> const&)108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler()108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler<mrs_uav_trajectory_generation::MrsTrajectoryGeneration>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::~SubscribeHandler()216
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >&&)108
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::start()9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::getMsg()89
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)> const&)9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler()522
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)3
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)4
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::transform_manager::TransformManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)3
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)4
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::~SubscribeHandler()531
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >&&)9
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::start()324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::getMsg()7230
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)> const&)324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler()324
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)108
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::control_manager::ControlManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::transform_manager::TransformManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)108
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<mrs_uav_trajectory_generation::MrsTrajectoryGeneration>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)108
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::~SubscribeHandler()648
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >&&)324
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::start()334
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::getMsg()250084
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)> const&)334
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler()856
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<Tester>(mrs_lib::SubscribeHandlerOptions const&, void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*)1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)109
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*)1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*)108
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::TfSource::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfSource*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::TfSource::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfSource*)116
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::uav_manager::UavManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*)108
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::TfMappingOrigin>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::control_manager::ControlManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::TfSource>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::TfSource::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfSource*)116
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::~SubscribeHandler()1190
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >&&)334
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::start()216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::getMsg()40374
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const>)> const&)216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::SubscribeHandler()216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)216
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::~SubscribeHandler()432
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >&&)216
mrs_lib::SubscribeHandlerOptions::SubscribeHandlerOptions()2808
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::hasMsg() const9530
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::hasMsg() const19030
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::lastMsgTime() const5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::hasMsg() const16992
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::hasMsg() const426703
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::hasMsg() const1028793
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::topicName[abi:cxx11]() const132
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::lastMsgTime() const213
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::hasMsg() const18397
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::hasMsg() const182261
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::lastMsgTime() const468373
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::hasMsg() const119158
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::newMsg() const580831
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::hasMsg() const73083
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::lastMsgTime() const7
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::hasMsg() const16
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::hasMsg() const783
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::lastMsgTime() const276
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::hasMsg() const2713
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::hasMsg() const37264
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::topicName[abi:cxx11]() const109
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::hasMsg() const6
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::hasMsg() const109
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::hasMsg() const85519
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::hasMsg() const18166
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const104
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::hasMsg() const150091
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const120
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const104
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::hasMsg() const90
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::lastMsgTime() const231216
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::hasMsg() const269211
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::hasMsg() const581783
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::topicName[abi:cxx11]() const1
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::lastMsgTime() const40374
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::hasMsg() const58609
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)::{lambda()#1}::operator()() const105
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::ProcTfToWorld<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::ProcTfToWorld<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::ProcTfToWorld<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::ProcTfToWorld<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<2>*)::{lambda()#1}::operator()() const111
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const31
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const31
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const178
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const111
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)>(mrs_lib::SubscribeHandlerOptions const&, std::function<void (std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)> const&, void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>))::{lambda()#1}::operator()() const1
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (*)(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&), void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (*)(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&), void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>))::{lambda()#1}::operator()() const1
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const115
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const115
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const4
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::HdgPassthrough::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::HdgPassthrough*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::HdgPassthrough::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::HdgPassthrough*)::{lambda()#1}::operator()() const115
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const314
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::TfSource::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfSource*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::TfSource::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfSource*)::{lambda()#1}::operator()() const115
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::HdgPassthrough::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::HdgPassthrough*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::HdgPassthrough::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::HdgPassthrough*)::{lambda()#1}::operator()() const115
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*)::{lambda()#1}::operator()() const31
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const112
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const425
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const324
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const216
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const115
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)::{lambda()#1}::operator()() const10
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const324
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*)::{lambda()#1}::operator()() const31
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::speed_tracker::SpeedTracker::*)(boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const>), mrs_uav_trackers::speed_tracker::SpeedTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::speed_tracker::SpeedTracker::*)(boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const>), mrs_uav_trackers::speed_tracker::SpeedTracker*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const463
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)::{lambda()#1}::operator()() const10
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const31
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*)::{lambda()#1}::operator()() const31
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const463
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)::{lambda()#1}::operator()() const3
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const4
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const109
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*)::{lambda()#1}::operator()() const1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*)::{lambda()#1}::operator()() const108
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::TfSource::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfSource*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::TfSource::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfSource*)::{lambda()#1}::operator()() const116
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const216
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.frameset.html b/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.frameset.html new file mode 100644 index 0000000000..9acc9fca74 --- /dev/null +++ b/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/subscribe_handler.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.html b/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.html new file mode 100644 index 0000000000..e6421feac3 --- /dev/null +++ b/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.html @@ -0,0 +1,563 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/subscribe_handler.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - subscribe_handler.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:445186.3 %
Date:2024-08-07 22:18:19Functions:39481848.2 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : /**  \file
+       3             :      \brief Defines SubscribeHandler and related convenience classes for subscribing to ROS topics.
+       4             :      \author Matouš Vrba - vrbamato@fel.cvut.cz
+       5             :  */
+       6             : 
+       7             : #ifndef SUBRSCRIBE_HANDLER_H
+       8             : #define SUBRSCRIBE_HANDLER_H
+       9             : 
+      10             : #include <ros/ros.h>
+      11             : #include <mrs_lib/timeout_manager.h>
+      12             : 
+      13             : namespace mrs_lib
+      14             : {
+      15             : 
+      16             :   static const ros::Duration no_timeout = ros::Duration(0);
+      17             : 
+      18             :   /* struct SubscribeHandlerOptions //{ */
+      19             :   
+      20             :   /**
+      21             :   * \brief A helper class to simplify setup of SubscribeHandler construction.
+      22             :   * This class is passed to the SubscribeHandler constructor and specifies its common options.
+      23             :   *
+      24             :   * \note Any option, passed directly to the SubscribeHandler constructor outside this structure, *OVERRIDES* values in this structure.
+      25             :   * The values in this structure can be thought of as default common values for all SubscribeHandler objects you want to create,
+      26             :   * and values passed directly to the constructor as specific options for the concrete handler.
+      27             :   *
+      28             :   */
+      29             :   struct SubscribeHandlerOptions
+      30             :   {
+      31             :     SubscribeHandlerOptions(const ros::NodeHandle& nh) : nh(nh) {}
+      32        2808 :     SubscribeHandlerOptions() = default;
+      33             :   
+      34             :     ros::NodeHandle nh;  /*!< \brief The ROS NodeHandle to be used for subscription. */
+      35             :   
+      36             :     std::string node_name = {};  /*!< \brief Name of the ROS node, using this handle (used for messages printed to console). */
+      37             :   
+      38             :     std::string topic_name = {};  /*!< \brief Name of the ROS topic to be handled. */
+      39             : 
+      40             :     std::shared_ptr<mrs_lib::TimeoutManager> timeout_manager = nullptr;  /*!< \brief Will be used for handling message timouts if necessary. If no manager is specified, it will be created with rate equal to half of \p no_message_timeout. */
+      41             :   
+      42             :     ros::Duration no_message_timeout = mrs_lib::no_timeout;  /*!< \brief If no new message is received for this duration, the \p timeout_callback function will be called. If \p timeout_callback is empty, an error message will be printed to the console. */
+      43             :   
+      44             :     std::function<void(const std::string& topic_name, const ros::Time& last_msg)> timeout_callback = {};  /*!< \brief This function will be called if no new message is received for the \p no_message_timeout duration. If this variable is empty, an error message will be printed to the console. */
+      45             :   
+      46             :     bool threadsafe = true;  /*!< \brief If true, all methods of the SubscribeHandler will be mutexed (using a recursive mutex) to avoid data races. */
+      47             :   
+      48             :     bool autostart = true;  /*!< \brief If true, the SubscribeHandler will be started after construction. Otherwise it has to be started using the start() method */
+      49             :   
+      50             :     uint32_t queue_size = 3;  /*!< \brief This parameter is passed to the NodeHandle when subscribing to the topic */
+      51             :   
+      52             :     ros::TransportHints transport_hints = ros::TransportHints();  /*!< \brief This parameter is passed to the NodeHandle when subscribing to the topic */
+      53             :   };
+      54             :   
+      55             :   //}
+      56             : 
+      57             :   /* SubscribeHandler class //{ */
+      58             :   /**
+      59             :   * \brief The main class for ROS topic subscription, message timeout handling etc.
+      60             :   *
+      61             :   * This class handles the raw ROS Subscriber for a specified topic. The last message received on the topic is remembered
+      62             :   * and may be retrieved by calling the getMsg() method. To check whether at least one message was received, use hasMsg()
+      63             :   * (if no message was received and you call getMsg(), a nullptr is returned and an error message is printed). To check
+      64             :   * whether a new message has arrived since the last call to getMsg(), use newMsg() (useful to check whether a new message
+      65             :   * needs to be processed in a loop or ROS Timer callback).
+      66             :   *
+      67             :   * A timeout callback function may be specified, which is called if no message is received on the topic for a specified
+      68             :   * timeout (use the \p timeout_callback and \p no_message_timeout parameters). If the timeout callback is not set by the
+      69             :   * user, an error message is printed to the console after the timeout by default.
+      70             :   *
+      71             :   * A message callback function may be specified, which is called whenever a new message is received (use the
+      72             :   * \p message_callback parameter).
+      73             :   *
+      74             :   * The callbacks and timeouts may be stopped and started using the stop() and start() methods.
+      75             :   *
+      76             :   * For more details, see the example below (I recommend starting with the simple_example which covers most use-cases).
+      77             :   *
+      78             :   */
+      79             :   template <typename MessageType>
+      80             :   class SubscribeHandler
+      81             :   {
+      82             :     public:
+      83             :     /*!
+      84             :       * \brief Convenience type for the template parameter to enable nice aliasing.
+      85             :       */
+      86             :       using message_type = MessageType;
+      87             : 
+      88             :     /*!
+      89             :       * \brief Type for the timeout callback function.
+      90             :       */
+      91             :       using timeout_callback_t = std::function<void(const std::string& topic_name, const ros::Time& last_msg)>;
+      92             : 
+      93             :     /*!
+      94             :       * \brief Convenience type for the message callback function.
+      95             :       */
+      96             :       using message_callback_t = std::function<void(typename MessageType::ConstPtr)>;
+      97             : 
+      98             :     public:
+      99             :     /*!
+     100             :       * \brief Returns the last received message on the topic, handled by this SubscribeHandler.
+     101             :       * Use hasMsg() first to check if at least one message is available or newMsg() to check if a new message
+     102             :       * since the last call to getMsg() is available.
+     103             :       *
+     104             :       * \return the last received message.
+     105             :       */
+     106     2772360 :       virtual typename MessageType::ConstPtr getMsg() {assert(m_pimpl); return m_pimpl->getMsg();};
+     107             : 
+     108             :     /*!
+     109             :       * \brief Returns the last received message on the topic without modifying the newMsg() or usedMsg() flags.
+     110             :       *
+     111             :       * \return the last received message.
+     112             :       */
+     113           0 :       virtual typename MessageType::ConstPtr peekMsg() const {assert(m_pimpl); return m_pimpl->peekMsg();};
+     114             : 
+     115             :     /*!
+     116             :       * \brief Used to check whether at least one message has been received on the handled topic.
+     117             :       *
+     118             :       * \return true if at least one message was received, otherwise false.
+     119             :       */
+     120     3098307 :       virtual bool hasMsg() const {assert(m_pimpl); return m_pimpl->hasMsg();};
+     121             : 
+     122             :     /*!
+     123             :       * \brief Used to check whether at least one message has been received on the handled topic since the last call to getMsg().
+     124             :       *
+     125             :       * \return true if at least one message was received, otherwise false.
+     126             :       */
+     127      580831 :       virtual bool newMsg() const {assert(m_pimpl); return m_pimpl->newMsg();};
+     128             : 
+     129             :     /*!
+     130             :       * \brief Used to check whether getMsg() was called at least once on this SubscribeHandler.
+     131             :       *
+     132             :       * \return true if getMsg() was called at least once, otherwise false.
+     133             :       */
+     134           0 :       virtual bool usedMsg() const {assert(m_pimpl); return m_pimpl->usedMsg();};
+     135             : 
+     136             :     /*!
+     137             :       * \brief Blocks until new data becomes available or until the timeout runs out or until a spurious wake-up.
+     138             :       *
+     139             :       * \param timeout    after this duration, this method will return a nullptr if no new data becomes available.
+     140             :       * \return           the message if a new message is available after waking up, \p nullptr otherwise.
+     141             :       */
+     142           0 :       virtual typename MessageType::ConstPtr waitForNew(const ros::WallDuration& timeout) {assert(m_pimpl); return m_pimpl->waitForNew(timeout);};
+     143             : 
+     144             :     /*!
+     145             :       * \brief Returns time of the last received message on the topic, handled by this SubscribeHandler.
+     146             :       *
+     147             :       * \return time when the last message was received.
+     148             :       */
+     149      740672 :       virtual ros::Time lastMsgTime() const {assert(m_pimpl); return m_pimpl->lastMsgTime();};
+     150             : 
+     151             :     /*!
+     152             :       * \brief Returns the resolved (full) name of the topic, handled by this SubscribeHandler.
+     153             :       *
+     154             :       * \return name of the handled topic.
+     155             :       */
+     156         362 :       virtual std::string topicName() const {assert(m_pimpl); return m_pimpl->topicName();};
+     157             : 
+     158             :     /*!
+     159             :       * \brief Returns the subscribed (unresolved) name of the topic, handled by this SubscribeHandler.
+     160             :       *
+     161             :       * \return name of the handled topic.
+     162             :       */
+     163           0 :       virtual std::string subscribedTopicName() const {assert(m_pimpl); return m_pimpl->m_topic_name;};
+     164             : 
+     165             :     /*!
+     166             :       * \brief Returns number of publishers registered at the topic.
+     167             :       *
+     168             :       * \return number of publishers.
+     169             :       */
+     170           0 :       virtual uint32_t getNumPublishers() const {assert(m_pimpl); return m_pimpl->getNumPublishers();};
+     171             : 
+     172             :     /*!
+     173             :       * \brief Sets the timeout for no received message.
+     174             :       *
+     175             :       * \param timeout    The new timeout for no received messages.
+     176             :       */
+     177           0 :       virtual void setNoMessageTimeout(const ros::Duration& timeout) {assert(m_pimpl); return m_pimpl->setNoMessageTimeout(timeout);};
+     178             : 
+     179             :     /*!
+     180             :       * \brief Enables the callbacks for the handled topic.
+     181             :       *
+     182             :       * If the SubscribeHandler object is stopped using the stop() method, no callbacks will be called
+     183             :       * until the start() method is called.
+     184             :       */
+     185        7094 :       virtual void start() {assert(m_pimpl); return m_pimpl->start();};
+     186             : 
+     187             :     /*!
+     188             :       * \brief Disables the callbacks for the handled topic.
+     189             :       *
+     190             :       * All messages after this method is called will be ignored until start() is called again.
+     191             :       * Timeout checking will also be disabled.
+     192             :       */
+     193           5 :       virtual void stop() {assert(m_pimpl); return m_pimpl->stop();};
+     194             : 
+     195             :     public:
+     196             :     /*!
+     197             :       * \brief Default constructor to avoid having to use pointers.
+     198             :       *
+     199             :       * It does nothing and the SubscribeHandler it constructs will also do nothing.
+     200             :       * Use some of the other constructors for actual construction of a usable SubscribeHandler.
+     201             :       */
+     202       10909 :       SubscribeHandler() {};
+     203             : 
+     204             :     /*!
+     205             :       * \brief Main constructor.
+     206             :       *
+     207             :       * \param options    The common options struct (see documentation of SubscribeHandlerOptions).
+     208             :       * \param topic_name Name of the topic to be handled by this subscribed.
+     209             :       * \param args       Remaining arguments to be parsed (see other constructors).
+     210             :       *
+     211             :       */
+     212             :       template<class ... Types>
+     213        7090 :       SubscribeHandler(
+     214             :             const SubscribeHandlerOptions& options,
+     215             :             const std::string& topic_name,
+     216             :             Types ... args
+     217             :           )
+     218             :       :
+     219             :         SubscribeHandler(
+     220        7090 :             [options, topic_name]()
+     221             :             {
+     222       14180 :               SubscribeHandlerOptions opts = options;
+     223        7090 :               opts.topic_name = topic_name;
+     224       14180 :               return opts;
+     225             :             }(),
+     226             :             args...
+     227        7090 :             )
+     228             :       {
+     229        7090 :       }
+     230             : 
+     231             :     /*!
+     232             :       * \brief Convenience constructor overload.
+     233             :       *
+     234             :       * \param options          The common options struct (see documentation of SubscribeHandlerOptions).
+     235             :       * \param message_callback The callback function to call when a new message is received (you can leave this argument empty and just use the newMsg()/hasMsg() and getMsg() interface).
+     236             :       *
+     237             :       */
+     238        7090 :       SubscribeHandler(
+     239             :             const SubscribeHandlerOptions& options,
+     240             :             const message_callback_t& message_callback = {}
+     241             :           )
+     242        7090 :       {
+     243        7090 :         if (options.threadsafe)
+     244             :         {
+     245        7090 :           m_pimpl = std::make_unique<ImplThreadsafe>
+     246             :             (
+     247             :               options,
+     248             :               message_callback
+     249             :             );
+     250             :         }
+     251             :         else
+     252             :         {
+     253           0 :           m_pimpl = std::make_unique<Impl>
+     254             :             (
+     255             :               options,
+     256             :               message_callback
+     257             :             );
+     258             :         }
+     259        7090 :         if (options.autostart)
+     260        7089 :           start();
+     261        7090 :       };
+     262             : 
+     263             :     /*!
+     264             :       * \brief Convenience constructor overload.
+     265             :       *
+     266             :       * \param options          The common options struct (see documentation of SubscribeHandlerOptions).
+     267             :       * \param timeout_callback The callback function to call when a new message is not received for the duration, specified in \p options or in the \p no_message_timeout parameter.
+     268             :       * \param args             Remaining arguments to be parsed (see other constructors).
+     269             :       *
+     270             :       */
+     271             :       template <class ... Types>
+     272           1 :       SubscribeHandler(
+     273             :             const SubscribeHandlerOptions& options,
+     274             :             const timeout_callback_t& timeout_callback,
+     275             :             Types ... args
+     276             :           )
+     277             :       :
+     278             :         SubscribeHandler(
+     279           1 :             [options, timeout_callback]()
+     280             :             {
+     281           2 :               SubscribeHandlerOptions opts = options;
+     282           1 :               opts.timeout_callback = timeout_callback;
+     283           2 :               return opts;
+     284             :             }(),
+     285             :             args...
+     286           1 :             )
+     287             :       {
+     288           1 :       }
+     289             : 
+     290             :     /*!
+     291             :       * \brief Convenience constructor overload.
+     292             :       *
+     293             :       * \param options          The common options struct (see documentation of SubscribeHandlerOptions).
+     294             :       * \param timeout_callback The callback method to call when a new message is not received for the duration, specified in \p options or in the \p no_message_timeout parameter.
+     295             :       * \param obj1             The object on which the callback method \p timeout_callback will be called.
+     296             :       * \param args             Remaining arguments to be parsed (see other constructors).
+     297             :       *
+     298             :       */
+     299             :       template <class ObjectType1, class ... Types>
+     300             :       SubscribeHandler(
+     301             :             const SubscribeHandlerOptions& options,
+     302             :             void (ObjectType1::*const timeout_callback) (const std::string& topic_name, const ros::Time& last_msg),
+     303             :             ObjectType1* const obj1,
+     304             :             Types ... args
+     305             :           )
+     306             :       :
+     307             :         SubscribeHandler(
+     308             :             [options, timeout_callback, obj1]()
+     309             :             {
+     310             :               SubscribeHandlerOptions opts = options;
+     311             :               opts.timeout_callback = timeout_callback == nullptr ? timeout_callback_t() : std::bind(timeout_callback, obj1, std::placeholders::_1, std::placeholders::_2);
+     312             :               return opts;
+     313             :             }(),
+     314             :             args...
+     315             :             )
+     316             :       {
+     317             :       }
+     318             : 
+     319             :     /*!
+     320             :       * \brief Convenience constructor overload.
+     321             :       *
+     322             :       * \param options          The common options struct (see documentation of SubscribeHandlerOptions).
+     323             :       * \param message_callback The callback method to call when a new message is received.
+     324             :       * \param obj2             The object on which the callback method \p timeout_callback will be called.
+     325             :       * \param args             Remaining arguments to be parsed (see other constructors).
+     326             :       *
+     327             :       */
+     328             :       template <class ObjectType2, class ... Types>
+     329        3044 :       SubscribeHandler(
+     330             :             const SubscribeHandlerOptions& options,
+     331             :             void (ObjectType2::*const message_callback) (typename MessageType::ConstPtr),
+     332             :             ObjectType2* const obj2,
+     333             :             Types ... args
+     334             :           )
+     335             :       :
+     336             :         SubscribeHandler(
+     337             :             options,
+     338        6088 :             message_callback == nullptr ? message_callback_t() : std::bind(message_callback, obj2, std::placeholders::_1),
+     339             :             args...
+     340        3044 :             )
+     341             :       {
+     342        3044 :       }
+     343             : 
+     344             :     /*!
+     345             :       * \brief Convenience constructor overload.
+     346             :       *
+     347             :       * \param options          The common options struct (see documentation of SubscribeHandlerOptions).
+     348             :       * \param message_callback The callback method to call when a new message is received.
+     349             :       * \param obj2             The object on which the callback method \p timeout_callback will be called.
+     350             :       * \param timeout_callback The callback method to call when a new message is not received for the duration, specified in \p options or in the \p no_message_timeout parameter.
+     351             :       * \param obj1             The object on which the callback method \p timeout_callback will be called.
+     352             :       * \param args             Remaining arguments to be parsed (see other constructors).
+     353             :       *
+     354             :       */
+     355             :      template <class ObjectType1, class ObjectType2, class ... Types>
+     356             :      SubscribeHandler(
+     357             :            const SubscribeHandlerOptions& options,
+     358             :            void (ObjectType2::*const message_callback) (typename MessageType::ConstPtr),
+     359             :            ObjectType2* const obj2,
+     360             :            void (ObjectType1::*const timeout_callback) (const std::string& topic_name, const ros::Time& last_msg),
+     361             :            ObjectType1* const obj1,
+     362             :            Types ... args
+     363             :          )
+     364             :      :
+     365             :        SubscribeHandler(
+     366             :             [options, timeout_callback, obj1]()
+     367             :             {
+     368             :               SubscribeHandlerOptions opts = options;
+     369             :               opts.timeout_callback = timeout_callback == nullptr ? timeout_callback_t() : std::bind(timeout_callback, obj1, std::placeholders::_1, std::placeholders::_2);
+     370             :               return opts;
+     371             :             }(),
+     372             :             message_callback == nullptr ? message_callback_t() : std::bind(message_callback, obj2, std::placeholders::_1),
+     373             :             args...
+     374             :             )
+     375             :      {
+     376             :      }
+     377             : 
+     378             :     /*!
+     379             :       * \brief Convenience constructor overload.
+     380             :       *
+     381             :       * \param options            The common options struct (see documentation of SubscribeHandlerOptions).
+     382             :       * \param no_message_timeout If no message is received for this duration, the timeout callback function is called. If no timeout callback is specified, an error message is printed to the console.
+     383             :       * \param args               Remaining arguments to be parsed (see other constructors).
+     384             :       *
+     385             :       */
+     386             :       template<class ... Types>
+     387             :       SubscribeHandler(
+     388             :             const SubscribeHandlerOptions& options,
+     389             :             const ros::Duration& no_message_timeout,
+     390             :             Types ... args
+     391             :           )
+     392             :       :
+     393             :         SubscribeHandler(
+     394             :             [options, no_message_timeout]()
+     395             :             {
+     396             :               SubscribeHandlerOptions opts = options;
+     397             :               opts.no_message_timeout = no_message_timeout;
+     398             :               return opts;
+     399             :             }(),
+     400             :             args...
+     401             :             )
+     402             :       {
+     403             :       }
+     404             : 
+     405             :     /*!
+     406             :       * \brief Convenience constructor overload.
+     407             :       *
+     408             :       * \param options          The common options struct (see documentation of SubscribeHandlerOptions).
+     409             :       * \param timeout_manager  The manager for timeout callbacks.
+     410             :       * \param args             Remaining arguments to be parsed (see other constructors).
+     411             :       *
+     412             :       */
+     413             :       template <class ... Types>
+     414             :       SubscribeHandler(
+     415             :             const SubscribeHandlerOptions& options,
+     416             :             mrs_lib::TimeoutManager& timeout_manager,
+     417             :             Types ... args
+     418             :           )
+     419             :       :
+     420             :         SubscribeHandler(
+     421             :             options,
+     422             :             timeout_manager = timeout_manager,
+     423             :             args...
+     424             :             )
+     425             :       {
+     426             :       }
+     427             : 
+     428       18019 :       ~SubscribeHandler() = default;
+     429             :       // delete copy constructor and assignment operator (forbid copying shandlers)
+     430             :       SubscribeHandler(const SubscribeHandler&) = delete;
+     431             :       SubscribeHandler& operator=(const SubscribeHandler&) = delete;
+     432             :       // define only move constructor and assignemnt operator
+     433          20 :       SubscribeHandler(SubscribeHandler&& other)
+     434          20 :       {
+     435          20 :         this->m_pimpl = std::move(other.m_pimpl);
+     436          20 :         other.m_pimpl = nullptr;
+     437          20 :       }
+     438        6962 :       SubscribeHandler& operator=(SubscribeHandler&& other)
+     439             :       {
+     440        6962 :         this->m_pimpl = std::move(other.m_pimpl);
+     441        6962 :         other.m_pimpl = nullptr;
+     442        6962 :         return *this;
+     443             :       }
+     444             : 
+     445             :     private:
+     446             :       class Impl;
+     447             :       class ImplThreadsafe;
+     448             :       std::unique_ptr<Impl> m_pimpl;
+     449             :   };
+     450             :   //}
+     451             : 
+     452             : /*!
+     453             :   * \brief Helper alias for convenient extraction of handled message type from a SubscribeHandlerPtr.
+     454             :   */
+     455             :   template<typename SubscribeHandler>
+     456             :   using message_type = typename SubscribeHandler::message_type;
+     457             : 
+     458             : /*!
+     459             :   * \brief Helper function for object construstion e.g. in case of member objects.
+     460             :   * This function is useful to avoid specifying object template parameters twice - once in definition of the variable and second time during object construction.
+     461             :   * This function can deduce the template parameters from the type of the already defined object, because it returns the newly constructed object as a reference
+     462             :   * argument and not as a return type.
+     463             :   *
+     464             :   * \param object The object to be constructed.
+     465             :   * \param args   These arguments are passed to the object constructor.
+     466             :   */
+     467             :   template<typename Class, class ... Types>
+     468             :   void construct_object(
+     469             :         Class& object,
+     470             :         Types ... args
+     471             :       )
+     472             :   {
+     473             :     object = Class(args...);
+     474             :   }
+     475             : }
+     476             : 
+     477             : #include <mrs_lib/impl/subscribe_handler.hpp>
+     478             : 
+     479             : #endif // SUBRSCRIBE_HANDLER_H
+
+
+
+ + + + +
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+ + + diff --git a/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.overview.html b/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.overview.html new file mode 100644 index 0000000000..15111c902e --- /dev/null +++ b/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.overview.html @@ -0,0 +1,140 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/subscribe_handler.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.png b/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..3dc72e9232ac02a83ac5c3461eb088325fdfac4b GIT binary patch literal 1841 zcmV-12hRA3P)5v~YXCk*~`TF^0AH5w}%tA4b*%`TDh{-D~UT1l<3887RJOvQP;%Ko_OvB1D z=1?h8fJv;BPl5R`E}cYuWxFYkWqS*>?moJQVHM#6ue}NTN8j+Gkv?6PU^6Hqz1(1oy9m*JUc!V{s8V@Su5IWRH zliHv$!WiI^GspS}b*7-c8Pg~nrhSskT2bT+iS&&tb>db=oChMl&OspS+6|{xE2ggad%0- zMk-!E#ifJ>D5)1P9%d-;VgnayVR-cMN$_Z8TS1fsBN|VH$0V2Kq)+qe^Xdv93DwFD z+udzNp z;p35NjYOu+!3*{y?LZ|ZmD9}-)!RLD&!r?~_LAD%65W*oDGf}qCIuUtMkyp<9fjKB zIJT?N`y9sc%7wUAWI}pYO(<~DjGZX9&=x_NJY+Hgz0NzCd1NAhbGQz0yfAR7??b_u zM&d^^H!&;7ff)bQ!YP}{cJ84*PI}SJg-RR*{#WrpxR9GUWDIf=JYHbYpf zOMs1shlpp_9VbBX)8XMK*lVq>hwuy`w1W1?c_FMVkSoFay=UGC-r5J(wct>u2ns-Z zXcl>&*ZWdYL06lO?hMOgQ!uKrAlhM-+O#>(5kdjEPwH%@n6D;)WUgR)`Y)UUcieT<%9@7zo?|DTN8a`K0jTpgS)FS#n#zjp-x zO0I_BkEWEGQ9uQmQg}aO452M&y__>l$WR+5wa65u}p99(p;H%1d*#z1({kkNj zqLsJ3&m6jE8R<~1hq%bqTR!~K2<~A`a{ey*{5ex9BIs>@B=wpkHD6XBbx2BHnQs0n zlG+hr90|btYQ1~o6^sh*6bye=id$nDqbCr+@1PXD?|{tqxJ6Rmr&O7ubLdKfrapq| z0xEO1dqWJm8r83`#*D-+^3HG3_`hruL0n+wi+`n(+FHwR)X{Tt$>kox&=;#*?PVCZ zN4d4>R2}RQ^}$MzJ0LM!^IoWrC!g+3p-LgL+(RQX$nu|3AQ`{=pSYBJZ2q@b?SHGd zW_uY*@fLA>Uo1-8Z8W~{?)7vTrPNYg13!gQB04qq2ZFyLU1zhq-v6dOopasfrnu$t zCPxA{^SdZ*L{33;-Ff-r>N)A%>m1lsWW(7T*q5 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/timeout_manager.h - functions + + + + + + + + + + + + + + +
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+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : /**  \file
+       3             :      \brief TODO
+       4             :      \author Matouš Vrba - vrbamato@fel.cvut.cz
+       5             :  */
+       6             : 
+       7             : #ifndef TIMEOUT_MANAGER_H
+       8             : #define TIMEOUT_MANAGER_H
+       9             : 
+      10             : #include <ros/ros.h>
+      11             : 
+      12             : namespace mrs_lib
+      13             : {
+      14             :   /* TimeoutManager class //{ */
+      15             :   /**
+      16             :   * \brief TODO
+      17             :   *
+      18             :   */
+      19             :   class TimeoutManager
+      20             :   {
+      21             :     public:
+      22             :       // | ---------------------- public types ---------------------- |
+      23             :       using timeout_id_t = size_t;
+      24             :       using callback_t = std::function<void(const ros::Time&)>;
+      25             : 
+      26             :     public:
+      27             :       // | --------------------- public methods --------------------- |
+      28             : 
+      29             :     /*!
+      30             :       * \brief TODO
+      31             :       *
+      32             :       */
+      33             :       TimeoutManager(const ros::NodeHandle& nh, const ros::Rate& update_rate);
+      34             : 
+      35          92 :       timeout_id_t registerNew(const ros::Duration& timeout, const callback_t& callback, const ros::Time& last_reset = ros::Time::now(), const bool oneshot = false, const bool autostart = true);
+      36             : 
+      37      169275 :       void reset(const timeout_id_t id, const ros::Time& time = ros::Time::now());
+      38             : 
+      39             :       void pause(const timeout_id_t id);
+      40             : 
+      41          96 :       void start(const timeout_id_t id, const ros::Time& time = ros::Time::now());
+      42             : 
+      43             :       void pauseAll();
+      44             : 
+      45           2 :       void startAll(const ros::Time& time = ros::Time::now());
+      46             : 
+      47           0 :       void change(const timeout_id_t id, const ros::Duration& timeout, const callback_t& callback, const ros::Time& last_reset = ros::Time::now(), const bool oneshot = false, const bool autostart = true);
+      48             : 
+      49             :       ros::Time lastReset(const timeout_id_t id);
+      50             : 
+      51             :       bool started(const timeout_id_t id);
+      52             : 
+      53             :       /* implementation details //{ */
+      54             :       
+      55             :       private:
+      56             :         // | ---------------------- private types --------------------- |
+      57             :         struct timeout_info_t
+      58             :         {
+      59             :           bool oneshot;
+      60             :           bool started;
+      61             :           callback_t callback;
+      62             :           ros::Duration timeout;
+      63             :           ros::Time last_reset;
+      64             :           ros::Time last_callback;
+      65             :         };
+      66             :       
+      67             :       private:
+      68             :         // | --------------------- private methods -------------------- |
+      69             :         void main_timer_callback([[maybe_unused]] const ros::TimerEvent& evt);
+      70             :       
+      71             :       private:
+      72             :         // | ------------------------- members ------------------------ |
+      73             :         std::recursive_mutex m_mtx;
+      74             :         timeout_id_t m_last_id;
+      75             :         std::vector<timeout_info_t> m_timeouts;
+      76             :       
+      77             :         ros::Timer m_main_timer;
+      78             :       
+      79             :       //}
+      80             : 
+      81             :   };
+      82             :   //}
+      83             : }
+      84             : 
+      85             : #endif // TIMEOUT_MANAGER_H
+
+
+
+ + + + +
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+ + + diff --git a/mrs_lib/include/mrs_lib/timeout_manager.h.gcov.overview.html b/mrs_lib/include/mrs_lib/timeout_manager.h.gcov.overview.html new file mode 100644 index 0000000000..bc8b5520c4 --- /dev/null +++ b/mrs_lib/include/mrs_lib/timeout_manager.h.gcov.overview.html @@ -0,0 +1,42 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/timeout_manager.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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mrs_lib::MRSTimer::~MRSTimer()0
mrs_lib::ThreadTimer::~ThreadTimer()8
mrs_lib::ThreadTimer::~ThreadTimer().28
mrs_lib::ROSTimer::~ROSTimer()8
mrs_lib::ROSTimer::~ROSTimer().28
mrs_lib::MRSTimer::MRSTimer()16
mrs_lib::MRSTimer::~MRSTimer().216
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Current view:top level - mrs_lib/include/mrs_lib - timer.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-08-07 22:18:19Functions:6785.7 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ThreadTimer::~ThreadTimer()8
mrs_lib::ThreadTimer::~ThreadTimer().28
mrs_lib::MRSTimer::MRSTimer()16
mrs_lib::MRSTimer::~MRSTimer()0
mrs_lib::MRSTimer::~MRSTimer().216
mrs_lib::ROSTimer::~ROSTimer()8
mrs_lib::ROSTimer::~ROSTimer().28
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Current view:top level - mrs_lib/include/mrs_lib - timer.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-08-07 22:18:19Functions:6785.7 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #ifndef MRS_TIMER_H
+       2             : #define MRS_TIMER_H
+       3             : 
+       4             : #include <ros/ros.h>
+       5             : #include <thread>
+       6             : #include <mutex>
+       7             : #include <condition_variable>
+       8             : #include <atomic>
+       9             : 
+      10             : namespace mrs_lib
+      11             : {
+      12             :   /**
+      13             :    * @brief Common wrapper representing the functionality of the ros::Timer.
+      14             :    *
+      15             :    * The implementation can then use either ros::Timer (the ROSTimer class)
+      16             :    * or threads and synchronization primitives from the C++ standard library
+      17             :    * (the ThreadTimer class). Both these variants implement the same interface.
+      18             :    *
+      19             :    * @note Functionality of the two implementations differs in some details.
+      20             :    */
+      21             :   class MRSTimer
+      22             :   {
+      23             :     public:
+      24             :     using callback_t = std::function<void(const ros::TimerEvent&)>;
+      25             : 
+      26             :     /**
+      27             :      * @brief stop the timer
+      28             :      */
+      29             :     virtual void stop() = 0;
+      30             : 
+      31             :     /**
+      32             :      * @brief start the timer
+      33             :      */
+      34             :     virtual void start() = 0;
+      35             : 
+      36             :     /**
+      37             :      * @brief set the timer period/duration
+      38             :      *
+      39             :      * @param duration
+      40             :      * @param reset
+      41             :      */
+      42             :     virtual void setPeriod(const ros::Duration& duration, const bool reset = true) = 0;
+      43             : 
+      44             :     /**
+      45             :      * @brief change the callback method 
+      46             :      *
+      47             :      * Usable e.g. for running thread with a specific parameter if you bind it using std::bind
+      48             :      *
+      49             :      * @param callback          callback method to be called.
+      50             :      */
+      51             :     virtual void setCallback(const std::function<void(const ros::TimerEvent&)>& callback) = 0;
+      52             : 
+      53             :     /**
+      54             :      * @brief returns true if callbacks should be called
+      55             :      *
+      56             :      * @return true if timer is running
+      57             :      */
+      58             :     virtual bool running() = 0;
+      59             : 
+      60          16 :     virtual ~MRSTimer() = default;
+      61             :     MRSTimer(const MRSTimer&) = default;
+      62             :     MRSTimer(MRSTimer&&) = default;
+      63             :     MRSTimer& operator=(const MRSTimer&) = default;
+      64             :     MRSTimer& operator=(MRSTimer&&) = default;
+      65             : 
+      66             :     protected:
+      67          16 :     MRSTimer() = default;
+      68             :   };
+      69             : 
+      70             :   // | ------------------------ ROSTimer ------------------------ |
+      71             : 
+      72             :   /* class ROSTimer //{ */
+      73             : 
+      74             :   /**
+      75             :    * @brief ros::Timer wrapper. The interface is the same as with ros::Timer, except for the initialization method.
+      76             :    */
+      77             :   class ROSTimer : public MRSTimer {
+      78             :   public:
+      79             :     ROSTimer();
+      80             : 
+      81             :     /**
+      82             :      * @brief Constructs the object.
+      83             :      *
+      84             :      * @tparam ObjectType
+      85             :      * @param nh                            ROS node handle to be used for creating the underlying ros::Timer object.
+      86             :      * @param rate                          rate at which the callback should be called.
+      87             :      * @param ObjectType::*const callback   callback method to be called.
+      88             :      * @param obj                           object for the method.
+      89             :      * @param oneshot                       whether the callback should only be called once after starting.
+      90             :      * @param autostart                     whether the timer should immediately start after construction.
+      91             :      */
+      92             :     template <class ObjectType>
+      93             :     ROSTimer(const ros::NodeHandle& nh, const ros::Rate& rate, void (ObjectType::*const callback)(const ros::TimerEvent&), ObjectType* const obj,
+      94             :              const bool oneshot = false, const bool autostart = true);
+      95             : 
+      96             :     /**
+      97             :      * @brief full constructor
+      98             :      *
+      99             :      * @tparam ObjectType
+     100             :      * @param nh                            ROS node handle to be used for creating the underlying ros::Timer object.
+     101             :      * @param duration                      desired callback period.
+     102             :      * @param ObjectType::*const callback   callback method to be called.
+     103             :      * @param obj                           object for the method.
+     104             :      * @param oneshot                       whether the callback should only be called once after starting.
+     105             :      * @param autostart                     whether the timer should immediately start after construction.
+     106             :      */
+     107             :     template <class ObjectType>
+     108             :     ROSTimer(const ros::NodeHandle& nh, const ros::Duration& duration, void (ObjectType::*const callback)(const ros::TimerEvent&), ObjectType* const obj,
+     109             :              const bool oneshot = false, const bool autostart = true);
+     110             : 
+     111             :     /**
+     112             :      * @brief stop the timer
+     113             :      */
+     114             :     virtual void stop() override;
+     115             : 
+     116             :     /**
+     117             :      * @brief start the timer
+     118             :      */
+     119             :     virtual void start() override;
+     120             : 
+     121             :     /**
+     122             :      * @brief set the timer period/duration
+     123             :      *
+     124             :      * @param duration
+     125             :      * @param reset
+     126             :      */
+     127             :     virtual void setPeriod(const ros::Duration& duration, const bool reset = true) override;
+     128             : 
+     129             :     /**
+     130             :      * @brief change the callback method
+     131             :      *
+     132             :      * Usable e.g. for running thread with a specific parameter if you bind it using std::bind
+     133             :      *
+     134             :      * @param callback          callback method to be called.
+     135             :      */
+     136             :     virtual void setCallback(const std::function<void(const ros::TimerEvent&)>& callback) override;
+     137             : 
+     138             :     /**
+     139             :      * @brief returns true if callbacks should be called
+     140             :      *
+     141             :      * @return true if timer is running
+     142             :      */
+     143             :     virtual bool running() override;
+     144             : 
+     145          16 :     virtual ~ROSTimer() override {stop();};
+     146             :     // to keep rule of five since we have a custom destructor
+     147             :     ROSTimer(const ROSTimer&) = delete;
+     148             :     ROSTimer(ROSTimer&&) = delete;
+     149             :     ROSTimer& operator=(const ROSTimer&) = delete;
+     150             :     ROSTimer& operator=(ROSTimer&&) = delete;
+     151             : 
+     152             :   private:
+     153             :     std::mutex mutex_timer_;
+     154             : 
+     155             :     std::unique_ptr<ros::Timer> timer_;
+     156             :   };
+     157             : 
+     158             :   //}
+     159             : 
+     160             :   // | ----------------------- ThreadTimer ---------------------- |
+     161             : 
+     162             :   /* class ThreadTimer //{ */
+     163             : 
+     164             :   /**
+     165             :    * @brief Custom thread-based Timers with the same interface as mrs_lib::ROSTimer.
+     166             :    */
+     167             :   class ThreadTimer : public MRSTimer {
+     168             : 
+     169             :   public:
+     170             :     ThreadTimer();
+     171             : 
+     172             :     /**
+     173             :      * @brief Constructs the object.
+     174             :      *
+     175             :      * @tparam ObjectType
+     176             :      * @param nh                            ignored (used just for consistency with ROSTimer)
+     177             :      * @param rate                          rate at which the callback should be called.
+     178             :      * @param ObjectType::*const callback   callback method to be called.
+     179             :      * @param obj                           object for the method.
+     180             :      * @param oneshot                       whether the callback should only be called once after starting.
+     181             :      * @param autostart                     whether the timer should immediately start after construction.
+     182             :      */
+     183             :     template <class ObjectType>
+     184             :     ThreadTimer(const ros::NodeHandle& nh, const ros::Rate& rate, void (ObjectType::*const callback)(const ros::TimerEvent&), ObjectType* const obj,
+     185             :                 const bool oneshot = false, const bool autostart = true);
+     186             : 
+     187             :     /**
+     188             :      * @brief Constructs the object.
+     189             :      *
+     190             :      * @tparam ObjectType
+     191             :      * @param nh                            ignored (used just for consistency with ROSTimer)
+     192             :      * @param duration                      desired callback period.
+     193             :      * @param ObjectType::*const callback   callback method to be called.
+     194             :      * @param obj                           object for the method.
+     195             :      * @param oneshot                       whether the callback should only be called once after starting.
+     196             :      * @param autostart                     whether the timer should immediately start after construction.
+     197             :      */
+     198             :     template <class ObjectType>
+     199             :     ThreadTimer(const ros::NodeHandle& nh, const ros::Duration& duration, void (ObjectType::*const callback)(const ros::TimerEvent&), ObjectType* const obj,
+     200             :                 bool oneshot = false, const bool autostart = true);
+     201             : 
+     202             :     /**
+     203             :      * @brief stop the timer
+     204             :      *
+     205             :      * No more callbacks will be called after this method returns.
+     206             :      */
+     207             :     virtual void stop() override;
+     208             : 
+     209             :     /**
+     210             :      * @brief start the timer
+     211             :      *
+     212             :      * The first callback will be called in now + period.
+     213             :      *
+     214             :      * @note If the timer is already started, nothing will change.
+     215             :      */
+     216             :     virtual void start() override;
+     217             : 
+     218             :     /**
+     219             :      * @brief set the timer period/duration
+     220             :      *
+     221             :      * The new period will be applied after the next callback.
+     222             :      *
+     223             :      * @param duration the new desired callback period.
+     224             :      * @param reset    ignored in this implementation.
+     225             :      */
+     226             :     virtual void setPeriod(const ros::Duration& duration, const bool reset = true) override;
+     227             :     
+     228             :     /**
+     229             :      * @brief change the callback method
+     230             :      *
+     231             :      * Usable e.g. for running thread with a specific parameter if you bind it using std::bind
+     232             :      *
+     233             :      * @param callback          callback method to be called.
+     234             :      */
+     235             :     virtual void setCallback(const std::function<void(const ros::TimerEvent&)>& callback) override;
+     236             : 
+     237             :     /**
+     238             :      * @brief returns true if callbacks should be called
+     239             :      *
+     240             :      * @return true if timer is running
+     241             :      */
+     242             :     virtual bool running() override;
+     243             : 
+     244             :     /**
+     245             :      * @brief stops the timer and then destroys the object
+     246             :      *
+     247             :      * No more callbacks will be called when the destructor is started.
+     248             :      */
+     249          16 :     virtual ~ThreadTimer() override {stop();};
+     250             :     // to keep rule of five since we have a custom destructor
+     251             :     ThreadTimer(const ThreadTimer&) = delete;
+     252             :     ThreadTimer(ThreadTimer&&) = delete;
+     253             :     ThreadTimer& operator=(const ThreadTimer&) = delete;
+     254             :     ThreadTimer& operator=(ThreadTimer&&) = delete;
+     255             : 
+     256             :   private:
+     257             :     class Impl;
+     258             : 
+     259             :     std::unique_ptr<Impl> impl_;
+     260             : 
+     261             :   };  // namespace mrs_lib
+     262             : 
+     263             :   //}
+     264             : 
+     265             : #include <mrs_lib/impl/timer.hpp>
+     266             : 
+     267             : }  // namespace mrs_lib
+     268             : 
+     269             : #endif  // MRS_TIMER_H
+
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Current view:top level - mrs_lib/include/mrs_lib - transformer.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:516085.0 %
Date:2024-08-07 22:18:19Functions:141877.8 %
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Function Name Sort by function nameHit count Sort by hit count
std::optional<boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > > mrs_lib::Transformer::transformSingle<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
std::optional<boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > > mrs_lib::Transformer::transformSingle<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
std::optional<boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > > mrs_lib::Transformer::transform<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)0
std::optional<boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > > mrs_lib::Transformer::transform<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)0
std::optional<boost::shared_ptr<geometry_msgs::Quaternion_<std::allocator<void> > > > mrs_lib::Transformer::transformSingle<geometry_msgs::Quaternion_<std::allocator<void> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<geometry_msgs::Quaternion_<std::allocator<void> > const> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)1
std::optional<boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > > > mrs_lib::Transformer::transformSingle<geometry_msgs::PointStamped_<std::allocator<void> > >(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
std::optional<boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > > > mrs_lib::Transformer::transformSingle<geometry_msgs::PointStamped_<std::allocator<void> > >(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
mrs_lib::Transformer::inverse(geometry_msgs::TransformStamped_<std::allocator<void> > const&)1
mrs_lib::Transformer::setLookupTimeout(ros::Duration)2
mrs_lib::Transformer::setDefaultPrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)336
mrs_lib::Transformer::retryLookupNewest(bool)541
mrs_lib::Transformer::resolveFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1694
mrs_lib::Transformer::setDefaultFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)494969
mrs_lib::Transformer::frame_from[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)2164376
mrs_lib::Transformer::create_transform(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&, geometry_msgs::Transform_<std::allocator<void> > const&)2164440
mrs_lib::Transformer::frame_to[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)2167386
mrs_lib::Transformer::frame_from[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> > const&)2178324
mrs_lib::Transformer::frame_to[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> > const&)2178332
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Current view:top level - mrs_lib/include/mrs_lib - transformer.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:516085.0 %
Date:2024-08-07 22:18:19Functions:141877.8 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Transformer::frame_from[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> > const&)2178324
mrs_lib::Transformer::frame_from[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)2164376
mrs_lib::Transformer::resolveFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1694
mrs_lib::Transformer::setDefaultFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)494969
std::optional<boost::shared_ptr<geometry_msgs::Quaternion_<std::allocator<void> > > > mrs_lib::Transformer::transformSingle<geometry_msgs::Quaternion_<std::allocator<void> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<geometry_msgs::Quaternion_<std::allocator<void> > const> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)1
std::optional<boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > > > mrs_lib::Transformer::transformSingle<geometry_msgs::PointStamped_<std::allocator<void> > >(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
std::optional<boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > > > mrs_lib::Transformer::transformSingle<geometry_msgs::PointStamped_<std::allocator<void> > >(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
std::optional<boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > > mrs_lib::Transformer::transformSingle<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
std::optional<boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > > mrs_lib::Transformer::transformSingle<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_lib::Transformer::create_transform(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&, geometry_msgs::Transform_<std::allocator<void> > const&)2164440
mrs_lib::Transformer::setDefaultPrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)336
mrs_lib::Transformer::setLookupTimeout(ros::Duration)2
mrs_lib::Transformer::retryLookupNewest(bool)541
mrs_lib::Transformer::inverse(geometry_msgs::TransformStamped_<std::allocator<void> > const&)1
mrs_lib::Transformer::frame_to[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> > const&)2178332
mrs_lib::Transformer::frame_to[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)2167386
std::optional<boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > > mrs_lib::Transformer::transform<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)0
std::optional<boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > > mrs_lib::Transformer::transform<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)0
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - transformer.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:516085.0 %
Date:2024-08-07 22:18:19Functions:141877.8 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : 
+       3             : /**  \file Implements the Transformer class - wrapper for ROS's TF2 lookups and transformations.
+       4             :  *   \brief A wrapper for easier work with tf2 transformations.
+       5             :  *   \author Tomas Baca - tomas.baca@fel.cvut.cz
+       6             :  *   \author Matouš Vrba - matous.vrba@fel.cvut.cz
+       7             :  */
+       8             : #ifndef TRANSFORMER_H
+       9             : #define TRANSFORMER_H
+      10             : 
+      11             : /* #define EIGEN_DONT_VECTORIZE */
+      12             : /* #define EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT */
+      13             : 
+      14             : /* includes //{ */
+      15             : 
+      16             : #include <ros/ros.h>
+      17             : 
+      18             : #include <tf2_ros/transform_listener.h>
+      19             : #include <tf2_ros/buffer.h>
+      20             : #include <tf2_eigen/tf2_eigen.h>
+      21             : #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+      22             : #include <tf/transform_datatypes.h>
+      23             : #include <tf_conversions/tf_eigen.h>
+      24             : 
+      25             : #include <mrs_msgs/ReferenceStamped.h>
+      26             : 
+      27             : #include <geometry_msgs/PoseStamped.h>
+      28             : #include <geometry_msgs/Vector3Stamped.h>
+      29             : #include <std_msgs/Header.h>
+      30             : 
+      31             : #include <mrs_lib/geometry/misc.h>
+      32             : 
+      33             : #include <pcl_ros/point_cloud.h>
+      34             : #include <pcl_ros/transforms.h>
+      35             : #include <pcl_conversions/pcl_conversions.h>
+      36             : 
+      37             : #include <mutex>
+      38             : #include <experimental/type_traits>
+      39             : 
+      40             : //}
+      41             : 
+      42             : namespace tf2
+      43             : {
+      44             : 
+      45             :   template <typename pt_t>
+      46             :   void doTransform(const pcl::PointCloud<pt_t>& cloud_in, pcl::PointCloud<pt_t>& cloud_out, const geometry_msgs::TransformStamped& transform)
+      47             :   {
+      48             :     pcl_ros::transformPointCloud(cloud_in, cloud_out, transform.transform);
+      49             :     pcl_conversions::toPCL(transform.header.stamp, cloud_out.header.stamp);
+      50             :     cloud_out.header.frame_id = transform.header.frame_id;
+      51             :   }
+      52             : 
+      53             : }  // namespace tf2
+      54             : 
+      55             : namespace mrs_lib
+      56             : {
+      57             : 
+      58             :   static const std::string UTM_ORIGIN = "utm_origin";
+      59             :   static const std::string LATLON_ORIGIN = "latlon_origin";
+      60             : 
+      61             :   /**
+      62             :    * \brief A convenience wrapper class for ROS's native TF2 API to simplify transforming of various messages.
+      63             :    *
+      64             :    * Implements optional automatic frame prefix deduction, seamless transformation lattitude/longitude coordinates and UTM coordinates, simple transformation of MRS messages etc.
+      65             :    */
+      66             :   /* class Transformer //{ */
+      67             : 
+      68             :   class Transformer
+      69             :   {
+      70             : 
+      71             :   public:
+      72             :     /* Constructor, assignment operator and overloads //{ */
+      73             : 
+      74             :     /**
+      75             :      * \brief A convenience constructor that doesn't initialize anything.
+      76             :      *
+      77             :      * This constructor is just to enable usign the Transformer as a member variable of nodelets etc.
+      78             :      * To actually initialize the class, use the alternative constructor.
+      79             :      *
+      80             :      * \note This constructor doesn't initialize the TF2 transform listener and all calls to the transformation-related methods of an object constructed using this method will fail.
+      81             :      */
+      82             :     Transformer();
+      83             : 
+      84             :     /**
+      85             :      * \brief The main constructor that actually initializes stuff.
+      86             :      *
+      87             :      * This constructor initializes the class and the TF2 transform listener.
+      88             :      *
+      89             :      * \param node_name   the name of the node running the transformer, is used in ROS prints. If you don't care, just set it to an empty string.
+      90             :      * \param cache_time  duration of the transformation buffer's cache into the past that will be kept.
+      91             :      */
+      92             :     Transformer(const std::string& node_name, const ros::Duration& cache_time = ros::Duration(tf2_ros::Buffer::DEFAULT_CACHE_TIME));
+      93             : 
+      94             :     /**
+      95             :      * \brief The main constructor that actually initializes stuff.
+      96             :      *
+      97             :      * This constructor initializes the class and the TF2 transform listener.
+      98             :      *
+      99             :      * \param nh          the node handle to be used for subscribing to the transformations.
+     100             :      * \param node_name   the name of the node running the transformer, is used in ROS prints. If you don't care, just set it to an empty string.
+     101             :      * \param cache_time  duration of the transformation buffer's cache into the past that will be kept.
+     102             :      */
+     103             :     Transformer(const ros::NodeHandle& nh, const std::string& node_name = std::string(), const ros::Duration& cache_time = ros::Duration(tf2_ros::Buffer::DEFAULT_CACHE_TIME));
+     104             : 
+     105             :     /**
+     106             :      * \brief A convenience move assignment operator.
+     107             :      *
+     108             :      * This operator moves all data from the object that is being assigned from, invalidating it.
+     109             :      *
+     110             :      * \param  other  the object to assign from. It will be invalid after this method returns.
+     111             :      * \return        a reference to the object being assigned to.
+     112             :      */
+     113             :     Transformer& operator=(Transformer&& other);
+     114             : 
+     115             :     //}
+     116             : 
+     117             :     // | ------------------ Configuration methods ----------------- |
+     118             : 
+     119             :     /* setDefaultFrame() //{ */
+     120             : 
+     121             :     /**
+     122             :      * \brief Sets the default frame ID to be used instead of any empty frame ID.
+     123             :      *
+     124             :      * If you call e.g. the transform() method with a message that has an empty header.frame_id field, this value will be used instead.
+     125             :      *
+     126             :      * \param frame_id the default frame ID. Use an empty string to disable default frame ID deduction.
+     127             :      *
+     128             :      * \note Disabled by default.
+     129             :      */
+     130      494969 :     void setDefaultFrame(const std::string& frame_id)
+     131             :     {
+     132      989567 :       std::scoped_lock lck(mutex_);
+     133      494923 :       default_frame_id_ = frame_id;
+     134      494877 :     }
+     135             : 
+     136             :     //}
+     137             : 
+     138             :     /* setDefaultPrefix() //{ */
+     139             : 
+     140             :     /**
+     141             :      * \brief Sets the default frame ID prefix to be used if no prefix is present in the frame.
+     142             :      *
+     143             :      * If you call any method with a frame ID that doesn't begin with this string, it will be automatically prefixed including a forward slash between the prefix and raw frame ID.
+     144             :      * The forward slash should therefore *not* be included in the prefix.
+     145             :      *
+     146             :      * Example frame ID resolution assuming default prefix is "uav1":
+     147             :      *   "local_origin" -> "uav1/local_origin"
+     148             :      *
+     149             :      * \param prefix the default frame ID prefix (without the forward slash at the end). Use an empty string to disable default frame ID prefixing.
+     150             :      *
+     151             :      * \note Disabled by default. The prefix will be applied as a namespace (with a forward slash between the prefix and raw frame ID).
+     152             :      */
+     153         336 :     void setDefaultPrefix(const std::string& prefix)
+     154             :     {
+     155         672 :       std::scoped_lock lck(mutex_);
+     156         336 :       if (prefix.empty())
+     157           1 :         prefix_ = "";
+     158             :       else
+     159         335 :         prefix_ = prefix + "/";
+     160         336 :     }
+     161             : 
+     162             :     //}
+     163             : 
+     164             :     /* setLatLon() //{ */
+     165             : 
+     166             :     /**
+     167             :      * \brief Sets the curret lattitude and longitude for UTM zone calculation.
+     168             :      *
+     169             :      * The Transformer uses this to deduce the current UTM zone used for transforming stuff to latlon_origin.
+     170             :      *
+     171             :      * \param lat the latitude in degrees.
+     172             :      * \param lon the longitude in degrees.
+     173             :      *
+     174             :      * \note Any transformation to latlon_origin will fail if this function is not called first!
+     175             :      */
+     176             :     void setLatLon(const double lat, const double lon);
+     177             : 
+     178             :     //}
+     179             : 
+     180             :     /* setLookupTimeout() //{ */
+     181             : 
+     182             :     /**
+     183             :      * \brief Set a timeout for transform lookup.
+     184             :      *
+     185             :      * The transform lookup operation will block up to this duration if the transformation is not available immediately.
+     186             :      *
+     187             :      * \note Disabled by default.
+     188             :      *
+     189             :      * \param timeout the lookup timeout. Set to zero to disable blocking.
+     190             :      */
+     191           2 :     void setLookupTimeout(const ros::Duration timeout = ros::Duration(0))
+     192             :     {
+     193           2 :       std::scoped_lock lck(mutex_);
+     194           2 :       lookup_timeout_ = timeout;
+     195           2 :     }
+     196             : 
+     197             :     //}
+     198             : 
+     199             :     /* retryLookupNewest() //{ */
+     200             : 
+     201             :     /**
+     202             :      * \brief Enable/disable retry of a failed transform lookup with \p ros::Time(0).
+     203             :      *
+     204             :      * If enabled, a failed transform lookup will be retried.
+     205             :      * The new try will ignore the requested timestamp and will attempt to fetch the latest transformation between the two frames.
+     206             :      *
+     207             :      * \note Disabled by default.
+     208             :      *
+     209             :      * \param retry enables or disables retry.
+     210             :      */
+     211         541 :     void retryLookupNewest(const bool retry = true)
+     212             :     {
+     213         541 :       std::scoped_lock lck(mutex_);
+     214         541 :       retry_lookup_newest_ = retry;
+     215         541 :     }
+     216             : 
+     217             :     //}
+     218             :     
+     219             :     /* beQuiet() //{ */
+     220             : 
+     221             :     /**
+     222             :      * \brief Enable/disable some prints that may be too noisy.
+     223             :      *
+     224             :      * \param quiet enables or disables quiet mode.
+     225             :      *
+     226             :      * \note Disabled by default.
+     227             :      */
+     228             :     void beQuiet(const bool quiet = true)
+     229             :     {
+     230             :       std::scoped_lock lck(mutex_);
+     231             :       quiet_ = quiet;
+     232             :     }
+     233             : 
+     234             :     //}
+     235             : 
+     236             :     /* resolveFrame() //{ */
+     237             :     /**
+     238             :      * \brief Deduce the full frame ID from a shortened or empty string using current default prefix and default frame rules.
+     239             :      *
+     240             :      * Example assuming default prefix is "uav1" and default frame is "uav1/gps_origin":
+     241             :      *   "" -> "uav1/gps_origin"
+     242             :      *   "local_origin" -> "uav1/local_origin"
+     243             :      *
+     244             :      * \param frame_id The frame ID to be resolved.
+     245             :      *
+     246             :      * \return The resolved frame ID.
+     247             :      */
+     248        1694 :     std::string resolveFrame(const std::string& frame_id)
+     249             :     {
+     250        3388 :       std::scoped_lock lck(mutex_);
+     251        3388 :       return resolveFrameImpl(frame_id);
+     252             :     }
+     253             :     //}
+     254             : 
+     255             :     /* transformSingle() //{ */
+     256             : 
+     257             :     /**
+     258             :      * \brief Transforms a single variable to a new frame and returns it or \p std::nullopt if transformation fails.
+     259             :      *
+     260             :      * \param what the object to be transformed.
+     261             :      * \param to_frame the target frame ID.
+     262             :      *
+     263             :      * \return \p std::nullopt if failed, optional containing the transformed object otherwise.
+     264             :      */
+     265             :     template <class T>
+     266             :     [[nodiscard]] std::optional<T> transformSingle(const T& what, const std::string& to_frame);
+     267             : 
+     268             :     /**
+     269             :      * \brief Transforms a single variable to a new frame.
+     270             :      *
+     271             :      * A convenience override for shared pointers.
+     272             :      *
+     273             :      * \param what The object to be transformed.
+     274             :      * \param to_frame The target fram ID.
+     275             :      *
+     276             :      * \return \p std::nullopt if failed, optional containing the transformed object otherwise.
+     277             :      */
+     278             :     template <class T>
+     279           1 :     [[nodiscard]] std::optional<boost::shared_ptr<T>> transformSingle(const boost::shared_ptr<T>& what, const std::string& to_frame)
+     280             :     {
+     281           1 :       return transformSingle(boost::shared_ptr<const T>(what), to_frame);
+     282             :     }
+     283             : 
+     284             :     /**
+     285             :      * \brief Transforms a single variable to a new frame.
+     286             :      *
+     287             :      * A convenience override for shared pointers to const.
+     288             :      *
+     289             :      * \param what The object to be transformed.
+     290             :      * \param to_frame The target fram ID.
+     291             :      *
+     292             :      * \return \p std::nullopt if failed, optional containing the transformed object otherwise.
+     293             :      */
+     294             :     template <class T>
+     295           1 :     [[nodiscard]] std::optional<boost::shared_ptr<T>> transformSingle(const boost::shared_ptr<const T>& what, const std::string& to_frame)
+     296             :     {
+     297           2 :       auto ret = transformSingle(*what, to_frame);
+     298           1 :       if (ret == std::nullopt)
+     299           0 :         return std::nullopt;
+     300             :       else
+     301           1 :         return boost::make_shared<T>(std::move(ret.value()));
+     302             :     }
+     303             : 
+     304             :     /**
+     305             :      * \brief Transforms a single variable to a new frame and returns it or \p std::nullopt if transformation fails.
+     306             :      *
+     307             :      * A convenience overload for headerless variables.
+     308             :      *
+     309             :      * \param from_frame the original target frame ID.
+     310             :      * \param what the object to be transformed.
+     311             :      * \param to_frame the target frame ID.
+     312             :      * \param time_stamp the time of the transformation.
+     313             :      *
+     314             :      * \return \p std::nullopt if failed, optional containing the transformed object otherwise.
+     315             :      */
+     316             :     template <class T>
+     317             :     [[nodiscard]] std::optional<T> transformSingle(const std::string& from_frame, const T& what, const std::string& to_frame, const ros::Time& time_stamp = ros::Time(0));
+     318             : 
+     319             :     /**
+     320             :      * \brief Transforms a single variable to a new frame and returns it or \p std::nullopt if transformation fails.
+     321             :      *
+     322             :      * A convenience overload for shared pointers to headerless variables.
+     323             :      *
+     324             :      * \param from_frame the original target frame ID.
+     325             :      * \param what the object to be transformed.
+     326             :      * \param to_frame the target frame ID.
+     327             :      * \param time_stamp the time of the transformation.
+     328             :      *
+     329             :      * \return \p std::nullopt if failed, optional containing the transformed object otherwise.
+     330             :      */
+     331             :     template <class T>
+     332             :     [[nodiscard]] std::optional<boost::shared_ptr<T>> transformSingle(const std::string& from_frame, const boost::shared_ptr<T>& what, const std::string& to_frame, const ros::Time& time_stamp = ros::Time(0))
+     333             :     {
+     334             :       return transformSingle(from_frame, boost::shared_ptr<const T>(what), to_frame, time_stamp);
+     335             :     }
+     336             : 
+     337             :     /**
+     338             :      * \brief Transforms a single variable to a new frame and returns it or \p std::nullopt if transformation fails.
+     339             :      *
+     340             :      * A convenience overload for shared pointers to const headerless variables.
+     341             :      *
+     342             :      * \param from_frame the original target frame ID.
+     343             :      * \param what the object to be transformed.
+     344             :      * \param to_frame the target frame ID.
+     345             :      * \param time_stamp the time of the transformation.
+     346             :      *
+     347             :      * \return \p std::nullopt if failed, optional containing the transformed object otherwise.
+     348             :      */
+     349             :     template <class T>
+     350           1 :     [[nodiscard]] std::optional<boost::shared_ptr<T>> transformSingle(const std::string& from_frame, const boost::shared_ptr<const T>& what, const std::string& to_frame, const ros::Time& time_stamp = ros::Time(0))
+     351             :     {
+     352           1 :       auto ret = transformSingle(from_frame, *what, to_frame, time_stamp);
+     353           1 :       if (ret == std::nullopt)
+     354           0 :         return std::nullopt;
+     355             :       else
+     356           1 :         return boost::make_shared<T>(std::move(ret.value()));
+     357             :     }
+     358             : 
+     359             :     //}
+     360             : 
+     361             :     /* transform() //{ */
+     362             : 
+     363             :     /**
+     364             :      * \brief Transform a variable to new frame using a particular transformation.
+     365             :      *
+     366             :      * \param tf The transformation to be used.
+     367             :      * \param what The object to be transformed.
+     368             :      *
+     369             :      * \return \p std::nullopt if failed, optional containing the transformed object otherwise.
+     370             :      */
+     371             :     template <class T>
+     372             :     [[nodiscard]] std::optional<T> transform(const T& what, const geometry_msgs::TransformStamped& tf);
+     373             : 
+     374             :     /**
+     375             :      * \brief Transform a variable to new frame using a particular transformation.
+     376             :      *
+     377             :      * A convenience override for shared pointers to const.
+     378             :      *
+     379             :      * \param tf The transformation to be used.
+     380             :      * \param what The object to be transformed.
+     381             :      *
+     382             :      * \return \p std::nullopt if failed, optional containing the transformed object otherwise.
+     383             :      */
+     384             :     template <class T>
+     385           0 :     [[nodiscard]] std::optional<boost::shared_ptr<T>> transform(const boost::shared_ptr<const T>& what, const geometry_msgs::TransformStamped& tf)
+     386             :     {
+     387           0 :       auto ret = transform(*what, tf);
+     388           0 :       if (ret == std::nullopt)
+     389           0 :         return std::nullopt;
+     390             :       else
+     391           0 :         return boost::make_shared<T>(std::move(ret.value()));
+     392             :     }
+     393             : 
+     394             :     /**
+     395             :      * \brief Transform a variable to new frame using a particular transformation.
+     396             :      *
+     397             :      * A convenience override for shared pointers.
+     398             :      *
+     399             :      * \param tf The transformation to be used.
+     400             :      * \param what The object to be transformed.
+     401             :      *
+     402             :      * \return \p std::nullopt if failed, optional containing the transformed object otherwise.
+     403             :      */
+     404             :     template <class T>
+     405           0 :     [[nodiscard]] std::optional<boost::shared_ptr<T>> transform(const boost::shared_ptr<T>& what, const geometry_msgs::TransformStamped& tf)
+     406             :     {
+     407           0 :       return transform(boost::shared_ptr<const T>(what), tf);
+     408             :     }
+     409             : 
+     410             :     //}
+     411             : 
+     412             :     /* transformAsVector() method //{ */
+     413             :     /**
+     414             :      * \brief Transform an Eigen::Vector3d (interpreting it as a vector).
+     415             :      *
+     416             :      * Only the rotation will be applied to the variable.
+     417             :      *
+     418             :      * \param tf The transformation to be used.
+     419             :      * \param what The vector to be transformed.
+     420             :      *
+     421             :      * \return \p std::nullopt if failed, optional containing the transformed object otherwise.
+     422             :      */
+     423             :     [[nodiscard]] std::optional<Eigen::Vector3d> transformAsVector(const Eigen::Vector3d& what, const geometry_msgs::TransformStamped& tf);
+     424             : 
+     425             :     /**
+     426             :      * \brief Transform an Eigen::Vector3d (interpreting it as a vector).
+     427             :      *
+     428             :      * Only the rotation will be applied to the variable.
+     429             :      *
+     430             :      * \param from_frame  The current frame of \p what.
+     431             :      * \param what        The vector to be transformed.
+     432             :      * \param to_frame    The desired frame of \p what.
+     433             :      * \param time_stamp  From which time to take the transformation (use \p ros::Time(0) for the latest time).
+     434             :      *
+     435             :      * \return \p std::nullopt if failed, optional containing the transformed object otherwise.
+     436             :      */
+     437             :     [[nodiscard]] std::optional<Eigen::Vector3d> transformAsVector(const std::string& from_frame, const Eigen::Vector3d& what, const std::string& to_frame, const ros::Time& time_stamp = ros::Time(0));
+     438             :     //}
+     439             : 
+     440             :     /* transformAsPoint() method //{ */
+     441             :     /**
+     442             :      * \brief Transform an Eigen::Vector3d (interpreting it as a point).
+     443             :      *
+     444             :      * Both the rotation and translation will be applied to the variable.
+     445             :      *
+     446             :      * \param tf The transformation to be used.
+     447             :      * \param what The object to be transformed.
+     448             :      *
+     449             :      * \return \p std::nullopt if failed, optional containing the transformed object otherwise.
+     450             :      */
+     451             :     [[nodiscard]] std::optional<Eigen::Vector3d> transformAsPoint(const Eigen::Vector3d& what, const geometry_msgs::TransformStamped& tf);
+     452             : 
+     453             :     /**
+     454             :      * \brief Transform an Eigen::Vector3d (interpreting it as a point).
+     455             :      *
+     456             :      * Both the rotation and translation will be applied to the variable.
+     457             :      *
+     458             :      * \param from_frame  The current frame of \p what.
+     459             :      * \param what The object to be transformed.
+     460             :      * \param to_frame    The desired frame of \p what.
+     461             :      * \param time_stamp  From which time to take the transformation (use \p ros::Time(0) for the latest time).
+     462             :      *
+     463             :      * \return \p std::nullopt if failed, optional containing the transformed object otherwise.
+     464             :      */
+     465             :     [[nodiscard]] std::optional<Eigen::Vector3d> transformAsPoint(const std::string& from_frame, const Eigen::Vector3d& what, const std::string& to_frame, const ros::Time& time_stamp = ros::Time(0));
+     466             :     //}
+     467             : 
+     468             :     /* getTransform() //{ */
+     469             : 
+     470             :     /**
+     471             :      * \brief Obtains a transform between two frames in a given time.
+     472             :      *
+     473             :      * \param from_frame The original frame of the transformation.
+     474             :      * \param to_frame The target frame of the transformation.
+     475             :      * \param time_stamp The time stamp of the transformation. (0 will get the latest)
+     476             :      *
+     477             :      * \return \p std::nullopt if failed, optional containing the requested transformation otherwise.
+     478             :      */
+     479             :     [[nodiscard]] std::optional<geometry_msgs::TransformStamped> getTransform(const std::string& from_frame, const std::string& to_frame, const ros::Time& time_stamp = ros::Time(0));
+     480             : 
+     481             :     /**
+     482             :      * \brief Obtains a transform between two frames in a given time.
+     483             :      *
+     484             :      * This overload enables the user to select a different time of the source frame and the target frame.
+     485             :      *
+     486             :      * \param from_frame The original frame of the transformation.
+     487             :      * \param from_stamp The time at which the original frame should be evaluated. (0 will get the latest)
+     488             :      * \param to_frame The target frame of the transformation.
+     489             :      * \param to_stamp The time to which the data should be transformed. (0 will get the latest) 
+     490             :      * \param fixed_frame The frame that may be assumed constant in time (the "world" frame).
+     491             :      *
+     492             :      * \return \p std::nullopt if failed, optional containing the requested transformation otherwise.
+     493             :      *
+     494             :      * \note An example of when this API may be useful is explained here: http://wiki.ros.org/tf2/Tutorials/Time%20travel%20with%20tf2%20%28C%2B%2B%29
+     495             :      */
+     496             :     [[nodiscard]] std::optional<geometry_msgs::TransformStamped> getTransform(const std::string& from_frame, const ros::Time& from_stamp, const std::string& to_frame, const ros::Time& to_stamp, const std::string& fixed_frame);
+     497             : 
+     498             :     //}
+     499             : 
+     500             :   private:
+     501             :     /* private members, methods etc //{ */
+     502             : 
+     503             :     std::mutex mutex_;
+     504             : 
+     505             :     // keeps track whether a non-basic constructor was called and the transform listener is initialized
+     506             :     bool initialized_ = false;
+     507             :     std::string node_name_;
+     508             : 
+     509             :     std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
+     510             :     std::unique_ptr<tf2_ros::TransformListener> tf_listener_ptr_;
+     511             : 
+     512             :     // user-configurable options
+     513             :     std::string default_frame_id_ = "";
+     514             :     std::string prefix_ = ""; // if not empty, includes the forward slash
+     515             :     bool quiet_ = false;
+     516             :     ros::Duration lookup_timeout_ = ros::Duration(0);
+     517             :     bool retry_lookup_newest_ = false;
+     518             : 
+     519             :     bool got_utm_zone_ = false;
+     520             :     std::array<char, 10> utm_zone_ = {};
+     521             : 
+     522             :     // returns the first namespace prefix of the frame (if any) includin the forward slash
+     523             :     std::string getFramePrefix(const std::string& frame_id);
+     524             : 
+     525             :     template <class T>
+     526             :     std::optional<T> transformImpl(const geometry_msgs::TransformStamped& tf, const T& what);
+     527             :     std::optional<mrs_msgs::ReferenceStamped> transformImpl(const geometry_msgs::TransformStamped& tf, const mrs_msgs::ReferenceStamped& what);
+     528             :     std::optional<Eigen::Vector3d> transformImpl(const geometry_msgs::TransformStamped& tf, const Eigen::Vector3d& what);
+     529             : 
+     530             :     [[nodiscard]] std::optional<geometry_msgs::TransformStamped> getTransformImpl(const std::string& from_frame, const std::string& to_frame, const ros::Time& time_stamp, const std::string& latlon_frame);
+     531             :     [[nodiscard]] std::optional<geometry_msgs::TransformStamped> getTransformImpl(const std::string& from_frame, const ros::Time& from_stamp, const std::string& to_frame, const ros::Time& to_stamp, const std::string& fixed_frame, const std::string& latlon_frame);
+     532             : 
+     533             :     std::string resolveFrameImpl(const std::string& frame_id);
+     534             : 
+     535             :     template <class T>
+     536             :     std::optional<T> doTransform(const T& what, const geometry_msgs::TransformStamped& tf);
+     537             : 
+     538             :     //}
+     539             : 
+     540             :     // | ------------------- some helper methods ------------------ |
+     541             :   public:
+     542             :     /* frame_from(), frame_to() and inverse() methods //{ */
+     543             :     
+     544             :     /**
+     545             :      * \brief A convenience function that returns the frame from which the message transforms.
+     546             :      *
+     547             :      * \param msg the message representing the transformation.
+     548             :      * \return    the frame from which the transformation in \msg transforms.
+     549             :      */
+     550     2178324 :     static constexpr const std::string& frame_from(const geometry_msgs::TransformStamped& msg)
+     551             :     {
+     552     2178324 :       return msg.child_frame_id;
+     553             :     }
+     554             :     
+     555             :     /**
+     556             :      * \brief A convenience function that returns the frame from which the message transforms.
+     557             :      *
+     558             :      * This overload returns a reference to the string in the message representing the frame id so that it can be modified.
+     559             :      *
+     560             :      * \param msg the message representing the transformation.
+     561             :      * \return    a reference to the field in the message containing the string with the frame id from which the transformation in \msg transforms.
+     562             :      */
+     563     2164376 :     static constexpr std::string& frame_from(geometry_msgs::TransformStamped& msg)
+     564             :     {
+     565     2164376 :       return msg.child_frame_id;
+     566             :     }
+     567             :     
+     568             :     /**
+     569             :      * \brief A convenience function that returns the frame to which the message transforms.
+     570             :      *
+     571             :      * \param msg the message representing the transformation.
+     572             :      * \return    the frame to which the transformation in \msg transforms.
+     573             :      */
+     574     2178332 :     static constexpr const std::string& frame_to(const geometry_msgs::TransformStamped& msg)
+     575             :     {
+     576     2178332 :       return msg.header.frame_id;
+     577             :     }
+     578             : 
+     579             :     /**
+     580             :      * \brief A convenience function that returns the frame to which the message transforms.
+     581             :      *
+     582             :      * This overload returns a reference to the string in the message representing the frame id so that it can be modified.
+     583             :      *
+     584             :      * \param msg the message representing the transformation.
+     585             :      * \return    a reference to the field in the message containing the string with the frame id to which the transformation in \msg transforms.
+     586             :      */
+     587     2167386 :     static constexpr std::string& frame_to(geometry_msgs::TransformStamped& msg)
+     588             :     {
+     589     2167386 :       return msg.header.frame_id;
+     590             :     }
+     591             : 
+     592             :     /**
+     593             :      * \brief A convenience function implements returns the inverse of the transform message as a one-liner.
+     594             :      *
+     595             :      * \param msg the message representing the transformation.
+     596             :      * \return    a new message representing an inverse of the original transformation.
+     597             :      */
+     598           1 :     static geometry_msgs::TransformStamped inverse(const geometry_msgs::TransformStamped& msg)
+     599             :     {
+     600           1 :       tf2::Transform tf2;
+     601           1 :       tf2::fromMsg(msg.transform, tf2);
+     602           1 :       tf2 = tf2.inverse();
+     603           2 :       return create_transform(frame_to(msg), frame_from(msg), msg.header.stamp, tf2::toMsg(tf2));
+     604             :     }
+     605             :     //}
+     606             : 
+     607             :   private:
+     608             :     /* create_transform() method //{ */
+     609             :     static geometry_msgs::TransformStamped create_transform(const std::string& from_frame, const std::string& to_frame, const ros::Time& time_stamp)
+     610             :     {
+     611             :       geometry_msgs::TransformStamped ret;
+     612             :       frame_from(ret) = from_frame;
+     613             :       frame_to(ret) = to_frame;
+     614             :       ret.header.stamp = time_stamp;
+     615             :       return ret;
+     616             :     }
+     617             : 
+     618     2164440 :     static geometry_msgs::TransformStamped create_transform(const std::string& from_frame, const std::string& to_frame, const ros::Time& time_stamp, const geometry_msgs::Transform& tf)
+     619             :     {
+     620     2164440 :       geometry_msgs::TransformStamped ret;
+     621     2164337 :       frame_from(ret) = from_frame;
+     622     2164431 :       frame_to(ret) = to_frame;
+     623     2164410 :       ret.header.stamp = time_stamp;
+     624     2164410 :       ret.transform = tf;
+     625     2164410 :       return ret;
+     626             :     }
+     627             :     //}
+     628             : 
+     629             :     /* copyChangeFrame() and related methods //{ */
+     630             : 
+     631             :     // helper type and member for detecting whether a message has a header using SFINAE
+     632             :     template<typename T>
+     633             :     using has_header_member_chk = decltype( std::declval<T&>().header );
+     634             :     template<typename T>
+     635             :     static constexpr bool has_header_member_v = std::experimental::is_detected<has_header_member_chk, T>::value;
+     636             :     
+     637             :     template <typename msg_t>
+     638             :     std_msgs::Header getHeader(const msg_t& msg);
+     639             :     template <typename pt_t>
+     640             :     std_msgs::Header getHeader(const pcl::PointCloud<pt_t>& cloud);
+     641             :     
+     642             :     template <typename msg_t>
+     643             :     void setHeader(msg_t& msg, const std_msgs::Header& header);
+     644             :     template <typename pt_t>
+     645             :     void setHeader(pcl::PointCloud<pt_t>& cloud, const std_msgs::Header& header);
+     646             :     
+     647             :     template <typename T>
+     648             :     T copyChangeFrame(const T& what, const std::string& frame_id);
+     649             :     
+     650             :     //}
+     651             : 
+     652             :     /* methods for converting between lattitude/longitude and UTM coordinates //{ */
+     653             :     geometry_msgs::Point LLtoUTM(const geometry_msgs::Point& what, const std::string& prefix);
+     654             :     geometry_msgs::PointStamped LLtoUTM(const geometry_msgs::PointStamped& what, const std::string& prefix);
+     655             :     geometry_msgs::Pose LLtoUTM(const geometry_msgs::Pose& what, const std::string& prefix);
+     656             :     geometry_msgs::PoseStamped LLtoUTM(const geometry_msgs::PoseStamped& what, const std::string& prefix);
+     657             :     
+     658             :     std::optional<geometry_msgs::Point> UTMtoLL(const geometry_msgs::Point& what, const std::string& prefix);
+     659             :     std::optional<geometry_msgs::PointStamped> UTMtoLL(const geometry_msgs::PointStamped& what, const std::string& prefix);
+     660             :     std::optional<geometry_msgs::Pose> UTMtoLL(const geometry_msgs::Pose& what, const std::string& prefix);
+     661             :     std::optional<geometry_msgs::PoseStamped> UTMtoLL(const geometry_msgs::PoseStamped& what, const std::string& prefix);
+     662             :     
+     663             :     // helper types and member for detecting whether the UTMtoLL and LLtoUTM methods are defined for a certain message
+     664             :     template<class Class, typename Message>
+     665             :     using UTMLL_method_chk = decltype(std::declval<Class>().UTMtoLL(std::declval<const Message&>(), ""));
+     666             :     template<class Class, typename Message>
+     667             :     using LLUTM_method_chk = decltype(std::declval<Class>().LLtoUTM(std::declval<const Message&>(), ""));
+     668             :     template<class Class, typename Message>
+     669             :     static constexpr bool UTMLL_exists_v = std::experimental::is_detected<UTMLL_method_chk, Class, Message>::value && std::experimental::is_detected<LLUTM_method_chk, Class, Message>::value;
+     670             :     //}
+     671             : 
+     672             :   };
+     673             : 
+     674             :   //}
+     675             : 
+     676             : }  // namespace mrs_lib
+     677             : 
+     678             : #include <mrs_lib/impl/transformer.hpp>
+     679             : 
+     680             : #endif  // TRANSFORMER_H
+
+
+
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+ + diff --git a/mrs_lib/include/mrs_lib/transformer.h.gcov.png b/mrs_lib/include/mrs_lib/transformer.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..27e11b7f6dacb8da8eb743f04a00020774870f30 GIT binary patch literal 2328 zcmV+z3Fr2SP)+1pw=pWW&!q*Gr-mC)Dl3+}z0sGqSFbmd_p%$#a=njTw zXXgmBpt(gF3&M8oQwi=LU{f8AAZ!r1i{~SDt=teC8K*|{sBRyy5$vhoA`bd#YK=br zFT~dLGzVS^9_(IQ_34OK!9LMi({rq&glHBt^wO&OtY{~QF|Q80?R3p*eqd)Z)ii3G z^9vi*-pLIkcoD6v)ex-hx)m%|!)kD+Ph@~#wxX@kMC<}yLkdc0&?23Mej~WPZIc<7 zYU^PD+^w8XQLdE}s%#I4Um21E5y?j$!I>fmEj_7}njG^%V?@d?_XN*ph25k$W<7J{ z9g{(SmK8DQ*E+5sl7|(91nHk-^y$0&MG_S11mU6bjS1CJw9AA7^AiJ(C%50k!eh;6 z88Qcti>F6#ee8&(rO`0VHkxwRgyUhUr$OjLl!iRv92oKfN_^lz5pwKtTZV9muNrnG zwsjy0@%1c&hup>a;NP4F7$65l$f#COCMvOnMomS2_`S3qQnqD11rp;#le4vjaY3 zcUMw9!cJb8eR|x5tlHSeH;NLsTOam&MT)al%w;lC@P0W`=B)OR9)_!&9<=+YGfz%L z$>VbrFbIwoM5nvfVTDJAp1ioyLW)f^^OR{?`?NuPy_HLyt&E{SSas<2>a&G8E zG^Si0L>V%z47@G~;}5M0cTTJ*WM7)ZWmN;jZxotO4A0)sOtB(o2a3uZ30+BCj1iP8 zFv&tGnD-?r`Jop;qE2kYFY%cmpuKEw%4gQk_srpnrq^zKQabrclgsRGm^SlB?!@i81x`^c54?4GD z9Y{hvZo*2RV;+G=A-kkT@BafSpjUqIsD213C`R4i>vk_bdc)prgNNVU{5wrYdpbUb zI?ep$ejlH|V(f4y`jXAXCT`kT(2*&_MY!%oIWtP#ppYbsZo@oRks zyHgyt`?W{)bF4EIPjuO%J-9yNBTabCPV;AxA_cv*{r#-l-{O50{A&n$6dyl6KR)F6 zzTn6D^IpikAT*bVn~`fl3rsRweZ(xPVkv69Y6BRv+&W5D4Pw)wm7OHy| zsm^=Rd_`Q~xe9rI`W@JF?KPUi-O7o4BtdH*H6Lj~Zu0Us_B7cOI(_aVzMieq6qq7~ zqbBtuVh^$Bf!9gd5xvCaTV*J}54dMwL96OU>9bvgY*aMcwaU7pSqRb%#O@1NcGwd< zcMbJR@g<9_{Y!`sH6hOj6_EuVnC+$Znb04v&L7+lj_9bS zymC{oZuOC~N9bMDC$d_IOPjc1^Jy#C z0rn2Y6miXhKGk6Za=P&4sGnMd76t1ZL*JZkCUMR zNotdQcX20i95pj&FXh5Lp;DE5!cP@Sf{wcj==xW6XTf`Qntc8;+kxPtFBv@Bgp%0< zx?zwvjs%yHA`lIrQp&fK&5)vbkx2gbN0EYkZMod92X1|WUl&)u%$u-x*bAEQNBQ-k zdn&#QDO9e&Q@dPhLM^G3MlQN|O{m&!>)11Q0}h@}QwlOsn(|4IAKtK!*cpwm^ZwBL z3u}uGBqg1V?KX7> ztze7=(IIx9t1x_=Ty^vAZQx-AqQS4n&X0o6a+h!90{Q_xSls67Agu|wFyJ0_(GM=& zL)2StIcE?z01iZ|2!#q*H`k~I(&*Om9-4<}#9h@DqD;h8Nz*YH5KRy@naU#_gV~n9 zw$O8f*_jDVvIt7)bg}6ocLkkkNtcV0$TAiv-XhN?&f{jTW9417yEcT>WYvgU?I`aW zb=|gI2(8j*rwc8?jZmOd8r!zj?lobc(5RlQ1jVbU29;g6`J}o6 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/ukf.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - ukf.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:040.0 %
Date:2024-08-07 22:18:19Functions:020.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::UKF<4, 1, 2>::inverse_exception::what() const0
mrs_lib::UKF<4, 1, 2>::square_root_exception::what() const0
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mrs_lib::UKF<4, 1, 2>::inverse_exception::what() const0
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          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : #ifndef UKF_H
+       3             : #define UKF_H
+       4             : 
+       5             : /**  \file
+       6             :      \brief Defines UKF - a class implementing the Unscented Kalman Filter \cite UKF.
+       7             :      \author Tomáš Báča - bacatoma@fel.cvut.cz (original implementation)
+       8             :      \author Matouš Vrba - vrbamato@fel.cvut.cz (rewrite, documentation)
+       9             :  */
+      10             : 
+      11             : #include <mrs_lib/kalman_filter.h>
+      12             : 
+      13             : namespace mrs_lib
+      14             : {
+      15             : 
+      16             :   /**
+      17             :   * \brief Implementation of the Unscented Kalman filter \cite UKF.
+      18             :   *
+      19             :   * The Unscented Kalman filter (abbreviated UKF, \cite UKF) is a variant of the Kalman filter, which may be used
+      20             :   * for state filtration or estimation of non-linear systems as opposed to the Linear Kalman Filter
+      21             :   * (which is implemented in \ref LKF). The UKF tends to be more accurate than the simpler Extended Kalman Filter,
+      22             :   * espetially for highly non-linear systems. However, it is generally less stable than the LKF because of the extra
+      23             :   * matrix square root in the sigma points calculation, so it is recommended to use LKF for linear systems.
+      24             :   *
+      25             :   * The UKF C++ class itself is templated. This has its advantages and disadvantages. Main disadvantage is that it
+      26             :   * may be harder to use if you're not familiar with C++ templates, which, admittedly, can get somewhat messy,
+      27             :   * espetially during compilation. Another disadvantage is that if used unwisely, the compilation times can get
+      28             :   * much higher when using templates. The main advantage is compile-time checking (if it compiles, then it has
+      29             :   * a lower chance of crashing at runtime) and enabling more effective optimalizations during compilation. Also in case
+      30             :   * of Eigen, the code is arguably more readable when you use aliases to the specific Matrix instances instead of
+      31             :   * having Eigen::MatrixXd and Eigen::VectorXd everywhere.
+      32             :   *
+      33             :   * \tparam n_states         number of states of the system (length of the \f$ \mathbf{x} \f$ vector).
+      34             :   * \tparam n_inputs         number of inputs of the system (length of the \f$ \mathbf{u} \f$ vector).
+      35             :   * \tparam n_measurements   number of measurements of the system (length of the \f$ \mathbf{z} \f$ vector).
+      36             :   *
+      37             :   */
+      38             :   template <int n_states, int n_inputs, int n_measurements>
+      39             :   class UKF : KalmanFilter<n_states, n_inputs, n_measurements>
+      40             :   {
+      41             :   protected:
+      42             :     /* protected UKF definitions (typedefs, constants etc) //{ */
+      43             :     static constexpr int n = n_states;            /*!< \brief Length of the state vector of the system. */
+      44             :     static constexpr int m = n_inputs;            /*!< \brief Length of the input vector of the system. */
+      45             :     static constexpr int p = n_measurements;      /*!< \brief Length of the measurement vector of the system. */
+      46             :     static constexpr int w = 2 * n + 1;           /*!< \brief Number of sigma points/weights. */
+      47             : 
+      48             :     using Base_class = KalmanFilter<n, m, p>; /*!< \brief Base class of this class. */
+      49             : 
+      50             :     using X_t = typename Eigen::Matrix<double, n, w>;    /*!< \brief State sigma points matrix. */
+      51             :     using Z_t = typename Eigen::Matrix<double, p, w>;    /*!< \brief Measurement sigma points matrix. */
+      52             :     using Pzz_t = typename Eigen::Matrix<double, p, p>;  /*!< \brief Pzz helper matrix. */
+      53             :     using K_t = typename Eigen::Matrix<double, n, p>;    /*!< \brief Kalman gain matrix. */
+      54             :     //}
+      55             : 
+      56             :   public:
+      57             :     /* public UKF definitions (typedefs, constants etc) //{ */
+      58             :     //! state vector n*1 typedef
+      59             :     using x_t = typename Base_class::x_t;
+      60             :     //! input vector m*1 typedef
+      61             :     using u_t = typename Base_class::u_t;
+      62             :     //! measurement vector p*1 typedef
+      63             :     using z_t = typename Base_class::z_t;
+      64             :     //! state covariance n*n typedef
+      65             :     using P_t = typename Base_class::P_t;
+      66             :     //! measurement covariance p*p typedef
+      67             :     using R_t = typename Base_class::R_t;
+      68             :     //! process covariance n*n typedef
+      69             :     using Q_t = typename Base_class::Q_t;
+      70             :     //! weights vector (2n+1)*1 typedef
+      71             :     using W_t = typename Eigen::Matrix<double, w, 1>;
+      72             :     //! typedef of a helper struct for state and covariance
+      73             :     using statecov_t = typename Base_class::statecov_t;
+      74             :     //! function of the state transition model typedef
+      75             :     using transition_model_t = typename std::function<x_t(const x_t&, const u_t&, double)>;
+      76             :     //! function of the observation model typedef
+      77             :     using observation_model_t = typename std::function<z_t(const x_t&)>;
+      78             : 
+      79             :     //! is thrown when taking the square root of a matrix fails during sigma generation
+      80             :     struct square_root_exception : public std::exception
+      81             :     {
+      82           0 :       const char* what() const throw()
+      83             :       {
+      84           0 :         return "UKF: taking the square root of covariance update produced NANs!!!";
+      85             :       }
+      86             :     };
+      87             : 
+      88             :     //! is thrown when taking the inverse of a matrix fails during kalman gain calculation
+      89             :     struct inverse_exception : public std::exception
+      90             :     {
+      91           0 :       const char* what() const throw()
+      92             :       {
+      93           0 :         return "UKF: inverting of Pzz in correction update produced NANs!!!";
+      94             :       }
+      95             :     };
+      96             :     //}
+      97             : 
+      98             :   public:
+      99             :     /* UKF constructor //{ */
+     100             :   /*!
+     101             :     * \brief Convenience default constructor.
+     102             :     *
+     103             :     * This constructor should not be used if applicable. If used, the main constructor has to be called afterwards,
+     104             :     * otherwise the UKF object is invalid (not initialized).
+     105             :     */
+     106             :     UKF();
+     107             : 
+     108             :   /*!
+     109             :     * \brief The main constructor.
+     110             :     *
+     111             :     * \param alpha             Scaling parameter of the sigma generation (a small positive value, e.g. 1e-3).
+     112             :     * \param kappa             Secondary scaling parameter of the sigma generation (usually set to 0 or 1).
+     113             :     * \param beta              Incorporates prior knowledge about the distribution (for Gaussian distribution, 2 is optimal).
+     114             :     * \param transition_model  State transition model function.
+     115             :     * \param observation_model Observation model function.
+     116             :     */
+     117             :     UKF(const transition_model_t& transition_model, const observation_model_t& observation_model, const double alpha = 1e-3, const double kappa = 1, const double beta = 2);
+     118             :     //}
+     119             : 
+     120             :     /* correct() method //{ */
+     121             :   /*!
+     122             :     * \brief Implements the state correction step (measurement update).
+     123             :     *
+     124             :     * \param sc     Previous estimate of the state and covariance.
+     125             :     * \param z      Measurement vector.
+     126             :     * \param R      Measurement covariance matrix.
+     127             :     * \returns      The state and covariance after applying the correction step.
+     128             :     */
+     129             :     virtual statecov_t correct(const statecov_t& sc, const z_t& z, const R_t& R) const override;
+     130             :     //}
+     131             : 
+     132             :     /* predict() method //{ */
+     133             :   /*!
+     134             :     * \brief Implements the state prediction step (time update).
+     135             :     *
+     136             :     * \param sc     Previous estimate of the state and covariance.
+     137             :     * \param u      Input vector.
+     138             :     * \param Q      Process noise covariance matrix.
+     139             :     * \param dt     Duration since the previous estimate.
+     140             :     * \returns      The state and covariance after applying the correction step.
+     141             :     */
+     142             :     virtual statecov_t predict(const statecov_t& sc, const u_t& u, const Q_t& Q, double dt) const override;
+     143             :     //}
+     144             : 
+     145             :     /* setConstants() method //{ */
+     146             :   /*!
+     147             :     * \brief Changes the Unscented Transform parameters.
+     148             :     *
+     149             :     * \param alpha  Scaling parameter of the sigma generation (a small positive value - e.g. 1e-3).
+     150             :     * \param kappa  Secondary scaling parameter of the sigma generation (usually set to 0 or 1).
+     151             :     * \param beta   Incorporates prior knowledge about the distribution (for Gaussian distribution, 2 is optimal).
+     152             :     */
+     153             :     void setConstants(const double alpha, const double kappa, const double beta);
+     154             :     //}
+     155             : 
+     156             :     /* setTransitionModel() method //{ */
+     157             :   /*!
+     158             :     * \brief Changes the transition model function.
+     159             :     *
+     160             :     * \param transition_model   the new transition model
+     161             :     */
+     162             :     void setTransitionModel(const transition_model_t& transition_model);
+     163             :     //}
+     164             : 
+     165             :     /* setObservationModel() method //{ */
+     166             :   /*!
+     167             :     * \brief Changes the observation model function.
+     168             :     *
+     169             :     * \param observation_model   the new observation model
+     170             :     */
+     171             :     void setObservationModel(const observation_model_t& observation_model);
+     172             :     //}
+     173             : 
+     174             :   protected:
+     175             :     /* protected methods and member variables //{ */
+     176             : 
+     177             :     void computeWeights();
+     178             : 
+     179             :     X_t computeSigmas(const x_t& x, const P_t& P) const;
+     180             : 
+     181             :     P_t computePaSqrt(const P_t& P) const;
+     182             : 
+     183             :     Pzz_t computeInverse(const Pzz_t& Pzz) const;
+     184             : 
+     185             :     virtual K_t computeKalmanGain([[maybe_unused]] const x_t& x, [[maybe_unused]] const z_t& inn, const K_t& Pxz, const Pzz_t& Pzz) const;
+     186             : 
+     187             :     double m_alpha, m_kappa, m_beta, m_lambda;
+     188             :     W_t m_Wm;
+     189             :     W_t m_Wc;
+     190             : 
+     191             :     transition_model_t m_transition_model;
+     192             :     observation_model_t m_observation_model;
+     193             : 
+     194             :     //}
+     195             :   };
+     196             : 
+     197             : }  // namespace mrs_lib
+     198             : 
+     199             : #include <mrs_lib/impl/ukf.hpp>
+     200             : 
+     201             : #endif
+
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std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > mrs_lib::containerToString<boost::array<int, 3ul> >(boost::array<int, 3ul> const&, char const*)1
std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > mrs_lib::containerToString<__gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > > >(__gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > >, __gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > >, char const*)1
std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > mrs_lib::containerToString<__gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > > >(__gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > >, __gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > mrs_lib::containerToString<int const*>(int const*, int const*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
int mrs_lib::signum<double>(double)49201
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std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > mrs_lib::containerToString<boost::array<int, 3ul> >(boost::array<int, 3ul> const&, char const*)1
std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > mrs_lib::containerToString<__gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > > >(__gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > >, __gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > >, char const*)1
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int mrs_lib::signum<double>(double)49201
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          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : /**  \file
+       3             :      \brief Defines various general utility functions.
+       4             :      \author Matouš Vrba - vrbamato@fel.cvut.cz
+       5             :      \author Viktor Walter - walver.viktor@fel.cvut.cz
+       6             :      \author Tomáš Báča - baca.tomas@fel.cvut.cz
+       7             :  */
+       8             : #ifndef UTILS_H
+       9             : #define UTILS_H
+      10             : 
+      11             : #include <iterator>
+      12             : #include <vector>
+      13             : #include <sstream>
+      14             : #include <atomic>
+      15             : 
+      16             : namespace mrs_lib
+      17             : {
+      18             :   /* containerToString() function //{ */
+      19             : 
+      20             :   /**
+      21             :    * \brief Convenience function for converting container ranges to strings (e.g. for printing).
+      22             :    *
+      23             :    * \param begin        first element of the container that will be converted to \p std::string.
+      24             :    * \param end          one-after-the-last element of the container that will be converted to \p std::string.
+      25             :    * \param delimiter    will be used to separate the elements in the output.
+      26             :    * \return             elements of the container from \p begin to \p end (excluding), converted to string and separated by \p delimiter.
+      27             :    *
+      28             :    */
+      29             :   template <typename Iterator>
+      30           2 :   std::string containerToString(const Iterator begin, const Iterator end, const std::string& delimiter = ", ")
+      31             :   {
+      32           2 :     bool first = true;
+      33           4 :     std::ostringstream output;
+      34           7 :     for (Iterator it = begin; it != end; it++)
+      35             :     {
+      36           5 :       if (!first)
+      37           3 :         output << delimiter;
+      38           5 :       output << *it;
+      39           5 :       first = false;
+      40             :     }
+      41           4 :     return output.str();
+      42             :   }
+      43             : 
+      44             :   /**
+      45             :    * \brief Convenience function for converting container ranges to strings (e.g. for printing).
+      46             :    *
+      47             :    * \param begin        first element of the container that will be converted to \p std::string.
+      48             :    * \param end          one-after-the-last element of the container that will be converted to \p std::string.
+      49             :    * \param delimiter    will be used to separate the elements in the output.
+      50             :    * \return             elements of the container from \p begin to \p end (excluding), converted to string and separated by \p delimiter.
+      51             :    *
+      52             :    */
+      53             :   template <typename Iterator>
+      54           1 :   std::string containerToString(const Iterator begin, const Iterator end, const char* delimiter)
+      55             :   {
+      56           1 :     return containerToString(begin, end, std::string(delimiter));
+      57             :   }
+      58             : 
+      59             :   /**
+      60             :    * \brief Convenience function for converting containers to strings (e.g. for printing).
+      61             :    *
+      62             :    * \param cont         the container that will be converted to \p std::string.
+      63             :    * \param delimiter    will be used to separate the elements in the output.
+      64             :    * \return             elements of the container from \p begin to \p end (excluding), converted to string and separated by \p delimiter.
+      65             :    *
+      66             :    */
+      67             :   template <typename Container>
+      68             :   std::string containerToString(const Container& cont, const std::string& delimiter = ", ")
+      69             :   {
+      70             :     return containerToString(std::begin(cont), std::end(cont), delimiter);
+      71             :   }
+      72             : 
+      73             :   /**
+      74             :    * \brief Convenience function for converting containers to strings (e.g. for printing).
+      75             :    *
+      76             :    * \param cont         the container that will be converted to \p std::string.
+      77             :    * \param delimiter    will be used to separate the elements in the output.
+      78             :    * \return             elements of the container from \p begin to \p end (excluding), converted to string and separated by \p delimiter.
+      79             :    *
+      80             :    */
+      81             :   template <typename Container>
+      82           1 :   std::string containerToString(const Container& cont, const char* delimiter = ", ")
+      83             :   {
+      84           1 :     return containerToString(std::begin(cont), std::end(cont), std::string(delimiter));
+      85             :   }
+      86             : 
+      87             :   //}
+      88             : 
+      89             :   /* remove_const() function //{ */
+      90             : 
+      91             :   /**
+      92             :    * \brief Convenience class for removing const-ness from a container iterator.
+      93             :    *
+      94             :    * \param it    the iterator from which const-ness should be removed.
+      95             :    * \param cont  the corresponding container of the iterator.
+      96             :    * \return      a non-const iterator, pointing to the same element as \p it.
+      97             :    *
+      98             :    */
+      99             :   template <typename T>
+     100             :   typename T::iterator remove_const(const typename T::const_iterator& it, T& cont)
+     101             :   {
+     102             :     typename T::iterator ret = cont.begin();
+     103             :     std::advance(ret, std::distance((typename T::const_iterator)ret, it));
+     104             :     return ret;
+     105             :   }
+     106             : 
+     107             :   //}
+     108             : 
+     109             :   /**
+     110             :    * \brief Convenience class for automatically setting and unsetting an atomic boolean based on the object's scope.
+     111             :    * Useful e.g. for indicating whether a thread is running or not.
+     112             :    *
+     113             :    */
+     114             :   class AtomicScopeFlag
+     115             :   {
+     116             : 
+     117             :   public:
+     118             :   /**
+     119             :    * \brief The constructor. Sets the flag \p in to \p true.
+     120             :    *
+     121             :    * \param in  The flag to be set on construction of this object and reset (set to \p false) on its destruction.
+     122             :    *
+     123             :    */
+     124             :     AtomicScopeFlag(std::atomic<bool>& in);
+     125             :   /**
+     126             :    * \brief The destructor. Resets the variable given in the constructor to \p false.
+     127             :    *
+     128             :    */
+     129             :     ~AtomicScopeFlag();
+     130             : 
+     131             :   private:
+     132             :     std::atomic<bool>& variable;
+     133             :   };
+     134             : 
+     135             :   // branchless, templated, more efficient version of the signum function
+     136             :   // taken from https://stackoverflow.com/questions/1903954/is-there-a-standard-sign-function-signum-sgn-in-c-c
+     137             :   template <typename T>
+     138       49201 :   int signum(T val)
+     139             :   {
+     140       49201 :     return (T(0) < val) - (val < T(0));
+     141             :   }
+     142             : 
+     143             : }  // namespace mrs_lib
+     144             : 
+     145             : #endif
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/utils.h.gcov.overview.html b/mrs_lib/include/mrs_lib/utils.h.gcov.overview.html new file mode 100644 index 0000000000..d983ecb00f --- /dev/null +++ b/mrs_lib/include/mrs_lib/utils.h.gcov.overview.html @@ -0,0 +1,57 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/utils.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_lib/include/mrs_lib/utils.h.gcov.png b/mrs_lib/include/mrs_lib/utils.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..3c5a1ba70c3b1da9d74597a8f6a3c0e7615a62c4 GIT binary patch literal 677 zcmV;W0$TlvP)l=4-G#Um_Yy`w6Rs=M&%v{=o`r-?%xM=OW>h&bqcU+TQz!t_l+ia=f`g{ zR3ebC>F<(@nc_|$XwYCW585V*GUF4_YnnA?2Y?xjsxXB|u>b-jM|J$g9D4!O!}y3( z>5n>1RXeh2o;lbn0z%RcBZC=;F0pmW%D84()+*GV>CMgDn&J{&GQ~*U=k)Y}ED75N zXW&vio5`7>J*xQp>7;&<(HwNLONQ3&6{vH)_G$2 z%brso?`BUU_fSR|oC)j;ukm1<{Ww+)E zv_~BY1xYIs0xvt6FdPj^V}SR0$bcsq-sw?u)~2MeU&YCx{HQABB;Ewpy!6`E%Y?EX zeaj!rxc6&3Vz|_MN;%5mz?GsVc{G)%nYbrtChOJd@xaP>uO0>`9EE$x`x^!6hQOmK zMHJ~S3CLLmhtCS`i41#bM9^E)gF*O)CiT%EpB>CyJZk2ow&~6} + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/vector_converter.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - vector_converter.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-08-07 22:18:19Functions:3636100.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, pcl::PointXYZ>(pcl::PointXYZ const&)1
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, pcl::PointXYZ>(pcl::PointXYZ const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, pcl::PointXYZ>(pcl::PointXYZ const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, pcl::PointXYZ>(pcl::PointXYZ const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, pcl::PointXYZ>(pcl::PointXYZ const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, pcl::PointXYZ>(pcl::PointXYZ const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
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+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/vector_converter.h.func.html b/mrs_lib/include/mrs_lib/vector_converter.h.func.html new file mode 100644 index 0000000000..908c361171 --- /dev/null +++ b/mrs_lib/include/mrs_lib/vector_converter.h.func.html @@ -0,0 +1,224 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/vector_converter.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - vector_converter.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-08-07 22:18:19Functions:3636100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, pcl::PointXYZ>(pcl::PointXYZ const&)1
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, pcl::PointXYZ>(pcl::PointXYZ const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, pcl::PointXYZ>(pcl::PointXYZ const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, pcl::PointXYZ>(pcl::PointXYZ const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, pcl::PointXYZ>(pcl::PointXYZ const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, pcl::PointXYZ>(pcl::PointXYZ const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
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          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : /**  \file vector_converter.h
+       3             :      \brief Defines the convert() function for conversion between different vector representations (Eigen, OpenCV, tf2 etc.).
+       4             :      \author Matouš Vrba - vrbamato@fel.cvut.cz
+       5             :  */
+       6             : #ifndef VECTOR_CONVERTER_H
+       7             : #define VECTOR_CONVERTER_H
+       8             : 
+       9             : #include <tuple>
+      10             : 
+      11             : #include <mrs_lib/impl/vector_converter.hpp>
+      12             : 
+      13             : namespace mrs_lib
+      14             : {
+      15             : 
+      16             :   /*!
+      17             :    * \brief Converts between different vector representations.
+      18             :    *
+      19             :    * Usage (for full example, see the file vector_converter/example.cpp):
+      20             :    *
+      21             :    * `auto out = mrs_lib::convert<to_type>(in);`
+      22             :    *
+      23             :    * Supported types by default are: `Eigen::Vector3d`, `cv::Vec3d`, `geometry_msgs::Vector3`.
+      24             :    * If you want to use this with a new type, it should work automagically if it provides a reasonable API.
+      25             :    * If it doesn't work by default, you just need to implement the respective convertTo() and convertFrom() functions for that type (see the file impl/vector_converter.hpp and the example file vector_converter/example.cpp).
+      26             :    *
+      27             :    * \param in  The input vector to be converted to the \p ret_t type.
+      28             :    *
+      29             :    * \tparam ret_t Type of the return vector. You need to specify this when calling the function.
+      30             :    * \tparam in_t  Type of the input vector. This parameter is deduced by the compiler and doesn't need to be specified in usual cases.
+      31             :    *
+      32             :    */
+      33             :   template <typename ret_t, typename in_t>
+      34          36 :   ret_t convert(const in_t& in)
+      35             :   {
+      36          36 :     const auto [x, y, z] = impl::convertFrom(in);
+      37          36 :     ret_t ret;
+      38          36 :     impl::convertTo(ret, x, y, z);
+      39          66 :     return ret;
+      40             :   }
+      41             : 
+      42             : }
+      43             : 
+      44             : #endif // VECTOR_CONVERTER_H
+
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+ + diff --git a/mrs_lib/include/mrs_lib/vector_converter.h.gcov.png b/mrs_lib/include/mrs_lib/vector_converter.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..0213761517fcd503a7734a61558dfce4281808fe GIT binary patch literal 366 zcmeAS@N?(olHy`uVBq!ia0vp^0YI$7!VDxC?klMPNr?cT5ZC|z|E~gqG_SB2M%>2yfa=luuJVf}zG{gTHW~)`*f}N$NhxBgI-QBu0 zUgYBYbF77KfvcK&J?5I!9x!5v+P_nwa?;v~tZ(h7W^8_X?C;`pk5hW98`P%gY{>b< z7T;ibT_bhtakp5upzE)WbRLzQUAZ<%?dy@5MS0FK{10b+p2m8+F!wdXX{$e1g+q;= zZh1Oo)8c;pBQuf?Dq3*`CP~d+ab(3zgM0SXH*URr$?%sUM$Ps3p-Hp7fZ@R4>FVdQ I&MBb@03ZyU+yDRo literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/visual_object.h.func-sort-c.html b/mrs_lib/include/mrs_lib/visual_object.h.func-sort-c.html new file mode 100644 index 0000000000..3b2a0a757a --- /dev/null +++ b/mrs_lib/include/mrs_lib/visual_object.h.func-sort-c.html @@ -0,0 +1,84 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/visual_object.h - functions + + + + + + + + + + + + + + +
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mrs_lib::VisualObject::operator<(mrs_lib::VisualObject const&) const272
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mrs_lib::VisualObject::operator<(mrs_lib::VisualObject const&) const272
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          Line data    Source code
+
+       1             : /**  \file
+       2             :      \brief Object abstraction for the Batch Visualizer
+       3             :      \author Petr Štibinger - stibipet@fel.cvut.cz
+       4             :  */
+       5             : 
+       6             : #ifndef BATCH_VISUALIZER__VISUAL_OBJECT_H
+       7             : #define BATCH_VISUALIZER__VISUAL_OBJECT_H
+       8             : 
+       9             : #include <Eigen/Core>
+      10             : #include <ros/time.h>
+      11             : #include <std_msgs/ColorRGBA.h>
+      12             : #include <geometry_msgs/Point.h>
+      13             : #include <mrs_lib/geometry/shapes.h>
+      14             : #include <mrs_msgs/Path.h>
+      15             : #include <mrs_msgs/TrajectoryReference.h>
+      16             : 
+      17             : #define DEFAULT_ELLIPSE_POINTS 64
+      18             : 
+      19             : namespace mrs_lib
+      20             : {
+      21             : 
+      22             : enum MarkerType
+      23             : {
+      24             :   POINT    = 0,
+      25             :   LINE     = 1,
+      26             :   TRIANGLE = 2
+      27             : };
+      28             : 
+      29             : class VisualObject {
+      30             : 
+      31             : 
+      32             : public:
+      33             :   VisualObject(const Eigen::Vector3d& point, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      34             :                const unsigned long& id);
+      35             : 
+      36             :   VisualObject(const mrs_lib::geometry::Ray& ray, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      37             :                const unsigned long& id);
+      38             : 
+      39             :   VisualObject(const mrs_lib::geometry::Triangle& triangle, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      40             :                const bool filled, const unsigned long& id);
+      41             : 
+      42             :   VisualObject(const mrs_lib::geometry::Rectangle& rectangle, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      43             :                const bool filled, const unsigned long& id);
+      44             : 
+      45             :   VisualObject(const mrs_lib::geometry::Cuboid& cuboid, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      46             :                const bool filled, const unsigned long& id);
+      47             : 
+      48             :   VisualObject(const mrs_lib::geometry::Ellipse& ellipse, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      49             :                const bool filled, const unsigned long& id, const int num_points = DEFAULT_ELLIPSE_POINTS);
+      50             : 
+      51             :   VisualObject(const mrs_lib::geometry::Cylinder& cylinder, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      52             :                const bool filled, const bool capped, const unsigned long& id, const int num_sides = DEFAULT_ELLIPSE_POINTS);
+      53             : 
+      54             :   VisualObject(const mrs_lib::geometry::Cone& cone, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      55             :                const bool filled, const bool capped, const unsigned long& id, const int num_sides = DEFAULT_ELLIPSE_POINTS);
+      56             : 
+      57             :   VisualObject(const mrs_msgs::Path& p, const double r, const double g, const double b, const double a, const ros::Duration& timeout, const bool filled,
+      58             :                const unsigned long& id);
+      59             : 
+      60             :   VisualObject(const mrs_msgs::TrajectoryReference& traj, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+      61             :                const bool filled, const unsigned long& id);
+      62             : 
+      63             : 
+      64             : public:
+      65             :   unsigned long getID() const;
+      66             :   int           getType() const;
+      67             :   bool          isTimedOut() const;
+      68             : 
+      69             :   const std::vector<geometry_msgs::Point> getPoints() const;
+      70             :   const std::vector<std_msgs::ColorRGBA>  getColors() const;
+      71             : 
+      72         272 :   bool operator<(const VisualObject& other) const {
+      73         272 :     return id_ < other.id_;
+      74             :   }
+      75             : 
+      76             :   bool operator>(const VisualObject& other) const {
+      77             :     return id_ > other.id_;
+      78             :   }
+      79             : 
+      80             :   bool operator==(const VisualObject& other) const {
+      81             :     return id_ == other.id_;
+      82             :   }
+      83             : 
+      84             : private:
+      85             :   const unsigned long               id_;
+      86             :   MarkerType                        type_;
+      87             :   std::vector<geometry_msgs::Point> points_;
+      88             :   std::vector<std_msgs::ColorRGBA>  colors_;
+      89             :   ros::Time                         timeout_time_;
+      90             : 
+      91             :   void addRay(const mrs_lib::geometry::Ray& ray, const double r, const double g, const double b, const double a);
+      92             : 
+      93             :   void addTriangle(const mrs_lib::geometry::Triangle& triangle, const double r, const double g, const double b, const double a, const bool filled);
+      94             : 
+      95             :   void addEllipse(const mrs_lib::geometry::Ellipse& ellipse, const double r, const double g, const double b, const double a, const bool filled,
+      96             :                   const int num_points);
+      97             : 
+      98             : };  // namespace batch_visualizer
+      99             : 
+     100             : }  // namespace mrs_lib
+     101             : 
+     102             : #endif
+
+
+
+ + + + +
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+ + + diff --git a/mrs_lib/include/mrs_lib/visual_object.h.gcov.overview.html b/mrs_lib/include/mrs_lib/visual_object.h.gcov.overview.html new file mode 100644 index 0000000000..d12f1bdebc --- /dev/null +++ b/mrs_lib/include/mrs_lib/visual_object.h.gcov.overview.html @@ -0,0 +1,46 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/visual_object.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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Current view:top level - mrs_lib/src/attitude_converter - attitude_converter.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:21222494.6 %
Date:2024-08-07 22:18:19Functions:394195.1 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::AttitudeConverter::setYaw(double const&)0
mrs_lib::Vector3Converter::operator tf2::Vector3() const0
mrs_lib::EulerAttitude::EulerAttitude(double const&, double const&, double const&)1
mrs_lib::Vector3Converter::Vector3Converter(double const&, double const&, double const&)1
mrs_lib::AttitudeConverter::getExtrinsicRPY()1
mrs_lib::AttitudeConverter::getIntrinsicRPY()1
mrs_lib::AttitudeConverter::getRoll()1
mrs_lib::AttitudeConverter::getPitch()1
mrs_lib::AttitudeConverter::AttitudeConverter(tf::Quaternion)1
mrs_lib::AttitudeConverter::AttitudeConverter(tf2::Matrix3x3)1
mrs_lib::AttitudeConverter::AttitudeConverter(mrs_lib::EulerAttitude const&)1
mrs_lib::EulerAttitude::yaw() const1
mrs_lib::EulerAttitude::roll() const1
mrs_lib::EulerAttitude::pitch() const1
mrs_lib::Vector3Converter::operator geometry_msgs::Vector3_<std::allocator<void> >() const1
mrs_lib::AttitudeConverter::operator tf::Quaternion() const1
mrs_lib::AttitudeConverter::operator mrs_lib::EulerAttitude() const1
mrs_lib::AttitudeConverter::getVectorX()3
mrs_lib::AttitudeConverter::getVectorY()3
mrs_lib::Vector3Converter::Vector3Converter(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)22943
mrs_lib::AttitudeConverter::getYawRateIntrinsic(double const&)114877
mrs_lib::AttitudeConverter::operator std::tuple<double&, double&, double&>()149847
mrs_lib::AttitudeConverter::getYaw()204769
mrs_lib::AttitudeConverter::calculateRPY()204774
mrs_lib::Vector3Converter::Vector3Converter(geometry_msgs::Vector3_<std::allocator<void> > const&)316090
mrs_lib::AttitudeConverter::setHeading(double const&)328335
mrs_lib::AttitudeConverter::getVectorZ()330334
mrs_lib::AttitudeConverter::getHeadingRate(mrs_lib::Vector3Converter const&)339028
mrs_lib::AttitudeConverter::operator tf2::Matrix3x3() const419568
mrs_lib::AttitudeConverter::operator tf2::Transform() const435774
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Quaternion<double, 0>)503758
mrs_lib::Vector3Converter::operator Eigen::Matrix<double, 3, 1, 0, 3, 1>() const669365
mrs_lib::AttitudeConverter::operator tf2::Quaternion() const981073
mrs_lib::AttitudeConverter::AttitudeConverter(tf2::Quaternion)1037466
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Matrix<double, 3, 3, 0, 3, 3>)1571988
mrs_lib::AttitudeConverter::operator Eigen::Matrix<double, 3, 3, 0, 3, 3>() const1675061
mrs_lib::AttitudeConverter::getHeading()1768782
mrs_lib::AttitudeConverter::AttitudeConverter(geometry_msgs::Quaternion_<std::allocator<void> >)3919133
mrs_lib::AttitudeConverter::AttitudeConverter(double const&, double const&, double const&, mrs_lib::RPY_convention_t const&)7921565
mrs_lib::AttitudeConverter::operator geometry_msgs::Quaternion_<std::allocator<void> >() const9453054
mrs_lib::AttitudeConverter::validateOrientation()14952200
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Test:MRS UAV System - Test coverage reportLines:21222494.6 %
Date:2024-08-07 22:18:19Functions:394195.1 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::EulerAttitude::EulerAttitude(double const&, double const&, double const&)1
mrs_lib::Vector3Converter::Vector3Converter(geometry_msgs::Vector3_<std::allocator<void> > const&)316090
mrs_lib::Vector3Converter::Vector3Converter(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)22943
mrs_lib::Vector3Converter::Vector3Converter(double const&, double const&, double const&)1
mrs_lib::AttitudeConverter::getHeading()1768782
mrs_lib::AttitudeConverter::getVectorX()3
mrs_lib::AttitudeConverter::getVectorY()3
mrs_lib::AttitudeConverter::getVectorZ()330334
mrs_lib::AttitudeConverter::setHeading(double const&)328335
mrs_lib::AttitudeConverter::calculateRPY()204774
mrs_lib::AttitudeConverter::getHeadingRate(mrs_lib::Vector3Converter const&)339028
mrs_lib::AttitudeConverter::getExtrinsicRPY()1
mrs_lib::AttitudeConverter::getIntrinsicRPY()1
mrs_lib::AttitudeConverter::getYawRateIntrinsic(double const&)114877
mrs_lib::AttitudeConverter::validateOrientation()14952200
mrs_lib::AttitudeConverter::getYaw()204769
mrs_lib::AttitudeConverter::setYaw(double const&)0
mrs_lib::AttitudeConverter::getRoll()1
mrs_lib::AttitudeConverter::getPitch()1
mrs_lib::AttitudeConverter::AttitudeConverter(geometry_msgs::Quaternion_<std::allocator<void> >)3919133
mrs_lib::AttitudeConverter::AttitudeConverter(tf::Quaternion)1
mrs_lib::AttitudeConverter::AttitudeConverter(tf2::Quaternion)1037466
mrs_lib::AttitudeConverter::AttitudeConverter(tf2::Matrix3x3)1
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Quaternion<double, 0>)503758
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Matrix<double, 3, 3, 0, 3, 3>)1571988
mrs_lib::AttitudeConverter::AttitudeConverter(mrs_lib::EulerAttitude const&)1
mrs_lib::AttitudeConverter::AttitudeConverter(double const&, double const&, double const&, mrs_lib::RPY_convention_t const&)7921565
mrs_lib::AttitudeConverter::operator std::tuple<double&, double&, double&>()149847
mrs_lib::EulerAttitude::yaw() const1
mrs_lib::EulerAttitude::roll() const1
mrs_lib::EulerAttitude::pitch() const1
mrs_lib::Vector3Converter::operator geometry_msgs::Vector3_<std::allocator<void> >() const1
mrs_lib::Vector3Converter::operator tf2::Vector3() const0
mrs_lib::Vector3Converter::operator Eigen::Matrix<double, 3, 1, 0, 3, 1>() const669365
mrs_lib::AttitudeConverter::operator geometry_msgs::Quaternion_<std::allocator<void> >() const9453054
mrs_lib::AttitudeConverter::operator tf::Quaternion() const1
mrs_lib::AttitudeConverter::operator tf2::Quaternion() const981073
mrs_lib::AttitudeConverter::operator tf2::Matrix3x3() const419568
mrs_lib::AttitudeConverter::operator tf2::Transform() const435774
mrs_lib::AttitudeConverter::operator Eigen::Matrix<double, 3, 3, 0, 3, 3>() const1675061
mrs_lib::AttitudeConverter::operator mrs_lib::EulerAttitude() const1
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Current view:top level - mrs_lib/src/attitude_converter - attitude_converter.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:21222494.6 %
Date:2024-08-07 22:18:19Functions:394195.1 %
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+
          Line data    Source code
+
+       1             : // clang: TomasFormat
+       2             : 
+       3             : #include <mrs_lib/attitude_converter.h>
+       4             : #include <mrs_lib/utils.h>
+       5             : 
+       6             : using quat_t = Eigen::Quaterniond;
+       7             : 
+       8             : namespace mrs_lib
+       9             : {
+      10             : 
+      11             : /* class EulerAttitude //{ */
+      12             : 
+      13           1 : EulerAttitude::EulerAttitude(const double& roll, const double& pitch, const double& yaw) : roll_(roll), pitch_(pitch), yaw_(yaw) {
+      14           1 : }
+      15             : 
+      16           1 : double EulerAttitude::roll(void) const {
+      17           1 :   return roll_;
+      18             : }
+      19             : 
+      20           1 : double EulerAttitude::pitch(void) const {
+      21           1 :   return pitch_;
+      22             : }
+      23             : 
+      24           1 : double EulerAttitude::yaw(void) const {
+      25           1 :   return yaw_;
+      26             : }
+      27             : 
+      28             : //}
+      29             : 
+      30             : /* class Vector3Converter //{ */
+      31             : 
+      32       22943 : Vector3Converter::Vector3Converter(const Eigen::Vector3d& vector3) {
+      33             : 
+      34       22943 :   vector3_[0] = vector3[0];
+      35       22943 :   vector3_[1] = vector3[1];
+      36       22943 :   vector3_[2] = vector3[2];
+      37       22943 : }
+      38             : 
+      39      316090 : Vector3Converter::Vector3Converter(const geometry_msgs::Vector3& vector3) {
+      40             : 
+      41      316040 :   vector3_[0] = vector3.x;
+      42      316060 :   vector3_[1] = vector3.y;
+      43      316017 :   vector3_[2] = vector3.z;
+      44      316037 : }
+      45             : 
+      46           1 : Vector3Converter::Vector3Converter(const double& x, const double& y, const double& z) {
+      47             : 
+      48           1 :   vector3_[0] = x;
+      49           1 :   vector3_[1] = y;
+      50           1 :   vector3_[2] = z;
+      51           1 : }
+      52             : 
+      53           0 : Vector3Converter::operator tf2::Vector3() const {
+      54             : 
+      55           0 :   return vector3_;
+      56             : }
+      57             : 
+      58      669365 : Vector3Converter::operator Eigen::Vector3d() const {
+      59             : 
+      60      669365 :   return Eigen::Vector3d(vector3_[0], vector3_[1], vector3_[2]);
+      61             : }
+      62             : 
+      63           1 : Vector3Converter::operator geometry_msgs::Vector3() const {
+      64             : 
+      65           1 :   geometry_msgs::Vector3 vector_3;
+      66             : 
+      67           1 :   vector_3.x = vector3_[0];
+      68           1 :   vector_3.y = vector3_[1];
+      69           1 :   vector_3.z = vector3_[2];
+      70             : 
+      71           1 :   return vector_3;
+      72             : }
+      73             : 
+      74             : //}
+      75             : 
+      76             : /* constructors //{ */
+      77             : 
+      78     7921565 : AttitudeConverter::AttitudeConverter(const double& roll, const double& pitch, const double& yaw, const RPY_convention_t& format) {
+      79             : 
+      80     7920285 :   switch (format) {
+      81             : 
+      82     7920588 :     case RPY_EXTRINSIC: {
+      83     7920588 :       tf2_quaternion_.setRPY(roll, pitch, yaw);
+      84     7919990 :       break;
+      85             :     }
+      86             : 
+      87           5 :     case RPY_INTRINSIC: {
+      88             : 
+      89           5 :       Eigen::Matrix3d Y, P, R;
+      90             : 
+      91           5 :       Y << cos(yaw), -sin(yaw), 0, sin(yaw), cos(yaw), 0, 0, 0, 1;
+      92             : 
+      93           5 :       P << cos(pitch), 0, sin(pitch), 0, 1, 0, -sin(pitch), 0, cos(pitch);
+      94             : 
+      95           5 :       R << 1, 0, 0, 0, cos(roll), -sin(roll), 0, sin(roll), cos(roll);
+      96             : 
+      97           5 :       tf2_quaternion_ = AttitudeConverter(R * P * Y);
+      98             : 
+      99           5 :       break;
+     100             :     }
+     101             :   }
+     102             : 
+     103     7919707 :   validateOrientation();
+     104     7920746 : }
+     105             : 
+     106           1 : AttitudeConverter::AttitudeConverter(const tf::Quaternion quaternion) {
+     107             : 
+     108           1 :   tf2_quaternion_.setX(quaternion.x());
+     109           1 :   tf2_quaternion_.setY(quaternion.y());
+     110           1 :   tf2_quaternion_.setZ(quaternion.z());
+     111           1 :   tf2_quaternion_.setW(quaternion.w());
+     112             : 
+     113           1 :   validateOrientation();
+     114           1 : }
+     115             : 
+     116     3919133 : AttitudeConverter::AttitudeConverter(const geometry_msgs::Quaternion quaternion) {
+     117     3918829 :   tf2_quaternion_.setX(quaternion.x);
+     118     3918211 :   tf2_quaternion_.setY(quaternion.y);
+     119     3918792 :   tf2_quaternion_.setZ(quaternion.z);
+     120     3919028 :   tf2_quaternion_.setW(quaternion.w);
+     121             : 
+     122     3919135 :   validateOrientation();
+     123     3918147 : }
+     124             : 
+     125           1 : AttitudeConverter::AttitudeConverter(const mrs_lib::EulerAttitude& euler_attitude) {
+     126           1 :   tf2_quaternion_.setRPY(euler_attitude.roll(), euler_attitude.pitch(), euler_attitude.yaw());
+     127             : 
+     128           1 :   validateOrientation();
+     129           1 : }
+     130             : 
+     131      503758 : AttitudeConverter::AttitudeConverter(const Eigen::Quaterniond quaternion) {
+     132      503757 :   tf2_quaternion_.setX(quaternion.x());
+     133      503757 :   tf2_quaternion_.setY(quaternion.y());
+     134      503757 :   tf2_quaternion_.setZ(quaternion.z());
+     135      503757 :   tf2_quaternion_.setW(quaternion.w());
+     136             : 
+     137      503758 :   validateOrientation();
+     138      503756 : }
+     139             : 
+     140     1571988 : AttitudeConverter::AttitudeConverter(const Eigen::Matrix3d matrix) {
+     141     1569047 :   Eigen::Quaterniond quaternion = Eigen::Quaterniond(matrix);
+     142             : 
+     143     1569960 :   tf2_quaternion_.setX(quaternion.x());
+     144     1567867 :   tf2_quaternion_.setY(quaternion.y());
+     145     1569936 :   tf2_quaternion_.setZ(quaternion.z());
+     146     1569304 :   tf2_quaternion_.setW(quaternion.w());
+     147             : 
+     148     1569815 :   validateOrientation();
+     149     1566244 : }
+     150             : 
+     151     1037466 : AttitudeConverter::AttitudeConverter(const tf2::Quaternion quaternion) {
+     152             : 
+     153     1035596 :   tf2_quaternion_ = quaternion;
+     154             : 
+     155     1035596 :   validateOrientation();
+     156     1035249 : }
+     157             : 
+     158           1 : AttitudeConverter::AttitudeConverter(const tf2::Matrix3x3 matrix) {
+     159             : 
+     160           1 :   matrix.getRotation(tf2_quaternion_);
+     161             : 
+     162           1 :   validateOrientation();
+     163           1 : }
+     164             : 
+     165             : //}
+     166             : 
+     167             : /* operators //{ */
+     168             : 
+     169      981073 : AttitudeConverter::operator tf2::Quaternion() const {
+     170      981073 :   return tf2_quaternion_;
+     171             : }
+     172             : 
+     173           1 : AttitudeConverter::operator tf::Quaternion() const {
+     174             : 
+     175           1 :   tf::Quaternion tf_quaternion;
+     176             : 
+     177           1 :   tf_quaternion.setX(tf2_quaternion_.x());
+     178           1 :   tf_quaternion.setY(tf2_quaternion_.y());
+     179           1 :   tf_quaternion.setZ(tf2_quaternion_.z());
+     180           1 :   tf_quaternion.setW(tf2_quaternion_.w());
+     181             : 
+     182           1 :   return tf_quaternion;
+     183             : }
+     184             : 
+     185     9453054 : AttitudeConverter::operator geometry_msgs::Quaternion() const {
+     186             : 
+     187     9453054 :   geometry_msgs::Quaternion geom_quaternion;
+     188             : 
+     189     9449857 :   geom_quaternion.x = tf2_quaternion_.x();
+     190     9444607 :   geom_quaternion.y = tf2_quaternion_.y();
+     191     9444396 :   geom_quaternion.z = tf2_quaternion_.z();
+     192     9446892 :   geom_quaternion.w = tf2_quaternion_.w();
+     193             : 
+     194     9445687 :   return geom_quaternion;
+     195             : }
+     196             : 
+     197           1 : AttitudeConverter::operator EulerAttitude() const {
+     198             : 
+     199             :   double roll, pitch, yaw;
+     200           1 :   tf2::Matrix3x3(tf2_quaternion_).getRPY(roll, pitch, yaw);
+     201             : 
+     202           2 :   return EulerAttitude(roll, pitch, yaw);
+     203             : }
+     204             : 
+     205     1675061 : AttitudeConverter::operator Eigen::Matrix3d() const {
+     206             : 
+     207     1675061 :   Eigen::Quaterniond quaternion(tf2_quaternion_.w(), tf2_quaternion_.x(), tf2_quaternion_.y(), tf2_quaternion_.z());
+     208             : 
+     209     3349733 :   return quaternion.toRotationMatrix();
+     210             : }
+     211             : 
+     212      149847 : AttitudeConverter::operator std::tuple<double&, double&, double&>() {
+     213             : 
+     214      149847 :   tf2::Matrix3x3(tf2_quaternion_).getRPY(roll_, pitch_, yaw_);
+     215             : 
+     216      149847 :   return std::tuple<double&, double&, double&>{roll_, pitch_, yaw_};
+     217             : }
+     218             : 
+     219      419568 : AttitudeConverter::operator tf2::Matrix3x3() const {
+     220             : 
+     221      419568 :   return tf2::Matrix3x3(tf2_quaternion_);
+     222             : }
+     223             : 
+     224      435774 : AttitudeConverter::operator tf2::Transform() const {
+     225             : 
+     226      435774 :   return tf2::Transform(tf2_quaternion_);
+     227             : }
+     228             : 
+     229             : //}
+     230             : 
+     231             : /* getters //{ */
+     232             : 
+     233      204769 : double AttitudeConverter::getYaw(void) {
+     234             : 
+     235      204769 :   calculateRPY();
+     236             : 
+     237      204769 :   return yaw_;
+     238             : }
+     239             : 
+     240           1 : double AttitudeConverter::getRoll(void) {
+     241             : 
+     242           1 :   calculateRPY();
+     243             : 
+     244           1 :   return roll_;
+     245             : }
+     246             : 
+     247           1 : double AttitudeConverter::getPitch(void) {
+     248             : 
+     249           1 :   calculateRPY();
+     250             : 
+     251           1 :   return pitch_;
+     252             : }
+     253             : 
+     254     1768782 : double AttitudeConverter::getHeading(void) {
+     255             : 
+     256     1768782 :   tf2::Vector3 b1 = tf2::Vector3(1, 0, 0);
+     257             : 
+     258     1768432 :   tf2::Vector3 x_new = tf2::Transform(tf2_quaternion_) * b1;
+     259             : 
+     260     1767828 :   if (fabs(x_new[0]) <= 1e-3 && fabs(x_new[1]) <= 1e-3) {
+     261           1 :     throw GetHeadingException();
+     262             :   }
+     263             : 
+     264     3532968 :   return atan2(x_new[1], x_new[0]);
+     265             : }
+     266             : 
+     267      114877 : double AttitudeConverter::getYawRateIntrinsic(const double& heading_rate) {
+     268             : 
+     269             :   // when the heading rate is very small, it does not make sense to compute the
+     270             :   // yaw rate (the math would break), return 0
+     271      114877 :   if (fabs(heading_rate) < 1e-3) {
+     272       81882 :     return 0;
+     273             :   }
+     274             : 
+     275             :   // prep
+     276       32995 :   Eigen::Matrix3d R = *this;
+     277             : 
+     278             :   // construct the heading orbital velocity vector
+     279       32995 :   Eigen::Vector3d heading_vector   = Eigen::Vector3d(R(0, 0), R(1, 0), 0);
+     280       32995 :   Eigen::Vector3d orbital_velocity = Eigen::Vector3d(0, 0, heading_rate).cross(heading_vector);
+     281             : 
+     282             :   // projector to the heading orbital velocity vector subspace
+     283       32995 :   Eigen::Vector3d b_orb = Eigen::Vector3d(0, 0, 1).cross(heading_vector);
+     284       32995 :   b_orb.normalize();
+     285       32995 :   Eigen::Matrix3d P = b_orb * b_orb.transpose();
+     286             : 
+     287             :   // project the body yaw orbital velocity vector base onto the heading orbital velocity vector subspace
+     288       32995 :   Eigen::Vector3d projected = P * R.col(1);
+     289             : 
+     290             : 
+     291       32995 :   double orbital_velocity_norm = orbital_velocity.norm();
+     292       32995 :   double projected_norm        = projected.norm();
+     293             : 
+     294       32995 :   if (fabs(projected_norm) < 1e-5) {
+     295           0 :     ROS_ERROR("[AttitudeConverter]: getYawRateIntrinsic(): \"projected_norm\" in denominator is almost zero!!!");
+     296           0 :     throw MathErrorException();
+     297             :   }
+     298             : 
+     299       32995 :   double direction = mrs_lib::signum(orbital_velocity.dot(projected));
+     300             : 
+     301       32995 :   double output_yaw_rate = direction * (orbital_velocity_norm / projected_norm);
+     302             : 
+     303       32995 :   if (!std::isfinite(output_yaw_rate)) {
+     304           0 :     ROS_ERROR("[AttitudeConverter]: getYawRateIntrinsic(): NaN detected in variable \"output_yaw_rate\"!!!");
+     305           0 :     throw MathErrorException();
+     306             :   }
+     307             : 
+     308             :   // extract the yaw rate
+     309       32995 :   return output_yaw_rate;
+     310             : }
+     311             : 
+     312      339028 : double AttitudeConverter::getHeadingRate(const Vector3Converter& attitude_rate) {
+     313             : 
+     314             :   // prep
+     315      339028 :   Eigen::Matrix3d R = *this;
+     316      339014 :   Eigen::Vector3d w = attitude_rate;
+     317             : 
+     318             :   // create the angular velocity tensor
+     319      338903 :   Eigen::Matrix3d W;
+     320      338955 :   W << 0, -w[2], w[1], w[2], 0, -w[0], -w[1], w[0], 0;
+     321             : 
+     322             :   // R derivative
+     323      338892 :   Eigen::Matrix3d R_d = R * W;
+     324             : 
+     325             :   // atan2 derivative
+     326      338975 :   double rx = R(0, 0);  // x-component of body X
+     327      338777 :   double ry = R(1, 0);  // y-component of body Y
+     328             : 
+     329      338906 :   double denom = rx * rx + ry * ry;
+     330             : 
+     331      338906 :   if (fabs(denom) <= 1e-5) {
+     332           0 :     ROS_ERROR("[AttitudeConverter]: getHeadingRate(): denominator near zero!!!");
+     333           0 :     throw MathErrorException();
+     334             :   }
+     335             : 
+     336      338906 :   double atan2_d_x = -ry / denom;
+     337      338906 :   double atan2_d_y = rx / denom;
+     338             : 
+     339             :   // atan2 total differential
+     340      338906 :   double heading_rate = atan2_d_x * R_d(0, 0) + atan2_d_y * R_d(1, 0);
+     341             : 
+     342      338951 :   return heading_rate;
+     343             : }
+     344             : 
+     345           3 : Vector3Converter AttitudeConverter::getVectorX(void) {
+     346             : 
+     347           3 :   tf2::Vector3 b1 = tf2::Vector3(1, 0, 0);
+     348             : 
+     349           3 :   tf2::Vector3 new_b1 = tf2::Transform(tf2_quaternion_) * b1;
+     350             : 
+     351           6 :   return Vector3Converter(new_b1);
+     352             : }
+     353             : 
+     354           3 : Vector3Converter AttitudeConverter::getVectorY(void) {
+     355             : 
+     356           3 :   tf2::Vector3 b2 = tf2::Vector3(0, 1, 0);
+     357             : 
+     358           3 :   tf2::Vector3 new_b2 = tf2::Transform(tf2_quaternion_) * b2;
+     359             : 
+     360           6 :   return Vector3Converter(new_b2);
+     361             : }
+     362             : 
+     363      330334 : Vector3Converter AttitudeConverter::getVectorZ(void) {
+     364             : 
+     365      330334 :   tf2::Vector3 b3 = tf2::Vector3(0, 0, 1);
+     366             : 
+     367      330333 :   tf2::Vector3 new_b3 = tf2::Transform(tf2_quaternion_) * b3;
+     368             : 
+     369      660666 :   return Vector3Converter(new_b3);
+     370             : }
+     371             : 
+     372           1 : std::tuple<double, double, double> AttitudeConverter::getExtrinsicRPY(void) {
+     373             : 
+     374           1 :   Eigen::Matrix3d rot = AttitudeConverter(*this);
+     375             : 
+     376           1 :   Eigen::Vector3d eulers = rot.eulerAngles(2, 1, 0);
+     377             : 
+     378           2 :   return std::tuple(eulers[2], eulers[1], eulers[0]);
+     379             : }
+     380             : 
+     381           1 : std::tuple<double, double, double> AttitudeConverter::getIntrinsicRPY(void) {
+     382             : 
+     383           1 :   Eigen::Matrix3d rot = AttitudeConverter(*this);
+     384             : 
+     385           1 :   Eigen::Vector3d eulers = rot.eulerAngles(0, 1, 2);
+     386             : 
+     387           2 :   return std::tuple(eulers[0], eulers[1], eulers[2]);
+     388             : }
+     389             : 
+     390             : //}
+     391             : 
+     392             : /* setters //{ */
+     393             : 
+     394           0 : AttitudeConverter AttitudeConverter::setYaw(const double& new_yaw) {
+     395             : 
+     396           0 :   auto [roll, pitch, yaw] = *this;
+     397             : 
+     398           0 :   std::ignore = yaw;
+     399             : 
+     400           0 :   return AttitudeConverter(roll, pitch, new_yaw);
+     401             : }
+     402             : 
+     403      328335 : AttitudeConverter AttitudeConverter::setHeading(const double& heading) {
+     404             : 
+     405             :   // get the Z unit vector after the original rotation
+     406      328335 :   Eigen::Vector3d b3 = getVectorZ();
+     407             : 
+     408             :   // check for singularity: z component of the thrust vector is 0
+     409      328334 :   if (fabs(b3[2]) < 1e-3) {
+     410           6 :     throw SetHeadingException();
+     411             :   }
+     412             : 
+     413             :   // get the desired heading as a vector in 3D
+     414      328326 :   Eigen::Vector3d h(cos(heading), sin(heading), 0);
+     415             : 
+     416      328328 :   Eigen::Matrix3d new_R;
+     417             : 
+     418      328325 :   new_R.col(2) = b3;
+     419             : 
+     420             :   // construct the oblique projection
+     421      328322 :   Eigen::Matrix3d projector_body_z_compl = (Eigen::Matrix3d::Identity(3, 3) - b3 * b3.transpose());
+     422             : 
+     423             :   // create a basis of the body-z complement subspace
+     424      655133 :   Eigen::MatrixXd A = Eigen::MatrixXd(3, 2);
+     425      328108 :   A.col(0)          = projector_body_z_compl.col(0);
+     426      327982 :   A.col(1)          = projector_body_z_compl.col(1);
+     427             : 
+     428             :   // create the basis of the projection null-space complement
+     429      654636 :   Eigen::MatrixXd B = Eigen::MatrixXd(3, 2);
+     430      328127 :   B.col(0)          = Eigen::Vector3d(1, 0, 0);
+     431      327920 :   B.col(1)          = Eigen::Vector3d(0, 1, 0);
+     432             : 
+     433             :   // oblique projector to <range_basis>
+     434      653617 :   Eigen::MatrixXd Bt_A               = B.transpose() * A;
+     435      654401 :   Eigen::MatrixXd Bt_A_pseudoinverse = ((Bt_A.transpose() * Bt_A).inverse()) * Bt_A.transpose();
+     436      326808 :   Eigen::MatrixXd oblique_projector  = A * Bt_A_pseudoinverse * B.transpose();
+     437             : 
+     438      327047 :   new_R.col(0) = oblique_projector * h;
+     439      325951 :   new_R.col(0).normalize();
+     440             : 
+     441             :   // | ------------------------- body y ------------------------- |
+     442             : 
+     443      326775 :   new_R.col(1) = new_R.col(2).cross(new_R.col(0));
+     444      324301 :   new_R.col(1).normalize();
+     445             : 
+     446      653014 :   return AttitudeConverter(new_R);
+     447             : }
+     448             : 
+     449             : //}
+     450             : 
+     451             : // | ------------------------ internal ------------------------ |
+     452             : 
+     453             : /* calculateRPY() //{ */
+     454             : 
+     455      204774 : void AttitudeConverter::calculateRPY(void) {
+     456             : 
+     457      204774 :   if (!got_rpy_) {
+     458             : 
+     459      204774 :     tf2::Matrix3x3(tf2_quaternion_).getRPY(roll_, pitch_, yaw_);
+     460             :   }
+     461      204774 : }
+     462             : 
+     463             : //}
+     464             : 
+     465             : /* validateOrientation() //{ */
+     466             : 
+     467    14952200 : void AttitudeConverter::validateOrientation(void) {
+     468             : 
+     469    29893704 :   if (!std::isfinite(tf2_quaternion_.x()) || !std::isfinite(tf2_quaternion_.y()) || !std::isfinite(tf2_quaternion_.z()) ||
+     470    14937373 :       !std::isfinite(tf2_quaternion_.w())) {
+     471           2 :     throw InvalidAttitudeException();
+     472             :   }
+     473    14940259 : }
+     474             : 
+     475             : //}
+     476             : 
+     477             : }  // namespace mrs_lib
+
+
+
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Current view:top level - mrs_lib/src/batch_visualizer - batch_visualizer.cpp (source / functions)HitTotalCoverage
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::BatchVisualizer::addEllipse(mrs_lib::geometry::Ellipse const&, double, double, double, double, bool, int, ros::Duration const&)0
mrs_lib::BatchVisualizer::addCylinder(mrs_lib::geometry::Cylinder const&, double, double, double, double, bool, bool, int, ros::Duration const&)0
mrs_lib::BatchVisualizer::addTriangle(mrs_lib::geometry::Triangle const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::addRectangle(mrs_lib::geometry::Rectangle const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::addTrajectory(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::setLinesScale(double)0
mrs_lib::BatchVisualizer::addRay(mrs_lib::geometry::Ray const&, double, double, double, double, ros::Duration const&)0
mrs_lib::BatchVisualizer::addCone(mrs_lib::geometry::Cone const&, double, double, double, double, bool, bool, int, ros::Duration const&)0
mrs_lib::BatchVisualizer::addPath(mrs_msgs::Path_<std::allocator<void> > const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::addCuboid(mrs_lib::geometry::Cuboid const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::setParentFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)22
mrs_lib::BatchVisualizer::setPointsScale(double)22
mrs_lib::BatchVisualizer::addPoint(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, double, double, double, ros::Duration const&)85
mrs_lib::BatchVisualizer::initialize()216
mrs_lib::BatchVisualizer::BatchVisualizer(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)216
mrs_lib::BatchVisualizer::BatchVisualizer()216
mrs_lib::BatchVisualizer::clearBuffers()238
mrs_lib::BatchVisualizer::clearVisuals()238
mrs_lib::BatchVisualizer::~BatchVisualizer()432
mrs_lib::BatchVisualizer::addNullPoint()454
mrs_lib::BatchVisualizer::addNullLine()466
mrs_lib::BatchVisualizer::addNullTriangle()466
mrs_lib::BatchVisualizer::publish()466
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Current view:top level - mrs_lib/src/batch_visualizer - batch_visualizer.cpp (source / functions)HitTotalCoverage
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Date:2024-08-07 22:18:19Functions:132356.5 %
Legend: Lines: + hit + not hit +
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mrs_lib::BatchVisualizer::addEllipse(mrs_lib::geometry::Ellipse const&, double, double, double, double, bool, int, ros::Duration const&)0
mrs_lib::BatchVisualizer::initialize()216
mrs_lib::BatchVisualizer::addCylinder(mrs_lib::geometry::Cylinder const&, double, double, double, double, bool, bool, int, ros::Duration const&)0
mrs_lib::BatchVisualizer::addNullLine()466
mrs_lib::BatchVisualizer::addTriangle(mrs_lib::geometry::Triangle const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::addNullPoint()454
mrs_lib::BatchVisualizer::addRectangle(mrs_lib::geometry::Rectangle const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::clearBuffers()238
mrs_lib::BatchVisualizer::clearVisuals()238
mrs_lib::BatchVisualizer::addTrajectory(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::setLinesScale(double)0
mrs_lib::BatchVisualizer::setParentFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)22
mrs_lib::BatchVisualizer::setPointsScale(double)22
mrs_lib::BatchVisualizer::addNullTriangle()466
mrs_lib::BatchVisualizer::addRay(mrs_lib::geometry::Ray const&, double, double, double, double, ros::Duration const&)0
mrs_lib::BatchVisualizer::addCone(mrs_lib::geometry::Cone const&, double, double, double, double, bool, bool, int, ros::Duration const&)0
mrs_lib::BatchVisualizer::addPath(mrs_msgs::Path_<std::allocator<void> > const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::publish()466
mrs_lib::BatchVisualizer::addPoint(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, double, double, double, ros::Duration const&)85
mrs_lib::BatchVisualizer::addCuboid(mrs_lib::geometry::Cuboid const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::BatchVisualizer(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)216
mrs_lib::BatchVisualizer::BatchVisualizer()216
mrs_lib::BatchVisualizer::~BatchVisualizer()432
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Current view:top level - mrs_lib/src/batch_visualizer - batch_visualizer.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:16221774.7 %
Date:2024-08-07 22:18:19Functions:132356.5 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #include <string>
+       2             : #include <mrs_lib/batch_visualizer.h>
+       3             : #include <mrs_lib/geometry/shapes.h>
+       4             : 
+       5             : namespace mrs_lib
+       6             : {
+       7             : 
+       8             : /* constructors */  //{
+       9         216 : BatchVisualizer::BatchVisualizer() {
+      10         216 : }
+      11             : 
+      12         432 : BatchVisualizer::~BatchVisualizer() {
+      13         432 : }
+      14             : 
+      15         216 : BatchVisualizer::BatchVisualizer(ros::NodeHandle &nh, const std::string marker_topic_name, const std::string parent_frame) {
+      16         216 :   this->parent_frame      = parent_frame;
+      17         216 :   this->marker_topic_name = marker_topic_name;
+      18         216 :   initialize();
+      19             : 
+      20         216 :   this->visual_pub = nh.advertise<visualization_msgs::MarkerArray>(marker_topic_name.c_str(), 1);
+      21         216 :   publish();
+      22         216 : }
+      23             : //}
+      24             : 
+      25             : /* setParentFrame //{ */
+      26             : 
+      27          22 : void BatchVisualizer::setParentFrame(const std::string parent_frame) {
+      28          22 :   this->parent_frame               = parent_frame;
+      29          22 :   points_marker.header.frame_id    = parent_frame;
+      30          22 :   triangles_marker.header.frame_id = parent_frame;
+      31          22 :   lines_marker.header.frame_id     = parent_frame;
+      32          22 : }
+      33             : 
+      34             : //}
+      35             : 
+      36             : /* initialize //{ */
+      37         216 : void BatchVisualizer::initialize() {
+      38         216 :   if (initialized) {
+      39           0 :     return;
+      40             :   }
+      41             : 
+      42             :   // setup points marker
+      43         216 :   std::stringstream ss;
+      44         216 :   ss << marker_topic_name << "_points";
+      45         216 :   points_marker.header.frame_id    = parent_frame;
+      46         216 :   points_marker.header.stamp       = ros::Time::now();
+      47         216 :   points_marker.ns                 = ss.str().c_str();
+      48         216 :   points_marker.action             = visualization_msgs::Marker::ADD;
+      49         216 :   points_marker.pose.orientation.w = 1.0;
+      50         216 :   points_marker.id                 = 8;
+      51         216 :   points_marker.type               = visualization_msgs::Marker::POINTS;
+      52             : 
+      53         216 :   points_marker.scale.x = points_scale;
+      54         216 :   points_marker.scale.y = points_scale;
+      55         216 :   points_marker.color.a = 1.0;
+      56             : 
+      57             :   // setup lines marker
+      58         216 :   ss.str(std::string());
+      59         216 :   ss << marker_topic_name << "_lines";
+      60         216 :   lines_marker.header.frame_id    = parent_frame;
+      61         216 :   lines_marker.header.stamp       = ros::Time::now();
+      62         216 :   lines_marker.ns                 = ss.str().c_str();
+      63         216 :   lines_marker.action             = visualization_msgs::Marker::ADD;
+      64         216 :   lines_marker.pose.orientation.w = 1.0;
+      65         216 :   lines_marker.id                 = 5;
+      66         216 :   lines_marker.type               = visualization_msgs::Marker::LINE_LIST;
+      67             : 
+      68         216 :   lines_marker.scale.x = lines_scale;
+      69         216 :   lines_marker.color.a = 1.0;
+      70             : 
+      71             :   // setup triangles marker
+      72         216 :   ss.str(std::string());
+      73         216 :   ss << marker_topic_name << "_triangles";
+      74         216 :   triangles_marker.header.frame_id    = parent_frame;
+      75         216 :   triangles_marker.header.stamp       = ros::Time::now();
+      76         216 :   triangles_marker.ns                 = ss.str().c_str();
+      77         216 :   triangles_marker.action             = visualization_msgs::Marker::ADD;
+      78         216 :   triangles_marker.pose.orientation.w = 1.0;
+      79         216 :   triangles_marker.id                 = 11;
+      80         216 :   triangles_marker.type               = visualization_msgs::Marker::TRIANGLE_LIST;
+      81             : 
+      82         216 :   triangles_marker.scale.x = 1;
+      83         216 :   triangles_marker.scale.y = 1;
+      84         216 :   triangles_marker.scale.z = 1;
+      85         216 :   triangles_marker.color.a = 1.0;
+      86             : 
+      87         216 :   ROS_INFO("[%s]: Batch visualizer loaded with default values", ros::this_node::getName().c_str());
+      88         216 :   initialized = true;
+      89             : }
+      90             : //}
+      91             : 
+      92             : /* addPoint //{ */
+      93          85 : void BatchVisualizer::addPoint(const Eigen::Vector3d &p, const double r, const double g, const double b, const double a, const ros::Duration &timeout) {
+      94             : 
+      95         170 :   VisualObject obj = VisualObject(p, r, g, b, a, timeout, uuid++);
+      96          85 :   visual_objects.insert(obj);
+      97          85 : }
+      98             : //}
+      99             : 
+     100             : /* addRay */  //{
+     101           0 : void BatchVisualizer::addRay(const mrs_lib::geometry::Ray &ray, const double r, const double g, const double b, const double a, const ros::Duration &timeout) {
+     102             : 
+     103           0 :   VisualObject obj = VisualObject(ray, r, g, b, a, timeout, uuid++);
+     104           0 :   visual_objects.insert(obj);
+     105           0 : }
+     106             : //}
+     107             : 
+     108             : /* addTriangle //{ */
+     109           0 : void BatchVisualizer::addTriangle(const mrs_lib::geometry::Triangle &tri, const double r, const double g, const double b, const double a, const bool filled,
+     110             :                                   const ros::Duration &timeout) {
+     111             : 
+     112           0 :   VisualObject obj = VisualObject(tri, r, g, b, a, timeout, filled, uuid++);
+     113           0 :   visual_objects.insert(obj);
+     114           0 : }
+     115             : //}
+     116             : 
+     117             : /* addRectangle //{ */
+     118           0 : void BatchVisualizer::addRectangle(const mrs_lib::geometry::Rectangle &rect, const double r, const double g, const double b, const double a, const bool filled,
+     119             :                                    const ros::Duration &timeout) {
+     120             : 
+     121           0 :   VisualObject obj = VisualObject(rect, r, g, b, a, timeout, filled, uuid++);
+     122           0 :   visual_objects.insert(obj);
+     123           0 : }
+     124             : //}
+     125             : 
+     126             : /* addCuboid //{ */
+     127           0 : void BatchVisualizer::addCuboid(const mrs_lib::geometry::Cuboid &cuboid, const double r, const double g, const double b, const double a, const bool filled,
+     128             :                                 const ros::Duration &timeout) {
+     129             : 
+     130           0 :   VisualObject obj = VisualObject(cuboid, r, g, b, a, timeout, filled, uuid++);
+     131           0 :   visual_objects.insert(obj);
+     132           0 : }
+     133             : //}
+     134             : 
+     135             : /* addEllipse //{ */
+     136           0 : void BatchVisualizer::addEllipse(const mrs_lib::geometry::Ellipse &ellipse, const double r, const double g, const double b, const double a, const bool filled,
+     137             :                                  const int num_points, const ros::Duration &timeout) {
+     138             : 
+     139           0 :   VisualObject obj = VisualObject(ellipse, r, g, b, a, timeout, filled, uuid++, num_points);
+     140           0 :   visual_objects.insert(obj);
+     141           0 : }
+     142             : //}
+     143             : 
+     144             : /* addCylinder //{ */
+     145           0 : void BatchVisualizer::addCylinder(const mrs_lib::geometry::Cylinder &cylinder, const double r, const double g, const double b, const double a,
+     146             :                                   const bool filled, const bool capped, const int sides, const ros::Duration &timeout) {
+     147           0 :   VisualObject obj = VisualObject(cylinder, r, g, b, a, timeout, filled, capped, uuid++, sides);
+     148           0 :   visual_objects.insert(obj);
+     149           0 : }
+     150             : //}
+     151             : 
+     152             : /* addCone //{ */
+     153           0 : void BatchVisualizer::addCone(const mrs_lib::geometry::Cone &cone, const double r, const double g, const double b, const double a, const bool filled,
+     154             :                               const bool capped, const int sides, const ros::Duration &timeout) {
+     155           0 :   VisualObject obj = VisualObject(cone, r, g, b, a, timeout, filled, capped, uuid++, sides);
+     156           0 :   visual_objects.insert(obj);
+     157           0 : }
+     158             : //}
+     159             : 
+     160             : /* addPath //{ */
+     161           0 : void BatchVisualizer::addPath(const mrs_msgs::Path &p, const double r, const double g, const double b, const double a, const bool filled,
+     162             :                               const ros::Duration &timeout) {
+     163           0 :   VisualObject obj = VisualObject(p, r, g, b, a, timeout, filled, uuid++);
+     164           0 :   visual_objects.insert(obj);
+     165           0 : }
+     166             : //}
+     167             : 
+     168             : /* addTrajectory //{ */
+     169           0 : void BatchVisualizer::addTrajectory(const mrs_msgs::TrajectoryReference &traj, const double r, const double g, const double b, const double a,
+     170             :                                     const bool filled, const ros::Duration &timeout) {
+     171           0 :   VisualObject obj = VisualObject(traj, r, g, b, a, timeout, filled, uuid++);
+     172           0 :   visual_objects.insert(obj);
+     173           0 : }
+     174             : //}
+     175             : 
+     176             : /* addNullPoint //{ */
+     177         454 : void BatchVisualizer::addNullPoint() {
+     178         454 :   geometry_msgs::Point p;
+     179         454 :   p.x = 10000.0;
+     180         454 :   p.y = 0.0;
+     181         454 :   p.z = 0.0;
+     182             : 
+     183         454 :   std_msgs::ColorRGBA c;
+     184         454 :   c.r = 1.0;
+     185         454 :   c.g = 1.0;
+     186         454 :   c.b = 1.0;
+     187         454 :   c.a = 1.0;
+     188             : 
+     189         454 :   points_marker.points.push_back(p);
+     190         454 :   points_marker.colors.push_back(c);
+     191         454 : }
+     192             : //}
+     193             : 
+     194             : /* addNullLine //{ */
+     195         466 : void BatchVisualizer::addNullLine() {
+     196         466 :   geometry_msgs::Point p1, p2;
+     197         466 :   p1.x = 10000.0;
+     198         466 :   p1.y = 0.0;
+     199         466 :   p1.z = 0.0;
+     200             : 
+     201         466 :   p2.x = 10001.0;
+     202         466 :   p2.y = 0.0;
+     203         466 :   p2.z = 0.0;
+     204             : 
+     205         466 :   std_msgs::ColorRGBA c;
+     206         466 :   c.r = 1.0;
+     207         466 :   c.g = 1.0;
+     208         466 :   c.b = 1.0;
+     209             : 
+     210         466 :   lines_marker.colors.push_back(c);
+     211         466 :   lines_marker.colors.push_back(c);
+     212             : 
+     213         466 :   lines_marker.points.push_back(p1);
+     214         466 :   lines_marker.points.push_back(p2);
+     215         466 : }
+     216             : //}
+     217             : 
+     218             : /* addNullTriangle //{ */
+     219         466 : void BatchVisualizer::addNullTriangle() {
+     220         466 :   geometry_msgs::Point p1, p2, p3;
+     221         466 :   p1.x = 10000.0;
+     222         466 :   p1.y = 0.0;
+     223         466 :   p1.z = 0.0;
+     224             : 
+     225         466 :   p2.x = 10001.0;
+     226         466 :   p2.y = 0.0;
+     227         466 :   p2.z = 0.0;
+     228             : 
+     229         466 :   std_msgs::ColorRGBA c;
+     230         466 :   c.r = 1.0;
+     231         466 :   c.g = 1.0;
+     232         466 :   c.b = 1.0;
+     233             : 
+     234         466 :   p3.x = 10001.0;
+     235         466 :   p3.y = 0.01;
+     236         466 :   p3.z = 0.0;
+     237         466 :   triangles_marker.colors.push_back(c);
+     238         466 :   triangles_marker.colors.push_back(c);
+     239         466 :   triangles_marker.colors.push_back(c);
+     240             : 
+     241         466 :   triangles_marker.points.push_back(p1);
+     242         466 :   triangles_marker.points.push_back(p2);
+     243         466 :   triangles_marker.points.push_back(p3);
+     244         466 : }
+     245             : //}
+     246             : 
+     247             : /* setPointsScale //{ */
+     248          22 : void BatchVisualizer::setPointsScale(const double scale) {
+     249          22 :   points_scale = scale;
+     250          22 : }
+     251             : //}
+     252             : 
+     253             : /* setLinesScale //{ */
+     254           0 : void BatchVisualizer::setLinesScale(const double scale) {
+     255           0 :   lines_scale = scale;
+     256           0 : }
+     257             : //}
+     258             : 
+     259             : /* clearBuffers //{ */
+     260         238 : void BatchVisualizer::clearBuffers() {
+     261         238 :   visual_objects.clear();
+     262         238 : }
+     263             : //}
+     264             : 
+     265             : /* clearVisuals //{ */
+     266         238 : void BatchVisualizer::clearVisuals() {
+     267         476 :   std::set<VisualObject> visual_objects_tmp;
+     268         238 :   visual_objects_tmp.insert(visual_objects.begin(), visual_objects.end());
+     269             : 
+     270         238 :   visual_objects.clear();
+     271         238 :   publish();
+     272             : 
+     273         238 :   visual_objects.insert(visual_objects_tmp.begin(), visual_objects_tmp.end());
+     274         238 : }
+     275             : //}
+     276             : 
+     277             : /* publish //{ */
+     278         466 : void BatchVisualizer::publish() {
+     279             : 
+     280         466 :   msg.markers.clear();
+     281         466 :   points_marker.points.clear();
+     282         466 :   points_marker.colors.clear();
+     283             : 
+     284         466 :   lines_marker.points.clear();
+     285         466 :   lines_marker.colors.clear();
+     286             : 
+     287         466 :   triangles_marker.points.clear();
+     288         466 :   triangles_marker.colors.clear();
+     289             : 
+     290             :   // fill marker messages and remove objects that have timed out
+     291         526 :   for (auto it = visual_objects.begin(); it != visual_objects.end();) {
+     292          60 :     if (it->isTimedOut()) {
+     293           0 :       it = visual_objects.erase(it);
+     294             :     } else {
+     295         120 :       auto points = it->getPoints();
+     296         120 :       auto colors = it->getColors();
+     297          60 :       switch (it->getType()) {
+     298          60 :         case MarkerType::POINT: {
+     299          60 :           points_marker.points.insert(points_marker.points.end(), points.begin(), points.end());
+     300          60 :           points_marker.colors.insert(points_marker.colors.end(), colors.begin(), colors.end());
+     301          60 :           break;
+     302             :         }
+     303           0 :         case MarkerType::LINE: {
+     304           0 :           lines_marker.points.insert(lines_marker.points.end(), points.begin(), points.end());
+     305           0 :           lines_marker.colors.insert(lines_marker.colors.end(), colors.begin(), colors.end());
+     306           0 :           break;
+     307             :         }
+     308           0 :         case MarkerType::TRIANGLE: {
+     309           0 :           triangles_marker.points.insert(triangles_marker.points.end(), points.begin(), points.end());
+     310           0 :           triangles_marker.colors.insert(triangles_marker.colors.end(), colors.begin(), colors.end());
+     311           0 :           break;
+     312             :         }
+     313             :       }
+     314          60 :       it++;
+     315             :     }
+     316             :   }
+     317             : 
+     318         466 :   auto now = ros::Time::now();
+     319             : 
+     320         466 :   if (!points_marker.points.empty()) {
+     321          12 :     points_marker.scale.x = points_scale;
+     322          12 :     points_marker.scale.y = points_scale;
+     323             :   } else {
+     324         454 :     addNullPoint();
+     325             :   }
+     326         466 :   points_marker.header.stamp = now;
+     327         466 :   msg.markers.push_back(points_marker);
+     328             : 
+     329         466 :   if (!lines_marker.points.empty()) {
+     330           0 :     lines_marker.scale.x = lines_scale;
+     331             :   } else {
+     332         466 :     addNullLine();
+     333             :   }
+     334         466 :   lines_marker.header.stamp = now;
+     335         466 :   msg.markers.push_back(lines_marker);
+     336             : 
+     337         466 :   if (!triangles_marker.points.empty()) {
+     338           0 :     triangles_marker.header.stamp = now;
+     339             :   } else {
+     340         466 :     addNullTriangle();
+     341             :   }
+     342         466 :   triangles_marker.header.stamp = now;
+     343         466 :   msg.markers.push_back(triangles_marker);
+     344             : 
+     345         466 :   if (msg.markers.empty()) {
+     346           0 :     addNullPoint();
+     347           0 :     points_marker.scale.x = 0.1;
+     348           0 :     points_marker.scale.y = 0.1;
+     349           0 :     msg.markers.push_back(points_marker);
+     350             :   }
+     351             : 
+     352         466 :   visual_pub.publish(msg);
+     353         466 : }
+     354             : //}
+     355             : 
+     356             : }  // namespace mrs_lib
+
+
+
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Test:MRS UAV System - Test coverage reportLines:19243544.1 %
Date:2024-08-07 22:18:19Functions:204544.4 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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visual_object.cpp +
13.8%13.8%
+ 		13.8 %30 / 21831.8 %7 / 22
batch_visualizer.cpp +
74.7%74.7%
+ 		74.7 %162 / 21756.5 %13 / 23
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Test:MRS UAV System - Test coverage reportLines:19243544.1 %
Date:2024-08-07 22:18:19Functions:204544.4 %
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visual_object.cpp +
13.8%13.8%
+ 		13.8 %30 / 21831.8 %7 / 22
batch_visualizer.cpp +
74.7%74.7%
+ 		74.7 %162 / 21756.5 %13 / 23
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Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:19243544.1 %
Date:2024-08-07 22:18:19Functions:204544.4 %
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batch_visualizer.cpp +
74.7%74.7%
+ 		74.7 %162 / 21756.5 %13 / 23
visual_object.cpp +
13.8%13.8%
+ 		13.8 %30 / 21831.8 %7 / 22
+
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Generated by: LCOV version 1.14
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Current view:top level - mrs_lib/src/batch_visualizer - visual_object.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3021813.8 %
Date:2024-08-07 22:18:19Functions:72231.8 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::msgToEigen(geometry_msgs::Point_<std::allocator<void> > const&)0
mrs_lib::VisualObject::addEllipse(mrs_lib::geometry::Ellipse const&, double, double, double, double, bool, int)0
mrs_lib::VisualObject::addTriangle(mrs_lib::geometry::Triangle const&, double, double, double, double, bool)0
mrs_lib::VisualObject::addRay(mrs_lib::geometry::Ray const&, double, double, double, double)0
mrs_lib::VisualObject::VisualObject(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&, double, double, double, double, ros::Duration const&, bool, unsigned long const&)0
mrs_lib::VisualObject::VisualObject(mrs_msgs::Path_<std::allocator<void> > const&, double, double, double, double, ros::Duration const&, bool, unsigned long const&)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Ray const&, double, double, double, double, ros::Duration const&, unsigned long const&)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Cone const&, double, double, double, double, ros::Duration const&, bool, bool, unsigned long const&, int)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Cuboid const&, double, double, double, double, ros::Duration const&, bool, unsigned long const&)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Ellipse const&, double, double, double, double, ros::Duration const&, bool, unsigned long const&, int)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Cylinder const&, double, double, double, double, ros::Duration const&, bool, bool, unsigned long const&, int)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Triangle const&, double, double, double, double, ros::Duration const&, bool, unsigned long const&)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Rectangle const&, double, double, double, double, ros::Duration const&, bool, unsigned long const&)0
mrs_lib::buildEllipse(mrs_lib::geometry::Ellipse const&, int)0
mrs_lib::VisualObject::getID() const0
mrs_lib::VisualObject::isTimedOut() const60
mrs_lib::VisualObject::getType() const60
mrs_lib::VisualObject::getColors() const60
mrs_lib::VisualObject::getPoints() const60
mrs_lib::eigenToMsg(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)85
mrs_lib::VisualObject::VisualObject(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, double, double, double, ros::Duration const&, unsigned long const&)85
mrs_lib::generateColor(double, double, double, double)85
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/batch_visualizer/visual_object.cpp.func.html b/mrs_lib/src/batch_visualizer/visual_object.cpp.func.html new file mode 100644 index 0000000000..ad7ae93b06 --- /dev/null +++ b/mrs_lib/src/batch_visualizer/visual_object.cpp.func.html @@ -0,0 +1,168 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/batch_visualizer/visual_object.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/src/batch_visualizer - visual_object.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3021813.8 %
Date:2024-08-07 22:18:19Functions:72231.8 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::eigenToMsg(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)85
mrs_lib::msgToEigen(geometry_msgs::Point_<std::allocator<void> > const&)0
mrs_lib::VisualObject::addEllipse(mrs_lib::geometry::Ellipse const&, double, double, double, double, bool, int)0
mrs_lib::VisualObject::addTriangle(mrs_lib::geometry::Triangle const&, double, double, double, double, bool)0
mrs_lib::VisualObject::addRay(mrs_lib::geometry::Ray const&, double, double, double, double)0
mrs_lib::VisualObject::VisualObject(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, double, double, double, ros::Duration const&, unsigned long const&)85
mrs_lib::VisualObject::VisualObject(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&, double, double, double, double, ros::Duration const&, bool, unsigned long const&)0
mrs_lib::VisualObject::VisualObject(mrs_msgs::Path_<std::allocator<void> > const&, double, double, double, double, ros::Duration const&, bool, unsigned long const&)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Ray const&, double, double, double, double, ros::Duration const&, unsigned long const&)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Cone const&, double, double, double, double, ros::Duration const&, bool, bool, unsigned long const&, int)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Cuboid const&, double, double, double, double, ros::Duration const&, bool, unsigned long const&)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Ellipse const&, double, double, double, double, ros::Duration const&, bool, unsigned long const&, int)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Cylinder const&, double, double, double, double, ros::Duration const&, bool, bool, unsigned long const&, int)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Triangle const&, double, double, double, double, ros::Duration const&, bool, unsigned long const&)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Rectangle const&, double, double, double, double, ros::Duration const&, bool, unsigned long const&)0
mrs_lib::buildEllipse(mrs_lib::geometry::Ellipse const&, int)0
mrs_lib::generateColor(double, double, double, double)85
mrs_lib::VisualObject::isTimedOut() const60
mrs_lib::VisualObject::getID() const0
mrs_lib::VisualObject::getType() const60
mrs_lib::VisualObject::getColors() const60
mrs_lib::VisualObject::getPoints() const60
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Current view:top level - mrs_lib/src/batch_visualizer - visual_object.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3021813.8 %
Date:2024-08-07 22:18:19Functions:72231.8 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #include <mrs_lib/visual_object.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             : 
+       6             : /* utils //{ */
+       7             : 
+       8             : /* conversions //{ */
+       9          85 : geometry_msgs::Point eigenToMsg(const Eigen::Vector3d& v) {
+      10          85 :   geometry_msgs::Point p;
+      11          85 :   p.x = v.x();
+      12          85 :   p.y = v.y();
+      13          85 :   p.z = v.z();
+      14          85 :   return p;
+      15             : }
+      16             : 
+      17          85 : std_msgs::ColorRGBA generateColor(const double r, const double g, const double b, const double a) {
+      18          85 :   std_msgs::ColorRGBA c;
+      19          85 :   c.r = r;
+      20          85 :   c.g = g;
+      21          85 :   c.b = b;
+      22          85 :   c.a = a;
+      23          85 :   return c;
+      24             : }
+      25             : 
+      26           0 : Eigen::Vector3d msgToEigen(const geometry_msgs::Point& p) {
+      27           0 :   return Eigen::Vector3d(p.x, p.y, p.z);
+      28             : }
+      29             : //}
+      30             : 
+      31             : /* buildEllipse //{ */
+      32           0 : std::vector<Eigen::Vector3d> buildEllipse(const mrs_lib::geometry::Ellipse& ellipse, const int num_points) {
+      33           0 :   std::vector<Eigen::Vector3d> points;
+      34           0 :   double                       theta = 0;
+      35           0 :   for (int i = 0; i < num_points; i++) {
+      36           0 :     double          nom = (ellipse.a() * ellipse.b());
+      37           0 :     double          den = sqrt(((ellipse.b() * cos(theta)) * (ellipse.b() * cos(theta))) + ((ellipse.a() * sin(theta)) * (ellipse.a() * sin(theta))));
+      38           0 :     double          rho = nom / den;
+      39           0 :     Eigen::Vector3d point(rho * cos(theta), rho * sin(theta), 0);
+      40           0 :     point = ellipse.center() + ellipse.orientation() * point;
+      41           0 :     points.push_back(point);
+      42           0 :     theta += 2.0 * M_PI / num_points;
+      43             :   }
+      44           0 :   return points;
+      45             : }
+      46             : //}
+      47             : 
+      48             : //}
+      49             : 
+      50             : /* addRay //{ */
+      51           0 : void VisualObject::addRay(const mrs_lib::geometry::Ray& ray, const double r, const double g, const double b, const double a) {
+      52           0 :   type_ = MarkerType::LINE;
+      53           0 :   points_.push_back(eigenToMsg(ray.p1()));
+      54           0 :   points_.push_back(eigenToMsg(ray.p2()));
+      55           0 :   colors_.push_back(generateColor(r, g, b, a));
+      56           0 :   colors_.push_back(generateColor(r, g, b, a));
+      57           0 : }
+      58             : //}
+      59             : 
+      60             : /* addTriangle //{ */
+      61           0 : void VisualObject::addTriangle(const mrs_lib::geometry::Triangle& triangle, const double r, const double g, const double b, const double a, const bool filled) {
+      62           0 :   if (filled) {
+      63           0 :     type_ = MarkerType::TRIANGLE;
+      64           0 :     points_.push_back(eigenToMsg(triangle.a()));
+      65           0 :     points_.push_back(eigenToMsg(triangle.b()));
+      66           0 :     points_.push_back(eigenToMsg(triangle.c()));
+      67           0 :     colors_.push_back(generateColor(r, g, b, a));
+      68           0 :     colors_.push_back(generateColor(r, g, b, a));
+      69           0 :     colors_.push_back(generateColor(r, g, b, a));
+      70             :   } else {
+      71           0 :     type_ = MarkerType::LINE;
+      72           0 :     points_.push_back(eigenToMsg(triangle.a()));
+      73           0 :     points_.push_back(eigenToMsg(triangle.b()));
+      74           0 :     colors_.push_back(generateColor(r, g, b, a));
+      75           0 :     colors_.push_back(generateColor(r, g, b, a));
+      76             : 
+      77           0 :     points_.push_back(eigenToMsg(triangle.b()));
+      78           0 :     points_.push_back(eigenToMsg(triangle.c()));
+      79           0 :     colors_.push_back(generateColor(r, g, b, a));
+      80           0 :     colors_.push_back(generateColor(r, g, b, a));
+      81             : 
+      82           0 :     points_.push_back(eigenToMsg(triangle.c()));
+      83           0 :     points_.push_back(eigenToMsg(triangle.a()));
+      84           0 :     colors_.push_back(generateColor(r, g, b, a));
+      85           0 :     colors_.push_back(generateColor(r, g, b, a));
+      86             :   }
+      87           0 : }
+      88             : //}
+      89             : 
+      90             : /* addEllipse //{ */
+      91           0 : void VisualObject::addEllipse(const mrs_lib::geometry::Ellipse& ellipse, const double r, const double g, const double b, const double a, const bool filled,
+      92             :                               const int num_points) {
+      93             : 
+      94           0 :   std::vector<Eigen::Vector3d> points = buildEllipse(ellipse, num_points);
+      95           0 :   if (filled) {
+      96           0 :     for (int i = 0; i < num_points - 1; i++) {
+      97           0 :       mrs_lib::geometry::Triangle tri(ellipse.center(), points[i], points[i + 1]);
+      98           0 :       addTriangle(tri, r, g, b, a, true);
+      99             :     }
+     100           0 :     mrs_lib::geometry::Triangle tri(ellipse.center(), points[num_points - 1], points[0]);
+     101           0 :     addTriangle(tri, r, g, b, a, true);
+     102             : 
+     103             :   } else {
+     104           0 :     for (int i = 0; i < num_points - 1; i++) {
+     105           0 :       mrs_lib::geometry::Ray ray = mrs_lib::geometry::Ray::twopointCast(points[i], points[i + 1]);
+     106           0 :       addRay(ray, r, g, b, a);
+     107             :     }
+     108           0 :     mrs_lib::geometry::Ray ray = mrs_lib::geometry::Ray::twopointCast(points[num_points - 1], points[0]);
+     109           0 :     addRay(ray, r, g, b, a);
+     110             :   }
+     111           0 : }
+     112             : //}
+     113             : 
+     114             : /* Eigen::Vector3d //{ */
+     115          85 : VisualObject::VisualObject(const Eigen::Vector3d& point, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+     116          85 :                            const unsigned long& id)
+     117          85 :     : id_(id) {
+     118          85 :   type_ = MarkerType::POINT;
+     119          85 :   points_.push_back(eigenToMsg(point));
+     120          85 :   colors_.push_back(generateColor(r, g, b, a));
+     121          85 :   if (timeout.toSec() <= 0) {
+     122          85 :     timeout_time_ = ros::Time(0);
+     123             :   } else {
+     124           0 :     timeout_time_ = ros::Time::now() + timeout;
+     125             :   }
+     126          85 : }
+     127             : //}
+     128             : 
+     129             : /* mrs_lib::geometry::Ray //{ */
+     130           0 : VisualObject::VisualObject(const mrs_lib::geometry::Ray& ray, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+     131           0 :                            const unsigned long& id)
+     132           0 :     : id_(id) {
+     133           0 :   type_ = MarkerType::LINE;
+     134           0 :   addRay(ray, r, g, b, a);
+     135           0 :   if (timeout.toSec() <= 0) {
+     136           0 :     timeout_time_ = ros::Time(0);
+     137             :   } else {
+     138           0 :     timeout_time_ = ros::Time::now() + timeout;
+     139             :   }
+     140           0 : }
+     141             : //}
+     142             : 
+     143             : /* mrs_lib::geometry::Triangle //{ */
+     144           0 : VisualObject::VisualObject(const mrs_lib::geometry::Triangle& triangle, const double r, const double g, const double b, const double a,
+     145           0 :                            const ros::Duration& timeout, const bool filled, const unsigned long& id)
+     146           0 :     : id_(id) {
+     147           0 :   addTriangle(triangle, r, g, b, a, filled);
+     148           0 :   if (timeout.toSec() <= 0) {
+     149           0 :     timeout_time_ = ros::Time(0);
+     150             :   } else {
+     151           0 :     timeout_time_ = ros::Time::now() + timeout;
+     152             :   }
+     153           0 : }
+     154             : //}
+     155             : 
+     156             : /* mrs_lib::geometry::Rectangle //{ */
+     157           0 : VisualObject::VisualObject(const mrs_lib::geometry::Rectangle& rectangle, const double r, const double g, const double b, const double a,
+     158           0 :                            const ros::Duration& timeout, const bool filled, const unsigned long& id)
+     159           0 :     : id_(id) {
+     160           0 :   for (const auto& t : rectangle.triangles()) {
+     161           0 :     addTriangle(t, r, g, b, a, filled);
+     162             :   }
+     163           0 :   if (timeout.toSec() <= 0) {
+     164           0 :     timeout_time_ = ros::Time(0);
+     165             :   } else {
+     166           0 :     timeout_time_ = ros::Time::now() + timeout;
+     167             :   }
+     168           0 : }
+     169             : //}
+     170             : 
+     171             : /* mrs_lib::geometry::Cuboid //{ */
+     172           0 : VisualObject::VisualObject(const mrs_lib::geometry::Cuboid& cuboid, const double r, const double g, const double b, const double a,
+     173           0 :                            const ros::Duration& timeout, const bool filled, const unsigned long& id)
+     174           0 :     : id_(id) {
+     175             : 
+     176           0 :   for (int i = 0; i < 6; i++) {
+     177           0 :     for (const auto& t : cuboid.getRectangle(i).triangles()) {
+     178           0 :       addTriangle(t, r, g, b, a, filled);
+     179             :     }
+     180             :   }
+     181           0 :   if (timeout.toSec() <= 0) {
+     182           0 :     timeout_time_ = ros::Time(0);
+     183             :   } else {
+     184           0 :     timeout_time_ = ros::Time::now() + timeout;
+     185             :   }
+     186           0 : }
+     187             : //}
+     188             : 
+     189             : /* mrs_lib::geometry::Ellipse//{ */
+     190           0 : VisualObject::VisualObject(const mrs_lib::geometry::Ellipse& ellipse, const double r, const double g, const double b, const double a,
+     191           0 :                            const ros::Duration& timeout, const bool filled, const unsigned long& id, const int num_points)
+     192           0 :     : id_(id) {
+     193           0 :   addEllipse(ellipse, r, g, b, a, filled, num_points);
+     194           0 :   if (timeout.toSec() <= 0) {
+     195           0 :     timeout_time_ = ros::Time(0);
+     196             :   } else {
+     197           0 :     timeout_time_ = ros::Time::now() + timeout;
+     198             :   }
+     199           0 : }
+     200             : //}
+     201             : 
+     202             : /* mrs_lib::geometry::Cylinder //{ */
+     203           0 : VisualObject::VisualObject(const mrs_lib::geometry::Cylinder& cylinder, const double r, const double g, const double b, const double a,
+     204           0 :                            const ros::Duration& timeout, const bool filled, const bool capped, const unsigned long& id, const int num_sides)
+     205           0 :     : id_(id) {
+     206           0 :   if (capped) {
+     207           0 :     mrs_lib::geometry::Ellipse top    = cylinder.getCap(mrs_lib::geometry::Cylinder::TOP);
+     208           0 :     mrs_lib::geometry::Ellipse bottom = cylinder.getCap(mrs_lib::geometry::Cylinder::BOTTOM);
+     209           0 :     addEllipse(top, r, g, b, a, filled, num_sides);
+     210           0 :     addEllipse(bottom, r, g, b, a, filled, num_sides);
+     211             :   }
+     212           0 :   std::vector<Eigen::Vector3d> top_points    = buildEllipse(cylinder.getCap(mrs_lib::geometry::Cylinder::TOP), num_sides);
+     213           0 :   std::vector<Eigen::Vector3d> bottom_points = buildEllipse(cylinder.getCap(mrs_lib::geometry::Cylinder::BOTTOM), num_sides);
+     214           0 :   for (unsigned int i = 0; i < top_points.size() - 1; i++) {
+     215           0 :     mrs_lib::geometry::Rectangle rect(bottom_points[i], bottom_points[i + 1], top_points[i + 1], top_points[i]);
+     216           0 :     addTriangle(rect.triangles()[0], r, g, b, a, filled);
+     217           0 :     addTriangle(rect.triangles()[1], r, g, b, a, filled);
+     218             :   }
+     219           0 :   mrs_lib::geometry::Rectangle rect(bottom_points[bottom_points.size() - 1], bottom_points[0], top_points[0], top_points[top_points.size() - 1]);
+     220           0 :   addTriangle(rect.triangles()[0], r, g, b, a, filled);
+     221           0 :   addTriangle(rect.triangles()[1], r, g, b, a, filled);
+     222           0 :   if (timeout.toSec() <= 0) {
+     223           0 :     timeout_time_ = ros::Time(0);
+     224             :   } else {
+     225           0 :     timeout_time_ = ros::Time::now() + timeout;
+     226             :   }
+     227           0 : }
+     228             : //}
+     229             : 
+     230             : /* mrs_lib::geometry::Cone //{ */
+     231           0 : VisualObject::VisualObject(const mrs_lib::geometry::Cone& cone, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+     232           0 :                            const bool filled, const bool capped, const unsigned long& id, const int num_sides)
+     233           0 :     : id_(id) {
+     234           0 :   if (capped) {
+     235           0 :     mrs_lib::geometry::Ellipse cap = cone.getCap();
+     236           0 :     addEllipse(cap, r, g, b, a, filled, num_sides);
+     237             :   }
+     238           0 :   std::vector<Eigen::Vector3d> cap_points = buildEllipse(cone.getCap(), num_sides);
+     239           0 :   for (unsigned int i = 0; i < cap_points.size() - 1; i++) {
+     240           0 :     mrs_lib::geometry::Triangle tri(cap_points[i], cap_points[i + 1], cone.origin());
+     241           0 :     addTriangle(tri, r, g, b, a, filled);
+     242             :   }
+     243           0 :   mrs_lib::geometry::Triangle tri(cap_points[cap_points.size() - 1], cap_points[0], cone.origin());
+     244           0 :   addTriangle(tri, r, g, b, a, filled);
+     245           0 :   if (timeout.toSec() <= 0) {
+     246           0 :     timeout_time_ = ros::Time(0);
+     247             :   } else {
+     248           0 :     timeout_time_ = ros::Time::now() + timeout;
+     249             :   }
+     250           0 : }
+     251             : //}
+     252             : 
+     253             : /* mrs_msgs::Path //{ */
+     254           0 : VisualObject::VisualObject(const mrs_msgs::Path& p, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+     255           0 :                            const bool filled, const unsigned long& id)
+     256           0 :     : id_(id) {
+     257           0 :   if (p.points.size() < 2) {
+     258           0 :     return;
+     259             :   }
+     260           0 :   if (filled) {
+     261           0 :     for (size_t i = 0; i < p.points.size() - 1; i++) {
+     262           0 :       Eigen::Vector3d p1, p2;
+     263           0 :       p1.x()   = p.points[i].position.x;
+     264           0 :       p1.y()   = p.points[i].position.y;
+     265           0 :       p1.z()   = p.points[i].position.z;
+     266           0 :       p2.x()   = p.points[i + 1].position.x;
+     267           0 :       p2.y()   = p.points[i + 1].position.y;
+     268           0 :       p2.z()   = p.points[i + 1].position.z;
+     269           0 :       auto ray = mrs_lib::geometry::Ray::twopointCast(p1, p2);
+     270           0 :       addRay(ray, r, g, b, a);
+     271             :     }
+     272             :   } else {
+     273           0 :     type_ = MarkerType::POINT;
+     274           0 :     for (size_t i = 0; i < p.points.size(); i++) {
+     275           0 :       points_.push_back(p.points[i].position);
+     276           0 :       colors_.push_back(generateColor(r, g, b, a));
+     277             :     }
+     278             :   }
+     279           0 :   if (timeout.toSec() <= 0) {
+     280           0 :     timeout_time_ = ros::Time(0);
+     281             :   } else {
+     282           0 :     timeout_time_ = ros::Time::now() + timeout;
+     283             :   }
+     284             : }
+     285             : //}
+     286             : 
+     287             : /* mrs_msgs::TrajectoryReference //{ */
+     288           0 : VisualObject::VisualObject(const mrs_msgs::TrajectoryReference& traj, const double r, const double g, const double b, const double a,
+     289           0 :                            const ros::Duration& timeout, const bool filled, const unsigned long& id)
+     290           0 :     : id_(id) {
+     291           0 :   if (traj.points.size() < 2) {
+     292           0 :     return;
+     293             :   }
+     294           0 :   if (filled) {
+     295           0 :     for (size_t i = 0; i < traj.points.size() - 1; i++) {
+     296           0 :       Eigen::Vector3d p1, p2;
+     297           0 :       p1.x()   = traj.points[i].position.x;
+     298           0 :       p1.y()   = traj.points[i].position.y;
+     299           0 :       p1.z()   = traj.points[i].position.z;
+     300           0 :       p2.x()   = traj.points[i + 1].position.x;
+     301           0 :       p2.y()   = traj.points[i + 1].position.y;
+     302           0 :       p2.z()   = traj.points[i + 1].position.z;
+     303           0 :       auto ray = mrs_lib::geometry::Ray::twopointCast(p1, p2);
+     304           0 :       addRay(ray, r, g, b, a);
+     305             :     }
+     306             :   } else {
+     307           0 :     type_ = MarkerType::POINT;
+     308           0 :     for (size_t i = 0; i < traj.points.size(); i++) {
+     309           0 :       points_.push_back(traj.points[i].position);
+     310           0 :       colors_.push_back(generateColor(r, g, b, a));
+     311             :     }
+     312             :   }
+     313           0 :   if (timeout.toSec() <= 0) {
+     314           0 :     timeout_time_ = ros::Time(0);
+     315             :   } else {
+     316           0 :     timeout_time_ = ros::Time::now() + timeout;
+     317             :   }
+     318             : }
+     319             : //}
+     320             : 
+     321             : /* getID //{ */
+     322           0 : unsigned long VisualObject::getID() const {
+     323           0 :   return id_;
+     324             : }
+     325             : //}
+     326             : 
+     327             : /* getType //{ */
+     328          60 : int VisualObject::getType() const {
+     329          60 :   return type_;
+     330             : }
+     331             : //}
+     332             : 
+     333             : /* isTimedOut //{ */
+     334          60 : bool VisualObject::isTimedOut() const {
+     335          60 :   return !timeout_time_.isZero() && (timeout_time_ - ros::Time::now()).toSec() <= 0;
+     336             : }
+     337             : //}
+     338             : 
+     339             : /* getPoints //{ */
+     340          60 : const std::vector<geometry_msgs::Point> VisualObject::getPoints() const {
+     341          60 :   return points_;
+     342             : }
+     343             : //}
+     344             : 
+     345             : /* getColors //{ */
+     346          60 : const std::vector<std_msgs::ColorRGBA> VisualObject::getColors() const {
+     347          60 :   return colors_;
+     348             : }
+     349             : //}
+     350             : 
+     351             : }  // namespace mrs_lib
+
+
+
+ + + + +
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+ + + diff --git a/mrs_lib/src/batch_visualizer/visual_object.cpp.gcov.overview.html b/mrs_lib/src/batch_visualizer/visual_object.cpp.gcov.overview.html new file mode 100644 index 0000000000..a95610f629 --- /dev/null +++ b/mrs_lib/src/batch_visualizer/visual_object.cpp.gcov.overview.html @@ -0,0 +1,108 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/batch_visualizer/visual_object.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_lib/src/batch_visualizer/visual_object.cpp.gcov.png b/mrs_lib/src/batch_visualizer/visual_object.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..b55f768965809edc613746889e563a4b1d7241f7 GIT binary patch literal 1229 zcmV;;1Ty=HP)2Nbs` zoTWIMm+F|wabY=fTua7yD)2OcZ?1tqZfc870j#l2Yw;o2ic`x%3rtvl0Lx4PG`AX> zSp(Y;p0(%cBnKv%DmNZ|4n&W5{FpRoIqT;Gxdu>ZXVGxGz%vc^5Lf8?!DL)P<*I@5 zT-jfvkf~5LBdgkHnks(V$ZzVIdDk+qANw=*M+J*P)A!J7s}Gn8z(w@s}=n{PM>>>MLb z;));`^*Izs%PdZxQL$rMD`g|Pj^LI9jWNKc=)j_ZG9A`thB>x`VVi`M2b^oV>-U>T zGyCMIic~Xi5$HML#Ir|^ZOT!OJ<8wY*MdCdS+#urW46DGJx)b|>OOhea=t2RHPAe} zbZcExHZN(OfCtu%?41D4X7mWGfr-zV8LDQ+!xo0F1!};|GwguD9;>>GNQR|GA)Zxe zj=lztn_2HAQhS>!&cOvW7FRqj}<;${}1n(02btrfqpw-A4y&R z)_Oi6NcBP$XFaKqYFJM|C~s-5<{Ge`M8~~gH>%3LjDiR5HHvmr;f=yw8mlLc|Q1EgcU0*vOlLx#mV%xQ`hWm90;EW<-=PckKX&-L<=B1XAnLSH;fvDBj9-*#5_Uj)e4#yy3u#JrPrkvOg~3Zg_6&wTMgM zj|Vo=%;SLnI^u44y0jH>$<0a#bVb~(M-kJfM_kcYPQ0lU_D{*(Z&&WKe)>Lp3ESD% zINWBB#s&iS4T$#chy)bxRXFPHD%k3lHo@?G2d?wYCjO-8U_PH~fwG^4vf~~gB! + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/geometry/conversions.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/src/geometry - conversions.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:324669.6 %
Date:2024-08-07 22:18:19Functions:71070.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::geometry::toEigenMatrix(boost::array<double, 36ul> const&)0
mrs_lib::geometry::toCV(geometry_msgs::Vector3_<std::allocator<void> > const&)0
mrs_lib::geometry::fromEigen(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)0
mrs_lib::geometry::toCV(geometry_msgs::Point_<std::allocator<void> > const&)1
mrs_lib::geometry::fromCV(cv::Point3_<double> const&)1
mrs_lib::geometry::toEigen(geometry_msgs::Vector3_<std::allocator<void> > const&)19
mrs_lib::geometry::fromEigenVec(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)22
mrs_lib::geometry::toEigen(geometry_msgs::Point_<std::allocator<void> > const&)28
mrs_lib::geometry::toEigen(geometry_msgs::Quaternion_<std::allocator<void> > const&)148973
mrs_lib::geometry::fromEigen(Eigen::Quaternion<double, 0> const&)148973
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Current view:top level - mrs_lib/src/geometry - conversions.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:324669.6 %
Date:2024-08-07 22:18:19Functions:71070.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::geometry::fromEigenVec(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)22
mrs_lib::geometry::toEigenMatrix(boost::array<double, 36ul> const&)0
mrs_lib::geometry::toCV(geometry_msgs::Point_<std::allocator<void> > const&)1
mrs_lib::geometry::toCV(geometry_msgs::Vector3_<std::allocator<void> > const&)0
mrs_lib::geometry::fromCV(cv::Point3_<double> const&)1
mrs_lib::geometry::toEigen(geometry_msgs::Quaternion_<std::allocator<void> > const&)148973
mrs_lib::geometry::toEigen(geometry_msgs::Point_<std::allocator<void> > const&)28
mrs_lib::geometry::toEigen(geometry_msgs::Vector3_<std::allocator<void> > const&)19
mrs_lib::geometry::fromEigen(Eigen::Quaternion<double, 0> const&)148973
mrs_lib::geometry::fromEigen(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)0
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+ + + diff --git a/mrs_lib/src/geometry/conversions.cpp.gcov.frameset.html b/mrs_lib/src/geometry/conversions.cpp.gcov.frameset.html new file mode 100644 index 0000000000..98a653461f --- /dev/null +++ b/mrs_lib/src/geometry/conversions.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/geometry/conversions.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/src/geometry/conversions.cpp.gcov.html b/mrs_lib/src/geometry/conversions.cpp.gcov.html new file mode 100644 index 0000000000..365d72db93 --- /dev/null +++ b/mrs_lib/src/geometry/conversions.cpp.gcov.html @@ -0,0 +1,178 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/geometry/conversions.cpp + + + + + + + + + + + + + + +
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Test:MRS UAV System - Test coverage reportLines:324669.6 %
Date:2024-08-07 22:18:19Functions:71070.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #include <mrs_lib/geometry/conversions.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             :   namespace geometry
+       6             :   {
+       7             : 
+       8             :     /* conversions from/to Eigen //{ */
+       9             :     
+      10           0 :     geometry_msgs::Point fromEigen(const Eigen::Vector3d& what)
+      11             :     {
+      12           0 :       geometry_msgs::Point pt;
+      13           0 :       pt.x = what.x();
+      14           0 :       pt.y = what.y();
+      15           0 :       pt.z = what.z();
+      16           0 :       return pt;
+      17             :     }
+      18             :     
+      19          22 :     geometry_msgs::Vector3 fromEigenVec(const Eigen::Vector3d& what)
+      20             :     {
+      21          22 :       geometry_msgs::Vector3 pt;
+      22          22 :       pt.x = what.x();
+      23          22 :       pt.y = what.y();
+      24          22 :       pt.z = what.z();
+      25          22 :       return pt;
+      26             :     }
+      27             :     
+      28          28 :     Eigen::Vector3d toEigen(const geometry_msgs::Point& what)
+      29             :     {
+      30          28 :       return {what.x, what.y, what.z};
+      31             :     }
+      32             :     
+      33          19 :     Eigen::Vector3d toEigen(const geometry_msgs::Vector3& what)
+      34             :     {
+      35          19 :       return {what.x, what.y, what.z};
+      36             :     }
+      37             :     
+      38           0 :     Eigen::Matrix<double, 6, 6> toEigenMatrix(const boost::array<double, 36>& what)
+      39             :     {
+      40           0 :       Eigen::Matrix<double, 6, 6> ret;
+      41           0 :       for (int r = 0; r < 6; r++)
+      42           0 :         for (int c = 0; c < 6; c++)
+      43           0 :           ret(r, c) = what.at(6 * r + c);
+      44           0 :       return ret;
+      45             :     }
+      46             :     
+      47      148973 :     geometry_msgs::Quaternion fromEigen(const Eigen::Quaterniond& what)
+      48             :     {
+      49      148973 :       geometry_msgs::Quaternion q;
+      50      148973 :       q.x = what.x();
+      51      148973 :       q.y = what.y();
+      52      148973 :       q.z = what.z();
+      53      148973 :       q.w = what.w();
+      54      148973 :       return q;
+      55             :     }
+      56             :     
+      57      148973 :     Eigen::Quaterniond toEigen(const geometry_msgs::Quaternion& what)
+      58             :     {
+      59             :       // better to do this manually than through the constructor to avoid ambiguities (e.g. position of x and w)
+      60      148973 :       Eigen::Quaterniond q;
+      61      148973 :       q.x() = what.x;
+      62      148973 :       q.y() = what.y;
+      63      148973 :       q.z() = what.z;
+      64      148973 :       q.w() = what.w;
+      65      148973 :       return q;
+      66             :     }
+      67             :     
+      68             :     //}
+      69             : 
+      70             :     /* conversions from/to OpenCV //{ */
+      71             :     
+      72           1 :     geometry_msgs::Point fromCV(const cv::Point3d& what)
+      73             :     {
+      74           1 :       geometry_msgs::Point pt;
+      75           1 :       pt.x = what.x;
+      76           1 :       pt.y = what.y;
+      77           1 :       pt.z = what.z;
+      78           1 :       return pt;
+      79             :     }
+      80             :     
+      81           1 :     cv::Point3d toCV(const geometry_msgs::Point& what)
+      82             :     {
+      83           1 :       return {what.x, what.y, what.z};
+      84             :     }
+      85             :     
+      86           0 :     cv::Point3d toCV(const geometry_msgs::Vector3& what)
+      87             :     {
+      88           0 :       return {what.x, what.y, what.z};
+      89             :     }
+      90             :     
+      91             :     //}
+      92             : 
+      93             :   }
+      94             : }
+
+
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+ + + diff --git a/mrs_lib/src/geometry/conversions.cpp.gcov.overview.html b/mrs_lib/src/geometry/conversions.cpp.gcov.overview.html new file mode 100644 index 0000000000..7d113fc895 --- /dev/null +++ b/mrs_lib/src/geometry/conversions.cpp.gcov.overview.html @@ -0,0 +1,44 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/geometry/conversions.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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Current view:top level - mrs_lib/src/geometryHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:6744515.1 %
Date:2024-08-07 22:18:19Functions:159416.0 %
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
shapes.cpp +
0.0%
+ 		0.0 %0 / 3350.0 %0 / 68
misc.cpp +
54.7%54.7%
+ 		54.7 %35 / 6450.0 %8 / 16
<unnamed>54.7 %35 / 6450.0 %8 / 16
conversions.cpp +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::geometry::solidAngle(double, double, double)0
mrs_lib::geometry::invHaversin(double)0
mrs_lib::geometry::triangleArea(double, double, double)0
mrs_lib::geometry::quaternionBetween(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double)0
mrs_lib::geometry::quaternionFromEuler(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)0
mrs_lib::geometry::quaternionFromEuler(double, double, double)0
mrs_lib::geometry::sphericalTriangleArea(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::haversin(double)0
mrs_lib::geometry::angleBetween(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&)3
mrs_lib::geometry::rotationBetween(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double)3
mrs_lib::geometry::angleaxisBetween(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double)3
mrs_lib::geometry::cross(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1>)3
mrs_lib::geometry::quaternionFromHeading(double)148979
mrs_lib::geometry::angleBetween(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)159732
mrs_lib::geometry::dist(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)231454
mrs_lib::geometry::dist(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&)368880
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Test:MRS UAV System - Test coverage reportLines:356454.7 %
Date:2024-08-07 22:18:19Functions:81650.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::geometry::solidAngle(double, double, double)0
mrs_lib::geometry::invHaversin(double)0
mrs_lib::geometry::angleBetween(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&)3
mrs_lib::geometry::angleBetween(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)159732
mrs_lib::geometry::triangleArea(double, double, double)0
mrs_lib::geometry::rotationBetween(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double)3
mrs_lib::geometry::angleaxisBetween(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double)3
mrs_lib::geometry::quaternionBetween(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double)0
mrs_lib::geometry::quaternionFromEuler(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)0
mrs_lib::geometry::quaternionFromEuler(double, double, double)0
mrs_lib::geometry::quaternionFromHeading(double)148979
mrs_lib::geometry::sphericalTriangleArea(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::dist(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&)368880
mrs_lib::geometry::dist(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)231454
mrs_lib::geometry::cross(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1>)3
mrs_lib::geometry::haversin(double)0
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Date:2024-08-07 22:18:19Functions:81650.0 %
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          Line data    Source code
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+       1             : // clang: MatousFormat
+       2             : #include <mrs_lib/geometry/misc.h>
+       3             : 
+       4             : namespace mrs_lib
+       5             : {
+       6             :   namespace geometry
+       7             :   {
+       8             : 
+       9             :     // instantiation of common template values
+      10             :     vec_t<3 + 1> toHomogenous(const vec_t<3>& vec);
+      11             :     vec_t<2 + 1> toHomogenous(const vec_t<2>& vec);
+      12             : 
+      13             :     // | ----------------- Angle-related functions ---------------- |
+      14             : 
+      15             :     /* angle-related functions //{ */
+      16             : 
+      17             :     /* cross() //{ */
+      18             : 
+      19           3 :     double cross(const vec2_t& vec1, const vec2_t vec2)
+      20             :     {
+      21           3 :       return vec1.x() * vec2.y() - vec1.y() * vec2.x();
+      22             :     }
+      23             : 
+      24             :     //}
+      25             : 
+      26             :     /* angleBetween() //{ */
+      27             : 
+      28      159732 :     double angleBetween(const vec3_t& vec1, const vec3_t& vec2)
+      29             :     {
+      30      159732 :       const double sin_12 = vec1.cross(vec2).norm();
+      31      159715 :       const double cos_12 = vec1.dot(vec2);
+      32      159712 :       const double angle = std::atan2(sin_12, cos_12);
+      33      159712 :       return angle;
+      34             :     }
+      35             : 
+      36           3 :     double angleBetween(const vec2_t& vec1, const vec2_t& vec2)
+      37             :     {
+      38           3 :       const double sin_12 = cross(vec1, vec2);
+      39           3 :       const double cos_12 = vec1.dot(vec2);
+      40           3 :       const double angle = std::atan2(sin_12, cos_12);
+      41           3 :       return angle;
+      42             :     }
+      43             : 
+      44             :     //}
+      45             : 
+      46             :     /* angleaxisBetween() //{ */
+      47             : 
+      48           3 :     anax_t angleaxisBetween(const Eigen::Vector3d& vec1, const Eigen::Vector3d& vec2, const double tolerance)
+      49             :     {
+      50             :       // Find the rotation matrix to rotate vec1 to point in the direction of vec2
+      51           3 :       const Eigen::Vector3d a = vec1.normalized();
+      52           3 :       const Eigen::Vector3d b = vec2.normalized();
+      53           3 :       const Eigen::Vector3d v = a.cross(b);
+      54           3 :       const double sin_ab = v.norm();
+      55           3 :       const double cos_ab = a.dot(b);
+      56           3 :       const double angle = std::atan2(sin_ab, cos_ab);
+      57           3 :       anax_t ret;
+      58           3 :       if (abs(angle) < tolerance)
+      59           1 :         ret = anax_t(0.0, Eigen::Vector3d::UnitX());
+      60           2 :       else if (abs(abs(angle) - M_PI) < tolerance)
+      61           0 :         ret = anax_t(M_PI, Eigen::Vector3d::UnitX());
+      62             :       else
+      63           2 :         ret = anax_t(angle, v.normalized());
+      64           6 :       return ret;
+      65             :     }
+      66             : 
+      67             :     //}
+      68             : 
+      69             :     /* quaternionBetween() //{ */
+      70             : 
+      71           0 :     quat_t quaternionBetween(const Eigen::Vector3d& vec1, const Eigen::Vector3d& vec2, const double tolerance)
+      72             :     {
+      73           0 :       const auto rot = angleaxisBetween(vec1, vec2, tolerance);
+      74           0 :       const quat_t ret(rot);
+      75           0 :       return ret;
+      76             :     }
+      77             : 
+      78             :     /* quaternionFromEuler() overloads //{ */
+      79           0 :     quat_t quaternionFromEuler(double x, double y, double z)
+      80             :     {
+      81           0 :       return anax_t(x, vec3_t::UnitX()) * anax_t(y, vec3_t::UnitY()) * anax_t(z, vec3_t::UnitZ());
+      82             :     }
+      83             : 
+      84           0 :     quat_t quaternionFromEuler(const Eigen::Vector3d& euler)
+      85             :     {
+      86           0 :       return anax_t(euler.x(), vec3_t::UnitX()) * anax_t(euler.y(), vec3_t::UnitY())
+      87           0 :              * anax_t(euler.z(), vec3_t::UnitZ());
+      88             :     }
+      89             :     //}
+      90             : 
+      91             :     /* quaternionFromHeading //{ */
+      92      148979 :     quat_t quaternionFromHeading(const double heading)
+      93             :     {
+      94      297958 :       return quat_t(anax_t(heading, Eigen::Vector3d::UnitZ()));
+      95             :     }
+      96             :     //}
+      97             : 
+      98             :     //}
+      99             : 
+     100             :     /* rotationBetween() //{ */
+     101             : 
+     102           3 :     Eigen::Matrix3d rotationBetween(const Eigen::Vector3d& vec1, const Eigen::Vector3d& vec2, const double tolerance)
+     103             :     {
+     104           3 :       const auto rot = angleaxisBetween(vec1, vec2, tolerance);
+     105           3 :       const Eigen::Matrix3d ret(rot);
+     106           6 :       return ret;
+     107             :     }
+     108             : 
+     109             :     //}
+     110             : 
+     111             :     /* haversin() //{ */
+     112             : 
+     113           0 :     double haversin(const double angle)
+     114             :     {
+     115           0 :       return (1.0 - std::cos(angle)) / 2.0;
+     116             :     }
+     117             : 
+     118             :     //}
+     119             : 
+     120             :     /* invHaversin() //{ */
+     121             : 
+     122           0 :     double invHaversin(const double value)
+     123             :     {
+     124           0 :       return 2.0 * std::asin(std::sqrt(value));
+     125             :     }
+     126             : 
+     127             :     //}
+     128             : 
+     129             :     /* solidAngle() //{ */
+     130           0 :     double solidAngle(double a, double b, double c)
+     131             :     {
+     132           0 :       return invHaversin((haversin(c) - haversin(a - b)) / (std::sin(a) * std::sin(b)));
+     133             :     }
+     134             :     //}
+     135             : 
+     136             :     //}
+     137             : 
+     138             :     /* triangleArea() //{ */
+     139             : 
+     140           0 :     double triangleArea(const double a, const double b, const double c)
+     141             :     {
+     142           0 :       double s = (a + b + c) / 2.0;
+     143           0 :       return std::sqrt(s * (s - a) * (s - b) * (s - c));
+     144             :     }
+     145             : 
+     146             :     //}
+     147             : 
+     148             :     /* sphericalTriangleArea //{ */
+     149           0 :     double sphericalTriangleArea(Eigen::Vector3d a, Eigen::Vector3d b, Eigen::Vector3d c)
+     150             :     {
+     151           0 :       double ab = angleBetween(a, b);
+     152           0 :       double bc = angleBetween(b, c);
+     153           0 :       double ca = angleBetween(c, a);
+     154             : 
+     155           0 :       if (ab < 1e-3 and bc < 1e-3 and ca < 1e-3)
+     156             :       {
+     157           0 :         return triangleArea(ab, bc, ca);
+     158             :       }
+     159             : 
+     160           0 :       double A = solidAngle(ca, ab, bc);
+     161           0 :       double B = solidAngle(ab, bc, ca);
+     162           0 :       double C = solidAngle(bc, ca, ab);
+     163             : 
+     164           0 :       return A + B + C - M_PI;
+     165             :     }
+     166             :     //}
+     167             : 
+     168             :     /* vector distance //{ */
+     169             : 
+     170      368880 :     double dist(const vec2_t& a, const vec2_t& b)
+     171             :     {
+     172             : 
+     173      368880 :       return (a - b).norm();
+     174             :     }
+     175             : 
+     176      231454 :     double dist(const vec3_t& a, const vec3_t& b)
+     177             :     {
+     178             : 
+     179      231454 :       return (a - b).norm();
+     180             :     }
+     181             : 
+     182             :     //}
+     183             : 
+     184             :   }  // namespace geometry
+     185             : }  // namespace mrs_lib
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LCOV - code coverage report
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Current view:top level - mrs_lib/src/geometry - shapes.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:03350.0 %
Date:2024-08-07 22:18:19Functions:0680.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::geometry::Ray::twopointCast(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Ray::directionCast(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Ray::Ray(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Ray::Ray()0
mrs_lib::geometry::Ray::~Ray()0
mrs_lib::geometry::Cone::Cone(Eigen::Matrix<double, 3, 1, 0, 3, 1>, double, double, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Cone::Cone()0
mrs_lib::geometry::Cone::~Cone()0
mrs_lib::geometry::Cuboid::Cuboid(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Quaternion<double, 0>)0
mrs_lib::geometry::Cuboid::Cuboid(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Cuboid::Cuboid(std::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >)0
mrs_lib::geometry::Cuboid::Cuboid()0
mrs_lib::geometry::Cuboid::~Cuboid()0
mrs_lib::geometry::Ellipse::Ellipse(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Quaternion<double, 0>, double, double)0
mrs_lib::geometry::Ellipse::Ellipse()0
mrs_lib::geometry::Ellipse::~Ellipse()0
mrs_lib::geometry::Cylinder::Cylinder(Eigen::Matrix<double, 3, 1, 0, 3, 1>, double, double, Eigen::Quaternion<double, 0>)0
mrs_lib::geometry::Cylinder::Cylinder()0
mrs_lib::geometry::Cylinder::~Cylinder()0
mrs_lib::geometry::Triangle::Triangle(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Triangle::Triangle()0
mrs_lib::geometry::Triangle::~Triangle()0
mrs_lib::geometry::Rectangle::Rectangle(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Rectangle::Rectangle(std::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >)0
mrs_lib::geometry::Rectangle::Rectangle()0
mrs_lib::geometry::Rectangle::~Rectangle()0
mrs_lib::geometry::Ray::p1() const0
mrs_lib::geometry::Ray::p2() const0
mrs_lib::geometry::Ray::direction() const0
mrs_lib::geometry::Cone::projectPoint(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) const0
mrs_lib::geometry::Cone::h() const0
mrs_lib::geometry::Cone::theta() const0
mrs_lib::geometry::Cone::center() const0
mrs_lib::geometry::Cone::getCap() const0
mrs_lib::geometry::Cone::origin() const0
mrs_lib::geometry::Cone::direction() const0
mrs_lib::geometry::Cuboid::getRectangle(int) const0
mrs_lib::geometry::Cuboid::lookupPoints(int) const0
mrs_lib::geometry::Cuboid::intersectionRay(mrs_lib::geometry::Ray, double) const0
mrs_lib::geometry::Cuboid::center() const0
mrs_lib::geometry::Cuboid::vertices() const0
mrs_lib::geometry::Ellipse::orientation() const0
mrs_lib::geometry::Ellipse::a() const0
mrs_lib::geometry::Ellipse::b() const0
mrs_lib::geometry::Ellipse::center() const0
mrs_lib::geometry::Cylinder::orientation() const0
mrs_lib::geometry::Cylinder::h() const0
mrs_lib::geometry::Cylinder::r() const0
mrs_lib::geometry::Cylinder::center() const0
mrs_lib::geometry::Cylinder::getCap(int) const0
mrs_lib::geometry::Triangle::intersectionRay(mrs_lib::geometry::Ray, double) const0
mrs_lib::geometry::Triangle::a() const0
mrs_lib::geometry::Triangle::b() const0
mrs_lib::geometry::Triangle::c() const0
mrs_lib::geometry::Triangle::center() const0
mrs_lib::geometry::Triangle::normal() const0
mrs_lib::geometry::Triangle::vertices() const0
mrs_lib::geometry::Rectangle::intersectionRay(mrs_lib::geometry::Ray, double) const0
mrs_lib::geometry::Rectangle::a() const0
mrs_lib::geometry::Rectangle::b() const0
mrs_lib::geometry::Rectangle::c() const0
mrs_lib::geometry::Rectangle::d() const0
mrs_lib::geometry::Rectangle::solidAngleRelativeTo(Eigen::Matrix<double, 3, 1, 0, 3, 1>) const0
mrs_lib::geometry::Rectangle::center() const0
mrs_lib::geometry::Rectangle::normal() const0
mrs_lib::geometry::Rectangle::isFacing(Eigen::Matrix<double, 3, 1, 0, 3, 1>) const0
mrs_lib::geometry::Rectangle::vertices() const0
mrs_lib::geometry::Rectangle::triangles() const0
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_lib/src/geometry - shapes.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:03350.0 %
Date:2024-08-07 22:18:19Functions:0680.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::geometry::Ray::twopointCast(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Ray::directionCast(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Ray::Ray(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Ray::Ray()0
mrs_lib::geometry::Ray::~Ray()0
mrs_lib::geometry::Cone::Cone(Eigen::Matrix<double, 3, 1, 0, 3, 1>, double, double, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Cone::Cone()0
mrs_lib::geometry::Cone::~Cone()0
mrs_lib::geometry::Cuboid::Cuboid(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Quaternion<double, 0>)0
mrs_lib::geometry::Cuboid::Cuboid(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Cuboid::Cuboid(std::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >)0
mrs_lib::geometry::Cuboid::Cuboid()0
mrs_lib::geometry::Cuboid::~Cuboid()0
mrs_lib::geometry::Ellipse::Ellipse(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Quaternion<double, 0>, double, double)0
mrs_lib::geometry::Ellipse::Ellipse()0
mrs_lib::geometry::Ellipse::~Ellipse()0
mrs_lib::geometry::Cylinder::Cylinder(Eigen::Matrix<double, 3, 1, 0, 3, 1>, double, double, Eigen::Quaternion<double, 0>)0
mrs_lib::geometry::Cylinder::Cylinder()0
mrs_lib::geometry::Cylinder::~Cylinder()0
mrs_lib::geometry::Triangle::Triangle(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Triangle::Triangle()0
mrs_lib::geometry::Triangle::~Triangle()0
mrs_lib::geometry::Rectangle::Rectangle(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Rectangle::Rectangle(std::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >)0
mrs_lib::geometry::Rectangle::Rectangle()0
mrs_lib::geometry::Rectangle::~Rectangle()0
mrs_lib::geometry::Ray::p1() const0
mrs_lib::geometry::Ray::p2() const0
mrs_lib::geometry::Ray::direction() const0
mrs_lib::geometry::Cone::projectPoint(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) const0
mrs_lib::geometry::Cone::h() const0
mrs_lib::geometry::Cone::theta() const0
mrs_lib::geometry::Cone::center() const0
mrs_lib::geometry::Cone::getCap() const0
mrs_lib::geometry::Cone::origin() const0
mrs_lib::geometry::Cone::direction() const0
mrs_lib::geometry::Cuboid::getRectangle(int) const0
mrs_lib::geometry::Cuboid::lookupPoints(int) const0
mrs_lib::geometry::Cuboid::intersectionRay(mrs_lib::geometry::Ray, double) const0
mrs_lib::geometry::Cuboid::center() const0
mrs_lib::geometry::Cuboid::vertices() const0
mrs_lib::geometry::Ellipse::orientation() const0
mrs_lib::geometry::Ellipse::a() const0
mrs_lib::geometry::Ellipse::b() const0
mrs_lib::geometry::Ellipse::center() const0
mrs_lib::geometry::Cylinder::orientation() const0
mrs_lib::geometry::Cylinder::h() const0
mrs_lib::geometry::Cylinder::r() const0
mrs_lib::geometry::Cylinder::center() const0
mrs_lib::geometry::Cylinder::getCap(int) const0
mrs_lib::geometry::Triangle::intersectionRay(mrs_lib::geometry::Ray, double) const0
mrs_lib::geometry::Triangle::a() const0
mrs_lib::geometry::Triangle::b() const0
mrs_lib::geometry::Triangle::c() const0
mrs_lib::geometry::Triangle::center() const0
mrs_lib::geometry::Triangle::normal() const0
mrs_lib::geometry::Triangle::vertices() const0
mrs_lib::geometry::Rectangle::intersectionRay(mrs_lib::geometry::Ray, double) const0
mrs_lib::geometry::Rectangle::a() const0
mrs_lib::geometry::Rectangle::b() const0
mrs_lib::geometry::Rectangle::c() const0
mrs_lib::geometry::Rectangle::d() const0
mrs_lib::geometry::Rectangle::solidAngleRelativeTo(Eigen::Matrix<double, 3, 1, 0, 3, 1>) const0
mrs_lib::geometry::Rectangle::center() const0
mrs_lib::geometry::Rectangle::normal() const0
mrs_lib::geometry::Rectangle::isFacing(Eigen::Matrix<double, 3, 1, 0, 3, 1>) const0
mrs_lib::geometry::Rectangle::vertices() const0
mrs_lib::geometry::Rectangle::triangles() const0
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/geometry/shapes.cpp.gcov.frameset.html b/mrs_lib/src/geometry/shapes.cpp.gcov.frameset.html new file mode 100644 index 0000000000..d1dafd1fc9 --- /dev/null +++ b/mrs_lib/src/geometry/shapes.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/geometry/shapes.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/src/geometry/shapes.cpp.gcov.html b/mrs_lib/src/geometry/shapes.cpp.gcov.html new file mode 100644 index 0000000000..d9831f44c7 --- /dev/null +++ b/mrs_lib/src/geometry/shapes.cpp.gcov.html @@ -0,0 +1,730 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/geometry/shapes.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/src/geometry - shapes.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:03350.0 %
Date:2024-08-07 22:18:19Functions:0680.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : #include <mrs_lib/geometry/shapes.h>
+       3             : #include <mrs_lib/geometry/misc.h>
+       4             : 
+       5             : namespace mrs_lib
+       6             : {
+       7             :   namespace geometry
+       8             :   {
+       9             : 
+      10             :     /* Ray //{ */
+      11             : 
+      12             :     /* constructors //{ */
+      13           0 :     Ray::Ray()
+      14             :     {
+      15           0 :       point1 = Eigen::Vector3d::Zero();
+      16           0 :       point2 = Eigen::Vector3d::Zero();
+      17           0 :     }
+      18             : 
+      19           0 :     Ray::Ray(Eigen::Vector3d p1, Eigen::Vector3d p2)
+      20             :     {
+      21           0 :       point1 = p1;
+      22           0 :       point2 = p2;
+      23           0 :     }
+      24             : 
+      25           0 :     Ray::~Ray()
+      26             :     {
+      27           0 :     }
+      28             :     //}
+      29             : 
+      30             :     /* getters //{ */
+      31           0 :     const Eigen::Vector3d Ray::p1() const
+      32             :     {
+      33           0 :       return point1;
+      34             :     }
+      35             : 
+      36           0 :     const Eigen::Vector3d Ray::p2() const
+      37             :     {
+      38           0 :       return point2;
+      39             :     }
+      40             : 
+      41           0 :     const Eigen::Vector3d Ray::direction() const
+      42             :     {
+      43           0 :       return (point2 - point1);
+      44             :     }
+      45             :     //}
+      46             : 
+      47             :     /* raycasting //{ */
+      48           0 :     Ray Ray::twopointCast(Eigen::Vector3d pointFrom, Eigen::Vector3d pointTo)
+      49             :     {
+      50           0 :       return Ray(pointFrom, pointTo);
+      51             :     }
+      52             : 
+      53           0 :     Ray Ray::directionCast(Eigen::Vector3d origin, Eigen::Vector3d direction)
+      54             :     {
+      55           0 :       return Ray(origin, origin + direction);
+      56             :     }
+      57             :     //}
+      58             : 
+      59             :     //}
+      60             : 
+      61             :     /* Triangle //{ */
+      62             : 
+      63             :     /* constructors //{ */
+      64           0 :     Triangle::Triangle()
+      65             :     {
+      66           0 :       point1 = Eigen::Vector3d(0, 0, 0);
+      67           0 :       point2 = Eigen::Vector3d(1, 0, 0);
+      68           0 :       point3 = Eigen::Vector3d(0, 0, 1);
+      69           0 :     }
+      70             : 
+      71           0 :     Triangle::Triangle(Eigen::Vector3d a, Eigen::Vector3d b, Eigen::Vector3d c)
+      72             :     {
+      73           0 :       point1 = a;
+      74           0 :       point2 = b;
+      75           0 :       point3 = c;
+      76           0 :     }
+      77             : 
+      78           0 :     Triangle::~Triangle()
+      79             :     {
+      80           0 :     }
+      81             :     //}
+      82             : 
+      83             :     /* getters //{ */
+      84           0 :     const Eigen::Vector3d Triangle::a() const
+      85             :     {
+      86           0 :       return point1;
+      87             :     }
+      88             : 
+      89           0 :     const Eigen::Vector3d Triangle::b() const
+      90             :     {
+      91           0 :       return point2;
+      92             :     }
+      93             : 
+      94           0 :     const Eigen::Vector3d Triangle::c() const
+      95             :     {
+      96           0 :       return point3;
+      97             :     }
+      98             : 
+      99           0 :     const Eigen::Vector3d Triangle::normal() const
+     100             :     {
+     101           0 :       Eigen::Vector3d n;
+     102           0 :       n = (point2 - point1).cross(point3 - point1);
+     103           0 :       return n.normalized();
+     104             :     }
+     105             : 
+     106           0 :     const Eigen::Vector3d Triangle::center() const
+     107             :     {
+     108           0 :       return (point1 + point2 + point3) / 3.0;
+     109             :     }
+     110             : 
+     111           0 :     const std::vector<Eigen::Vector3d> Triangle::vertices() const
+     112             :     {
+     113           0 :       std::vector<Eigen::Vector3d> vertices;
+     114           0 :       vertices.push_back(point1);
+     115           0 :       vertices.push_back(point2);
+     116           0 :       vertices.push_back(point3);
+     117           0 :       return vertices;
+     118             :     }
+     119             :     //}
+     120             : 
+     121             :     /* intersectionRay //{ */
+     122           0 :     const boost::optional<Eigen::Vector3d> Triangle::intersectionRay(Ray r, double epsilon) const
+     123             :     {
+     124             :       // The Möller–Trumbore algorithm
+     125             :       // https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm
+     126           0 :       Eigen::Vector3d v1 = point2 - point1;
+     127           0 :       Eigen::Vector3d v2 = point3 - point1;
+     128           0 :       Eigen::Vector3d h = r.direction().cross(v2);
+     129           0 :       double res = v1.dot(h);
+     130           0 :       if (res > -epsilon && res < epsilon)
+     131             :       {
+     132           0 :         return boost::none;
+     133             :       }
+     134           0 :       double f = 1.0 / res;
+     135           0 :       Eigen::Vector3d s = r.p1() - point1;
+     136           0 :       double u = f * s.dot(h);
+     137           0 :       if (u < 0.0 || u > 1.0)
+     138             :       {
+     139           0 :         return boost::none;
+     140             :       }
+     141           0 :       Eigen::Vector3d q = s.cross(v1);
+     142           0 :       double v = f * r.direction().dot(q);
+     143           0 :       if (v < 0.0 || u + v > 1.0)
+     144             :       {
+     145           0 :         return boost::none;
+     146             :       }
+     147           0 :       double t = f * v2.dot(q);
+     148           0 :       if (t > epsilon)
+     149             :       {
+     150           0 :         Eigen::Vector3d ret = r.p1() + r.direction() * t;
+     151           0 :         return ret;
+     152             :       }
+     153           0 :       return boost::none;
+     154             :     }
+     155             :     //}
+     156             : 
+     157             :     //}
+     158             : 
+     159             :     /* Rectangle //{ */
+     160             : 
+     161             :     /* constructors //{ */
+     162           0 :     Rectangle::Rectangle()
+     163             :     {
+     164           0 :       point1 = Eigen::Vector3d(0, 0, 0);
+     165           0 :       point2 = Eigen::Vector3d(1, 0, 0);
+     166           0 :       point3 = Eigen::Vector3d(1, 1, 0);
+     167           0 :       point4 = Eigen::Vector3d(0, 1, 0);
+     168           0 :     }
+     169             : 
+     170           0 :     Rectangle::Rectangle(std::vector<Eigen::Vector3d> points)
+     171             :     {
+     172           0 :       point1 = points[0];
+     173           0 :       point2 = points[1];
+     174           0 :       point3 = points[2];
+     175           0 :       point4 = points[3];
+     176           0 :     }
+     177             : 
+     178           0 :     Rectangle::Rectangle(Eigen::Vector3d a, Eigen::Vector3d b, Eigen::Vector3d c, Eigen::Vector3d d)
+     179             :     {
+     180           0 :       point1 = a;
+     181           0 :       point2 = b;
+     182           0 :       point3 = c;
+     183           0 :       point4 = d;
+     184           0 :     }
+     185             : 
+     186           0 :     Rectangle::~Rectangle()
+     187             :     {
+     188           0 :     }
+     189             :     //}
+     190             : 
+     191             :     /* getters //{ */
+     192           0 :     const Eigen::Vector3d Rectangle::a() const
+     193             :     {
+     194           0 :       return point1;
+     195             :     }
+     196             : 
+     197           0 :     const Eigen::Vector3d Rectangle::b() const
+     198             :     {
+     199           0 :       return point2;
+     200             :     }
+     201             : 
+     202           0 :     const Eigen::Vector3d Rectangle::c() const
+     203             :     {
+     204           0 :       return point3;
+     205             :     }
+     206             : 
+     207           0 :     const Eigen::Vector3d Rectangle::d() const
+     208             :     {
+     209           0 :       return point4;
+     210             :     }
+     211             : 
+     212           0 :     const Eigen::Vector3d Rectangle::center() const
+     213             :     {
+     214           0 :       return (point1 + point2 + point3 + point4) / 4.0;
+     215             :     }
+     216             : 
+     217           0 :     const Eigen::Vector3d Rectangle::normal() const
+     218             :     {
+     219           0 :       Eigen::Vector3d n;
+     220           0 :       n = (point2 - point1).cross(point4 - point1);
+     221           0 :       return n.normalized();
+     222             :     }
+     223             : 
+     224           0 :     const std::vector<Eigen::Vector3d> Rectangle::vertices() const
+     225             :     {
+     226           0 :       std::vector<Eigen::Vector3d> vertices;
+     227           0 :       vertices.push_back(point1);
+     228           0 :       vertices.push_back(point2);
+     229           0 :       vertices.push_back(point3);
+     230           0 :       vertices.push_back(point4);
+     231           0 :       return vertices;
+     232             :     }
+     233             : 
+     234           0 :     const std::vector<Triangle> Rectangle::triangles() const
+     235             :     {
+     236           0 :       Triangle t1(point1, point2, point3);
+     237           0 :       Triangle t2(point1, point3, point4);
+     238             : 
+     239           0 :       std::vector<Triangle> triangles;
+     240           0 :       triangles.push_back(t1);
+     241           0 :       triangles.push_back(t2);
+     242           0 :       return triangles;
+     243             :     }
+     244             :     //}
+     245             : 
+     246             :     /* intersectionRay //{ */
+     247           0 :     const boost::optional<Eigen::Vector3d> Rectangle::intersectionRay(Ray r, double epsilon) const
+     248             :     {
+     249           0 :       Triangle t1 = triangles()[0];
+     250           0 :       Triangle t2 = triangles()[1];
+     251           0 :       auto result = t1.intersectionRay(r, epsilon);
+     252           0 :       if (result != boost::none)
+     253             :       {
+     254           0 :         return result;
+     255             :       }
+     256           0 :       return t2.intersectionRay(r, epsilon);
+     257             :     }
+     258             :     //}
+     259             : 
+     260             :     /* isFacing //{ */
+     261           0 :     bool Rectangle::isFacing(Eigen::Vector3d point) const
+     262             :     {
+     263           0 :       Eigen::Vector3d towards_point = point - center();
+     264           0 :       double dot_product = towards_point.dot(normal());
+     265           0 :       return dot_product > 0;
+     266             :     }
+     267             : 
+     268             :     //}
+     269             : 
+     270             :     /* solidAngleRelativeTo //{ */
+     271           0 :     double Rectangle::solidAngleRelativeTo(Eigen::Vector3d point) const
+     272             :     {
+     273           0 :       Eigen::Vector3d a = point1 - point;
+     274           0 :       Eigen::Vector3d b = point2 - point;
+     275           0 :       Eigen::Vector3d c = point3 - point;
+     276           0 :       Eigen::Vector3d d = point4 - point;
+     277             : 
+     278           0 :       a.normalize();
+     279           0 :       b.normalize();
+     280           0 :       c.normalize();
+     281           0 :       d.normalize();
+     282             : 
+     283           0 :       double t1 = mrs_lib::geometry::sphericalTriangleArea(a, b, c);
+     284           0 :       double t2 = mrs_lib::geometry::sphericalTriangleArea(c, d, a);
+     285             : 
+     286           0 :       return t1 + t2;
+     287             :     }
+     288             :     //}
+     289             : 
+     290             :     //}
+     291             : 
+     292             :     /* Cuboid //{ */
+     293             : 
+     294             :     /* constructors //{ */
+     295           0 :     Cuboid::Cuboid()
+     296             :     {
+     297           0 :       for (int i = 0; i < 8; i++)
+     298             :       {
+     299           0 :         points.push_back(Eigen::Vector3d::Zero());
+     300             :       }
+     301           0 :     }
+     302             : 
+     303           0 :     Cuboid::Cuboid(Eigen::Vector3d p0, Eigen::Vector3d p1, Eigen::Vector3d p2, Eigen::Vector3d p3, Eigen::Vector3d p4, Eigen::Vector3d p5, Eigen::Vector3d p6,
+     304           0 :                    Eigen::Vector3d p7)
+     305             :     {
+     306           0 :       points.push_back(p0);
+     307           0 :       points.push_back(p1);
+     308           0 :       points.push_back(p2);
+     309           0 :       points.push_back(p3);
+     310           0 :       points.push_back(p4);
+     311           0 :       points.push_back(p5);
+     312           0 :       points.push_back(p6);
+     313           0 :       points.push_back(p7);
+     314           0 :     }
+     315             : 
+     316           0 :     Cuboid::Cuboid(std::vector<Eigen::Vector3d> points)
+     317             :     {
+     318           0 :       this->points = points;
+     319           0 :     }
+     320             : 
+     321           0 :     Cuboid::Cuboid(Eigen::Vector3d center, Eigen::Vector3d size, Eigen::Quaterniond orientation)
+     322             :     {
+     323           0 :       Eigen::Vector3d p0(size.x() / 2.0, -size.y() / 2.0, -size.z() / 2.0);
+     324           0 :       Eigen::Vector3d p1(size.x() / 2.0, size.y() / 2.0, -size.z() / 2.0);
+     325           0 :       Eigen::Vector3d p2(size.x() / 2.0, size.y() / 2.0, size.z() / 2.0);
+     326           0 :       Eigen::Vector3d p3(size.x() / 2.0, -size.y() / 2.0, size.z() / 2.0);
+     327             : 
+     328           0 :       Eigen::Vector3d p4(-size.x() / 2.0, size.y() / 2.0, -size.z() / 2.0);
+     329           0 :       Eigen::Vector3d p5(-size.x() / 2.0, -size.y() / 2.0, -size.z() / 2.0);
+     330           0 :       Eigen::Vector3d p6(-size.x() / 2.0, -size.y() / 2.0, size.z() / 2.0);
+     331           0 :       Eigen::Vector3d p7(-size.x() / 2.0, size.y() / 2.0, size.z() / 2.0);
+     332             : 
+     333           0 :       p0 = center + orientation * p0;
+     334           0 :       p1 = center + orientation * p1;
+     335           0 :       p2 = center + orientation * p2;
+     336           0 :       p3 = center + orientation * p3;
+     337             : 
+     338           0 :       p4 = center + orientation * p4;
+     339           0 :       p5 = center + orientation * p5;
+     340           0 :       p6 = center + orientation * p6;
+     341           0 :       p7 = center + orientation * p7;
+     342             : 
+     343           0 :       points.push_back(p0);
+     344           0 :       points.push_back(p1);
+     345           0 :       points.push_back(p2);
+     346           0 :       points.push_back(p3);
+     347           0 :       points.push_back(p4);
+     348           0 :       points.push_back(p5);
+     349           0 :       points.push_back(p6);
+     350           0 :       points.push_back(p7);
+     351           0 :     }
+     352             : 
+     353           0 :     Cuboid::~Cuboid()
+     354             :     {
+     355           0 :     }
+     356             :     //}
+     357             : 
+     358             :     /* lookupPoints //{ */
+     359           0 :     std::vector<Eigen::Vector3d> Cuboid::lookupPoints(int face_idx) const
+     360             :     {
+     361           0 :       std::vector<Eigen::Vector3d> lookup;
+     362           0 :       switch (face_idx)
+     363             :       {
+     364           0 :         case Cuboid::FRONT:
+     365           0 :           lookup.push_back(points[0]);
+     366           0 :           lookup.push_back(points[1]);
+     367           0 :           lookup.push_back(points[2]);
+     368           0 :           lookup.push_back(points[3]);
+     369           0 :           break;
+     370           0 :         case Cuboid::BACK:
+     371           0 :           lookup.push_back(points[4]);
+     372           0 :           lookup.push_back(points[5]);
+     373           0 :           lookup.push_back(points[6]);
+     374           0 :           lookup.push_back(points[7]);
+     375           0 :           break;
+     376           0 :         case Cuboid::LEFT:
+     377           0 :           lookup.push_back(points[1]);
+     378           0 :           lookup.push_back(points[4]);
+     379           0 :           lookup.push_back(points[7]);
+     380           0 :           lookup.push_back(points[2]);
+     381           0 :           break;
+     382           0 :         case Cuboid::RIGHT:
+     383           0 :           lookup.push_back(points[5]);
+     384           0 :           lookup.push_back(points[0]);
+     385           0 :           lookup.push_back(points[3]);
+     386           0 :           lookup.push_back(points[6]);
+     387           0 :           break;
+     388           0 :         case Cuboid::BOTTOM:
+     389           0 :           lookup.push_back(points[5]);
+     390           0 :           lookup.push_back(points[4]);
+     391           0 :           lookup.push_back(points[1]);
+     392           0 :           lookup.push_back(points[0]);
+     393           0 :           break;
+     394           0 :         case Cuboid::TOP:
+     395           0 :           lookup.push_back(points[3]);
+     396           0 :           lookup.push_back(points[2]);
+     397           0 :           lookup.push_back(points[7]);
+     398           0 :           lookup.push_back(points[6]);
+     399           0 :           break;
+     400             :       }
+     401           0 :       return lookup;
+     402             :     }
+     403             :     //}
+     404             : 
+     405             :     /* getters //{ */
+     406           0 :     const std::vector<Eigen::Vector3d> Cuboid::vertices() const
+     407             :     {
+     408           0 :       return points;
+     409             :     }
+     410             : 
+     411           0 :     const Rectangle Cuboid::getRectangle(int face_idx) const
+     412             :     {
+     413           0 :       return Rectangle(lookupPoints(face_idx));
+     414             :     }
+     415             : 
+     416           0 :     const Eigen::Vector3d Cuboid::center() const
+     417             :     {
+     418           0 :       Eigen::Vector3d point_sum = points[0];
+     419           0 :       for (int i = 1; i < 8; i++)
+     420             :       {
+     421           0 :         point_sum += points[i];
+     422             :       }
+     423           0 :       return point_sum / 8.0;
+     424             :     }
+     425             :     //}
+     426             : 
+     427             :     /* intersectionRay //{ */
+     428           0 :     const std::vector<Eigen::Vector3d> Cuboid::intersectionRay(Ray r, double epsilon) const
+     429             :     {
+     430           0 :       std::vector<Eigen::Vector3d> ret;
+     431           0 :       for (int i = 0; i < 6; i++)
+     432             :       {
+     433           0 :         Rectangle side = getRectangle(i);
+     434           0 :         auto side_intersect = side.intersectionRay(r, epsilon);
+     435           0 :         if (side_intersect != boost::none)
+     436             :         {
+     437           0 :           ret.push_back(side_intersect.get());
+     438             :         }
+     439             :       }
+     440           0 :       return ret;
+     441             :     }
+     442             :     //}
+     443             : 
+     444             :     //}
+     445             : 
+     446             :     /* Ellipse //{ */
+     447             : 
+     448             :     /* constructors //{ */
+     449           0 :     Ellipse::Ellipse()
+     450             :     {
+     451           0 :     }
+     452             : 
+     453           0 :     Ellipse::~Ellipse()
+     454             :     {
+     455           0 :     }
+     456             : 
+     457           0 :     Ellipse::Ellipse(Eigen::Vector3d center, Eigen::Quaterniond orientation, double a, double b)
+     458             :     {
+     459           0 :       center_point = center;
+     460           0 :       absolute_orientation = orientation;
+     461           0 :       major_semi = a;
+     462           0 :       minor_semi = b;
+     463           0 :     }
+     464             :     //}
+     465             : 
+     466             :     /* getters //{ */
+     467           0 :     double Ellipse::a() const
+     468             :     {
+     469           0 :       return major_semi;
+     470             :     }
+     471             : 
+     472           0 :     double Ellipse::b() const
+     473             :     {
+     474           0 :       return minor_semi;
+     475             :     }
+     476             : 
+     477           0 :     const Eigen::Vector3d Ellipse::center() const
+     478             :     {
+     479           0 :       return center_point;
+     480             :     }
+     481             : 
+     482           0 :     const Eigen::Quaterniond Ellipse::orientation() const
+     483             :     {
+     484           0 :       return absolute_orientation;
+     485             :     }
+     486             : 
+     487             :     //}
+     488             : 
+     489             :     //}
+     490             : 
+     491             :     /* Cylinder //{ */
+     492             : 
+     493             :     /* constructors //{ */
+     494           0 :     Cylinder::Cylinder()
+     495             :     {
+     496           0 :     }
+     497             : 
+     498           0 :     Cylinder::~Cylinder()
+     499             :     {
+     500           0 :     }
+     501             : 
+     502           0 :     Cylinder::Cylinder(Eigen::Vector3d center, double radius, double height, Eigen::Quaterniond orientation)
+     503             :     {
+     504           0 :       this->center_point = center;
+     505           0 :       this->radius = radius;
+     506           0 :       this->height = height;
+     507           0 :       this->absolute_orientation = orientation;
+     508           0 :     }
+     509             :     //}
+     510             : 
+     511             :     /* getters //{ */
+     512           0 :     const Eigen::Vector3d Cylinder::center() const
+     513             :     {
+     514           0 :       return center_point;
+     515             :     }
+     516             : 
+     517           0 :     const Eigen::Quaterniond Cylinder::orientation() const
+     518             :     {
+     519           0 :       return absolute_orientation;
+     520             :     }
+     521             : 
+     522           0 :     double Cylinder::r() const
+     523             :     {
+     524           0 :       return radius;
+     525             :     }
+     526             : 
+     527           0 :     double Cylinder::h() const
+     528             :     {
+     529           0 :       return height;
+     530             :     }
+     531             : 
+     532           0 :     const Ellipse Cylinder::getCap(int index) const
+     533             :     {
+     534           0 :       Ellipse e;
+     535           0 :       Eigen::Vector3d ellipse_center;
+     536           0 :       switch (index)
+     537             :       {
+     538           0 :         case Cylinder::BOTTOM:
+     539           0 :           ellipse_center = center() - orientation() * (Eigen::Vector3d::UnitZ() * (h() / 2.0));
+     540           0 :           e = Ellipse(ellipse_center, orientation(), r(), r());
+     541           0 :           break;
+     542           0 :         case Cylinder::TOP:
+     543           0 :           ellipse_center = center() + orientation() * (Eigen::Vector3d::UnitZ() * (h() / 2.0));
+     544           0 :           e = Ellipse(ellipse_center, orientation(), r(), r());
+     545           0 :           break;
+     546             :       }
+     547           0 :       return e;
+     548             :     }
+     549             : 
+     550             :     //}
+     551             : 
+     552             :     //}
+     553             : 
+     554             :     /* Cone //{ */
+     555             : 
+     556             :     /* constructors //{ */
+     557           0 :     Cone::Cone()
+     558             :     {
+     559           0 :     }
+     560             : 
+     561           0 :     Cone::~Cone()
+     562             :     {
+     563           0 :     }
+     564             : 
+     565           0 :     Cone::Cone(Eigen::Vector3d origin_point, double angle, double height, Eigen::Vector3d absolute_direction)
+     566             :     {
+     567           0 :       this->origin_point = origin_point;
+     568           0 :       this->angle = angle;
+     569           0 :       this->height = height;
+     570           0 :       this->absolute_direction = absolute_direction.normalized();
+     571           0 :     }
+     572             :     //}
+     573             : 
+     574             :     /* getters //{ */
+     575           0 :     const Eigen::Vector3d Cone::origin() const
+     576             :     {
+     577           0 :       return origin_point;
+     578             :     }
+     579             : 
+     580           0 :     const Eigen::Vector3d Cone::direction() const
+     581             :     {
+     582           0 :       return absolute_direction;
+     583             :     }
+     584             : 
+     585           0 :     const Eigen::Vector3d Cone::center() const
+     586             :     {
+     587           0 :       return origin() + (0.5 * h()) * direction();
+     588             :     }
+     589             : 
+     590           0 :     double Cone::theta() const
+     591             :     {
+     592           0 :       return angle;
+     593             :     }
+     594             : 
+     595           0 :     double Cone::h() const
+     596             :     {
+     597           0 :       return height;
+     598             :     }
+     599             : 
+     600           0 :     const Ellipse Cone::getCap() const
+     601             :     {
+     602           0 :       Eigen::Vector3d ellipse_center = origin() + direction() * h();
+     603           0 :       Eigen::Quaterniond ellipse_orientation = Eigen::Quaterniond::FromTwoVectors(Eigen::Vector3d::UnitZ(), direction());
+     604           0 :       double cap_radius = std::tan(theta()) * h();
+     605           0 :       Ellipse e(ellipse_center, ellipse_orientation, cap_radius, cap_radius);
+     606           0 :       return e;
+     607             :     }
+     608             : 
+     609           0 :     const std::optional<Eigen::Vector3d> Cone::projectPoint(const Eigen::Vector3d& point) const
+     610             :     {
+     611             : 
+     612           0 :       Eigen::Vector3d point_vec = point - origin();
+     613           0 :       double point_axis_angle = acos((point_vec.dot(direction())) / (point_vec.norm() * direction().norm()));
+     614             : 
+     615             :       /* Eigen::Vector3d axis_projection = this->cone_axis_projector * point_vec + origin(); */
+     616             : 
+     617           0 :       Eigen::Vector3d axis_rot = direction().cross(point_vec);
+     618           0 :       axis_rot.normalize();
+     619             : 
+     620           0 :       Eigen::AngleAxis<double> my_quat(this->angle - point_axis_angle, axis_rot);
+     621             : 
+     622           0 :       Eigen::Vector3d point_on_cone = my_quat * point_vec + origin();
+     623             : 
+     624           0 :       Eigen::Vector3d vec_point_on_cone = point_on_cone - origin();
+     625           0 :       vec_point_on_cone.normalize();
+     626             : 
+     627           0 :       double beta = this->angle - point_axis_angle;
+     628             : 
+     629           0 :       if (point_axis_angle < this->angle)
+     630             :       {
+     631           0 :         return origin() + vec_point_on_cone * cos(beta) * point_vec.norm();
+     632           0 :       } else if ((point_axis_angle >= this->angle) && (point_axis_angle - this->angle) <= M_PI / 2.0)
+     633             :       {  // TODO: is this condition correct?
+     634           0 :         return origin() + vec_point_on_cone * cos(point_axis_angle - this->angle) * point_vec.norm();
+     635             :       } else
+     636             :       {
+     637           0 :         return {};
+     638             :       }
+     639             :     }
+     640             : 
+     641             :     //}
+     642             : 
+     643             :     //}
+     644             : 
+     645             :   }  // namespace geometry
+     646             : }  // namespace mrs_lib
+
+
+
+ + + + +
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+
          Line data    Source code
+
+       1             : #include <mrs_lib/math.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             :   /* probit() function //{ */
+       6         202 :   double probit(const double quantile)
+       7             :   {
+       8             :     // polynomial coefficients of the numerator for rational polynomial approximation in the range (0.08; 0.92)
+       9             :     constexpr double a[4] =
+      10             :     {
+      11             :       2.50662823884,
+      12             :     -18.61500062529,
+      13             :      41.39119773534,
+      14             :     -25.44106049637
+      15             :     };
+      16             : 
+      17             :     // polynomial coefficients of the denominator for the rational polynomial approximation in the range (0.08; 0.92)
+      18             :     constexpr double b[4] =
+      19             :     {
+      20             :       -8.47351093090,
+      21             :       23.08336743743,
+      22             :      -21.06224101826,
+      23             :        3.13082909833
+      24             :     };
+      25             : 
+      26             :     // polynomial coefficients of the logarithmical approximation in the range (0; 0.08) U (0.92; 1)
+      27             :     constexpr double c[9] =
+      28             :     {
+      29             :       0.3374754822726147,
+      30             :       0.9761690190917186,
+      31             :       0.1607979714918209,
+      32             :       0.0276438810333863,
+      33             :       0.0038405729373609,
+      34             :       0.0003951896511919,
+      35             :       0.0000321767881768,
+      36             :       0.0000002888167364,
+      37             :       0.0000003960315187
+      38             :     };
+      39             : 
+      40             :     // correctly handle special values
+      41         202 :     if (quantile == 1.0)
+      42           1 :       return std::numeric_limits<double>::infinity();
+      43         201 :     if (quantile == 0.0)
+      44           1 :       return -std::numeric_limits<double>::infinity();
+      45         200 :     if (quantile < 0.0 || quantile > 1.0)
+      46           2 :       return std::numeric_limits<double>::quiet_NaN();
+      47             : 
+      48         198 :     const double y = quantile - 0.5;
+      49         198 :     if (std::abs(y) < 0.42)
+      50             :     {
+      51         168 :       const double r = y*y;
+      52         168 :       const double num = y*((( a[3]*r + a[2] )*r + a[1])*r + a[0]);
+      53         168 :       const double denom = (((( b[3]*r + b[2] )*r + b[1])*r + b[0])*r + 1);
+      54         168 :       return num/denom;
+      55             :     }
+      56             :     else
+      57             :     {
+      58          30 :       const double v = y > 0 ? 1.0 - quantile : quantile;
+      59          30 :       const double r = std::log(-std::log(v));
+      60          30 :       const double x = c[0] + r*( c[1] + r*( c[2] + r*( c[3] + r*( c[4] + r*( c[5] + r*( c[6] + r*( c[7] + r*c[8] )))))));
+      61          30 :       return y < 0 ? -x : x;
+      62             :     }
+      63             :   }
+      64             :   //}
+      65             : }
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::MedianFilter::operator=(mrs_lib::MedianFilter&&)0
mrs_lib::MedianFilter::MedianFilter(mrs_lib::MedianFilter const&)1
mrs_lib::MedianFilter::MedianFilter()1
mrs_lib::MedianFilter::initialized() const1
mrs_lib::MedianFilter::setMaxValue(double)2
mrs_lib::MedianFilter::setMinValue(double)2
mrs_lib::MedianFilter::setBufferLength(unsigned long)2
mrs_lib::MedianFilter::setMaxDifference(double)2
mrs_lib::MedianFilter::clear()2
mrs_lib::MedianFilter::addCheck(double)26
mrs_lib::MedianFilter::MedianFilter(mrs_lib::MedianFilter&&)92
mrs_lib::MedianFilter::operator=(mrs_lib::MedianFilter const&)93
mrs_lib::MedianFilter::MedianFilter(unsigned long, double, double, double)95
mrs_lib::MedianFilter::median() const150704
mrs_lib::MedianFilter::check(double)150707
mrs_lib::MedianFilter::full() const159695
mrs_lib::MedianFilter::add(double)159758
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Function Name Sort by function nameHit count Sort by hit count
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mrs_lib::MedianFilter::setMaxDifference(double)2
mrs_lib::MedianFilter::add(double)159758
mrs_lib::MedianFilter::check(double)150707
mrs_lib::MedianFilter::clear()2
mrs_lib::MedianFilter::addCheck(double)26
mrs_lib::MedianFilter::MedianFilter(mrs_lib::MedianFilter&&)92
mrs_lib::MedianFilter::MedianFilter(mrs_lib::MedianFilter const&)1
mrs_lib::MedianFilter::MedianFilter(unsigned long, double, double, double)95
mrs_lib::MedianFilter::MedianFilter()1
mrs_lib::MedianFilter::operator=(mrs_lib::MedianFilter&&)0
mrs_lib::MedianFilter::operator=(mrs_lib::MedianFilter const&)93
mrs_lib::MedianFilter::initialized() const1
mrs_lib::MedianFilter::full() const159695
mrs_lib::MedianFilter::median() const150704
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          Line data    Source code
+
+       1             : #include <mrs_lib/median_filter.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             :   /* constructor overloads //{ */
+       6             : 
+       7          95 :   MedianFilter::MedianFilter(const size_t buffer_length, const double min_value, const double max_value, const double max_diff)
+       8             :     : m_median(std::nullopt),
+       9             :       m_min_valid(min_value),
+      10             :       m_max_valid(max_value),
+      11          95 :       m_max_diff(max_diff)
+      12             :   {
+      13          95 :     m_buffer.set_capacity(buffer_length);
+      14          95 :     m_buffer_sorted.reserve(buffer_length);
+      15          95 :   }
+      16             : 
+      17           1 :   MedianFilter::MedianFilter()
+      18             :     : m_median(std::nullopt),
+      19             :       m_min_valid(0.0),
+      20             :       m_max_valid(0.0),
+      21           1 :       m_max_diff(0.0)
+      22             :   {
+      23           1 :     m_buffer.set_capacity(0);
+      24           1 :   }
+      25             : 
+      26           1 :   MedianFilter::MedianFilter(const MedianFilter& other)
+      27             :   {
+      28           1 :     *this = other;
+      29           1 :   }
+      30             : 
+      31          92 :   MedianFilter::MedianFilter(MedianFilter&& other)
+      32             :   {
+      33          92 :     *this = other;
+      34          92 :   }
+      35             : 
+      36             :   //}
+      37             : 
+      38             :   /* operator=() method and overloads //{ */
+      39          93 :   MedianFilter& MedianFilter::operator=(const MedianFilter& other)
+      40             :   {
+      41          93 :     std::scoped_lock lck(other.m_mtx, m_mtx);
+      42             :   
+      43          93 :     m_buffer = other.m_buffer;
+      44          93 :     m_buffer_sorted = other.m_buffer_sorted;
+      45          93 :     m_median = other.m_median;
+      46             :   
+      47             :     // parameters specified by the user
+      48          93 :     m_min_valid = other.m_min_valid;
+      49          93 :     m_max_valid = other.m_max_valid;
+      50          93 :     m_max_diff = other.m_max_diff;
+      51             :   
+      52         186 :     return *this;
+      53             :   }
+      54             : 
+      55           0 :   MedianFilter& MedianFilter::operator=(MedianFilter&& other)
+      56             :   {
+      57           0 :     std::scoped_lock lck(other.m_mtx, m_mtx);
+      58             : 
+      59           0 :     m_buffer = std::move(other.m_buffer);
+      60           0 :     m_buffer_sorted = std::move(other.m_buffer_sorted);
+      61           0 :     m_median = std::move(other.m_median);
+      62             : 
+      63             :     // parameters specified by the user
+      64           0 :     m_min_valid = other.m_min_valid;
+      65           0 :     m_max_valid = other.m_max_valid;
+      66           0 :     m_max_diff = other.m_max_diff;
+      67             : 
+      68           0 :     return *this;
+      69             :   }
+      70             :   //}
+      71             : 
+      72             :   /* add() method //{ */
+      73      159758 :   void MedianFilter::add(const double value)
+      74             :   {
+      75      319441 :     std::scoped_lock lck(m_mtx);
+      76             :     // add the value to the buffer
+      77      159751 :     m_buffer.push_back(value);
+      78             :     // reset the cached median value
+      79      159694 :     m_median = std::nullopt;
+      80      159710 :   }
+      81             :   //}
+      82             : 
+      83             :   /* check() method //{ */
+      84      150707 :   bool MedianFilter::check(const double value)
+      85             :   {
+      86      150707 :     std::scoped_lock lck(m_mtx);
+      87             :     // check if all constraints are met
+      88      150725 :     const double diff = m_buffer.empty() ? 0.0 : std::abs(median() - value);
+      89      301432 :     return value > m_min_valid && value < m_max_valid && diff < m_max_diff;
+      90             :   }
+      91             :   //}
+      92             : 
+      93             :   /* addCheck() method //{ */
+      94          26 :   bool MedianFilter::addCheck(const double value)
+      95             :   {
+      96          52 :     std::scoped_lock lck(m_mtx);
+      97          26 :     add(value);
+      98          52 :     return check(value);
+      99             :   }
+     100             :   //}
+     101             : 
+     102             :   /* clear() method //{ */
+     103           2 :   void MedianFilter::clear()
+     104             :   {
+     105           4 :     std::scoped_lock lck(m_mtx);
+     106           2 :     m_median = std::nullopt;
+     107           2 :     m_buffer.clear();
+     108           2 :   }
+     109             :   //}
+     110             : 
+     111             :   /* full() method //{ */
+     112      159695 :   bool MedianFilter::full() const
+     113             :   {
+     114      319420 :     std::scoped_lock lck(m_mtx);
+     115      319438 :     return m_buffer.full();
+     116             :   }
+     117             :   //}
+     118             : 
+     119             :   /* median() method //{ */
+     120      150704 :   double MedianFilter::median() const
+     121             :   {
+     122      301442 :     std::scoped_lock lck(m_mtx);
+     123             :     // if the value was already calculated, just return it
+     124      150719 :     if (m_median.has_value())
+     125          18 :       return m_median.value();
+     126             :   
+     127             :     // check if there are even any numbers to calculate the median from
+     128      150683 :     if (m_buffer.empty())
+     129             :     {
+     130           4 :       m_median = std::numeric_limits<double>::quiet_NaN();
+     131           4 :       return m_median.value();
+     132             :     }
+     133             :   
+     134             :     // remove any elements from buffer_sorted
+     135      150707 :     m_buffer_sorted.clear();
+     136             :     // copy all elements from the input buffer to buffer_sorted
+     137      150732 :     m_buffer_sorted.insert(std::end(m_buffer_sorted), std::begin(m_buffer), std::end(m_buffer));
+     138             :     // check for the special case of the median when there is an even number of numbers in the set
+     139      150718 :     const bool even_set = m_buffer_sorted.size() % 2 == 0;
+     140             :   
+     141             :     // if it's an even set, we'll need one more element sorted than for an odd set of numbers
+     142      150679 :     const size_t median_pos = even_set ? std::ceil(m_buffer_sorted.size()/2.0) : std::floor(m_buffer_sorted.size()/2.0);
+     143             :     // actually sort the elements in buffer_sorted up to the n-th element
+     144      150690 :     std::nth_element(std::begin(m_buffer_sorted), std::begin(m_buffer_sorted)+median_pos, std::end(m_buffer_sorted));
+     145             :   
+     146             :     // special case for a median of an even set of numbers
+     147      150729 :     if (even_set)
+     148      150713 :       m_median = (m_buffer_sorted.at(median_pos) + m_buffer_sorted.at(median_pos-1))/2.0;
+     149             :     // the "normal" case with an odd set
+     150             :     else
+     151          16 :       m_median = m_buffer_sorted.at(median_pos);
+     152             :     // return the now-cached value
+     153      150713 :     return m_median.value();
+     154             :   }
+     155             :   //}
+     156             : 
+     157             :   /* initialized() method //{ */
+     158           1 :   bool MedianFilter::initialized() const
+     159             :   {
+     160           1 :     std::scoped_lock lck(m_mtx);
+     161           2 :     return m_buffer.size() > 0;
+     162             :   }
+     163             :   //}
+     164             : 
+     165             :   /* setBufferLength() method //{ */
+     166           2 :   void MedianFilter::setBufferLength(const size_t buffer_length)
+     167             :   {
+     168           4 :     std::scoped_lock lck(m_mtx);
+     169             :     // the median may change if the some values are discarded
+     170           2 :     if (buffer_length < m_buffer.size())
+     171           0 :       m_median = std::nullopt;
+     172             :   
+     173           2 :     m_buffer.set_capacity(buffer_length);
+     174           2 :     m_buffer_sorted.reserve(buffer_length);
+     175           2 :   }
+     176             :   //}
+     177             : 
+     178             :   /* setMinValue() method //{ */
+     179           2 :   void MedianFilter::setMinValue(const double min_value)
+     180             :   {
+     181           2 :     std::scoped_lock lck(m_mtx);
+     182           2 :     m_min_valid = min_value;
+     183           2 :   }
+     184             :   //}
+     185             : 
+     186             :   /* setMaxValue() method //{ */
+     187           2 :   void MedianFilter::setMaxValue(const double max_value)
+     188             :   {
+     189           2 :     std::scoped_lock lck(m_mtx);
+     190           2 :     m_max_valid = max_value;
+     191           2 :   }
+     192             :   //}
+     193             : 
+     194             :   /* setMaxDifference() method //{ */
+     195           2 :   void MedianFilter::setMaxDifference(const double max_diff)
+     196             :   {
+     197           2 :     std::scoped_lock lck(m_mtx);
+     198           2 :     m_max_diff = max_diff;
+     199           2 :   }
+     200             :   //}
+     201             : 
+     202             : } // namespace mrs_lib
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mrs_lib::ParamProvider::getParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&) const4
mrs_lib::ParamProvider::ParamProvider(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool)4730
mrs_lib::ParamProvider::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)15608
mrs_lib::ParamProvider::findYamlNode(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const103825
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mrs_lib::ParamProvider::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)15608
mrs_lib::ParamProvider::ParamProvider(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool)4730
mrs_lib::ParamProvider::findYamlNode(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const103825
mrs_lib::ParamProvider::getParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&) const4
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Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #include <mrs_lib/param_provider.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             :   // Explicit instantiation of the tepmplated functions to precompile them into mrs_lib and speed up compilation of user program.
+       6             :   // Instantiating these functions should be sufficient to invoke precompilation of all templated ParamLoader functions.
+       7             : 
+       8             :   template bool ParamProvider::getParam<bool>(const std::string& name, bool& out_value) const;
+       9             :   template bool ParamProvider::getParam<int>(const std::string& name, int& out_value) const;
+      10             :   template bool ParamProvider::getParam<double>(const std::string& name, double& out_value) const;
+      11             :   template bool ParamProvider::getParam<std::string>(const std::string& name, std::string& out_value) const;
+      12             : 
+      13        4730 :   ParamProvider::ParamProvider(const ros::NodeHandle& nh, std::string node_name, const bool use_rosparam)
+      14        4730 :   : m_nh(nh), m_node_name(std::move(node_name)), m_use_rosparam(use_rosparam)
+      15             :   {
+      16        4730 :   }
+      17             : 
+      18       15608 :   bool ParamProvider::addYamlFile(const std::string& filepath)
+      19             :   {
+      20             :     try
+      21             :     {
+      22       31216 :       const auto loaded_yaml = YAML::LoadFile(filepath);
+      23       15608 :       YAML::Node root;
+      24       15607 :       root["root"] = loaded_yaml;
+      25       15608 :       m_yamls.emplace_back(root);
+      26       15608 :       return true;
+      27             :     }
+      28           0 :     catch (const YAML::ParserException& e)
+      29             :     {
+      30           0 :       ROS_ERROR_STREAM("[" << m_node_name << "]: Failed to parse file \"" << filepath << "\"! Parameters will not be loaded: " << e.what());
+      31           0 :       return false;
+      32             :     }
+      33           0 :     catch (const YAML::BadFile& e)
+      34             :     {
+      35           0 :       ROS_ERROR_STREAM("[" << m_node_name << "]: File \"" << filepath << "\" does not exist! Parameters will not be loaded: " << e.what());
+      36           0 :       return false;
+      37             :     }
+      38           0 :     catch (const YAML::Exception& e)
+      39             :     {
+      40           0 :       ROS_ERROR_STREAM("[" << m_node_name << "]: YAML-CPP threw an exception! Parameters will not be loaded: " << e.what());
+      41           0 :       return false;
+      42             :     }
+      43             :     return false;
+      44             :   }
+      45             : 
+      46           4 :   bool ParamProvider::getParam(const std::string& param_name, XmlRpc::XmlRpcValue& value_out) const
+      47             :   {
+      48           4 :     if (m_use_rosparam && m_nh.getParam(param_name, value_out))
+      49           2 :       return true;
+      50             : 
+      51             :     try
+      52             :     {
+      53           4 :       const auto found_node = findYamlNode(param_name);
+      54           2 :       if (found_node.has_value())
+      55           1 :         ROS_WARN_STREAM("[" << m_node_name << "]: Parameter \"" << param_name << "\" of desired type XmlRpc::XmlRpcValue is only available as a static parameter, which doesn't support loading of this type.");
+      56             :     }
+      57           0 :     catch (const YAML::Exception& e)
+      58             :     {
+      59           0 :       ROS_ERROR_STREAM("[" << m_node_name << "]: YAML-CPP threw an unknown exception: " << e.what());
+      60             :     }
+      61           2 :     return false;
+      62             :   }
+      63             : 
+      64      103825 :   std::optional<YAML::Node> ParamProvider::findYamlNode(const std::string& param_name) const
+      65             :   {
+      66      540356 :     for (const auto& yaml : m_yamls)
+      67             :     {
+      68             :       // Try to load the parameter sequentially as a map.
+      69      521841 :       auto cur_node_it = std::cbegin(yaml);
+      70             :       // The root should always be a pam
+      71      521834 :       if (!cur_node_it->second.IsMap())
+      72       16361 :         continue;
+      73             : 
+      74      505477 :       bool loaded = true;
+      75             :       {
+      76      505477 :         constexpr char delimiter = '/';
+      77      505477 :         auto substr_start = std::cbegin(param_name);
+      78      505477 :         auto substr_end = substr_start;
+      79      684216 :         do
+      80             :         {
+      81     1189693 :           substr_end = std::find(substr_start, std::cend(param_name), delimiter);
+      82             :           // why can't substr or string_view take iterators? :'(
+      83     1189681 :           const auto start_pos = std::distance(std::cbegin(param_name), substr_start);
+      84     1189684 :           const auto count = std::distance(substr_start, substr_end);
+      85     1189680 :           const std::string param_substr = param_name.substr(start_pos, count);
+      86     1189683 :           substr_start = substr_end+1;
+      87             : 
+      88     1189687 :           bool found = false;
+      89     4864323 :           for (auto node_it = std::cbegin(cur_node_it->second); node_it != std::cend(cur_node_it->second); ++node_it)
+      90             :           {
+      91     2484908 :             if (node_it->first.as<std::string>() == param_substr)
+      92             :             {
+      93      769520 :               cur_node_it = node_it;
+      94      769522 :               found = true;
+      95      769522 :               break;
+      96             :             }
+      97             :           }
+      98             : 
+      99     1189689 :           if (!found)
+     100             :           {
+     101      420171 :             loaded = false;
+     102      420171 :             break;
+     103             :           }
+     104             :         }
+     105      769519 :         while (substr_end != std::end(param_name) && cur_node_it->second.IsMap());
+     106             :       }
+     107             : 
+     108      505479 :       if (loaded)
+     109             :       {
+     110      170622 :         return cur_node_it->second;
+     111             :       }
+     112             :     }
+     113             : 
+     114       18514 :     return std::nullopt;
+     115             :   }
+     116             : }
+
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mrs_lib::Profiler::Profiler(mrs_lib::Profiler const&)0
mrs_lib::Profiler::Profiler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool)1513
mrs_lib::Profiler::Profiler()1513
mrs_lib::Profiler::operator=(mrs_lib::Profiler const&)1513
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, double, double, ros::TimerEvent)741681
mrs_lib::Routine::Routine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, double, double, std::shared_ptr<ros::Publisher>, std::shared_ptr<std::mutex>, bool, ros::TimerEvent)741814
mrs_lib::Routine::Routine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::shared_ptr<ros::Publisher>, std::shared_ptr<std::mutex>, bool)2074161
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)2074162
mrs_lib::Routine::end()2815856
mrs_lib::Routine::~Routine()2815990
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/profiler/profiler.cpp.func.html b/mrs_lib/src/profiler/profiler.cpp.func.html new file mode 100644 index 0000000000..de2020f32f --- /dev/null +++ b/mrs_lib/src/profiler/profiler.cpp.func.html @@ -0,0 +1,120 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/profiler/profiler.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/src/profiler - profiler.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3810137.6 %
Date:2024-08-07 22:18:19Functions:91090.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Routine::end()2815856
mrs_lib::Routine::Routine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::shared_ptr<ros::Publisher>, std::shared_ptr<std::mutex>, bool)2074161
mrs_lib::Routine::Routine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, double, double, std::shared_ptr<ros::Publisher>, std::shared_ptr<std::mutex>, bool, ros::TimerEvent)741814
mrs_lib::Routine::~Routine()2815990
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)2074162
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, double, double, ros::TimerEvent)741681
mrs_lib::Profiler::Profiler(mrs_lib::Profiler const&)0
mrs_lib::Profiler::Profiler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool)1513
mrs_lib::Profiler::Profiler()1513
mrs_lib::Profiler::operator=(mrs_lib::Profiler const&)1513
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/profiler/profiler.cpp.gcov.frameset.html b/mrs_lib/src/profiler/profiler.cpp.gcov.frameset.html new file mode 100644 index 0000000000..c91c4fd036 --- /dev/null +++ b/mrs_lib/src/profiler/profiler.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/profiler/profiler.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/src/profiler/profiler.cpp.gcov.html b/mrs_lib/src/profiler/profiler.cpp.gcov.html new file mode 100644 index 0000000000..1d19509275 --- /dev/null +++ b/mrs_lib/src/profiler/profiler.cpp.gcov.html @@ -0,0 +1,301 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/profiler/profiler.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/src/profiler - profiler.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3810137.6 %
Date:2024-08-07 22:18:19Functions:91090.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #include <mrs_lib/profiler.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             : 
+       6             : // | ------------------------ Profiler ------------------------ |
+       7             : 
+       8             : /* Profiler constructor //{ */
+       9             : 
+      10        1513 : Profiler::Profiler() {
+      11        1513 : }
+      12             : 
+      13        1513 : Profiler::Profiler(ros::NodeHandle& nh, std::string _node_name_, bool profiler_enabled) {
+      14             : 
+      15        1513 :   this->nh_                = std::make_shared<ros::NodeHandle>(nh);
+      16        1513 :   this->_node_name_        = _node_name_;
+      17        1513 :   this->_profiler_enabled_ = profiler_enabled;
+      18             : 
+      19        1513 :   if (profiler_enabled) {
+      20           0 :     mutex_publisher_ = std::make_unique<std::mutex>();
+      21           0 :     publisher_       = std::make_unique<ros::Publisher>(this->nh_->advertise<mrs_msgs::ProfilerUpdate>("profiler", 100, false));
+      22             :   }
+      23             : 
+      24        1513 :   ROS_INFO("[%s]: profiler initialized", _node_name_.c_str());
+      25             : 
+      26        1513 :   this->is_initialized_ = true;
+      27        1513 : }
+      28             : 
+      29           0 : Profiler::Profiler(const Profiler& other) {
+      30             : 
+      31           0 :   this->is_initialized_    = other.is_initialized_;
+      32           0 :   this->nh_                = other.nh_;
+      33           0 :   this->_node_name_        = other._node_name_;
+      34           0 :   this->_profiler_enabled_ = other._profiler_enabled_;
+      35             : 
+      36           0 :   if (this->_profiler_enabled_ && this->is_initialized_) {
+      37           0 :     mutex_publisher_ = std::make_unique<std::mutex>();
+      38           0 :     publisher_       = std::make_unique<ros::Publisher>(this->nh_->advertise<mrs_msgs::ProfilerUpdate>("profiler", 100, false));
+      39             :   }
+      40           0 : }
+      41             : 
+      42        1513 : Profiler& Profiler::operator=(const Profiler& other) {
+      43             : 
+      44        1513 :   if (this == &other) {
+      45           0 :     return *this;
+      46             :   }
+      47             : 
+      48        1513 :   this->is_initialized_    = other.is_initialized_;
+      49        1513 :   this->nh_                = other.nh_;
+      50        1513 :   this->_node_name_        = other._node_name_;
+      51        1513 :   this->_profiler_enabled_ = other._profiler_enabled_;
+      52             : 
+      53        1513 :   if (this->_profiler_enabled_ && this->is_initialized_) {
+      54           0 :     mutex_publisher_ = std::make_unique<std::mutex>();
+      55           0 :     publisher_       = std::make_unique<ros::Publisher>(this->nh_->advertise<mrs_msgs::ProfilerUpdate>("profiler", 100, false));
+      56             :   }
+      57             : 
+      58        1513 :   return *this;
+      59             : }
+      60             : 
+      61             : //}
+      62             : 
+      63             : /* Profiler::registerRoutine() for periodic //{ */
+      64             : 
+      65      741681 : Routine Profiler::createRoutine(std::string name, double expected_rate, double threshold, ros::TimerEvent event) {
+      66             : 
+      67      741681 :   return Routine(name, this->_node_name_, expected_rate, threshold, publisher_, mutex_publisher_, _profiler_enabled_, event);
+      68             : }
+      69             : 
+      70             : //}
+      71             : 
+      72             : /* Profiler::registerRoutine() normal //{ */
+      73             : 
+      74     2074162 : Routine Profiler::createRoutine(std::string name) {
+      75             : 
+      76     2074162 :   return Routine(name, this->_node_name_, publisher_, mutex_publisher_, _profiler_enabled_);
+      77             : }
+      78             : 
+      79             : //}
+      80             : 
+      81             : // | ------------------------- Routine ------------------------ |
+      82             : 
+      83             : /* Routine constructor for periodic //{ */
+      84             : 
+      85      741814 : Routine::Routine(std::string name, std::string node_name, double expected_rate, double threshold, std::shared_ptr<ros::Publisher> publisher,
+      86      741814 :                  std::shared_ptr<std::mutex> mutex_publisher, bool profiler_enabled, ros::TimerEvent event) {
+      87             : 
+      88      740809 :   if (!profiler_enabled) {
+      89      740876 :     return;
+      90             :   }
+      91             : 
+      92           0 :   _threshold_ = threshold;
+      93             : 
+      94           0 :   this->publisher_       = publisher;
+      95           0 :   this->mutex_publisher_ = mutex_publisher;
+      96             : 
+      97           0 :   this->_routine_name_  = name;
+      98           0 :   msg_out_.routine_name = name;
+      99             : 
+     100           0 :   this->_node_name_  = node_name;
+     101           0 :   msg_out_.node_name = node_name;
+     102             : 
+     103           0 :   this->_profiler_enabled_ = profiler_enabled;
+     104             : 
+     105           0 :   msg_out_.is_periodic   = true;
+     106           0 :   msg_out_.expected_rate = expected_rate;
+     107             : 
+     108           0 :   msg_out_.expected_start = event.current_expected.toSec();
+     109           0 :   msg_out_.real_start     = event.current_real.toSec();
+     110             : 
+     111           0 :   msg_out_.stamp     = ros::Time::now();
+     112           0 :   msg_out_.duration  = 0;
+     113           0 :   msg_out_.iteration = this->iteration_++;
+     114           0 :   msg_out_.event     = mrs_msgs::ProfilerUpdate::START;
+     115             : 
+     116           0 :   execution_start_ = ros::Time::now();
+     117             : 
+     118           0 :   double dt = msg_out_.real_start - msg_out_.expected_start;
+     119             : 
+     120           0 :   if (dt > _threshold_) {
+     121           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: routine '%s' was lauched late by %.3f s!", _node_name_.c_str(), _routine_name_.c_str(), dt);
+     122             :   }
+     123             : 
+     124             :   {
+     125           0 :     std::scoped_lock lock(*mutex_publisher_);
+     126             : 
+     127             :     try {
+     128           0 :       publisher_->publish(mrs_msgs::ProfilerUpdateConstPtr(new mrs_msgs::ProfilerUpdate(msg_out_)));
+     129             :     }
+     130           0 :     catch (...) {
+     131           0 :       ROS_ERROR("Exception caught during publishing topic %s.", publisher_->getTopic().c_str());
+     132             :     }
+     133             :   }
+     134             : }
+     135             : 
+     136             : //}
+     137             : 
+     138             : /* Routine constructor for normal //{ */
+     139             : 
+     140     2074161 : Routine::Routine(std::string name, std::string node_name, std::shared_ptr<ros::Publisher> publisher, std::shared_ptr<std::mutex> mutex_publisher,
+     141     2074161 :                  bool profiler_enabled) {
+     142             : 
+     143     2073317 :   if (!profiler_enabled) {
+     144     2073334 :     return;
+     145             :   }
+     146             : 
+     147           1 :   this->publisher_       = publisher;
+     148           0 :   this->mutex_publisher_ = mutex_publisher;
+     149             : 
+     150           0 :   this->_routine_name_  = name;
+     151           0 :   msg_out_.routine_name = name;
+     152             : 
+     153           0 :   this->_node_name_  = node_name;
+     154           0 :   msg_out_.node_name = node_name;
+     155             : 
+     156           0 :   this->_profiler_enabled_ = profiler_enabled;
+     157             : 
+     158           0 :   msg_out_.is_periodic   = false;
+     159           0 :   msg_out_.expected_rate = 0;
+     160             : 
+     161           0 :   msg_out_.stamp      = ros::Time::now();
+     162           0 :   msg_out_.duration   = 0;
+     163           0 :   msg_out_.iteration  = this->iteration_++;
+     164           0 :   msg_out_.event      = mrs_msgs::ProfilerUpdate::START;
+     165           0 :   msg_out_.real_start = msg_out_.stamp.toSec();
+     166             : 
+     167           0 :   execution_start_ = ros::Time::now();
+     168             : 
+     169             :   {
+     170           0 :     std::scoped_lock lock(*mutex_publisher_);
+     171             : 
+     172             :     try {
+     173           0 :       publisher_->publish(mrs_msgs::ProfilerUpdateConstPtr(new mrs_msgs::ProfilerUpdate(msg_out_)));
+     174             :     }
+     175           0 :     catch (...) {
+     176           0 :       ROS_ERROR("Exception caught during publishing topic %s.", publisher_->getTopic().c_str());
+     177             :     }
+     178             :   }
+     179             : }
+     180             : 
+     181             : //}
+     182             : 
+     183             : /* end() //{ */
+     184             : 
+     185     2815856 : void Routine::end(void) {
+     186             : 
+     187     2815856 :   if (!_profiler_enabled_) {
+     188     2815609 :     return;
+     189             :   }
+     190             : 
+     191         243 :   ros::Time execution_end = ros::Time::now();
+     192             : 
+     193           0 :   msg_out_.stamp    = ros::Time::now();
+     194           0 :   msg_out_.duration = (execution_end - execution_start_).toSec();
+     195             : 
+     196           0 :   msg_out_.event = mrs_msgs::ProfilerUpdate::END;
+     197             : 
+     198             :   {
+     199           0 :     std::scoped_lock lock(*mutex_publisher_);
+     200             : 
+     201             :     try {
+     202           0 :       publisher_->publish(mrs_msgs::ProfilerUpdateConstPtr(new mrs_msgs::ProfilerUpdate(msg_out_)));
+     203             :     }
+     204           0 :     catch (...) {
+     205           0 :       ROS_ERROR("Exception caught during publishing topic %s.", publisher_->getTopic().c_str());
+     206             :     }
+     207             :   }
+     208             : }
+     209             : 
+     210             : //}
+     211             : 
+     212     2815726 : Routine::~Routine() {
+     213             : 
+     214     2815990 :   this->end();
+     215     2814173 : }
+     216             : 
+     217             : }  // namespace mrs_lib
+
+
+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/profiler/profiler.cpp.gcov.overview.html b/mrs_lib/src/profiler/profiler.cpp.gcov.overview.html new file mode 100644 index 0000000000..f66727ff8b --- /dev/null +++ b/mrs_lib/src/profiler/profiler.cpp.gcov.overview.html @@ -0,0 +1,75 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/profiler/profiler.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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Current view:top level - mrs_lib/src/safety_zoneHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:314963.3 %
Date:2024-08-07 22:18:19Functions:8988.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
safety_zone.cpp +
60.0%60.0%
+ 		60.0 %15 / 2583.3 %5 / 6
<unnamed>60.0 %15 / 2583.3 %5 / 6
line_operations.cpp +
66.7%66.7%
+ 		66.7 %16 / 24100.0 %3 / 3
<unnamed>66.7 %16 / 24100.0 %3 / 3
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Current view:top level - mrs_lib/src/safety_zoneHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:314963.3 %
Date:2024-08-07 22:18:19Functions:8988.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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safety_zone.cpp +
60.0%60.0%
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<unnamed>60.0 %15 / 2583.3 %5 / 6
line_operations.cpp +
66.7%66.7%
+ 		66.7 %16 / 24100.0 %3 / 3
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Current view:top level - mrs_lib/src/safety_zoneHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:314963.3 %
Date:2024-08-07 22:18:19Functions:8988.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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line_operations.cpp +
66.7%66.7%
+ 		66.7 %16 / 24100.0 %3 / 3
<unnamed>66.7 %16 / 24100.0 %3 / 3
safety_zone.cpp +
60.0%60.0%
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<unnamed>60.0 %15 / 2583.3 %5 / 6
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Current view:top level - mrs_lib/src/safety_zoneHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:314963.3 %
Date:2024-08-07 22:18:19Functions:8988.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
safety_zone.cpp +
60.0%60.0%
+ 		60.0 %15 / 2583.3 %5 / 6
line_operations.cpp +
66.7%66.7%
+ 		66.7 %16 / 24100.0 %3 / 3
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Current view:top level - mrs_lib/src/safety_zoneHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:314963.3 %
Date:2024-08-07 22:18:19Functions:8988.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
safety_zone.cpp +
60.0%60.0%
+ 		60.0 %15 / 2583.3 %5 / 6
line_operations.cpp +
66.7%66.7%
+ 		66.7 %16 / 24100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/src/safety_zone/index.html b/mrs_lib/src/safety_zone/index.html new file mode 100644 index 0000000000..ee4634a194 --- /dev/null +++ b/mrs_lib/src/safety_zone/index.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/safety_zone + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/src/safety_zoneHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:314963.3 %
Date:2024-08-07 22:18:19Functions:8988.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
line_operations.cpp +
66.7%66.7%
+ 		66.7 %16 / 24100.0 %3 / 3
safety_zone.cpp +
60.0%60.0%
+ 		60.0 %15 / 2583.3 %5 / 6
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/src/safety_zone/line_operations.cpp.func-sort-c.html b/mrs_lib/src/safety_zone/line_operations.cpp.func-sort-c.html new file mode 100644 index 0000000000..2af81d6d86 --- /dev/null +++ b/mrs_lib/src/safety_zone/line_operations.cpp.func-sort-c.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/safety_zone/line_operations.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/src/safety_zone - line_operations.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:162466.7 %
Date:2024-08-07 22:18:19Functions:33100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
getScale(Eigen::Matrix<double, 1, 2, 1, 1, 2>, Eigen::Matrix<double, 1, 2, 1, 1, 2>, Eigen::Matrix<double, 1, 2, 1, 1, 2>)538
mrs_lib::Intersection::Intersection(bool, bool, Eigen::Matrix<double, 1, 2, 1, 1, 2>)576
mrs_lib::sectionIntersect(Eigen::Matrix<double, 1, 2, 1, 1, 2>, Eigen::Matrix<double, 1, 2, 1, 1, 2>, Eigen::Matrix<double, 1, 2, 1, 1, 2>, Eigen::Matrix<double, 1, 2, 1, 1, 2>)576
+
+
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Generated by: LCOV version 1.14
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Current view:top level - mrs_lib/src/safety_zone - line_operations.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:162466.7 %
Date:2024-08-07 22:18:19Functions:33100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
getScale(Eigen::Matrix<double, 1, 2, 1, 1, 2>, Eigen::Matrix<double, 1, 2, 1, 1, 2>, Eigen::Matrix<double, 1, 2, 1, 1, 2>)538
mrs_lib::Intersection::Intersection(bool, bool, Eigen::Matrix<double, 1, 2, 1, 1, 2>)576
mrs_lib::sectionIntersect(Eigen::Matrix<double, 1, 2, 1, 1, 2>, Eigen::Matrix<double, 1, 2, 1, 1, 2>, Eigen::Matrix<double, 1, 2, 1, 1, 2>, Eigen::Matrix<double, 1, 2, 1, 1, 2>)576
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Generated by: LCOV version 1.14
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Current view:top level - mrs_lib/src/safety_zone - line_operations.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:162466.7 %
Date:2024-08-07 22:18:19Functions:33100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #include <mrs_lib/safety_zone/line_operations.h>
+       2             : 
+       3             : /* getScale() //{ */
+       4             : 
+       5         538 : static double getScale(Eigen::RowVector2d start, Eigen::RowVector2d vector, Eigen::RowVector2d point) {
+       6             :   // Returns the scalar that produces: start + scale * vector = point
+       7             :   // Assuming that such scalar exists
+       8         538 :   return vector(0) != 0 ? (point(0) - start(0)) / vector(0) : (point(1) - start(1)) / vector(1);
+       9             : }
+      10             : 
+      11             : //}
+      12             : 
+      13             : namespace mrs_lib
+      14             : {
+      15         576 : Intersection::Intersection(bool intersect, bool parallel, Eigen::RowVector2d point) : point(std::move(point)), parallel(parallel), intersect(intersect){}
+      16             : 
+      17             : /* sectionIntersect() //{ */
+      18             : 
+      19         576 : Intersection sectionIntersect(Eigen::RowVector2d start1, Eigen::RowVector2d end1, Eigen::RowVector2d start2, Eigen::RowVector2d end2) {
+      20         576 :   Eigen::RowVector2d vector1 = end1 - start1;
+      21         576 :   Eigen::RowVector2d vector2 = end2 - start2;
+      22             : 
+      23             :   // x - cross product (in 2d is just a scalar of z)
+      24             :   // start1 + scale1 * vector1 = start2 + scale2 * vector2  // x vector2
+      25             :   // scale1 * vector1 x vector2 = (start2 - start1) x vector2
+      26             : 
+      27             :   // cross product
+      28         576 :   double cross            = vector1(0) * vector2(1) - vector1(1) * vector2(0);
+      29         576 :   double difference_cross = (start2(0) - start1(0)) * vector2(1) - (start2(1) - start1(1)) * vector2(0);
+      30             : 
+      31         576 :   if (cross == 0) {
+      32             :     // are parallel
+      33          38 :     if (difference_cross != 0)
+      34          38 :       return Intersection{false, true};
+      35             : 
+      36             :     // are collinear
+      37           0 :     double start2Scale = getScale(start1, vector1, start2);
+      38           0 :     if (0 <= start2Scale && start2Scale <= 1)
+      39           0 :       return Intersection{true, true, start2};
+      40           0 :     double end2Scale = getScale(start1, vector1, end2);
+      41           0 :     if (0 <= end2Scale && end2Scale <= 1)
+      42           0 :       return Intersection{true, true, end2};
+      43             : 
+      44           0 :     return Intersection{false, true};
+      45             :   }
+      46             : 
+      47         538 :   double             scale1 = difference_cross / cross;
+      48         538 :   Eigen::RowVector2d point  = start1 + scale1 * vector1;
+      49         538 :   double             scale2 = getScale(start2, vector2, point);
+      50             : 
+      51         538 :   if (0 <= scale1 && scale1 <= 1 && 0 <= scale2 && scale2 <= 1) {
+      52           0 :     return Intersection{true, false, point};
+      53             :   }
+      54         538 :   return Intersection{false, false};
+      55             : }
+      56             : 
+      57             : //}
+      58             : 
+      59             : }  // namespace mrs_lib
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + diff --git a/mrs_lib/src/safety_zone/line_operations.cpp.gcov.png b/mrs_lib/src/safety_zone/line_operations.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..f17bea8867e5900f80693d9429a08dd5c1c6f437 GIT binary patch literal 465 zcmV;?0WSWDP)x`S;$& zh!6sV;6o2ji*1r0-bIVAif(bpzgG0Gm;f;b+KCy$k6* zs4m;HHi$ik5mX|ecdHlV%1G1G#Q0wdsxjOFHw9s>yDgx~&V~I2Q7j6pwWdbYR+}PA z)a9H3)GF?29@(tQ}DV%D5I>#>bITI#a<(uasiqwRl`8#4}cAWZu~^8nKxqW5`|+ zD{t}~@5JhwJTDz@U9X8EsL|jQT1Q;3&qOhbB&eEjshWj7h-17`uxa4>$3$FNY>9oBsNWudC5U^nv{V0@Ny(PO3(N00000NkvXX Hu0mjfFxJW; literal 0 HcmV?d00001 diff --git a/mrs_lib/src/safety_zone/polygon/index-detail-sort-f.html b/mrs_lib/src/safety_zone/polygon/index-detail-sort-f.html new file mode 100644 index 0000000000..a7f86d4a12 --- /dev/null +++ b/mrs_lib/src/safety_zone/polygon/index-detail-sort-f.html @@ -0,0 +1,110 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/safety_zone/polygon + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/src/safety_zone/polygonHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4210340.8 %
Date:2024-08-07 22:18:19Functions:4850.0 %
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
polygon.cpp +
40.8%40.8%
+ 		40.8 %42 / 10350.0 %4 / 8
<unnamed>40.8 %42 / 10350.0 %4 / 8
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Generated by: LCOV version 1.14
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Current view:top level - mrs_lib/src/safety_zone/polygonHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4210340.8 %
Date:2024-08-07 22:18:19Functions:4850.0 %
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polygon.cpp +
40.8%40.8%
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<unnamed>40.8 %42 / 10350.0 %4 / 8
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Generated by: LCOV version 1.14
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Current view:top level - mrs_lib/src/safety_zone/polygonHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4210340.8 %
Date:2024-08-07 22:18:19Functions:4850.0 %
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polygon.cpp +
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Current view:top level - mrs_lib/src/safety_zone/polygonHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4210340.8 %
Date:2024-08-07 22:18:19Functions:4850.0 %
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polygon.cpp +
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Generated by: LCOV version 1.14
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Current view:top level - mrs_lib/src/safety_zone/polygonHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4210340.8 %
Date:2024-08-07 22:18:19Functions:4850.0 %
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Current view:top level - mrs_lib/src/safety_zone/polygonHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4210340.8 %
Date:2024-08-07 22:18:19Functions:4850.0 %
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
polygon.cpp +
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+
+
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Generated by: LCOV version 1.14
+
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Current view:top level - mrs_lib/src/safety_zone/polygon - polygon.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4210340.8 %
Date:2024-08-07 22:18:19Functions:4850.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Polygon::inflateSelf(double)0
mrs_lib::Polygon::isClockwise()0
mrs_lib::lineIntersectGivenVector(Eigen::Matrix<double, 1, 2, 1, 1, 2>, Eigen::Matrix<double, 1, 2, 1, 1, 2>, Eigen::Matrix<double, 1, 2, 1, 1, 2>, Eigen::Matrix<double, 1, 2, 1, 1, 2>)0
mrs_lib::movePoint(Eigen::Matrix<double, 1, 2, 1, 1, 2>, double, Eigen::Matrix<double, 1, 2, 1, 1, 2>)0
mrs_lib::Polygon::Polygon(Eigen::Matrix<double, -1, -1, 0, -1, -1>)86
mrs_lib::Polygon::doesSectionIntersect(double, double, double, double)144
mrs_lib::Polygon::isPointInside(double, double)10005
mrs_lib::Polygon::getPointMessageVector(double)24874
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+
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Generated by: LCOV version 1.14
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Current view:top level - mrs_lib/src/safety_zone/polygon - polygon.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4210340.8 %
Date:2024-08-07 22:18:19Functions:4850.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Polygon::inflateSelf(double)0
mrs_lib::Polygon::isClockwise()0
mrs_lib::Polygon::isPointInside(double, double)10005
mrs_lib::Polygon::doesSectionIntersect(double, double, double, double)144
mrs_lib::Polygon::getPointMessageVector(double)24874
mrs_lib::Polygon::Polygon(Eigen::Matrix<double, -1, -1, 0, -1, -1>)86
mrs_lib::lineIntersectGivenVector(Eigen::Matrix<double, 1, 2, 1, 1, 2>, Eigen::Matrix<double, 1, 2, 1, 1, 2>, Eigen::Matrix<double, 1, 2, 1, 1, 2>, Eigen::Matrix<double, 1, 2, 1, 1, 2>)0
mrs_lib::movePoint(Eigen::Matrix<double, 1, 2, 1, 1, 2>, double, Eigen::Matrix<double, 1, 2, 1, 1, 2>)0
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Current view:top level - mrs_lib/src/safety_zone/polygon - polygon.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4210340.8 %
Date:2024-08-07 22:18:19Functions:4850.0 %
Legend: Lines: + hit + not hit +
+
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+
          Line data    Source code
+
+       1             : #include <mrs_lib/safety_zone/polygon.h>
+       2             : #include <mrs_lib/safety_zone/line_operations.h>
+       3             : 
+       4             : namespace mrs_lib
+       5             : {
+       6             : 
+       7             : /* Polygon() //{ */
+       8             : 
+       9          86 : Polygon::Polygon(const Eigen::MatrixXd vertices) : vertices(vertices) {
+      10             : 
+      11          86 :   if (vertices.cols() != 2) {
+      12           0 :     ROS_WARN("(Polygon) The supplied polygon has to have 2 cols. It has %lu.", vertices.cols());
+      13           0 :     throw WrongNumberOfColumns();
+      14             :   }
+      15          86 :   if (vertices.rows() < 3) {
+      16           0 :     ROS_WARN("(Polygon) The supplied polygon has to have at least 3 vertices. It has %lu.", vertices.rows());
+      17           0 :     throw WrongNumberOfVertices();
+      18             :   }
+      19             : 
+      20          86 :   Eigen::RowVector2d edge1;
+      21          86 :   Eigen::RowVector2d edge2 = vertices.row(1) - vertices.row(0);
+      22         430 :   for (int i = 0; i < vertices.rows(); ++i) {
+      23         344 :     edge1 = edge2;
+      24         344 :     edge2 = vertices.row((i + 2) % vertices.rows()) - vertices.row((i + 1) % vertices.rows());
+      25             : 
+      26         344 :     if (edge1(0) == 0 && edge1(1) == 0) {
+      27           0 :       ROS_WARN("(Polygon) Polygon edge %d is of length zero.", i);
+      28           0 :       throw ExtraVertices();
+      29             :     }
+      30         344 :     if (edge1(0) * edge2(1) == edge1(1) * edge2(0)) {
+      31           0 :       ROS_WARN("(Polygon) Adjacent Polygon edges at vertice %d are collinear.", (int)((i + 1) % vertices.rows()));
+      32           0 :       throw ExtraVertices();
+      33             :     }
+      34             :   }
+      35          86 : }
+      36             : 
+      37             : //}
+      38             : 
+      39             : /* isPointInside() //{ */
+      40             : 
+      41       10005 : bool Polygon::isPointInside(const double px, const double py) {
+      42             : 
+      43       10005 :   int count = 0;
+      44             : 
+      45             :   // Cast a horizontal ray and see how many times it intersects all the edges
+      46       50025 :   for (int i = 0; i < vertices.rows(); ++i) {
+      47       40020 :     double v1x = vertices(i, 0);
+      48       40020 :     double v1y = vertices(i, 1);
+      49       40020 :     double v2x = vertices((i + 1) % vertices.rows(), 0);
+      50       40020 :     double v2y = vertices((i + 1) % vertices.rows(), 1);
+      51             : 
+      52       40020 :     if (v1y > py && v2y > py)
+      53        9928 :       continue;
+      54       30092 :     if (v1y <= py && v2y <= py)
+      55       10236 :       continue;
+      56       19856 :     double intersect_x    = (v1y == v2y) ? v1x : (py - v1y) * (v2x - v1x) / (v2y - v1y) + v1x;
+      57       19856 :     bool   does_intersect = intersect_x > px;
+      58       19856 :     if (does_intersect)
+      59        9925 :       ++count;
+      60             :   }
+      61             : 
+      62       10005 :   return count % 2;
+      63             : }
+      64             : 
+      65             : //}
+      66             : 
+      67             : /* doesSectionIntersect() //{ */
+      68             : 
+      69         144 : bool Polygon::doesSectionIntersect(const double startX, const double startY, const double endX, const double endY) {
+      70             : 
+      71         144 :   Eigen::RowVector2d start{startX, startY};
+      72         144 :   Eigen::RowVector2d end{endX, endY};
+      73             : 
+      74         720 :   for (int i = 0; i < vertices.rows(); ++i) {
+      75             : 
+      76         576 :     Eigen::RowVector2d edgeStart = vertices.row(i);
+      77         576 :     Eigen::RowVector2d edgeEnd   = vertices.row((i + 1) % vertices.rows());
+      78             : 
+      79         576 :     if (sectionIntersect(start, end, edgeStart, edgeEnd).intersect) {
+      80           0 :       return true;
+      81             :     }
+      82             :   }
+      83             : 
+      84         144 :   return false;
+      85             : }
+      86             : 
+      87             : //}
+      88             : 
+      89             : /* isClockwise() //{ */
+      90             : 
+      91           0 : bool Polygon::isClockwise() {
+      92             : 
+      93           0 :   int edgeIndex = 0;
+      94           0 :   if (vertices(0, 1) == vertices(1, 1))
+      95           0 :     edgeIndex = 1;
+      96             : 
+      97             :   // get the midPoint of first edge
+      98           0 :   Eigen::RowVector2d center = (vertices.row(edgeIndex) + vertices.row(edgeIndex + 1)) / 2;
+      99             : 
+     100             :   // count the intersections for a horizontal ray starting at center
+     101           0 :   int intersection_count = 0;
+     102           0 :   for (int i = 0; i < vertices.rows(); ++i) {
+     103           0 :     if (i == edgeIndex)
+     104           0 :       continue;
+     105             : 
+     106           0 :     Eigen::MatrixXd edge(2, 2);
+     107           0 :     edge.row(0) = vertices.row(i);
+     108           0 :     edge.row(1) = vertices.row((i + 1) % vertices.rows());
+     109             : 
+     110           0 :     if ((edge(0, 1) <= center(1) && edge(1, 1) <= center(1)) || (edge(0, 1) > center(1) && edge(1, 1) > center(1)))
+     111           0 :       continue;
+     112           0 :     double intersect_x = edge(0, 0) + (edge(1, 0) - edge(0, 0)) / (edge(1, 1) - edge(0, 1)) * (center(1) - edge(0, 1));
+     113           0 :     if (intersect_x >= center(0))
+     114           0 :       ++intersection_count;
+     115             :   }
+     116             : 
+     117             :   // reverse depending on the direction of edge
+     118           0 :   bool clockwise = intersection_count % 2;
+     119           0 :   if (vertices(edgeIndex + 1, 1) < vertices(edgeIndex, 0))
+     120           0 :     clockwise = !clockwise;
+     121           0 :   return clockwise;
+     122             : }
+     123             : 
+     124             : //}
+     125             : 
+     126             : /* movePoint() //{ */
+     127             : 
+     128           0 : static Eigen::RowVector2d movePoint(Eigen::RowVector2d vector, double scale, Eigen::RowVector2d point) {
+     129             : 
+     130           0 :   double             length         = sqrt(vector(0) * vector(0) + vector(1) * vector(1));
+     131           0 :   Eigen::RowVector2d unitary_vector = vector / length;
+     132           0 :   return point + scale * unitary_vector;
+     133             : }
+     134             : 
+     135             : //}
+     136             : 
+     137             : /* lineIntersectGivenVector() //{ */
+     138             : 
+     139           0 : static Intersection lineIntersectGivenVector(Eigen::RowVector2d start1, Eigen::RowVector2d vector1, Eigen::RowVector2d start2, Eigen::RowVector2d vector2) {
+     140             : 
+     141           0 :   double cross            = vector1(0) * vector2(1) - vector1(1) * vector2(0);
+     142           0 :   double difference_cross = (start2(0) - start1(0)) * vector2(1) - (start2(1) - start1(1)) * vector1(0);
+     143             : 
+     144           0 :   if (cross == 0) {
+     145           0 :     if (difference_cross == 0) {
+     146           0 :       return Intersection{true, true, start1};
+     147             :     }
+     148           0 :     return Intersection{false, true};
+     149             :   }
+     150             : 
+     151           0 :   double             scale1 = difference_cross / cross;
+     152           0 :   Eigen::RowVector2d point  = start1 + scale1 * vector1;
+     153           0 :   return Intersection{true, false, point};
+     154             : }
+     155             : 
+     156             : //}
+     157             : 
+     158             : /* inflateSelf() //{ */
+     159             : 
+     160           0 : void Polygon::inflateSelf(double amount) {
+     161             : 
+     162             :   // Also supports negative numbers
+     163           0 :   Eigen::MatrixXd result{vertices.rows(), vertices.cols()};
+     164             : 
+     165           0 :   bool clockwise = isClockwise();
+     166           0 :   amount         = (clockwise ? 1 : -1) * amount;
+     167             : 
+     168           0 :   for (int i = 0; i < vertices.rows(); ++i) {
+     169           0 :     Eigen::RowVector2d pPrev    = vertices.row((i + vertices.rows() - 1) % vertices.rows());
+     170           0 :     Eigen::RowVector2d pCurrent = vertices.row(i);
+     171           0 :     Eigen::RowVector2d pNext    = vertices.row((i + 1) % vertices.rows());
+     172             : 
+     173           0 :     Eigen::RowVector2d vector1 = pCurrent - pPrev;
+     174           0 :     Eigen::RowVector2d vector2 = pNext - pCurrent;
+     175             :     // make them orthogonally counter-clockwise
+     176           0 :     Eigen::RowVector2d vectorOrthogonal1{-vector1(1), vector1(0)};
+     177           0 :     Eigen::RowVector2d vectorOrthogonal2{-vector2(1), vector2(0)};
+     178             :     // move the currentPoint in 2 directions
+     179           0 :     pPrev = movePoint(vectorOrthogonal1, amount, pCurrent);
+     180           0 :     pNext = movePoint(vectorOrthogonal2, amount, pCurrent);
+     181             : 
+     182             :     // add the intersection as a new point
+     183           0 :     result.row(i) = lineIntersectGivenVector(pPrev, vector1, pNext, vector2).point;
+     184             :   }
+     185             : 
+     186           0 :   vertices = result.replicate(result.rows(), result.cols());
+     187           0 : }
+     188             : 
+     189             : //}
+     190             : 
+     191             : /* getPointMessageVector() //{ */
+     192             : 
+     193       24874 : std::vector<geometry_msgs::Point> Polygon::getPointMessageVector(const double z) {
+     194       24874 :   std::vector<geometry_msgs::Point> points(vertices.rows());
+     195      124370 :   for (int i = 0; i < vertices.rows(); ++i) {
+     196       99496 :     points[i].x = vertices(i, 0);
+     197       99496 :     points[i].y = vertices(i, 1);
+     198       99496 :     points[i].z = z;
+     199             :   }
+     200             : 
+     201       24874 :   return points;
+     202             : }
+     203             : 
+     204             : //}
+     205             : 
+     206             : }  // namespace mrs_lib
+
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Current view:top level - mrs_lib/src/safety_zone - safety_zone.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:152560.0 %
Date:2024-08-07 22:18:19Functions:5683.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::SafetyZone::SafetyZone(mrs_lib::Polygon)0
mrs_lib::SafetyZone::SafetyZone(Eigen::Matrix<double, -1, -1, 0, -1, -1> const&)86
mrs_lib::SafetyZone::~SafetyZone()86
mrs_lib::SafetyZone::isPathValid(double, double, double, double)144
mrs_lib::SafetyZone::isPointValid(double, double)10005
mrs_lib::SafetyZone::getBorder()12437
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Current view:top level - mrs_lib/src/safety_zone - safety_zone.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:152560.0 %
Date:2024-08-07 22:18:19Functions:5683.3 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::SafetyZone::isPathValid(double, double, double, double)144
mrs_lib::SafetyZone::isPointValid(double, double)10005
mrs_lib::SafetyZone::getBorder()12437
mrs_lib::SafetyZone::SafetyZone(mrs_lib::Polygon)0
mrs_lib::SafetyZone::SafetyZone(Eigen::Matrix<double, -1, -1, 0, -1, -1> const&)86
mrs_lib::SafetyZone::~SafetyZone()86
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+
          Line data    Source code
+
+       1             : #include <mrs_lib/safety_zone/safety_zone.h>
+       2             : #include <mrs_lib/safety_zone/line_operations.h>
+       3             : 
+       4             : namespace mrs_lib
+       5             : {
+       6             : /* SafetyZone() //{ */
+       7             : 
+       8           0 : SafetyZone::SafetyZone(mrs_lib::Polygon border) {
+       9           0 :   outerBorder = new Polygon(border);
+      10           0 : }
+      11             : 
+      12             : //}
+      13             : 
+      14             : /* SafetyZone() //{ */
+      15             : 
+      16         172 : SafetyZone::~SafetyZone() {
+      17          86 :   delete outerBorder;
+      18          86 : }
+      19             : 
+      20             : //}
+      21             : 
+      22             : /* SafetyZone() //{ */
+      23             : 
+      24          86 : SafetyZone::SafetyZone(const Eigen::MatrixXd& outerBorderMatrix) {
+      25             : 
+      26             :   try {
+      27          86 :     outerBorder = new Polygon(outerBorderMatrix);
+      28             :   }
+      29           0 :   catch (const Polygon::WrongNumberOfVertices&) {
+      30           0 :     throw BorderError();
+      31             :   }
+      32           0 :   catch (const Polygon::WrongNumberOfColumns&) {
+      33           0 :     throw BorderError();
+      34             :   }
+      35           0 :   catch (const Polygon::ExtraVertices&) {
+      36           0 :     throw BorderError();
+      37             :   }
+      38          86 : }
+      39             : 
+      40             : //}
+      41             : 
+      42             : /* isPointValid() //{ */
+      43             : 
+      44       10005 : bool SafetyZone::isPointValid(const double px, const double py) {
+      45             : 
+      46       10005 :   if (!outerBorder->isPointInside(px, py)) {
+      47          80 :     return false;
+      48             :   }
+      49             : 
+      50        9925 :   return true;
+      51             : }
+      52             : 
+      53             : //}
+      54             : 
+      55             : /* isPathValid() //{ */
+      56             : 
+      57         144 : bool SafetyZone::isPathValid(const double p1x, const double p1y, const double p2x, const double p2y) {
+      58             : 
+      59         144 :   if (outerBorder->doesSectionIntersect(p1x, p1y, p2x, p2y)) {
+      60           0 :     return false;
+      61             :   }
+      62             : 
+      63         144 :   return true;
+      64             : }
+      65             : 
+      66             : //}
+      67             : 
+      68             : /* getBorder() //{ */
+      69             : 
+      70       12437 : Polygon SafetyZone::getBorder() {
+      71       12437 :   return *outerBorder;
+      72             : }
+      73             : 
+      74             : //}
+      75             : 
+      76             : }  // namespace mrs_lib
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Current view:top level - mrs_lib/src/scope_timer - scope_timer.cpp (source / functions)HitTotalCoverage
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ScopeTimer::getLifetime()0
mrs_lib::ScopeTimer::ScopeTimer(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Duration const&, bool, std::shared_ptr<mrs_lib::ScopeTimerLogger>)0
mrs_lib::ScopeTimer::ScopeTimer(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, mrs_lib::ScopeTimer::time_point const&, ros::Duration const&, bool, std::shared_ptr<mrs_lib::ScopeTimerLogger>)0
mrs_lib::ScopeTimerLogger::log(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::chrono::time_point<std::chrono::_V2::steady_clock, std::chrono::duration<long, std::ratio<1l, 1000000000l> > > const&, std::chrono::time_point<std::chrono::_V2::steady_clock, std::chrono::duration<long, std::ratio<1l, 1000000000l> > > const&)0
mrs_lib::ScopeTimerLogger::log(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::chrono::time_point<std::chrono::_V2::steady_clock, std::chrono::duration<long, std::ratio<1l, 1000000000l> > > const&, std::chrono::time_point<std::chrono::_V2::steady_clock, std::chrono::duration<long, std::ratio<1l, 1000000000l> > > const&)0
mrs_lib::ScopeTimerLogger::ScopeTimerLogger(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, int)756
mrs_lib::ScopeTimerLogger::~ScopeTimerLogger()756
mrs_lib::ScopeTimer::checkpoint(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)4568557
mrs_lib::ScopeTimer::ScopeTimer(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_lib::ScopeTimerLogger>, bool)5764086
mrs_lib::ScopeTimer::~ScopeTimer()5766097
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Current view:top level - mrs_lib/src/scope_timer - scope_timer.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:2014214.1 %
Date:2024-08-07 22:18:19Functions:51050.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ScopeTimer::checkpoint(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)4568557
mrs_lib::ScopeTimer::getLifetime()0
mrs_lib::ScopeTimer::ScopeTimer(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Duration const&, bool, std::shared_ptr<mrs_lib::ScopeTimerLogger>)0
mrs_lib::ScopeTimer::ScopeTimer(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, mrs_lib::ScopeTimer::time_point const&, ros::Duration const&, bool, std::shared_ptr<mrs_lib::ScopeTimerLogger>)0
mrs_lib::ScopeTimer::ScopeTimer(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_lib::ScopeTimerLogger>, bool)5764086
mrs_lib::ScopeTimer::~ScopeTimer()5766097
mrs_lib::ScopeTimerLogger::log(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::chrono::time_point<std::chrono::_V2::steady_clock, std::chrono::duration<long, std::ratio<1l, 1000000000l> > > const&, std::chrono::time_point<std::chrono::_V2::steady_clock, std::chrono::duration<long, std::ratio<1l, 1000000000l> > > const&)0
mrs_lib::ScopeTimerLogger::log(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::chrono::time_point<std::chrono::_V2::steady_clock, std::chrono::duration<long, std::ratio<1l, 1000000000l> > > const&, std::chrono::time_point<std::chrono::_V2::steady_clock, std::chrono::duration<long, std::ratio<1l, 1000000000l> > > const&)0
mrs_lib::ScopeTimerLogger::ScopeTimerLogger(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, int)756
mrs_lib::ScopeTimerLogger::~ScopeTimerLogger()756
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Current view:top level - mrs_lib/src/scope_timer - scope_timer.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:2014214.1 %
Date:2024-08-07 22:18:19Functions:51050.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #include <mrs_lib/scope_timer.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             : 
+       6             : // | --------------------- ScopeTimerLogger --------------------- |
+       7             : 
+       8             : /*//{ ScopeTimerLogger constructor */
+       9         756 : ScopeTimerLogger::ScopeTimerLogger(const std::string& logfile, const bool enable_logging, const int log_precision)
+      10         756 :     : _logging_enabled_(enable_logging), _log_filepath_(logfile) {
+      11             : 
+      12         756 :   if (!_logging_enabled_) {
+      13         756 :     return;
+      14           0 :   } else if (logfile.empty()) {
+      15           0 :     _logging_enabled_ = false;
+      16           0 :     ROS_INFO("[%s] ScopeTimerLogger: Logfile path not specified. Skipping logging to file.", ros::this_node::getName().c_str());
+      17           0 :     return;
+      18             :   }
+      19           0 :   _should_log_ = true;
+      20             : 
+      21             :   try {
+      22           0 :     std::scoped_lock lock(_mutex_logstream_);
+      23             : 
+      24           0 :     _logstream_ = std::ofstream(logfile, std::ios_base::out | std::ios_base::trunc);
+      25             : 
+      26           0 :     if (!_logstream_.is_open()) {
+      27           0 :       _logging_enabled_ = false;
+      28           0 :       ROS_ERROR("[%s]: Scope timer failed to create log file with path (%s). Skipping logging.", ros::this_node::getName().c_str(), logfile.c_str());
+      29           0 :       return;
+      30             :     }
+      31             : 
+      32           0 :     _logstream_ << std::fixed << std::setprecision(log_precision);
+      33           0 :     _logstream_ << "#scope,label_from,label_to,sec_start,sec_end,sec_duration" << std::endl;
+      34           0 :     _logging_enabled_ = true;
+      35             :   }
+      36           0 :   catch (...) {
+      37           0 :     ROS_ERROR("[%s]: Scope timer logger could not open logger file at: %s. Skipping logging.", ros::this_node::getName().c_str(), logfile.c_str());
+      38           0 :     return;
+      39             :   }
+      40             : 
+      41           0 :   ROS_INFO("[%s]: Scope timer logger path: %s.", ros::this_node::getName().c_str(), logfile.c_str());
+      42             : }
+      43             : /*//}*/
+      44             : 
+      45             : /*//{ ScopeTimerLogger destructor */
+      46         756 : ScopeTimerLogger::~ScopeTimerLogger() {
+      47         756 :   if (_logging_enabled_) {
+      48           0 :     ROS_DEBUG("[%s]: ScopeTimerLogger: closing logstream.", ros::this_node::getName().c_str());
+      49           0 :     _logstream_.close();
+      50             :   }
+      51         756 : }
+      52             : /*//}*/
+      53             : 
+      54             : /*//{ ScopeTimerLogger::log() */
+      55           0 : void ScopeTimerLogger::log(const std::string& scope, const chrono_tp& time_start, const chrono_tp& time_end) {
+      56           0 :   log(scope, "", "", time_start, time_end);
+      57           0 : }
+      58             : 
+      59           0 : void ScopeTimerLogger::log(const std::string& scope, const std::string& label_from, const std::string& label_to, const chrono_tp& time_start,
+      60             :                            const chrono_tp& time_end) {
+      61             : 
+      62           0 :   if (!_logging_enabled_) {
+      63           0 :     return;
+      64             :   }
+      65             : 
+      66           0 :   const std::chrono::duration<double> duration_start = std::chrono::duration_cast<std::chrono::duration<double>>(time_start.time_since_epoch());
+      67           0 :   const std::chrono::duration<double> duration_end   = std::chrono::duration_cast<std::chrono::duration<double>>(time_end.time_since_epoch());
+      68           0 :   const std::chrono::duration<double> duration_total = std::chrono::duration_cast<std::chrono::duration<double>>(time_end - time_start);
+      69             : 
+      70             :   {
+      71           0 :     std::scoped_lock lock(_mutex_logstream_);
+      72           0 :     _logstream_ << scope.c_str() << "," << label_from.c_str() << "," << label_to.c_str() << "," << duration_start.count() << "," << duration_end.count() << ","
+      73           0 :                 << duration_total.count() << std::endl;
+      74             :   }
+      75             : }
+      76             : /*//}*/
+      77             : 
+      78             : // | ------------------------ ScopeTimer ------------------------ |
+      79             : 
+      80             : std::unordered_map<std::string, ros::Time> ScopeTimer::last_print_times;
+      81             : 
+      82             : /* ScopeTimer constructor //{ */
+      83             : 
+      84           0 : ScopeTimer::ScopeTimer(const std::string& label, const ros::Duration& throttle_period, const bool enable,
+      85           0 :                        const std::shared_ptr<ScopeTimerLogger> scope_timer_logger)
+      86           0 :     : _timer_label_(label), _enable_print_or_log(enable), _throttle_period_(throttle_period), _logger_(scope_timer_logger) {
+      87             : 
+      88           0 :   checkpoints.push_back(time_point("timer start"));
+      89             : 
+      90           0 :   ROS_DEBUG("[%s] Scope timer started, label: %s", ros::this_node::getName().c_str(), label.c_str());
+      91           0 : }
+      92             : 
+      93           0 : ScopeTimer::ScopeTimer(const std::string& label, const time_point& tp0, const ros::Duration& throttle_period, const bool enable,
+      94           0 :                        const std::shared_ptr<ScopeTimerLogger> scope_timer_logger)
+      95           0 :     : _timer_label_(label), _enable_print_or_log(enable), _throttle_period_(throttle_period), _logger_(scope_timer_logger) {
+      96             : 
+      97           0 :   checkpoints.push_back(tp0);
+      98           0 :   checkpoints.push_back(time_point("timer start"));
+      99             : 
+     100           0 :   ROS_DEBUG("[%s] Scope timer started with file logger (label: %s).", ros::this_node::getName().c_str(), label.c_str());
+     101           0 : }
+     102             : 
+     103     5764086 : ScopeTimer::ScopeTimer(const std::string& label, const std::shared_ptr<ScopeTimerLogger> scope_timer_logger, const bool enable)
+     104     5764086 :     : _timer_label_(label), _enable_print_or_log(enable), _throttle_period_(ros::Duration(0.0)), _logger_(scope_timer_logger) {
+     105             : 
+     106     5752355 :   checkpoints.push_back(time_point("timer start"));
+     107             : 
+     108     5750528 :   ROS_DEBUG("[%s] Scope timer started with file logger (label: %s).", ros::this_node::getName().c_str(), label.c_str());
+     109     5750538 : }
+     110             : 
+     111             : //}
+     112             : 
+     113             : /* ScopeTimer::checkpoint() //{ */
+     114             : 
+     115     4568557 : void ScopeTimer::checkpoint(const std::string& label) {
+     116             : 
+     117     4568557 :   if (_enable_print_or_log) {
+     118           0 :     checkpoints.push_back(time_point(label));
+     119             :   }
+     120     4568557 : }
+     121             : 
+     122             : //}
+     123             : 
+     124             : /* ScopeTimer::getLifetime() //{ */
+     125             : 
+     126           0 : float ScopeTimer::getLifetime() {
+     127           0 :   const auto lifetime_us = std::chrono::duration_cast<std::chrono::microseconds>(std::chrono::steady_clock::now() - checkpoints.at(0).chrono_time).count();
+     128           0 :   return lifetime_us / 1000.0f;
+     129             : }
+     130             : 
+     131             : //}
+     132             : 
+     133             : /* ScopeTimer destructor //{ */
+     134             : 
+     135    17293088 : ScopeTimer::~ScopeTimer() {
+     136             : 
+     137     5766097 :   if (!_enable_print_or_log) {
+     138     5766182 :     return;
+     139             :   }
+     140             : 
+     141           9 :   const auto chrono_end_time = std::chrono::steady_clock::now();
+     142           0 :   const auto ros_end_time    = ros::Time::now();
+     143             : 
+     144             :   // if throttling is enabled, check time of last print and only print if applicable
+     145           0 :   if (!_throttle_period_.isZero()) {
+     146           0 :     bool       do_print = false;
+     147           0 :     const auto last_it  = last_print_times.find(_timer_label_);
+     148             :     // if this is the first print of this ScopeTimer
+     149           0 :     if (last_it == last_print_times.end()) {
+     150           0 :       do_print = true;
+     151           0 :       last_print_times.emplace(_timer_label_, ros_end_time);
+     152             :     } else {
+     153             :       // if this ScopeTimer was already printed, check how long ago
+     154           0 :       ros::Time& last_print_time = last_it->second;
+     155           0 :       if (ros_end_time - last_print_time > _throttle_period_) {
+     156             :         // if it was long ago enough, print again and update the last print time
+     157           0 :         do_print        = true;
+     158           0 :         last_print_time = ros_end_time;
+     159             :       }
+     160             :     }
+     161             : 
+     162           0 :     if (!do_print)
+     163           0 :       return;
+     164             :   }
+     165             : 
+     166             :   // If logger object exists and it should log (a path to a logger file was given by the user)
+     167           0 :   if (_logger_ && _logger_->shouldLog()) {
+     168             : 
+     169             :     // Enabled, if user sets the enable flag to true, a path to a logger file is given, and the logging stream was successfully opened
+     170           0 :     if (!_logger_->loggingEnabled()) {
+     171           0 :       return;
+     172             :     }
+     173             : 
+     174             :     // Log checkpoints, e.g., "SCOPE->checkpoint1;checkpoint1->checkpoint2"
+     175           0 :     std::string label_from = "";
+     176           0 :     for (size_t i = 1; i < checkpoints.size(); i++) {
+     177           0 :       const auto& checkpoint = checkpoints.at(i);
+     178           0 :       _logger_->log(_timer_label_, label_from, checkpoint.label, checkpoints.at(i - 1).chrono_time, checkpoint.chrono_time);
+     179           0 :       label_from = checkpoint.label;
+     180             :     }
+     181             : 
+     182             :     // Log entire scope from start to end
+     183           0 :     _logger_->log(_timer_label_, checkpoints.at(0).chrono_time, chrono_end_time);
+     184             : 
+     185             :   } else {
+     186             : 
+     187           0 :     checkpoints.push_back(time_point("scope end"));
+     188             : 
+     189           0 :     const int gap1 = 8;
+     190           0 :     const int gap2 = 8;
+     191           0 :     const int gap3 = 12;
+     192             : 
+     193           0 :     std::stringstream ss;
+     194           0 :     ss.precision(3);
+     195           0 :     ss << std::fixed;
+     196             : 
+     197           0 :     const char separator = ' ';
+     198             : 
+     199           0 :     int max_label_width = 5;
+     200           0 :     for (auto& el : checkpoints) {
+     201           0 :       el.label      = "(" + el.label + ")";
+     202           0 :       const int len = el.label.length();
+     203           0 :       if (len > max_label_width)
+     204           0 :         max_label_width = len;
+     205             :     }
+     206             : 
+     207           0 :     int width_label_column = 10;
+     208           0 :     for (unsigned long i = 1; i < checkpoints.size(); i++) {
+     209           0 :       const int len = (checkpoints.at(i).label + checkpoints.at(i - 1).label).length();
+     210           0 :       if (len > width_label_column)
+     211           0 :         width_label_column = len;
+     212             :     }
+     213           0 :     width_label_column += 7;
+     214             : 
+     215           0 :     ss << std::endl << std::left << std::setw(width_label_column) << std::setfill(separator) << " {label}";
+     216           0 :     ss << std::left << std::setw(gap1) << std::setfill(separator) << "";
+     217           0 :     ss << std::left << std::setw(gap2) << std::setfill(separator) << "{ROS time}";
+     218           0 :     ss << std::left << std::setw(gap3) << std::setfill(separator) << "";
+     219           0 :     ss << std::left << std::setw(gap2) << std::setfill(separator) << "{chrono time}" << std::endl;
+     220             : 
+     221           0 :     for (unsigned long i = 1; i < checkpoints.size(); i++) {
+     222             : 
+     223           0 :       const double ros_elapsed = (checkpoints.at(i).ros_time - checkpoints.at(i - 1).ros_time).toSec();
+     224           0 :       const int    ros_secs    = int(ros_elapsed);
+     225           0 :       const double ros_msecs   = std::fmod(ros_elapsed * 1000, 1000);
+     226             : 
+     227           0 :       const std::chrono::duration<double> chrono_elapsed = (checkpoints.at(i).chrono_time - checkpoints.at(i - 1).chrono_time);
+     228           0 :       const int                           chrono_secs    = int(chrono_elapsed.count());
+     229           0 :       const double                        chrono_msecs   = std::fmod(chrono_elapsed.count() * 1000, 1000);
+     230             : 
+     231           0 :       ss << std::left << std::setw(max_label_width) << std::setfill(separator) << checkpoints.at(i - 1).label;
+     232           0 :       ss << " -> ";
+     233           0 :       ss << std::left << std::setw(max_label_width) << std::setfill(separator) << checkpoints.at(i).label;
+     234             : 
+     235           0 :       ss << std::right << std::setw(gap1) << std::setfill(separator) << ros_secs << std::setw(0) << "s";
+     236           0 :       ss << std::right << std::setw(gap2) << std::setfill(separator) << ros_msecs << std::setw(0) << "ms";
+     237           0 :       ss << std::right << std::setw(gap3) << std::setfill(separator) << chrono_secs << std::setw(0) << "s";
+     238           0 :       ss << std::right << std::setw(gap2) << std::setfill(separator) << chrono_msecs << std::setw(0) << "ms" << std::endl;
+     239             :     }
+     240             : 
+     241           0 :     const double ros_elapsed = (ros_end_time - checkpoints.at(0).ros_time).toSec();
+     242           0 :     const int    ros_secs    = int(ros_elapsed);
+     243           0 :     const double ros_msecs   = std::fmod(ros_elapsed * 1000, 1000);
+     244             : 
+     245           0 :     const std::chrono::duration<double> chrono_elapsed = (chrono_end_time - checkpoints.at(0).chrono_time);
+     246           0 :     const int                           chrono_secs    = int(chrono_elapsed.count());
+     247           0 :     const double                        chrono_msecs   = std::fmod(chrono_elapsed.count() * 1000, 1000);
+     248             : 
+     249           0 :     ss << std::left << std::setw(width_label_column) << std::setfill(separator) << "TOTAL TIME";
+     250           0 :     ss << std::right << std::setw(gap1) << std::setfill(separator) << ros_secs << std::setw(0) << "s";
+     251           0 :     ss << std::right << std::setw(gap2) << std::setfill(separator) << ros_msecs << std::setw(0) << "ms";
+     252           0 :     ss << std::right << std::setw(gap3) << std::setfill(separator) << chrono_secs << std::setw(0) << "s";
+     253           0 :     ss << std::right << std::setw(gap2) << std::setfill(separator) << chrono_msecs << std::setw(0) << "ms" << std::endl;
+     254             : 
+     255           0 :     ROS_INFO("[%s]: Scope timer [%s] finished!%s", ros::this_node::getName().c_str(), _timer_label_.c_str(), ss.str().c_str());
+     256             :   }
+     257     5763888 : }
+     258             : 
+     259             : //}
+     260             : 
+     261             : }  // namespace mrs_lib
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::TimeoutManager::change(unsigned long, ros::Duration const&, std::function<void (ros::Time const&)> const&, ros::Time const&, bool, bool)0
mrs_lib::TimeoutManager::lastReset(unsigned long)0
mrs_lib::TimeoutManager::pauseAll()2
mrs_lib::TimeoutManager::startAll(ros::Time const&)4
mrs_lib::TimeoutManager::pause(unsigned long)9
mrs_lib::TimeoutManager::TimeoutManager(ros::NodeHandle const&, ros::Rate const&)102
mrs_lib::TimeoutManager::registerNew(ros::Duration const&, std::function<void (ros::Time const&)> const&, ros::Time const&, bool, bool)105
mrs_lib::TimeoutManager::start(unsigned long, ros::Time const&)105
mrs_lib::TimeoutManager::started(unsigned long)1435
mrs_lib::TimeoutManager::main_timer_callback(ros::TimerEvent const&)19553
mrs_lib::TimeoutManager::reset(unsigned long, ros::Time const&)203964
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mrs_lib::TimeoutManager::registerNew(ros::Duration const&, std::function<void (ros::Time const&)> const&, ros::Time const&, bool, bool)105
mrs_lib::TimeoutManager::main_timer_callback(ros::TimerEvent const&)19553
mrs_lib::TimeoutManager::pause(unsigned long)9
mrs_lib::TimeoutManager::reset(unsigned long, ros::Time const&)203964
mrs_lib::TimeoutManager::start(unsigned long, ros::Time const&)105
mrs_lib::TimeoutManager::change(unsigned long, ros::Duration const&, std::function<void (ros::Time const&)> const&, ros::Time const&, bool, bool)0
mrs_lib::TimeoutManager::started(unsigned long)1435
mrs_lib::TimeoutManager::pauseAll()2
mrs_lib::TimeoutManager::startAll(ros::Time const&)4
mrs_lib::TimeoutManager::lastReset(unsigned long)0
mrs_lib::TimeoutManager::TimeoutManager(ros::NodeHandle const&, ros::Rate const&)102
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Current view:top level - mrs_lib/src/timeout_manager - timeout_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:496279.0 %
Date:2024-08-07 22:18:19Functions:91181.8 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #include <mrs_lib/timeout_manager.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             : 
+       6         102 :   TimeoutManager::TimeoutManager(const ros::NodeHandle& nh, const ros::Rate& update_rate)
+       7         102 :     : m_last_id(0)
+       8             :   {
+       9         102 :     m_main_timer = nh.createTimer(update_rate, &TimeoutManager::main_timer_callback, this);
+      10         102 :   }
+      11             : 
+      12             : 
+      13         105 :   TimeoutManager::timeout_id_t TimeoutManager::registerNew(const ros::Duration& timeout, const callback_t& callback, const ros::Time& last_reset, const bool oneshot, const bool autostart)
+      14             :   {
+      15         105 :     std::scoped_lock lck(m_mtx);
+      16         105 :     const auto new_id = m_timeouts.size();
+      17             :     m_timeouts.emplace_back(
+      18         105 :       timeout_info_t{
+      19             :         oneshot,
+      20             :         autostart,
+      21             :         callback,
+      22             :         timeout,
+      23             :         last_reset,
+      24             :         last_reset
+      25         105 :       });
+      26         210 :     return new_id;
+      27             :   }
+      28             : 
+      29      203964 :   void TimeoutManager::reset(const timeout_id_t id, const ros::Time& time)
+      30             :   {
+      31      203964 :     std::scoped_lock lck(m_mtx);
+      32      203964 :     m_timeouts.at(id).last_reset = time;
+      33      203963 :   }
+      34             : 
+      35           9 :   void TimeoutManager::pause(const timeout_id_t id)
+      36             :   {
+      37           9 :     std::scoped_lock lck(m_mtx);
+      38           9 :     m_timeouts.at(id).started = false;
+      39           9 :   }
+      40             : 
+      41         105 :   void TimeoutManager::start(const timeout_id_t id, const ros::Time& time)
+      42             :   {
+      43         105 :     std::scoped_lock lck(m_mtx);
+      44         105 :     m_timeouts.at(id).started = true;
+      45         105 :     m_timeouts.at(id).last_reset = time;
+      46         105 :   }
+      47             : 
+      48           2 :   void TimeoutManager::pauseAll()
+      49             :   {
+      50           4 :     std::scoped_lock lck(m_mtx);
+      51          10 :     for (auto& timeout_info : m_timeouts)
+      52           8 :       timeout_info.started = false;
+      53           2 :   }
+      54             : 
+      55           4 :   void TimeoutManager::startAll(const ros::Time& time)
+      56             :   {
+      57           8 :     std::scoped_lock lck(m_mtx);
+      58          20 :     for (auto& timeout_info : m_timeouts)
+      59             :     {
+      60          16 :       timeout_info.started = true;
+      61          16 :       timeout_info.last_reset = time;
+      62             :     }
+      63           4 :   }
+      64             : 
+      65           0 :   void TimeoutManager::change(const timeout_id_t id, const ros::Duration& timeout, const callback_t& callback, const ros::Time& last_reset, const bool oneshot, const bool autostart)
+      66             :   {
+      67           0 :     std::scoped_lock lck(m_mtx);
+      68           0 :     auto& timeout_info = m_timeouts.at(id);
+      69           0 :     timeout_info.oneshot = oneshot;
+      70           0 :     timeout_info.started = autostart;
+      71           0 :     timeout_info.timeout = timeout;
+      72           0 :     timeout_info.callback = callback;
+      73           0 :     timeout_info.last_reset = last_reset;
+      74           0 :   }
+      75             : 
+      76           0 :   ros::Time TimeoutManager::lastReset(const timeout_id_t id)
+      77             :   {
+      78           0 :     std::scoped_lock lck(m_mtx);
+      79           0 :     return m_timeouts.at(id).last_reset;
+      80             :   }
+      81             : 
+      82        1435 :   bool TimeoutManager::started(const timeout_id_t id)
+      83             :   {
+      84        1435 :     std::scoped_lock lck(m_mtx);
+      85        2870 :     return m_timeouts.at(id).started;
+      86             :   }
+      87             : 
+      88       19553 :   void TimeoutManager::main_timer_callback([[maybe_unused]] const ros::TimerEvent &evt)
+      89             :   {
+      90       19553 :     const auto now = ros::Time::now();
+      91             : 
+      92       39106 :     std::scoped_lock lck(m_mtx);
+      93       42391 :     for (auto& timeout_info : m_timeouts)
+      94             :     {
+      95             :       // don't worry, these variables will get optimized out by the compiler
+      96       22838 :       const bool started = timeout_info.started;
+      97       22838 :       const bool last_reset_timeout = now - timeout_info.last_reset >= timeout_info.timeout;
+      98       22838 :       const bool last_callback_timeout = now - timeout_info.last_callback >= timeout_info.timeout;
+      99       22838 :       if (started && last_reset_timeout && last_callback_timeout)
+     100             :       {
+     101        1970 :         timeout_info.callback(timeout_info.last_reset);
+     102        1970 :         timeout_info.last_callback = now;
+     103             :         // if the timeout is oneshot, pause it
+     104        1970 :         if (timeout_info.oneshot)
+     105           0 :           timeout_info.started = false;
+     106             :       }
+     107             :     }
+     108       19553 :   }
+     109             : }
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ThreadTimer::setCallback(std::function<void (ros::TimerEvent const&)> const&)0
mrs_lib::ThreadTimer::Impl::setCallback(std::function<void (ros::TimerEvent const&)> const&)0
mrs_lib::ROSTimer::setCallback(std::function<void (ros::TimerEvent const&)> const&)0
mrs_lib::ThreadTimer::Impl::setPeriod(ros::Duration const&, bool)8
mrs_lib::ThreadTimer::Impl::threadFcn()8
mrs_lib::ThreadTimer::Impl::Impl(std::function<void (ros::TimerEvent const&)> const&, ros::Duration const&, bool)8
mrs_lib::ThreadTimer::Impl::~Impl()8
mrs_lib::ThreadTimer::setPeriod(ros::Duration const&, bool)8
mrs_lib::ROSTimer::setPeriod(ros::Duration const&, bool)8
mrs_lib::ThreadTimer::Impl::stop()24
mrs_lib::ThreadTimer::Impl::start()24
mrs_lib::ThreadTimer::stop()24
mrs_lib::ThreadTimer::start()24
mrs_lib::ROSTimer::stop()24
mrs_lib::ROSTimer::start()24
mrs_lib::ThreadTimer::Impl::breakableSleep(ros::Time const&)208
mrs_lib::ThreadTimer::running()208
mrs_lib::ROSTimer::running()216
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Test:MRS UAV System - Test coverage reportLines:10512584.0 %
Date:2024-08-07 22:18:19Functions:151883.3 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ThreadTimer::setCallback(std::function<void (ros::TimerEvent const&)> const&)0
mrs_lib::ThreadTimer::Impl::setCallback(std::function<void (ros::TimerEvent const&)> const&)0
mrs_lib::ThreadTimer::Impl::breakableSleep(ros::Time const&)208
mrs_lib::ThreadTimer::Impl::stop()24
mrs_lib::ThreadTimer::Impl::start()24
mrs_lib::ThreadTimer::Impl::setPeriod(ros::Duration const&, bool)8
mrs_lib::ThreadTimer::Impl::threadFcn()8
mrs_lib::ThreadTimer::Impl::Impl(std::function<void (ros::TimerEvent const&)> const&, ros::Duration const&, bool)8
mrs_lib::ThreadTimer::Impl::~Impl()8
mrs_lib::ThreadTimer::stop()24
mrs_lib::ThreadTimer::start()24
mrs_lib::ThreadTimer::running()208
mrs_lib::ThreadTimer::setPeriod(ros::Duration const&, bool)8
mrs_lib::ROSTimer::setCallback(std::function<void (ros::TimerEvent const&)> const&)0
mrs_lib::ROSTimer::stop()24
mrs_lib::ROSTimer::start()24
mrs_lib::ROSTimer::running()216
mrs_lib::ROSTimer::setPeriod(ros::Duration const&, bool)8
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Date:2024-08-07 22:18:19Functions:151883.3 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #include <mrs_lib/timer.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             : 
+       6             : // | ------------------------ ROSTimer ------------------------ |
+       7             : 
+       8             : /* stop() //{ */
+       9             : 
+      10          24 : void ROSTimer::stop() {
+      11             : 
+      12          48 :   std::scoped_lock lock(mutex_timer_);
+      13             : 
+      14          24 :   if (timer_) {
+      15          24 :     timer_->stop();
+      16             :   }
+      17          24 : }
+      18             : 
+      19             : //}
+      20             : 
+      21             : /* start() //{ */
+      22             : 
+      23          24 : void ROSTimer::start() {
+      24             : 
+      25          48 :   std::scoped_lock lock(mutex_timer_);
+      26             : 
+      27          24 :   if (timer_) {
+      28          24 :     timer_->start();
+      29             :   }
+      30          24 : }
+      31             : 
+      32             : //}
+      33             : 
+      34             : /* setPeriod() //{ */
+      35             : 
+      36           8 : void ROSTimer::setPeriod(const ros::Duration& duration, const bool reset) {
+      37             : 
+      38          16 :   std::scoped_lock lock(mutex_timer_);
+      39             : 
+      40           8 :   if (timer_) {
+      41           8 :     timer_->setPeriod(duration, reset);
+      42             :   }
+      43           8 : }
+      44             : 
+      45             : //}
+      46             : //
+      47             : /* setCallback() //{ */
+      48             : 
+      49           0 : void ROSTimer::setCallback([[maybe_unused]] const std::function<void(const ros::TimerEvent&)>& callback) {
+      50             : 
+      51           0 :   ROS_ERROR("[mrs_lib::ROSTimer]: setCallback(...) is not implemented for ROSTimer! Check [mrs_lib/src/timer/timer.cpp].");
+      52           0 : }
+      53             : 
+      54             : //}
+      55             : 
+      56             : /* running() //{ */
+      57             : 
+      58         216 : bool ROSTimer::running()
+      59             : {
+      60         432 :   std::scoped_lock lock(mutex_timer_);
+      61             : 
+      62         216 :   if (timer_)
+      63         216 :     return timer_->hasStarted();
+      64             :   else
+      65           0 :     return false;
+      66             : }
+      67             : 
+      68             : //}
+      69             : 
+      70             : // | ----------------------- ThreadTimer ---------------------- |
+      71             : 
+      72             : /* TheadTimer::start() //{ */
+      73             : 
+      74          24 : void ThreadTimer::start() {
+      75             : 
+      76          24 :   if (impl_) {
+      77          24 :     impl_->start();
+      78             :   }
+      79          24 : }
+      80             : 
+      81             : //}
+      82             : 
+      83             : /* ThreadTimer::stop() //{ */
+      84             : 
+      85          24 : void ThreadTimer::stop() {
+      86             : 
+      87          24 :   if (impl_) {
+      88          24 :     impl_->stop();
+      89             :   }
+      90          24 : }
+      91             : 
+      92             : //}
+      93             : 
+      94             : /* ThreadTimer::setPeriod() //{ */
+      95             : 
+      96           8 : void ThreadTimer::setPeriod(const ros::Duration& duration, [[maybe_unused]] const bool reset) {
+      97             : 
+      98           8 :   if (impl_) {
+      99           8 :     impl_->setPeriod(duration, reset);
+     100             :   }
+     101           8 : }
+     102             : 
+     103             : //}
+     104             : 
+     105             : /* ThreadTimer::setCallback() //{ */
+     106             : 
+     107           0 : void ThreadTimer::setCallback(const std::function<void(const ros::TimerEvent&)>& callback) {
+     108           0 :   if (impl_) {
+     109           0 :     impl_->setCallback(callback);
+     110             :   }
+     111           0 : }
+     112             : 
+     113             : //}
+     114             : 
+     115             : /* ThreadTimer::running() //{ */
+     116             : 
+     117         208 : bool ThreadTimer::running()
+     118             : {
+     119         208 :   if (impl_)
+     120         208 :     return impl_->running_;
+     121             :   else
+     122           0 :     return false;
+     123             : }
+     124             : 
+     125             : //}
+     126             : 
+     127             : /* ThreadTimer::Impl //{ */
+     128             : 
+     129           8 : ThreadTimer::Impl::Impl(const std::function<void(const ros::TimerEvent&)>& callback, const ros::Duration& delay_dur, const bool oneshot)
+     130           8 :   : callback_(callback), oneshot_(oneshot), delay_dur_(delay_dur)
+     131             : {
+     132           8 :   ending_  = false;
+     133           8 :   running_ = false;
+     134             : 
+     135           8 :   last_real_     = ros::Time(0);
+     136           8 :   last_expected_ = ros::Time(0);
+     137           8 :   next_expected_ = ros::Time(0);
+     138             : 
+     139           8 :   thread_ = std::thread(&ThreadTimer::Impl::threadFcn, this);
+     140           8 : }
+     141             : 
+     142           8 : ThreadTimer::Impl::~Impl()
+     143             : {
+     144             :   {
+     145             :     // signal the thread to end
+     146          16 :     std::scoped_lock lck(mutex_wakeup_, mutex_state_);
+     147           8 :     ending_ = true;
+     148           8 :     wakeup_cond_.notify_all();
+     149             :   }
+     150             :   // wait for it to die
+     151           8 :   thread_.join();
+     152           8 : }
+     153             : 
+     154          24 : void ThreadTimer::Impl::start()
+     155             : {
+     156          48 :   std::scoped_lock lck(mutex_wakeup_, mutex_state_);
+     157          24 :   if (!running_)
+     158             :   {
+     159          24 :     next_expected_ = ros::Time::now() + delay_dur_;
+     160          24 :     running_ = true;
+     161          24 :     wakeup_cond_.notify_all();
+     162             :   }
+     163          24 : }
+     164             : 
+     165          24 : void ThreadTimer::Impl::stop()
+     166             : {
+     167          48 :   std::scoped_lock lck(mutex_wakeup_, mutex_state_);
+     168          24 :   running_ = false;
+     169          24 :   wakeup_cond_.notify_all();
+     170          24 : }
+     171             : 
+     172           8 : void ThreadTimer::Impl::setPeriod(const ros::Duration& duration, [[maybe_unused]] const bool reset)
+     173             : {
+     174          16 :   std::scoped_lock lock(mutex_wakeup_, mutex_state_);
+     175           8 :   delay_dur_ = duration;
+     176             :   // gracefully handle the special case
+     177           8 :   if (duration == ros::Duration(0))
+     178           0 :     this->oneshot_  = true;
+     179           8 : }
+     180             : 
+     181           0 : void ThreadTimer::Impl::setCallback(const std::function<void(const ros::TimerEvent&)>& callback){
+     182           0 :   std::scoped_lock lock(mutex_state_);
+     183             : 
+     184           0 :   callback_ = callback;
+     185           0 : }
+     186             : 
+     187             : //}
+     188             : 
+     189             : /* ThreadTimer::breakableSleep() method //{ */
+     190         408 : bool ThreadTimer::Impl::breakableSleep(const ros::Time& until)
+     191             : {
+     192         408 :   while (ros::ok() && ros::Time::now() < until)
+     193             :   {
+     194         208 :     const std::chrono::nanoseconds dur {(until - ros::Time::now()).toNSec()};
+     195         208 :     const std::chrono::time_point<std::chrono::steady_clock> until_stl = std::chrono::steady_clock::now() + dur;
+     196         208 :     std::unique_lock lck(mutex_wakeup_);
+     197         208 :     if (!ending_ && running_)
+     198         208 :       wakeup_cond_.wait_until(lck, until_stl);
+     199             :     // check the flags while mutex_state_ is locked
+     200         208 :     if (ending_ || !running_)
+     201           8 :       return false;
+     202             :   }
+     203         200 :   return true;
+     204             : }
+     205             : //}
+     206             : 
+     207             : /* ThreadTimer::Impl::threadFcn() //{ */
+     208             : 
+     209         216 : void ThreadTimer::Impl::threadFcn()
+     210             : {
+     211         216 :   while (ros::ok() && !ending_)
+     212             :   {
+     213             :     {
+     214         216 :       std::unique_lock lck(mutex_wakeup_);
+     215             :       // if the timer is not yet started, wait for condition variable notification
+     216         216 :       if (!running_ && !ending_)
+     217          16 :         wakeup_cond_.wait(lck);
+     218             :       // The thread either got cv-notified, or running_ was already true, or it got woken up for some other reason.
+     219             :       // Check if the reason is that we should end (and end if it is).
+     220         216 :       if (ending_)
+     221           8 :         break;
+     222             :       // Check if the timer is still paused - probably was a spurious wake up (and restart the wait if it is).
+     223         208 :       if (!running_)
+     224           0 :         continue;
+     225             :     }
+     226             : 
+     227             :     // If the flow got here, the thread should attempt to wait for the specified duration.
+     228             :     // first, copy the delay we should wait for in a thread-safe manner
+     229         208 :     ros::Time next_expected;
+     230             :     {
+     231         208 :       std::scoped_lock lck(mutex_state_);
+     232         208 :       next_expected = next_expected_;
+     233             :     }
+     234         208 :     const bool interrupted = !breakableSleep(next_expected);
+     235         208 :     if (interrupted)
+     236           8 :       continue;
+     237             : 
+     238             :     {
+     239             :       // make sure the state doesn't change here
+     240         200 :       std::scoped_lock lck(mutex_state_);
+     241             :       // Again, check if everything is OK (the state may have changed while the thread was a sleeping beauty).
+     242             :       // Check if we should end (and end if it is so).
+     243         200 :       if (ending_)
+     244           0 :         break;
+     245             :       // Check if the timer is paused (and skip if it is so).
+     246         200 :       if (!running_)
+     247           0 :         continue;
+     248             : 
+     249             :       // If all is fine and dandy, actually run the callback function!
+     250             :       // if the timer is a oneshot-type, automatically pause it
+     251             :       // and do not fill out the expected fields in timer_event (we had no expectations...)
+     252         200 :       const ros::Time now = ros::Time::now();
+     253             :       // prepare the timer event
+     254         200 :       ros::TimerEvent timer_event;
+     255         200 :       if (oneshot_)
+     256             :       {
+     257           0 :         running_ = false;
+     258           0 :         timer_event.last_real        = last_real_;
+     259           0 :         timer_event.current_real     = now;
+     260             :       }
+     261             :       else
+     262             :       {
+     263         200 :         timer_event.last_expected    = last_expected_;
+     264         200 :         timer_event.last_real        = last_real_;
+     265         200 :         timer_event.current_expected = next_expected_;
+     266         200 :         timer_event.current_real     = now;
+     267             : 
+     268         200 :         last_expected_ = next_expected_;
+     269         200 :         next_expected_ = now + delay_dur_;
+     270             :       }
+     271         200 :       last_real_ = now;
+     272             :       // call the callback
+     273         200 :       callback_(timer_event);
+     274             :     }
+     275             :   }
+     276           8 : }
+     277             : 
+     278             : //}
+     279             : 
+     280             : }  // namespace mrs_lib
+
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mrs_lib::TransformBroadcaster::sendTransform(std::vector<geometry_msgs::TransformStamped_<std::allocator<void> >, std::allocator<geometry_msgs::TransformStamped_<std::allocator<void> > > > const&)0
mrs_lib::TransformBroadcaster::TransformBroadcaster()207
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mrs_lib::TransformBroadcaster::TransformBroadcaster()207
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+
          Line data    Source code
+
+       1             : #include <mrs_lib/transform_broadcaster.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             : 
+       6             : /* constructor //{ */
+       7         207 : TransformBroadcaster::TransformBroadcaster() {
+       8         207 :   broadcaster_ = tf2_ros::TransformBroadcaster();
+       9         207 : }
+      10             : //}
+      11             : 
+      12             : /* sendTransform (const geometry_msgs::TransformStamped &transform) //{ */
+      13     2044460 : void TransformBroadcaster::sendTransform(const geometry_msgs::TransformStamped &transform) {
+      14     4087114 :   std::string frames_from_to = transform.header.frame_id + transform.child_frame_id;
+      15     2041112 :   if (last_messages_.count(frames_from_to) > 0) {
+      16     2042586 :     if (transform.header.stamp > last_messages_[frames_from_to]) {
+      17     1718381 :       broadcaster_.sendTransform(transform);
+      18     1721415 :       last_messages_[frames_from_to] = transform.header.stamp;
+      19             :     } else {
+      20      320292 :       ROS_WARN_ONCE("[%s]: TF_REPEATED_DATA ignoring data with redundant timestamp. Transform from frame '%s' to frame '%s'", ros::this_node::getName().c_str(),
+      21             :                     transform.header.frame_id.c_str(), transform.child_frame_id.c_str());
+      22             :     }
+      23             :   } else {
+      24        2239 :     std::pair<std::string, ros::Time> new_pair;
+      25        1063 :     new_pair.first  = frames_from_to;
+      26        1063 :     new_pair.second = transform.header.stamp;
+      27        1063 :     broadcaster_.sendTransform(transform);
+      28        1063 :     last_messages_.insert(new_pair);
+      29             :   }
+      30     2044890 : }
+      31             : //}
+      32             : 
+      33             : /* sendTransform(const std::vector<geometry_msgs::TransformStamped> &transforms) //{ */
+      34           0 : void TransformBroadcaster::sendTransform(const std::vector<geometry_msgs::TransformStamped> &transforms) {
+      35           0 :   for (auto transform : transforms) {
+      36           0 :     std::string frames_from_to = transform.header.frame_id + transform.child_frame_id;
+      37           0 :     if (last_messages_.count(frames_from_to) > 0) {
+      38           0 :       if (transform.header.stamp > last_messages_[frames_from_to]) {
+      39           0 :         broadcaster_.sendTransform(transform);
+      40           0 :         last_messages_[frames_from_to] = transform.header.stamp;
+      41             :       } else {
+      42           0 :         ROS_WARN_ONCE("[%s]: TF_REPEATED_DATA ignoring data with redundant timestamp. Transform from frame '%s' to frame '%s'",
+      43             :                       ros::this_node::getName().c_str(), transform.header.frame_id.c_str(), transform.child_frame_id.c_str());
+      44             :       }
+      45             :     } else {
+      46           0 :       std::pair<std::string, ros::Time> new_pair;
+      47           0 :       new_pair.first  = frames_from_to;
+      48           0 :       new_pair.second = transform.header.stamp;
+      49           0 :       broadcaster_.sendTransform(transform);
+      50           0 :       last_messages_.insert(new_pair);
+      51             :     }
+      52             :   }
+      53           0 : }
+      54             : //}
+      55             : 
+      56             : }  // namespace mrs_lib
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Transformer::LLtoUTM(geometry_msgs::PoseStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_lib::Transformer::LLtoUTM(geometry_msgs::PointStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_lib::Transformer::LLtoUTM(geometry_msgs::Pose_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_lib::Transformer::UTMtoLL(geometry_msgs::PointStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_lib::Transformer::Transformer()0
mrs_lib::Transformer::operator=(mrs_lib::Transformer&&)0
void tf2::doTransform<cv::Point3_<double> >(cv::Point3_<double> const&, cv::Point3_<double>&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)1
mrs_lib::Transformer::getTransform(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
mrs_lib::Transformer::getTransformImpl(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
mrs_lib::Transformer::LLtoUTM(geometry_msgs::Point_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
mrs_lib::Transformer::transformImpl(geometry_msgs::TransformStamped_<std::allocator<void> > const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)6
mrs_lib::Transformer::transformAsPoint(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)6
mrs_lib::Transformer::transformAsPoint(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)6
mrs_lib::Transformer::transformAsVector(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)6
mrs_lib::Transformer::transformAsVector(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)6
mrs_lib::Transformer::Transformer(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Duration const&)12
mrs_lib::Transformer::Transformer(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Duration const&)751
mrs_lib::Transformer::UTMtoLL(geometry_msgs::PoseStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2158
mrs_lib::Transformer::UTMtoLL(geometry_msgs::Pose_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2158
mrs_lib::Transformer::UTMtoLL(geometry_msgs::Point_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2160
mrs_lib::Transformer::getFramePrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)4326
mrs_lib::Transformer::getTransform(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)24326
mrs_lib::Transformer::transformImpl(geometry_msgs::TransformStamped_<std::allocator<void> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)148973
mrs_lib::Transformer::setLatLon(double, double)157328
mrs_lib::Transformer::getTransformImpl(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1828726
mrs_lib::Transformer::resolveFrameImpl(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)7672540
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LCOV - code coverage report
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Current view:top level - mrs_lib/src/transformer - transformer.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:18528066.1 %
Date:2024-08-07 22:18:19Functions:202676.9 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
void tf2::doTransform<cv::Point3_<double> >(cv::Point3_<double> const&, cv::Point3_<double>&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)1
mrs_lib::Transformer::getTransform(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
mrs_lib::Transformer::getTransform(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)24326
mrs_lib::Transformer::transformImpl(geometry_msgs::TransformStamped_<std::allocator<void> > const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)6
mrs_lib::Transformer::transformImpl(geometry_msgs::TransformStamped_<std::allocator<void> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)148973
mrs_lib::Transformer::getFramePrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)4326
mrs_lib::Transformer::getTransformImpl(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
mrs_lib::Transformer::getTransformImpl(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1828726
mrs_lib::Transformer::resolveFrameImpl(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)7672540
mrs_lib::Transformer::transformAsPoint(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)6
mrs_lib::Transformer::transformAsPoint(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)6
mrs_lib::Transformer::transformAsVector(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)6
mrs_lib::Transformer::transformAsVector(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)6
mrs_lib::Transformer::LLtoUTM(geometry_msgs::PoseStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_lib::Transformer::LLtoUTM(geometry_msgs::PointStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_lib::Transformer::LLtoUTM(geometry_msgs::Pose_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_lib::Transformer::LLtoUTM(geometry_msgs::Point_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
mrs_lib::Transformer::UTMtoLL(geometry_msgs::PoseStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2158
mrs_lib::Transformer::UTMtoLL(geometry_msgs::PointStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_lib::Transformer::UTMtoLL(geometry_msgs::Pose_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2158
mrs_lib::Transformer::UTMtoLL(geometry_msgs::Point_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2160
mrs_lib::Transformer::setLatLon(double, double)157328
mrs_lib::Transformer::Transformer(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Duration const&)751
mrs_lib::Transformer::Transformer(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Duration const&)12
mrs_lib::Transformer::Transformer()0
mrs_lib::Transformer::operator=(mrs_lib::Transformer&&)0
+
+
+ + + +
Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_lib/src/transformer - transformer.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:18528066.1 %
Date:2024-08-07 22:18:19Functions:202676.9 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : 
+       3             : #include <mrs_lib/transformer.h>
+       4             : #include <mrs_lib/gps_conversions.h>
+       5             : #include <opencv2/core/types.hpp>
+       6             : #include <mrs_lib/geometry/conversions.h>
+       7             : #include <mutex>
+       8             : 
+       9             : using test_t = mrs_msgs::ReferenceStamped;
+      10             : /* using test_t = pcl::PointCloud<pcl::PointXYZ>; */
+      11             : template std::optional<test_t> mrs_lib::Transformer::transform<test_t>(const test_t& what, const geometry_msgs::TransformStamped& to_frame);
+      12             : template std::optional<test_t::Ptr> mrs_lib::Transformer::transform<test_t>(const test_t::Ptr& what, const geometry_msgs::TransformStamped& to_frame);
+      13             : template std::optional<test_t::Ptr> mrs_lib::Transformer::transform<test_t>(const test_t::ConstPtr& what, const geometry_msgs::TransformStamped& to_frame);
+      14             : template std::optional<test_t> mrs_lib::Transformer::transformSingle<test_t>(const test_t& what, const std::string& to_frame);
+      15             : template std::optional<test_t::Ptr> mrs_lib::Transformer::transformSingle<test_t>(const test_t::Ptr& what, const std::string& to_frame);
+      16             : template std::optional<test_t::Ptr> mrs_lib::Transformer::transformSingle<test_t>(const test_t::ConstPtr& what, const std::string& to_frame);
+      17             : 
+      18             : namespace tf2
+      19             : {
+      20             :   template <>
+      21           1 :   void doTransform(const cv::Point3d& point_in, cv::Point3d& point_out, const geometry_msgs::TransformStamped& transform)
+      22             :   {
+      23           1 :     const geometry_msgs::Point pt = mrs_lib::geometry::fromCV(point_in);
+      24           1 :     geometry_msgs::Point pt_tfd;
+      25           1 :     tf2::doTransform(pt, pt_tfd, transform);
+      26           1 :     point_out = mrs_lib::geometry::toCV(pt_tfd);
+      27           1 :   }
+      28             : }
+      29             : 
+      30             : namespace mrs_lib
+      31             : {
+      32             : 
+      33             :   // | ----------------------- Transformer ---------------------- |
+      34             : 
+      35             :   // | ------------------ user-callable methods ----------------- |
+      36             : 
+      37             :   /* Transformer() (constructors)//{ */
+      38             : 
+      39           0 :   Transformer::Transformer()
+      40             :   {
+      41           0 :   }
+      42             : 
+      43          12 :   Transformer::Transformer(const std::string& node_name, const ros::Duration& cache_time)
+      44          12 :     : initialized_(true), node_name_(node_name), tf_buffer_(std::make_unique<tf2_ros::Buffer>(cache_time)), tf_listener_ptr_(std::make_unique<tf2_ros::TransformListener>(*tf_buffer_))
+      45             :   {
+      46          12 :   }
+      47             : 
+      48         751 :   Transformer::Transformer(const ros::NodeHandle& nh, const std::string& node_name, const ros::Duration& cache_time)
+      49         751 :     : initialized_(true), node_name_(node_name), tf_buffer_(std::make_unique<tf2_ros::Buffer>(cache_time)), tf_listener_ptr_(std::make_unique<tf2_ros::TransformListener>(*tf_buffer_, nh))
+      50             :   {
+      51         751 :   }
+      52             : 
+      53           0 :   Transformer& Transformer::operator=(Transformer&& other)
+      54             :   {
+      55           0 :     std::scoped_lock lck(other.mutex_, mutex_);
+      56             : 
+      57           0 :     initialized_ = std::move(other.initialized_);
+      58           0 :     node_name_ = std::move(other.node_name_);
+      59           0 :     tf_buffer_ = std::move(other.tf_buffer_);
+      60           0 :     tf_listener_ptr_ = std::move(other.tf_listener_ptr_);
+      61             : 
+      62           0 :     default_frame_id_ = std::move(other.default_frame_id_);
+      63           0 :     prefix_ = std::move(other.prefix_);
+      64           0 :     quiet_ = std::move(other.quiet_);
+      65           0 :     lookup_timeout_ = std::move(other.lookup_timeout_);
+      66           0 :     retry_lookup_newest_ = std::move(other.retry_lookup_newest_);
+      67             : 
+      68           0 :     got_utm_zone_ = std::move(other.got_utm_zone_);
+      69           0 :     utm_zone_ = std::move(other.utm_zone_);
+      70             : 
+      71           0 :     return *this;
+      72             :   }
+      73             : 
+      74             :   //}
+      75             : 
+      76             :   /* getTransform() //{ */
+      77             : 
+      78       24326 :   std::optional<geometry_msgs::TransformStamped> Transformer::getTransform(const std::string& from_frame_raw, const std::string& to_frame_raw, const ros::Time& time_stamp)
+      79             :   {
+      80       48661 :     std::scoped_lock lck(mutex_);
+      81             : 
+      82       24335 :     if (!initialized_)
+      83             :     {
+      84           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: Transformer: cannot provide transform, not initialized!", node_name_.c_str());
+      85           0 :       return std::nullopt;
+      86             :     }
+      87             : 
+      88             :     // resolve the frames
+      89       48670 :     const std::string from_frame = resolveFrameImpl(from_frame_raw);
+      90       48670 :     const std::string to_frame = resolveFrameImpl(to_frame_raw);
+      91       48670 :     const std::string latlon_frame = resolveFrameImpl(LATLON_ORIGIN);
+      92             : 
+      93       24335 :     return getTransformImpl(from_frame, to_frame, time_stamp, latlon_frame);
+      94             :   }
+      95             : 
+      96           1 :   std::optional<geometry_msgs::TransformStamped> Transformer::getTransform(const std::string& from_frame_raw, const ros::Time& from_stamp, const std::string& to_frame_raw, const ros::Time& to_stamp, const std::string& fixed_frame_raw)
+      97             :   {
+      98           2 :     std::scoped_lock lck(mutex_);
+      99             : 
+     100           1 :     if (!initialized_)
+     101             :     {
+     102           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: Transformer: cannot provide transform, not initialized", node_name_.c_str());
+     103           0 :       return std::nullopt;
+     104             :     }
+     105             : 
+     106           2 :     const std::string from_frame = resolveFrameImpl(from_frame_raw);
+     107           2 :     const std::string to_frame = resolveFrameImpl(to_frame_raw);
+     108           2 :     const std::string fixed_frame = resolveFrameImpl(fixed_frame_raw);
+     109           2 :     const std::string latlon_frame = resolveFrameImpl(LATLON_ORIGIN);
+     110             : 
+     111           1 :     return getTransformImpl(from_frame, from_stamp, to_frame, to_stamp, fixed_frame, latlon_frame);
+     112             :   }
+     113             :   //}
+     114             : 
+     115             :   /* setLatLon() //{ */
+     116             : 
+     117      157328 :   void Transformer::setLatLon(const double lat, const double lon)
+     118             :   {
+     119      157328 :     std::scoped_lock lck(mutex_);
+     120             : 
+     121             :     double utm_x, utm_y;
+     122      156772 :     mrs_lib::LLtoUTM(lat, lon, utm_y, utm_x, utm_zone_.data());
+     123      156512 :     got_utm_zone_ = true;
+     124      156013 :   }
+     125             : 
+     126             :   //}
+     127             : 
+     128             :   /* transformAsVector() //{ */
+     129             : 
+     130           6 :   [[nodiscard]] std::optional<Eigen::Vector3d> Transformer::transformAsVector(const Eigen::Vector3d& what, const geometry_msgs::TransformStamped& tf)
+     131             :   {
+     132          12 :     std::scoped_lock lck(mutex_);
+     133             : 
+     134           6 :     if (!initialized_)
+     135             :     {
+     136           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: Transformer: cannot transform, not initialized", node_name_.c_str());
+     137           0 :       return std::nullopt;
+     138             :     }
+     139             : 
+     140          12 :     const std::string from_frame = resolveFrameImpl(frame_from(tf));
+     141          12 :     const std::string to_frame = resolveFrameImpl(frame_to(tf));
+     142          12 :     const geometry_msgs::TransformStamped tf_resolved = create_transform(from_frame, to_frame, tf.header.stamp, tf.transform);
+     143             : 
+     144           6 :     const geometry_msgs::Vector3 vec = mrs_lib::geometry::fromEigenVec(what);
+     145           6 :     const auto tfd_vec = transformImpl(tf_resolved, vec);
+     146           6 :     if (tfd_vec.has_value())
+     147          12 :       return mrs_lib::geometry::toEigen(tfd_vec.value());
+     148             :     else
+     149           0 :       return std::nullopt;
+     150             :   }
+     151             : 
+     152           6 :   [[nodiscard]] std::optional<Eigen::Vector3d> Transformer::transformAsVector(const std::string& from_frame_raw, const Eigen::Vector3d& what, const std::string& to_frame_raw, const ros::Time& time_stamp)
+     153             :   {
+     154          12 :     std::scoped_lock lck(mutex_);
+     155             : 
+     156           6 :     if (!initialized_)
+     157             :     {
+     158           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: Transformer: cannot transform, not initialized", node_name_.c_str());
+     159           0 :       return std::nullopt;
+     160             :     }
+     161             : 
+     162          12 :     const std::string from_frame = resolveFrameImpl(from_frame_raw);
+     163          12 :     const std::string to_frame = resolveFrameImpl(to_frame_raw);
+     164          12 :     const std::string latlon_frame = resolveFrameImpl(LATLON_ORIGIN);
+     165             : 
+     166             :     // get the transform
+     167          12 :     const auto tf_opt = getTransformImpl(from_frame, to_frame, time_stamp, latlon_frame);
+     168           6 :     if (!tf_opt.has_value())
+     169           0 :       return std::nullopt;
+     170           6 :     const geometry_msgs::TransformStamped& tf = tf_opt.value();
+     171             : 
+     172             :     // do the transformation
+     173          12 :     const geometry_msgs::TransformStamped tf_resolved = create_transform(from_frame, to_frame, tf.header.stamp, tf.transform);
+     174           6 :     const geometry_msgs::Vector3 vec = mrs_lib::geometry::fromEigenVec(what);
+     175           6 :     const auto tfd_vec = transformImpl(tf_resolved, vec);
+     176           6 :     if (tfd_vec.has_value())
+     177          12 :       return mrs_lib::geometry::toEigen(tfd_vec.value());
+     178             :     else
+     179           0 :       return std::nullopt;
+     180             :   }
+     181             : 
+     182             :   /* //} */
+     183             : 
+     184             :   /* transformAsPoint() //{ */
+     185             : 
+     186           6 :   [[nodiscard]] std::optional<Eigen::Vector3d> Transformer::transformAsPoint(const Eigen::Vector3d& what, const geometry_msgs::TransformStamped& tf)
+     187             :   {
+     188          12 :     std::scoped_lock lck(mutex_);
+     189             : 
+     190           6 :     if (!initialized_)
+     191             :     {
+     192           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: Transformer: cannot transform, not initialized", node_name_.c_str());
+     193           0 :       return std::nullopt;
+     194             :     }
+     195             : 
+     196          12 :     const std::string from_frame = resolveFrameImpl(frame_from(tf));
+     197          12 :     const std::string to_frame = resolveFrameImpl(frame_to(tf));
+     198          12 :     const geometry_msgs::TransformStamped tf_resolved = create_transform(from_frame, to_frame, tf.header.stamp, tf.transform);
+     199             : 
+     200           6 :     geometry_msgs::Point pt;
+     201           6 :     pt.x = what.x();
+     202           6 :     pt.y = what.y();
+     203           6 :     pt.z = what.z();
+     204           6 :     const auto tfd_pt = transformImpl(tf_resolved, pt);
+     205           6 :     if (tfd_pt.has_value())
+     206          12 :       return mrs_lib::geometry::toEigen(tfd_pt.value());
+     207             :     else
+     208           0 :       return std::nullopt;
+     209             :   }
+     210             : 
+     211           6 :   [[nodiscard]] std::optional<Eigen::Vector3d> Transformer::transformAsPoint(const std::string& from_frame_raw, const Eigen::Vector3d& what, const std::string& to_frame_raw, const ros::Time& time_stamp)
+     212             :   {
+     213          12 :     std::scoped_lock lck(mutex_);
+     214             : 
+     215           6 :     if (!initialized_)
+     216             :     {
+     217           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: Transformer: cannot transform, not initialized", node_name_.c_str());
+     218           0 :       return std::nullopt;
+     219             :     }
+     220             : 
+     221          12 :     const std::string from_frame = resolveFrameImpl(from_frame_raw);
+     222          12 :     const std::string to_frame = resolveFrameImpl(to_frame_raw);
+     223          12 :     const std::string latlon_frame = resolveFrameImpl(LATLON_ORIGIN);
+     224             : 
+     225             :     // get the transform
+     226          12 :     const auto tf_opt = getTransformImpl(from_frame, to_frame, time_stamp, latlon_frame);
+     227           6 :     if (!tf_opt.has_value())
+     228           0 :       return std::nullopt;
+     229           6 :     const geometry_msgs::TransformStamped& tf = tf_opt.value();
+     230             : 
+     231             :     // do the transformation
+     232          12 :     const geometry_msgs::TransformStamped tf_resolved = create_transform(from_frame, to_frame, tf.header.stamp, tf.transform);
+     233           6 :     geometry_msgs::Point pt;
+     234           6 :     pt.x = what.x();
+     235           6 :     pt.y = what.y();
+     236           6 :     pt.z = what.z();
+     237           6 :     const auto tfd_pt = transformImpl(tf_resolved, pt);
+     238           6 :     if (tfd_pt.has_value())
+     239          12 :       return mrs_lib::geometry::toEigen(tfd_pt.value());
+     240             :     else
+     241           0 :       return std::nullopt;
+     242             :   }
+     243             : 
+     244             :   /* //} */
+     245             : 
+     246             :   // | ------------- helper implementation methods -------------- |
+     247             : 
+     248             :   /* transformImpl() //{ */
+     249             : 
+     250             :   /* specialization for mrs_msgs::ReferenceStamped //{ */
+     251             :   
+     252      148973 :   std::optional<mrs_msgs::ReferenceStamped> Transformer::transformImpl(const geometry_msgs::TransformStamped& tf, const mrs_msgs::ReferenceStamped& what)
+     253             :   {
+     254             :     // create a pose message
+     255      297946 :     geometry_msgs::PoseStamped pose;
+     256      148973 :     pose.header = what.header;
+     257             :   
+     258      148973 :     pose.pose.position.x = what.reference.position.x;
+     259      148973 :     pose.pose.position.y = what.reference.position.y;
+     260      148973 :     pose.pose.position.z = what.reference.position.z;
+     261      148973 :     pose.pose.orientation = geometry::fromEigen(geometry::quaternionFromHeading(what.reference.heading));
+     262             :   
+     263             :     // try to transform the pose message
+     264      297946 :     const auto pose_opt = transformImpl(tf, pose);
+     265      148973 :     if (!pose_opt.has_value())
+     266           0 :       return std::nullopt;
+     267             :     // overwrite the pose with it's transformed value
+     268      148973 :     pose = pose_opt.value();
+     269             :   
+     270      297946 :     mrs_msgs::ReferenceStamped ret;
+     271      148973 :     ret.header = pose.header;
+     272             :   
+     273             :     // copy the new transformed data back
+     274      148973 :     ret.reference.position.x = pose.pose.position.x;
+     275      148973 :     ret.reference.position.y = pose.pose.position.y;
+     276      148973 :     ret.reference.position.z = pose.pose.position.z;
+     277      148973 :     ret.reference.heading = geometry::headingFromRot(geometry::toEigen(pose.pose.orientation));
+     278      148973 :     return ret;
+     279             :   }
+     280             :   
+     281             :   //}
+     282             : 
+     283             :   /* specialization for Eigen::Vector3d //{ */
+     284             :   
+     285           6 :   std::optional<Eigen::Vector3d> Transformer::transformImpl(const geometry_msgs::TransformStamped& tf, const Eigen::Vector3d& what)
+     286             :   {
+     287             :     // just transform it as you would a geometry_msgs::Vector3
+     288           6 :     const geometry_msgs::Vector3 as_vec = mrs_lib::geometry::fromEigenVec(what);
+     289           6 :     const auto opt = transformImpl(tf, as_vec);
+     290           6 :     if (opt.has_value())
+     291          12 :       return geometry::toEigen(opt.value());
+     292             :     else
+     293           0 :       return std::nullopt;
+     294             :   }
+     295             :   
+     296             :   //}
+     297             : 
+     298             :   //}
+     299             : 
+     300             :   /* getTransformImpl() //{ */
+     301             : 
+     302     1828726 :   std::optional<geometry_msgs::TransformStamped> Transformer::getTransformImpl(const std::string& from_frame, const std::string& to_frame, const ros::Time& time_stamp, const std::string& latlon_frame)
+     303             :   {
+     304     1828726 :     if (!initialized_)
+     305             :     {
+     306           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: Transformer: cannot provide transform, not initialized!", node_name_.c_str());
+     307           0 :       return std::nullopt;
+     308             :     }
+     309             : 
+     310             :     // if any of the frames is empty, then the query is invalid, return nullopt
+     311     1828726 :     if (from_frame.empty() || to_frame.empty())
+     312             :     {
+     313        1055 :       ROS_ERROR_THROTTLE(1.0, "[%s]: Transformer: cannot transform to/from an empty frame!", node_name_.c_str());
+     314        1055 :       return std::nullopt;
+     315             :     }
+     316             : 
+     317             :     // if the frames are the same, just return an identity transform
+     318     1827668 :     if (from_frame == to_frame)
+     319      444028 :       return create_transform(from_frame, to_frame, time_stamp, tf2::toMsg(tf2::Transform::getIdentity()));
+     320             : 
+     321             :     // check for a transform from/to latlon coordinates - that is a special case handled separately
+     322     1605663 :     if (from_frame == latlon_frame)
+     323             :     {
+     324             :       // find the transformation between the UTM frame and the non-latlon frame to fill the returned tf
+     325           6 :       const std::string utm_frame = getFramePrefix(from_frame) + "utm_origin";
+     326           6 :       auto tf_opt = getTransformImpl(utm_frame, to_frame, time_stamp, latlon_frame);
+     327           3 :       if (!tf_opt.has_value())
+     328           0 :         return std::nullopt;
+     329             :       // change the transformation frames to point from latlon
+     330           3 :       frame_from(*tf_opt) = from_frame;
+     331           3 :       return tf_opt;
+     332             :     }
+     333     1605657 :     else if (to_frame == latlon_frame)
+     334             :     {
+     335             :       // find the transformation between the UTM frame and the non-latlon frame to fill the returned tf
+     336        4322 :       const std::string utm_frame = getFramePrefix(to_frame) + "utm_origin";
+     337        4322 :       auto tf_opt = getTransformImpl(from_frame, utm_frame, time_stamp, latlon_frame);
+     338        2161 :       if (!tf_opt.has_value())
+     339           0 :         return std::nullopt;
+     340             :       // change the transformation frames to point to latlon
+     341        2161 :       frame_to(*tf_opt) = to_frame;
+     342        2161 :       return tf_opt;
+     343             :     }
+     344             : 
+     345     4810435 :     tf2::TransformException ex("");
+     346             :     // first try to get transform at the requested time
+     347             :     try
+     348             :     {
+     349             :       // try looking up and returning the transform
+     350     2200735 :       return tf_buffer_->lookupTransform(to_frame, from_frame, time_stamp, lookup_timeout_);
+     351             :     }
+     352     2012449 :     catch (tf2::TransformException& e)
+     353             :     {
+     354     1006239 :       ex = e;
+     355             :     }
+     356             : 
+     357             :     // if that failed, try to get the newest one if requested
+     358     1006218 :     if (retry_lookup_newest_)
+     359             :     {
+     360             :       try
+     361             :       {
+     362     1996179 :         return tf_buffer_->lookupTransform(to_frame, from_frame, ros::Time(0), lookup_timeout_);
+     363             :       }
+     364       32358 :       catch (tf2::TransformException& e)
+     365             :       {
+     366       16179 :         ex = e;
+     367             :       }
+     368             :     }
+     369             : 
+     370             :     // if the flow got here, we've failed to look the transform up
+     371       16209 :     if (quiet_)
+     372             :     {
+     373           0 :       ROS_DEBUG("[%s]: Transformer: Exception caught while looking up transform from \"%s\" to \"%s\": %s", node_name_.c_str(), from_frame.c_str(),
+     374             :                 to_frame.c_str(), ex.what());
+     375             :     } else
+     376             :     {
+     377       16209 :       ROS_WARN_THROTTLE(1.0, "[%s]: Transformer: Exception caught while looking up transform from \"%s\" to \"%s\": %s", node_name_.c_str(),
+     378             :                         from_frame.c_str(), to_frame.c_str(), ex.what());
+     379             :     }
+     380             : 
+     381       16209 :     return std::nullopt;
+     382             :   }
+     383             : 
+     384           1 :   std::optional<geometry_msgs::TransformStamped> Transformer::getTransformImpl(const std::string& from_frame, const ros::Time& from_stamp, const std::string& to_frame, const ros::Time& to_stamp, const std::string& fixed_frame, const std::string& latlon_frame)
+     385             :   {
+     386           1 :     if (!initialized_)
+     387             :     {
+     388           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: Transformer: cannot provide transform, not initialized", node_name_.c_str());
+     389           0 :       return std::nullopt;
+     390             :     }
+     391             : 
+     392             :     // if the frames are the same, just return an identity transform
+     393           1 :     if (from_frame == to_frame)
+     394           0 :       return create_transform(from_frame, to_frame, to_stamp, tf2::toMsg(tf2::Transform::getIdentity()));
+     395             : 
+     396             :     // check for a transform from/to latlon coordinates - that is a special case handled separately
+     397           1 :     if (from_frame == latlon_frame)
+     398             :     {
+     399             :       // find the transformation between the UTM frame and the non-latlon frame to fill the returned tf
+     400           0 :       const std::string utm_frame = getFramePrefix(from_frame) + "utm_origin";
+     401           0 :       auto tf_opt = getTransformImpl(utm_frame, from_stamp, to_frame, to_stamp, fixed_frame, latlon_frame);
+     402           0 :       if (!tf_opt.has_value())
+     403           0 :         return std::nullopt;
+     404             :       // change the transformation frames to point from latlon
+     405           0 :       frame_from(*tf_opt) = from_frame;
+     406           0 :       return tf_opt;
+     407             :     }
+     408           1 :     else if (to_frame == latlon_frame)
+     409             :     {
+     410             :       // find the transformation between the UTM frame and the non-latlon frame to fill the returned tf
+     411           0 :       const std::string utm_frame = getFramePrefix(to_frame) + "utm_origin";
+     412           0 :       auto tf_opt = getTransformImpl(from_frame, from_stamp, utm_frame, to_stamp, fixed_frame, latlon_frame);
+     413           0 :       if (!tf_opt.has_value())
+     414           0 :         return std::nullopt;
+     415             :       // change the transformation frames to point to latlon
+     416           0 :       frame_to(*tf_opt) = to_frame;
+     417           0 :       return tf_opt;
+     418             :     }
+     419             : 
+     420           3 :     tf2::TransformException ex("");
+     421             :     // first try to get transform at the requested time
+     422             :     try
+     423             :     {
+     424             :       // try looking up and returning the transform
+     425           2 :       return tf_buffer_->lookupTransform(to_frame, to_stamp, from_frame, from_stamp, fixed_frame, lookup_timeout_);
+     426             :     }
+     427           0 :     catch (tf2::TransformException& e)
+     428             :     {
+     429           0 :       ex = e;
+     430             :     }
+     431             : 
+     432             :     // if that failed, try to get the newest one if requested
+     433           0 :     if (retry_lookup_newest_)
+     434             :     {
+     435             :       try
+     436             :       {
+     437           0 :         return tf_buffer_->lookupTransform(to_frame, from_frame, ros::Time(0), lookup_timeout_);
+     438             :       }
+     439           0 :       catch (tf2::TransformException& e)
+     440             :       {
+     441           0 :         ex = e;
+     442             :       }
+     443             :     }
+     444             : 
+     445             :     // if the flow got here, we've failed to look the transform up
+     446           0 :     if (quiet_)
+     447             :     {
+     448           0 :       ROS_DEBUG("[%s]: Transformer: Exception caught while looking up transform from \"%s\" to \"%s\": %s", node_name_.c_str(), from_frame.c_str(),
+     449             :                 to_frame.c_str(), ex.what());
+     450             :     } else
+     451             :     {
+     452           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: Transformer: Exception caught while looking up transform from \"%s\" to \"%s\": %s", node_name_.c_str(),
+     453             :                         from_frame.c_str(), to_frame.c_str(), ex.what());
+     454             :     }
+     455             : 
+     456           0 :     return std::nullopt;
+     457             :   }
+     458             : 
+     459             :   //}
+     460             : 
+     461             :   /* resolveFrameImpl() //{*/
+     462             : 
+     463     7672540 :   std::string Transformer::resolveFrameImpl(const std::string& frame_id)
+     464             :   {
+     465             :     // if the frame is empty, return the default frame id
+     466     7672540 :     if (frame_id.empty())
+     467        7981 :       return default_frame_id_;
+     468             : 
+     469             :     // if there is no prefix set, just return the raw frame id
+     470     7664522 :     if (prefix_.empty())
+     471     4744970 :       return frame_id;
+     472             : 
+     473             :     // if there is a default prefix set and the frame does not start with it, prefix it
+     474     2919500 :     if (frame_id.substr(0, prefix_.length()) != prefix_)
+     475     1840000 :       return prefix_ + frame_id;
+     476             : 
+     477     1079629 :     return frame_id;
+     478             :   }
+     479             : 
+     480             :   //}
+     481             : 
+     482             :   /* LLtoUTM() method //{ */
+     483           2 :   geometry_msgs::Point Transformer::LLtoUTM(const geometry_msgs::Point& what, [[maybe_unused]] const std::string& prefix)
+     484             :   {
+     485             :     // convert LAT-LON to UTM
+     486           2 :     geometry_msgs::Point utm;
+     487           2 :     mrs_lib::UTM(what.x, what.y, &utm.x, &utm.y);
+     488             :     // copy the height from the input
+     489           2 :     utm.z = what.z;
+     490           2 :     return utm;
+     491             :   }
+     492             : 
+     493           0 :   geometry_msgs::PointStamped Transformer::LLtoUTM(const geometry_msgs::PointStamped& what, [[maybe_unused]] const std::string& prefix)
+     494             :   {
+     495           0 :     geometry_msgs::PointStamped ret;
+     496           0 :     ret.header.frame_id = prefix + "utm_origin";
+     497           0 :     ret.header.stamp = what.header.stamp;
+     498           0 :     ret.point = LLtoUTM(what.point, prefix);
+     499           0 :     return ret;
+     500             :   }
+     501             : 
+     502           0 :   geometry_msgs::Pose Transformer::LLtoUTM(const geometry_msgs::Pose& what, const std::string& prefix)
+     503             :   {
+     504           0 :     geometry_msgs::Pose ret;
+     505           0 :     ret.position = LLtoUTM(what.position, prefix);
+     506           0 :     ret.orientation = what.orientation;
+     507           0 :     return ret;
+     508             :   }
+     509             : 
+     510           0 :   geometry_msgs::PoseStamped Transformer::LLtoUTM(const geometry_msgs::PoseStamped& what, const std::string& prefix)
+     511             :   {
+     512           0 :     geometry_msgs::PoseStamped ret;
+     513           0 :     ret.header.frame_id = prefix + "utm_origin";
+     514           0 :     ret.header.stamp = what.header.stamp;
+     515           0 :     ret.pose = LLtoUTM(what.pose, prefix);
+     516           0 :     return ret;
+     517             :   }
+     518             :   //}
+     519             : 
+     520             :   /* UTMtoLL() method //{ */
+     521        2160 :   std::optional<geometry_msgs::Point> Transformer::UTMtoLL(const geometry_msgs::Point& what, [[maybe_unused]] const std::string& prefix)
+     522             :   {
+     523             :     // if no UTM zone was specified by the user, we don't know which one to use...
+     524        2160 :     if (!got_utm_zone_)
+     525             :     {
+     526           1 :       ROS_WARN_THROTTLE(1.0, "[%s]: cannot transform to latlong, missing UTM zone (did you call setLatLon()?)", node_name_.c_str());
+     527           1 :       return std::nullopt;
+     528             :     }
+     529             :   
+     530             :     // now apply the nonlinear transformation from UTM to LAT-LON
+     531        2159 :     geometry_msgs::Point latlon;
+     532        2159 :     mrs_lib::UTMtoLL(what.y, what.x, utm_zone_.data(), latlon.x, latlon.y);
+     533        2159 :     latlon.z = what.z;
+     534        2159 :     return latlon;
+     535             :   }
+     536             : 
+     537           0 :   std::optional<geometry_msgs::PointStamped> Transformer::UTMtoLL(const geometry_msgs::PointStamped& what, [[maybe_unused]] const std::string& prefix)
+     538             :   {
+     539           0 :     const auto opt = UTMtoLL(what.point, prefix);
+     540           0 :     if (!opt.has_value())
+     541           0 :       return std::nullopt;
+     542             : 
+     543           0 :     geometry_msgs::PointStamped ret;
+     544           0 :     ret.header.frame_id = prefix + "utm_origin";
+     545           0 :     ret.header.stamp = what.header.stamp;
+     546           0 :     ret.point = opt.value();
+     547           0 :     return ret;
+     548             :   }
+     549             : 
+     550        2158 :   std::optional<geometry_msgs::Pose> Transformer::UTMtoLL(const geometry_msgs::Pose& what, const std::string& prefix)
+     551             :   {
+     552        2158 :     const auto opt = UTMtoLL(what.position, prefix);
+     553        2158 :     if (!opt.has_value())
+     554           0 :       return std::nullopt;
+     555             : 
+     556        2158 :     geometry_msgs::Pose ret;
+     557        2158 :     ret.position = opt.value();
+     558        2158 :     ret.orientation = what.orientation;
+     559        2158 :     return ret;
+     560             :   }
+     561             : 
+     562        2158 :   std::optional<geometry_msgs::PoseStamped> Transformer::UTMtoLL(const geometry_msgs::PoseStamped& what, const std::string& prefix)
+     563             :   {
+     564        2158 :     const auto opt = UTMtoLL(what.pose, prefix);
+     565        2158 :     if (!opt.has_value())
+     566           0 :       return std::nullopt;
+     567             : 
+     568        4316 :     geometry_msgs::PoseStamped ret;
+     569        2158 :     ret.header.frame_id = prefix + "utm_origin";
+     570        2158 :     ret.header.stamp = what.header.stamp;
+     571        2158 :     ret.pose = opt.value();
+     572        2158 :     return ret;
+     573             :   }
+     574             :   //}
+     575             : 
+     576             :   /* getFramePrefix() method //{ */
+     577        4326 :   std::string Transformer::getFramePrefix(const std::string& frame_id)
+     578             :   {
+     579        4326 :     const auto firstof = frame_id.find_first_of('/');
+     580        4326 :     if (firstof == std::string::npos)
+     581           0 :       return "";
+     582             :     else
+     583        4326 :       return frame_id.substr(0, firstof+1);
+     584             :   }
+     585             :   //}
+     586             : 
+     587             : }  // namespace mrs_lib
+
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Current view:top level - mrs_lib/src/utils - utils.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:77100.0 %
Date:2024-08-07 22:18:19Functions:22100.0 %
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mrs_lib::AtomicScopeFlag::AtomicScopeFlag(std::atomic<bool>&)578170
mrs_lib::AtomicScopeFlag::~AtomicScopeFlag()578181
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Generated by: LCOV version 1.14
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Current view:top level - mrs_lib/src/utils - utils.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:77100.0 %
Date:2024-08-07 22:18:19Functions:22100.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #include <mrs_lib/utils.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             : 
+       6      578170 : AtomicScopeFlag::AtomicScopeFlag(std::atomic<bool>& in)
+       7      578170 :   : variable(in)
+       8             : {
+       9      578170 :   variable = true;
+      10      578183 : }
+      11             : 
+      12     1156363 : AtomicScopeFlag::~AtomicScopeFlag()
+      13             : {
+      14      578181 :   variable = false;
+      15      578182 : }
+      16             : 
+      17             : }  // namespace mrs_lib
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/utils/utils.cpp.gcov.overview.html b/mrs_lib/src/utils/utils.cpp.gcov.overview.html new file mode 100644 index 0000000000..f3b2e0a717 --- /dev/null +++ b/mrs_lib/src/utils/utils.cpp.gcov.overview.html @@ -0,0 +1,25 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/utils/utils.cpp + + + + + + + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_lib/src/utils/utils.cpp.gcov.png b/mrs_lib/src/utils/utils.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..3b82aa0d55e194f12f9515f4d5ef4f00538985ef GIT binary patch literal 194 zcmeAS@N?(olHy`uVBq!ia0vp^0YEIs!VDyLSeu0dDTx4|5ZC|z|E~gqdj0}#k_Vn~lnZVFINzf&xlOe%CX$e!F(g};y)F!t{2}&Ee3~RkNUNtx`aKVxJ gJcj|7z|;l?m3NMIqUuuIK(iS + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_autostart/src/automatic_start.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_autostart/src - automatic_start.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:29133586.9 %
Date:2024-08-07 22:18:19Functions:2222100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_autostart::automatic_start::AutomaticStart::disarm()2
mrs_uav_autostart::automatic_start::AutomaticStart::takeoff()19
mrs_uav_autostart::automatic_start::AutomaticStart::toggleControlOutput(bool const&)24
(anonymous namespace)::ProxyExec0::ProxyExec0()31
mrs_uav_autostart::automatic_start::AutomaticStart::onInit()31
mrs_uav_autostart::automatic_start::AutomaticStart::changeState(mrs_uav_autostart::automatic_start::LandingStates_t)49
mrs_uav_autostart::automatic_start::Topic::Topic(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)63
mrs_uav_autostart::automatic_start::Topic::getTopicName[abi:cxx11]()74
mrs_uav_autostart::automatic_start::AutomaticStart::callbackHwApiCapabilities(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const>)597
mrs_uav_autostart::automatic_start::AutomaticStart::callbackGazeboSpawnerDiagnostics(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>)3117
mrs_uav_autostart::automatic_start::AutomaticStart::topicCheck()9378
mrs_uav_autostart::automatic_start::AutomaticStart::validateReference()9378
mrs_uav_autostart::automatic_start::AutomaticStart::isGazeboSimulation()9378
mrs_uav_autostart::automatic_start::AutomaticStart::preflighCheckGyro()9530
mrs_uav_autostart::automatic_start::AutomaticStart::preflighCheckHeight()9530
mrs_uav_autostart::automatic_start::AutomaticStart::preflightCheckSpeed()9530
mrs_uav_autostart::automatic_start::AutomaticStart::timerMain(ros::TimerEvent const&)18166
mrs_uav_autostart::automatic_start::Topic::getTime()37586
mrs_uav_autostart::automatic_start::AutomaticStart::onInit()::{lambda(boost::shared_ptr<topic_tools::ShapeShifter const> const&)#1}::operator()(boost::shared_ptr<topic_tools::ShapeShifter const> const&) const47182
mrs_uav_autostart::automatic_start::AutomaticStart::genericCallback(boost::shared_ptr<topic_tools::ShapeShifter const> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)47188
mrs_uav_autostart::automatic_start::Topic::updateTime()47188
mrs_uav_autostart::automatic_start::AutomaticStart::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)117253
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_autostart/src/automatic_start.cpp.func.html b/mrs_uav_autostart/src/automatic_start.cpp.func.html new file mode 100644 index 0000000000..d8b3c2ae6b --- /dev/null +++ b/mrs_uav_autostart/src/automatic_start.cpp.func.html @@ -0,0 +1,168 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_autostart/src/automatic_start.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_autostart/src - automatic_start.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:29133586.9 %
Date:2024-08-07 22:18:19Functions:2222100.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()31
mrs_uav_autostart::automatic_start::AutomaticStart::topicCheck()9378
mrs_uav_autostart::automatic_start::AutomaticStart::changeState(mrs_uav_autostart::automatic_start::LandingStates_t)49
mrs_uav_autostart::automatic_start::AutomaticStart::genericCallback(boost::shared_ptr<topic_tools::ShapeShifter const> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)47188
mrs_uav_autostart::automatic_start::AutomaticStart::preflighCheckGyro()9530
mrs_uav_autostart::automatic_start::AutomaticStart::validateReference()9378
mrs_uav_autostart::automatic_start::AutomaticStart::isGazeboSimulation()9378
mrs_uav_autostart::automatic_start::AutomaticStart::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)117253
mrs_uav_autostart::automatic_start::AutomaticStart::preflighCheckHeight()9530
mrs_uav_autostart::automatic_start::AutomaticStart::preflightCheckSpeed()9530
mrs_uav_autostart::automatic_start::AutomaticStart::toggleControlOutput(bool const&)24
mrs_uav_autostart::automatic_start::AutomaticStart::callbackHwApiCapabilities(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const>)597
mrs_uav_autostart::automatic_start::AutomaticStart::callbackGazeboSpawnerDiagnostics(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>)3117
mrs_uav_autostart::automatic_start::AutomaticStart::disarm()2
mrs_uav_autostart::automatic_start::AutomaticStart::onInit()31
mrs_uav_autostart::automatic_start::AutomaticStart::takeoff()19
mrs_uav_autostart::automatic_start::AutomaticStart::timerMain(ros::TimerEvent const&)18166
mrs_uav_autostart::automatic_start::Topic::updateTime()47188
mrs_uav_autostart::automatic_start::Topic::getTopicName[abi:cxx11]()74
mrs_uav_autostart::automatic_start::Topic::getTime()37586
mrs_uav_autostart::automatic_start::Topic::Topic(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)63
mrs_uav_autostart::automatic_start::AutomaticStart::onInit()::{lambda(boost::shared_ptr<topic_tools::ShapeShifter const> const&)#1}::operator()(boost::shared_ptr<topic_tools::ShapeShifter const> const&) const47182
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_autostart/src/automatic_start.cpp.gcov.frameset.html b/mrs_uav_autostart/src/automatic_start.cpp.gcov.frameset.html new file mode 100644 index 0000000000..dc21d0ec86 --- /dev/null +++ b/mrs_uav_autostart/src/automatic_start.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_autostart/src/automatic_start.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_autostart/src/automatic_start.cpp.gcov.html b/mrs_uav_autostart/src/automatic_start.cpp.gcov.html new file mode 100644 index 0000000000..42782d566f --- /dev/null +++ b/mrs_uav_autostart/src/automatic_start.cpp.gcov.html @@ -0,0 +1,1078 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_autostart/src/automatic_start.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_autostart/src - automatic_start.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:29133586.9 %
Date:2024-08-07 22:18:19Functions:2222100.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <nodelet/nodelet.h>
+       5             : 
+       6             : #include <mrs_lib/param_loader.h>
+       7             : #include <mrs_lib/mutex.h>
+       8             : #include <mrs_lib/subscribe_handler.h>
+       9             : #include <mrs_lib/publisher_handler.h>
+      10             : 
+      11             : #include <std_msgs/Bool.h>
+      12             : 
+      13             : #include <std_srvs/Trigger.h>
+      14             : #include <std_srvs/SetBool.h>
+      15             : 
+      16             : #include <mrs_msgs/ControlManagerDiagnostics.h>
+      17             : #include <mrs_msgs/UavManagerDiagnostics.h>
+      18             : #include <mrs_msgs/ValidateReference.h>
+      19             : #include <mrs_msgs/GazeboSpawnerDiagnostics.h>
+      20             : #include <mrs_msgs/HwApiStatus.h>
+      21             : #include <mrs_msgs/HwApiCapabilities.h>
+      22             : #include <mrs_msgs/EstimationDiagnostics.h>
+      23             : 
+      24             : #include <sensor_msgs/Range.h>
+      25             : #include <sensor_msgs/Imu.h>
+      26             : 
+      27             : #include <topic_tools/shape_shifter.h>
+      28             : 
+      29             : //}
+      30             : 
+      31             : namespace mrs_uav_autostart
+      32             : {
+      33             : 
+      34             : namespace automatic_start
+      35             : {
+      36             : 
+      37             : /* class Topic //{ */
+      38             : 
+      39             : class Topic {
+      40             : private:
+      41             :   std::string topic_name_;
+      42             :   ros::Time   last_time_;
+      43             : 
+      44             : public:
+      45          63 :   Topic(std::string topic_name) : topic_name_(topic_name) {
+      46          63 :     last_time_ = ros::Time::UNINITIALIZED;
+      47          63 :   }
+      48             : 
+      49       47188 :   void updateTime(void) {
+      50       47188 :     last_time_ = ros::Time::now();
+      51       47183 :   }
+      52             : 
+      53       37586 :   ros::Time getTime(void) {
+      54       37586 :     return last_time_;
+      55             :   }
+      56             : 
+      57          74 :   std::string getTopicName(void) {
+      58          74 :     return topic_name_;
+      59             :   }
+      60             : };
+      61             : 
+      62             : //}
+      63             : 
+      64             : /* class AutomaticStart //{ */
+      65             : 
+      66             : // state machine
+      67             : typedef enum
+      68             : {
+      69             :   STATE_IDLE,
+      70             :   STATE_TAKEOFF,
+      71             :   STATE_FINISHED
+      72             : } LandingStates_t;
+      73             : 
+      74             : const char* state_names[3] = {"IDLING", "TAKEOFF", "FINISHED"};
+      75             : 
+      76             : class AutomaticStart : public nodelet::Nodelet {
+      77             : 
+      78             : public:
+      79             :   virtual void onInit();
+      80             : 
+      81             : private:
+      82             :   ros::NodeHandle   nh_;
+      83             :   std::atomic<bool> is_initialized_ = false;
+      84             : 
+      85             :   std::string _uav_name_;
+      86             :   bool        _simulation_;
+      87             : 
+      88             :   // | --------------------- service clients -------------------- |
+      89             : 
+      90             :   ros::ServiceClient service_client_toggle_control_output_;
+      91             :   ros::ServiceClient service_client_arm_;
+      92             :   ros::ServiceClient service_client_takeoff_;
+      93             :   ros::ServiceClient service_client_validate_reference_;
+      94             : 
+      95             :   // | ----------------------- subscribers ---------------------- |
+      96             : 
+      97             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>     sh_estimation_diag_;
+      98             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>               sh_hw_api_status_;
+      99             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>         sh_hw_api_capabilities_;
+     100             :   mrs_lib::SubscribeHandler<sensor_msgs::Range>                  sh_distance_sensor_;
+     101             :   mrs_lib::SubscribeHandler<sensor_msgs::Imu>                    sh_imu_;
+     102             :   mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics> sh_control_manager_diag_;
+     103             :   mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics>     sh_uav_manager_diag_;
+     104             :   mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics>  sh_gazebo_spawner_diag_;
+     105             : 
+     106             :   // | ----------------------- publishers ----------------------- |
+     107             : 
+     108             :   mrs_lib::PublisherHandler<std_msgs::Bool> ph_can_takeoff_;
+     109             : 
+     110             :   // | ----------------------- main timer ----------------------- |
+     111             : 
+     112             :   ros::Timer timer_main_;
+     113             :   void       timerMain(const ros::TimerEvent& event);
+     114             :   double     _main_timer_rate_;
+     115             : 
+     116             :   // | ------------------------- hw api ------------------------- |
+     117             : 
+     118             :   void              callbackHwApiStatus(const mrs_msgs::HwApiStatus::ConstPtr msg);
+     119             :   std::atomic<bool> hw_api_connected_ = false;
+     120             :   std::mutex        mutex_hw_api_status_;
+     121             : 
+     122             :   void callbackHwApiCapabilities(const mrs_msgs::HwApiCapabilities::ConstPtr msg);
+     123             : 
+     124             :   // | --------------- Gazebo spawner diagnostics --------------- |
+     125             : 
+     126             :   void                               callbackGazeboSpawnerDiagnostics(const mrs_msgs::GazeboSpawnerDiagnostics::ConstPtr msg);
+     127             :   std::atomic<bool>                  got_gazebo_spawner_diagnostics = false;
+     128             :   mrs_msgs::GazeboSpawnerDiagnostics gazebo_spawner_diagnostics_;
+     129             :   std::mutex                         mutex_gazebo_spawner_diagnostics_;
+     130             : 
+     131             :   // | ----------------- arm and offboard check ----------------- |
+     132             : 
+     133             :   ros::Time armed_time_;
+     134             :   bool      armed_ = false;
+     135             : 
+     136             :   ros::Time offboard_time_;
+     137             :   bool      offboard_ = false;
+     138             : 
+     139             :   bool we_toggled_output_ = false;
+     140             : 
+     141             :   // | ------------------------ routines ------------------------ |
+     142             : 
+     143             :   bool takeoff();
+     144             : 
+     145             :   bool validateReference();
+     146             : 
+     147             :   bool toggleControlOutput(const bool& value);
+     148             :   bool disarm();
+     149             : 
+     150             :   bool isGazeboSimulation(void);
+     151             :   bool topicCheck(void);
+     152             :   bool preflightCheckSpeed(void);
+     153             :   bool preflighCheckHeight(void);
+     154             :   bool preflighCheckGyro(void);
+     155             : 
+     156             :   bool is_gazebo_simulation_ = false;
+     157             : 
+     158             :   // | ---------------------- other params ---------------------- |
+     159             : 
+     160             :   std::string _body_frame_name_;
+     161             :   double      _pre_takeoff_sleep_;
+     162             :   bool        _handle_takeoff_ = false;
+     163             :   double      _safety_timeout_;
+     164             :   double      _control_output_timeout_;
+     165             : 
+     166             :   // | ---------------------- state machine --------------------- |
+     167             : 
+     168             :   uint current_state = STATE_IDLE;
+     169             :   void changeState(LandingStates_t new_state);
+     170             : 
+     171             :   // | --------------------- preflight check -------------------- |
+     172             : 
+     173             :   double _preflight_check_time_window_;
+     174             : 
+     175             :   // | ------------------ preflight speed check ----------------- |
+     176             : 
+     177             :   bool      _speed_check_enabled_ = false;
+     178             :   double    _speed_check_max_speed_;
+     179             :   ros::Time speed_check_violated_time_;
+     180             : 
+     181             :   // | ----------------- preflight height check ----------------- |
+     182             : 
+     183             :   bool      _height_check_enabled_ = false;
+     184             :   double    _height_check_max_height_;
+     185             :   ros::Time height_check_violated_time_;
+     186             : 
+     187             :   // | ----------------- preflight gyro check ----------------- |
+     188             : 
+     189             :   bool      _gyro_check_enabled_ = false;
+     190             :   double    _gyro_check_max_rate_;
+     191             :   ros::Time gyro_check_violated_time_;
+     192             : 
+     193             :   // | ---------------- generic topic subscribers --------------- |
+     194             : 
+     195             :   bool                     _topic_check_enabled_ = false;
+     196             :   double                   _topic_check_timeout_;
+     197             :   std::vector<std::string> _topic_check_topic_names_;
+     198             : 
+     199             :   std::vector<Topic>           topic_check_topics_;
+     200             :   std::vector<ros::Subscriber> generic_subscriber_vec_;
+     201             : 
+     202             :   // generic callback, for any topic, to monitor its rate
+     203             :   void genericCallback(const topic_tools::ShapeShifter::ConstPtr& msg, const std::string& topic_name, const int id);
+     204             : };
+     205             : 
+     206             : //}
+     207             : 
+     208             : /* onInit() //{ */
+     209             : 
+     210          31 : void AutomaticStart::onInit() {
+     211             : 
+     212          31 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     213             : 
+     214          31 :   ros::Time::waitForValid();
+     215             : 
+     216          31 :   armed_      = false;
+     217          31 :   armed_time_ = ros::Time(0);
+     218             : 
+     219          31 :   offboard_      = false;
+     220          31 :   offboard_time_ = ros::Time(0);
+     221             : 
+     222          62 :   mrs_lib::ParamLoader param_loader(nh_, "AutomaticStart");
+     223             : 
+     224          62 :   std::string custom_config_path;
+     225             : 
+     226          31 :   param_loader.loadParam("custom_config", custom_config_path);
+     227             : 
+     228          31 :   if (custom_config_path != "") {
+     229           5 :     param_loader.addYamlFile(custom_config_path);
+     230             :   }
+     231             : 
+     232          31 :   param_loader.addYamlFileFromParam("config_private");
+     233          31 :   param_loader.addYamlFileFromParam("config_public");
+     234             : 
+     235          31 :   param_loader.loadParam("uav_name", _uav_name_);
+     236          31 :   param_loader.loadParam("simulation", _simulation_);
+     237             : 
+     238          31 :   param_loader.loadParam("main_timer_rate", _main_timer_rate_);
+     239          31 :   param_loader.loadParam("body_frame_name", _body_frame_name_);
+     240          31 :   param_loader.loadParam("control_output_timeout", _control_output_timeout_);
+     241             : 
+     242          31 :   param_loader.loadParam("safety_timeout", _safety_timeout_);
+     243          31 :   param_loader.loadParam("pre_takeoff_sleep", _pre_takeoff_sleep_);
+     244             : 
+     245          31 :   param_loader.loadParam("handle_takeoff", _handle_takeoff_);
+     246             : 
+     247          31 :   param_loader.loadParam("preflight_check/time_window", _preflight_check_time_window_);
+     248             : 
+     249          31 :   param_loader.loadParam("preflight_check/speed_check/enabled", _speed_check_enabled_);
+     250          31 :   param_loader.loadParam("preflight_check/speed_check/max_speed", _speed_check_max_speed_);
+     251             : 
+     252          31 :   param_loader.loadParam("preflight_check/height_check/enabled", _height_check_enabled_);
+     253          31 :   param_loader.loadParam("preflight_check/height_check/max_height", _height_check_max_height_);
+     254             : 
+     255          31 :   param_loader.loadParam("preflight_check/gyro_check/enabled", _gyro_check_enabled_);
+     256          31 :   param_loader.loadParam("preflight_check/gyro_check/max_rate", _gyro_check_max_rate_);
+     257             : 
+     258          31 :   param_loader.loadParam("preflight_check/topic_check/enabled", _topic_check_enabled_);
+     259          31 :   param_loader.loadParam("preflight_check/topic_check/timeout", _topic_check_timeout_);
+     260          31 :   param_loader.loadParam("preflight_check/topic_check/topics", _topic_check_topic_names_);
+     261             : 
+     262          31 :   if (!param_loader.loadedSuccessfully()) {
+     263           0 :     ROS_ERROR("[AutomaticStart]: Could not load all parameters!");
+     264           0 :     ros::shutdown();
+     265             :   }
+     266             : 
+     267             :   // | ----------------------- subscribers ---------------------- |
+     268             : 
+     269          62 :   mrs_lib::SubscribeHandlerOptions shopts;
+     270          31 :   shopts.nh                 = nh_;
+     271          31 :   shopts.node_name          = "AutomaticStart";
+     272          31 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     273          31 :   shopts.threadsafe         = true;
+     274          31 :   shopts.autostart          = true;
+     275          31 :   shopts.queue_size         = 10;
+     276          31 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     277             : 
+     278          31 :   sh_estimation_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "estimation_diag_in");
+     279          31 :   sh_hw_api_status_   = mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>(shopts, "hw_api_status_in", &AutomaticStart::callbackHwApiStatus, this);
+     280             :   sh_hw_api_capabilities_ =
+     281          31 :       mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>(shopts, "hw_api_capabilities_in", &AutomaticStart::callbackHwApiCapabilities, this);
+     282          31 :   sh_distance_sensor_      = mrs_lib::SubscribeHandler<sensor_msgs::Range>(shopts, "distance_sensor_in");
+     283          31 :   sh_imu_                  = mrs_lib::SubscribeHandler<sensor_msgs::Imu>(shopts, "imu_in");
+     284          31 :   sh_control_manager_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     285          31 :   sh_uav_manager_diag_     = mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics>(shopts, "uav_manager_diagnostics_in");
+     286          62 :   sh_gazebo_spawner_diag_  = mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics>(shopts, "gazebo_spawner_diagnostics_in",
+     287          31 :                                                                                           &AutomaticStart::callbackGazeboSpawnerDiagnostics, this);
+     288             : 
+     289             :   // | ----------------------- publishers ----------------------- |
+     290             : 
+     291          31 :   ph_can_takeoff_ = mrs_lib::PublisherHandler<std_msgs::Bool>(nh_, "can_takeoff_out");
+     292             : 
+     293             :   // | --------------------- service clients -------------------- |
+     294             : 
+     295          31 :   service_client_takeoff_               = nh_.serviceClient<std_srvs::Trigger>("takeoff_out");
+     296          31 :   service_client_toggle_control_output_ = nh_.serviceClient<std_srvs::SetBool>("toggle_control_output_out");
+     297          31 :   service_client_arm_                   = nh_.serviceClient<std_srvs::SetBool>("arm_out");
+     298             : 
+     299          31 :   service_client_validate_reference_ = nh_.serviceClient<mrs_msgs::ValidateReference>("validate_reference_out");
+     300             : 
+     301             :   // | ------------------ setup generic topics ------------------ |
+     302             : 
+     303          31 :   if (_topic_check_enabled_) {
+     304             : 
+     305          62 :     boost::function<void(const topic_tools::ShapeShifter::ConstPtr&)> callback;
+     306             : 
+     307          94 :     for (int i = 0; i < int(_topic_check_topic_names_.size()); i++) {
+     308             : 
+     309         126 :       std::string topic_name = _topic_check_topic_names_.at(i);
+     310             : 
+     311          63 :       if (topic_name.at(0) != '/') {
+     312          63 :         topic_name = "/" + _uav_name_ + "/" + topic_name;
+     313             :       }
+     314             : 
+     315         126 :       Topic tmp_topic(topic_name);
+     316          63 :       topic_check_topics_.push_back(tmp_topic);
+     317             : 
+     318          63 :       int id = i;  // id to identify which topic called the generic callback
+     319             : 
+     320       47245 :       callback                       = [this, topic_name, id](const topic_tools::ShapeShifter::ConstPtr& msg) -> void { genericCallback(msg, topic_name, id); };
+     321         189 :       ros::Subscriber tmp_subscriber = nh_.subscribe(topic_name, 1, callback);
+     322             : 
+     323          63 :       generic_subscriber_vec_.push_back(tmp_subscriber);
+     324             :     }
+     325             :   }
+     326             : 
+     327             :   // | ------------------------- timers ------------------------- |
+     328             : 
+     329          31 :   timer_main_ = nh_.createTimer(ros::Rate(_main_timer_rate_), &AutomaticStart::timerMain, this);
+     330             : 
+     331             :   // | --------------------- finish the init -------------------- |
+     332             : 
+     333          31 :   is_initialized_ = true;
+     334             : 
+     335          31 :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: initialized");
+     336          31 : }
+     337             : 
+     338             : //}
+     339             : 
+     340             : // --------------------------------------------------------------
+     341             : // |                          callbacks                         |
+     342             : // --------------------------------------------------------------
+     343             : 
+     344             : /* genericCallback() //{ */
+     345             : 
+     346       47188 : void AutomaticStart::genericCallback([[maybe_unused]] const topic_tools::ShapeShifter::ConstPtr& msg, [[maybe_unused]] const std::string& topic_name,
+     347             :                                      const int id) {
+     348       47188 :   topic_check_topics_.at(id).updateTime();
+     349       47183 : }
+     350             : 
+     351             : //}
+     352             : 
+     353             : /* callbackHwApiStatus() //{ */
+     354             : 
+     355      117253 : void AutomaticStart::callbackHwApiStatus(const mrs_msgs::HwApiStatus::ConstPtr msg) {
+     356             : 
+     357      117253 :   if (!is_initialized_) {
+     358           0 :     return;
+     359             :   }
+     360             : 
+     361      117253 :   ROS_INFO_ONCE("[AutomaticStart]: getting HW API status");
+     362             : 
+     363      234506 :   std::scoped_lock lock(mutex_hw_api_status_);
+     364             : 
+     365             :   // check armed_ state
+     366      117253 :   if (armed_ == false) {
+     367             : 
+     368             :     // if armed_ state changed to true, please "start the clock"
+     369       67249 :     if (msg->armed) {
+     370             : 
+     371          30 :       armed_      = true;
+     372          30 :       armed_time_ = ros::Time::now();
+     373             :     }
+     374             : 
+     375             :     // if we were armed_ previously
+     376       50004 :   } else if (armed_ == true) {
+     377             : 
+     378             :     // and we are not really now
+     379       50004 :     if (!msg->armed) {
+     380             : 
+     381           2 :       armed_ = false;
+     382             :     }
+     383             :   }
+     384             : 
+     385             :   // check offboard_ state
+     386      117253 :   if (offboard_ == false) {
+     387             : 
+     388             :     // if offboard_ state changed to true, please "start the clock"
+     389       77732 :     if (msg->offboard) {
+     390             : 
+     391          22 :       offboard_      = true;
+     392          22 :       offboard_time_ = ros::Time::now();
+     393             :     }
+     394             : 
+     395             :     // if we were in offboard_ previously
+     396       39521 :   } else if (offboard_ == true) {
+     397             : 
+     398             :     // and we are not really now
+     399       39521 :     if (!msg->offboard) {
+     400             : 
+     401           0 :       offboard_ = false;
+     402             :     }
+     403             :   }
+     404             : 
+     405      117253 :   if (msg->connected) {
+     406      113861 :     hw_api_connected_ = true;
+     407             :   }
+     408             : }
+     409             : 
+     410             : //}
+     411             : 
+     412             : /* callbackHwApiCapabilities() //{ */
+     413             : 
+     414         597 : void AutomaticStart::callbackHwApiCapabilities([[maybe_unused]] const mrs_msgs::HwApiCapabilities::ConstPtr msg) {
+     415             : 
+     416         597 :   if (!is_initialized_) {
+     417           0 :     return;
+     418             :   }
+     419             : 
+     420         597 :   ROS_INFO_ONCE("[AutomaticStart]: getting HW API capabilities");
+     421             : }
+     422             : 
+     423             : //}
+     424             : 
+     425             : /* callbackGazeboSpawnerDiagnostics() //{ */
+     426             : 
+     427        3117 : void AutomaticStart::callbackGazeboSpawnerDiagnostics(const mrs_msgs::GazeboSpawnerDiagnostics::ConstPtr msg) {
+     428             : 
+     429        3117 :   if (!is_initialized_) {
+     430           0 :     return;
+     431             :   }
+     432             : 
+     433        3117 :   ROS_INFO_ONCE("[AutomaticStart]: getting spawner diagnostics");
+     434             : 
+     435             :   {
+     436        6234 :     std::scoped_lock lock(mutex_gazebo_spawner_diagnostics_);
+     437             : 
+     438        3117 :     gazebo_spawner_diagnostics_ = *msg;
+     439             : 
+     440        3117 :     got_gazebo_spawner_diagnostics = true;
+     441             :   }
+     442             : }
+     443             : 
+     444             : //}
+     445             : 
+     446             : // --------------------------------------------------------------
+     447             : // |                           timers                           |
+     448             : // --------------------------------------------------------------
+     449             : 
+     450             : /* timerMain() //{ */
+     451             : 
+     452       18166 : void AutomaticStart::timerMain([[maybe_unused]] const ros::TimerEvent& event) {
+     453             : 
+     454       18166 :   if (!is_initialized_) {
+     455        5877 :     return;
+     456             :   }
+     457             : 
+     458       18166 :   bool got_uav_manager_diag     = sh_uav_manager_diag_.hasMsg();
+     459       18166 :   bool got_control_manager_diag = sh_control_manager_diag_.hasMsg();
+     460       18166 :   bool got_estimation_diag      = sh_estimation_diag_.hasMsg();
+     461       18166 :   bool got_hw_api               = sh_hw_api_status_.hasMsg() && sh_hw_api_capabilities_.hasMsg() && hw_api_connected_;
+     462             : 
+     463       18166 :   if (!got_control_manager_diag || !got_hw_api || !got_uav_manager_diag || !got_estimation_diag) {
+     464        5725 :     ROS_WARN_THROTTLE(5.0, "[AutomaticStart]: waiting for data: ControlManager=%s, UavManager=%s, HW Api=%s, EstimationManager=%s",
+     465             :                       got_control_manager_diag ? "true" : "FALSE", got_uav_manager_diag ? "true" : "FALSE", got_hw_api ? "true" : "FALSE",
+     466             :                       got_estimation_diag ? "true" : "FALSE");
+     467        5725 :     return;
+     468             :   }
+     469             : 
+     470       12441 :   auto [armed, offboard, armed_time, offboard_time] = mrs_lib::get_mutexed(mutex_hw_api_status_, armed_, offboard_, armed_time_, offboard_time_);
+     471       12441 :   auto control_manager_diagnostics                  = sh_control_manager_diag_.getMsg();
+     472             : 
+     473       12441 :   switch (current_state) {
+     474             : 
+     475        9530 :     case STATE_IDLE: {
+     476             : 
+     477             :       // | --------------------- preflight check -------------------- |
+     478             : 
+     479        9530 :       bool speed_valid  = preflightCheckSpeed();
+     480        9530 :       bool height_valid = preflighCheckHeight();
+     481        9530 :       bool gyros_valid  = preflighCheckGyro();
+     482             : 
+     483        9530 :       bool possibly_in_the_air = !speed_valid || !height_valid || !gyros_valid;
+     484             : 
+     485        9530 :       if (possibly_in_the_air) {
+     486             : 
+     487         152 :         ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: preflight check failed, the UAV is possibly in the air");
+     488             : 
+     489         152 :         if (armed) {
+     490             : 
+     491           6 :           ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: -- the UAV is also armed!! finishing to prevent unwanted system activation");
+     492             : 
+     493           6 :           if (we_toggled_output_) {
+     494             : 
+     495           1 :             bool res = toggleControlOutput(false);
+     496             : 
+     497           1 :             if (!res) {
+     498           0 :               ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: could not set control output OFF");
+     499             :             }
+     500             :           }
+     501             : 
+     502           6 :           changeState(STATE_FINISHED);
+     503             : 
+     504         152 :           return;
+     505             :         }
+     506             : 
+     507         146 :         return;
+     508             :       }
+     509             : 
+     510             :       // | -------------------- ready to takeoff -------------------- |
+     511             : 
+     512        9378 :       bool control_output_enabled = sh_control_manager_diag_.getMsg()->output_enabled;
+     513             : 
+     514        9378 :       std_msgs::Bool can_takeoff_msg;
+     515        9378 :       can_takeoff_msg.data = false;
+     516             : 
+     517             :       // | -------------------- preflight checks -------------------- |
+     518             : 
+     519        9378 :       bool position_valid = validateReference();
+     520        9378 :       bool got_topics     = topicCheck();
+     521             : 
+     522        9378 :       bool can_takeoff = got_topics && position_valid;
+     523             : 
+     524             :       // | ---------------------------------------------------------- |
+     525             : 
+     526        9378 :       can_takeoff_msg.data = can_takeoff;
+     527        9378 :       ph_can_takeoff_.publish(can_takeoff_msg);
+     528             : 
+     529        9378 :       if (armed && !control_output_enabled) {
+     530             : 
+     531         115 :         if (can_takeoff) {
+     532             : 
+     533          23 :           bool res = toggleControlOutput(true);
+     534             : 
+     535          23 :           if (!res) {
+     536           0 :             ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: could not set control output ON");
+     537             :           } else {
+     538          23 :             we_toggled_output_ = true;
+     539             :           }
+     540             :         }
+     541             : 
+     542         115 :         double time_from_arming = (ros::Time::now() - armed_time).toSec();
+     543             : 
+     544         115 :         if (armed_time != ros::Time::UNINITIALIZED && time_from_arming > _control_output_timeout_) {
+     545             : 
+     546           2 :           ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: could not set control output ON for %.2f secs, disarming", _control_output_timeout_);
+     547           2 :           disarm();
+     548           2 :           changeState(STATE_FINISHED);
+     549             :         }
+     550             :       }
+     551             : 
+     552        9378 :       if (_simulation_ && isGazeboSimulation()) {
+     553             : 
+     554        6052 :         std::scoped_lock lock(mutex_gazebo_spawner_diagnostics_);
+     555             : 
+     556        6052 :         if (got_gazebo_spawner_diagnostics) {
+     557             : 
+     558        6052 :           if (!gazebo_spawner_diagnostics_.spawn_called || gazebo_spawner_diagnostics_.processing) {
+     559           0 :             ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: (simulation) waiting for spawner to finish spawning UAVs");
+     560           0 :             return;
+     561             :           }
+     562             : 
+     563             :         } else {
+     564             : 
+     565           0 :           ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: (simulation) missing spawner diagnostics");
+     566           0 :           return;
+     567             :         }
+     568             :       }
+     569             : 
+     570             :       // when armed and in offboard, takeoff
+     571        9378 :       if (armed && offboard && control_output_enabled) {
+     572             : 
+     573        2872 :         if (!_handle_takeoff_) {
+     574           3 :           changeState(STATE_FINISHED);
+     575             :         } else {
+     576             : 
+     577        2869 :           ros::Duration armed_time_diff    = ros::Time::now() - armed_time;
+     578        2869 :           ros::Duration offboard_time_diff = ros::Time::now() - offboard_time;
+     579             : 
+     580        2869 :           if (armed_time_diff > ros::Duration(_safety_timeout_) && offboard_time_diff > ros::Duration(_safety_timeout_)) {
+     581             : 
+     582          19 :             changeState(STATE_TAKEOFF);
+     583             : 
+     584             :           } else {
+     585             : 
+     586        2850 :             double min = (armed_time_diff < offboard_time_diff) ? armed_time_diff.toSec() : offboard_time_diff.toSec();
+     587             : 
+     588        2850 :             ROS_WARN_THROTTLE(1.0, "taking off in %.0f", (_safety_timeout_ - min));
+     589             :           }
+     590             :         }
+     591             :       }
+     592             : 
+     593        9378 :       break;
+     594             :     }
+     595             : 
+     596        2881 :     case STATE_TAKEOFF: {
+     597             : 
+     598             :       // if takeoff finished
+     599        2881 :       if (control_manager_diagnostics->flying_normally) {
+     600             : 
+     601          19 :         ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: takeoff finished");
+     602             : 
+     603          19 :         changeState(STATE_FINISHED);
+     604             : 
+     605             :       } else {
+     606             : 
+     607        2862 :         ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: waiting for the takeoff to finish");
+     608             :       }
+     609             : 
+     610        2881 :       break;
+     611             :     }
+     612             : 
+     613          30 :     case STATE_FINISHED: {
+     614             : 
+     615          30 :       ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: finished");
+     616          30 :       ros::requestShutdown();
+     617          30 :       break;
+     618             :     }
+     619             :   }
+     620             : }
+     621             : 
+     622             : //}
+     623             : 
+     624             : // --------------------------------------------------------------
+     625             : // |                          routines                          |
+     626             : // --------------------------------------------------------------
+     627             : 
+     628             : /* changeState() //{ */
+     629             : 
+     630          49 : void AutomaticStart::changeState(LandingStates_t new_state) {
+     631             : 
+     632          49 :   ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: switching states %s -> %s", state_names[current_state], state_names[new_state]);
+     633             : 
+     634          49 :   switch (new_state) {
+     635             : 
+     636           0 :     case STATE_IDLE: {
+     637             : 
+     638           0 :       break;
+     639             :     }
+     640             : 
+     641          19 :     case STATE_TAKEOFF: {
+     642             : 
+     643          19 :       if (_pre_takeoff_sleep_ > 1.0) {
+     644           0 :         ROS_INFO("[AutomaticStart]: sleeping for %.2f secs before takeoff", _pre_takeoff_sleep_);
+     645           0 :         ros::Duration(_pre_takeoff_sleep_).sleep();
+     646             :       }
+     647             : 
+     648          19 :       bool res = takeoff();
+     649             : 
+     650          19 :       if (!res) {
+     651             : 
+     652           0 :         current_state = STATE_FINISHED;
+     653             : 
+     654           0 :         return;
+     655             :       }
+     656             : 
+     657          19 :       break;
+     658             :     }
+     659             : 
+     660          30 :     case STATE_FINISHED: {
+     661             : 
+     662          30 :       break;
+     663             :     }
+     664             : 
+     665             :     break;
+     666             :   }
+     667             : 
+     668          49 :   current_state = new_state;
+     669             : }
+     670             : 
+     671             : //}
+     672             : 
+     673             : /* takeoff() //{ */
+     674             : 
+     675          19 : bool AutomaticStart::takeoff() {
+     676             : 
+     677          19 :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: taking off");
+     678             : 
+     679          38 :   std_srvs::Trigger srv;
+     680             : 
+     681          19 :   bool res = service_client_takeoff_.call(srv);
+     682             : 
+     683          19 :   if (res) {
+     684             : 
+     685          19 :     if (srv.response.success) {
+     686             : 
+     687          19 :       return true;
+     688             : 
+     689             :     } else {
+     690             : 
+     691           0 :       ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: taking off failed: %s", srv.response.message.c_str());
+     692             :     }
+     693             : 
+     694             :   } else {
+     695             : 
+     696           0 :     ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: service call for taking off failed");
+     697             :   }
+     698             : 
+     699           0 :   return false;
+     700             : }
+     701             : 
+     702             : //}
+     703             : 
+     704             : /* validateReference() //{ */
+     705             : 
+     706        9378 : bool AutomaticStart::validateReference() {
+     707             : 
+     708       18756 :   mrs_msgs::ValidateReference srv_out;
+     709             : 
+     710        9378 :   srv_out.request.reference.header.frame_id = _body_frame_name_;
+     711             : 
+     712        9378 :   bool res = service_client_validate_reference_.call(srv_out);
+     713             : 
+     714        9378 :   if (res) {
+     715             : 
+     716        9378 :     if (srv_out.response.success) {
+     717             : 
+     718        9302 :       ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: current position is valid");
+     719        9302 :       return true;
+     720             : 
+     721             :     } else {
+     722             : 
+     723          76 :       ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: current position is not valid (safety area, bumper)!");
+     724          76 :       return false;
+     725             :     }
+     726             : 
+     727             :   } else {
+     728             : 
+     729           0 :     ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: current position could not be validated");
+     730           0 :     return false;
+     731             :   }
+     732             : }
+     733             : 
+     734             : //}
+     735             : 
+     736             : /* toggleControlOutput() //{ */
+     737             : 
+     738          24 : bool AutomaticStart::toggleControlOutput(const bool& value) {
+     739             : 
+     740          24 :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: setting control output %s", value ? "ON" : "OFF");
+     741             : 
+     742          48 :   std_srvs::SetBool srv;
+     743          24 :   srv.request.data = value;
+     744             : 
+     745          24 :   bool res = service_client_toggle_control_output_.call(srv);
+     746             : 
+     747          24 :   if (res) {
+     748             : 
+     749          24 :     if (srv.response.success) {
+     750             : 
+     751          24 :       return true;
+     752             : 
+     753             :     } else {
+     754             : 
+     755           0 :       ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: setting of control output failed: %s", srv.response.message.c_str());
+     756             :     }
+     757             : 
+     758             :   } else {
+     759             : 
+     760           0 :     ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: service call for toggling control output failed");
+     761             :   }
+     762             : 
+     763           0 :   return false;
+     764             : }
+     765             : 
+     766             : //}
+     767             : 
+     768             : /* disarm() //{ */
+     769             : 
+     770           2 : bool AutomaticStart::disarm() {
+     771             : 
+     772           2 :   if (!hw_api_connected_) {
+     773             : 
+     774           0 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: cannot disarm, missing HW API status!");
+     775             : 
+     776           0 :     return false;
+     777             :   }
+     778             : 
+     779           2 :   auto [armed, offboard, armed_time, offboard_time] = mrs_lib::get_mutexed(mutex_hw_api_status_, armed_, offboard_, armed_time_, offboard_time_);
+     780             : 
+     781           2 :   if (offboard) {
+     782             : 
+     783           0 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: cannot disarm, already in offboard mode!");
+     784             : 
+     785           0 :     return false;
+     786             :   }
+     787             : 
+     788           2 :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: disarming");
+     789             : 
+     790           4 :   std_srvs::SetBool srv;
+     791           2 :   srv.request.data = false;
+     792             : 
+     793           2 :   bool res = service_client_arm_.call(srv);
+     794             : 
+     795           2 :   if (res) {
+     796             : 
+     797           2 :     if (srv.response.success) {
+     798             : 
+     799           2 :       return true;
+     800             : 
+     801             :     } else {
+     802             : 
+     803           0 :       ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: disarming failed");
+     804             :     }
+     805             : 
+     806             :   } else {
+     807             : 
+     808           0 :     ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: service call for disarming failed");
+     809             :   }
+     810             : 
+     811           0 :   return false;
+     812             : }
+     813             : 
+     814             : //}
+     815             : 
+     816             : /* isGazeboSimulation() //{ */
+     817             : 
+     818        9378 : bool AutomaticStart::isGazeboSimulation(void) {
+     819             : 
+     820        9378 :   if (is_gazebo_simulation_) {
+     821        6043 :     return true;
+     822             :   }
+     823             : 
+     824        6670 :   ros::V_string node_list;
+     825        3335 :   ros::master::getNodes(node_list);
+     826             : 
+     827       46577 :   for (auto& node : node_list) {
+     828       43251 :     if (node.find("mrs_drone_spawner") != std::string::npos) {
+     829           9 :       ROS_INFO("[AutomaticStart]: MRS Gazebo Simulation detected");
+     830           9 :       is_gazebo_simulation_ = true;
+     831           9 :       return true;
+     832             :     }
+     833             :   }
+     834             : 
+     835        3326 :   return false;
+     836             : }
+     837             : 
+     838             : //}
+     839             : 
+     840             : /* topicCheck() //{ */
+     841             : 
+     842        9378 : bool AutomaticStart::topicCheck(void) {
+     843             : 
+     844        9378 :   bool got_topics = true;
+     845             : 
+     846        9378 :   std::stringstream missing_topics;
+     847             : 
+     848        9378 :   if (_topic_check_enabled_) {
+     849             : 
+     850       28208 :     for (int i = 0; i < int(topic_check_topics_.size()); i++) {
+     851             : 
+     852       37586 :       if (topic_check_topics_.at(i).getTime() == ros::Time::UNINITIALIZED ||
+     853       37586 :           (ros::Time::now() - topic_check_topics_.at(i).getTime()) > ros::Duration(_topic_check_timeout_)) {
+     854             : 
+     855          74 :         missing_topics << std::endl << "\t" << topic_check_topics_.at(i).getTopicName();
+     856          74 :         got_topics = false;
+     857             :       }
+     858             :     }
+     859             :   }
+     860             : 
+     861        9378 :   if (!got_topics) {
+     862          74 :     ROS_WARN_STREAM_THROTTLE(1.0, "[AutomaticStart]: missing data on topics: " << missing_topics.str());
+     863             :   }
+     864             : 
+     865       18756 :   return got_topics;
+     866             : }
+     867             : 
+     868             : //}
+     869             : 
+     870             : // | -------- preflight cheks for detecting flyign UAV -------- |
+     871             : 
+     872             : /* preflightCheckSpeed() //{ */
+     873             : 
+     874        9530 : bool AutomaticStart::preflightCheckSpeed(void) {
+     875             : 
+     876        9530 :   if (!_speed_check_enabled_) {
+     877           0 :     return true;
+     878             :   }
+     879             : 
+     880        9530 :   if (!sh_estimation_diag_.hasMsg()) {
+     881           0 :     return false;
+     882             :   }
+     883             : 
+     884       19060 :   auto estimation_diag = sh_estimation_diag_.getMsg();
+     885             : 
+     886        9530 :   double speed = std::hypot(estimation_diag->velocity.linear.x, estimation_diag->velocity.linear.y, estimation_diag->velocity.linear.z);
+     887             : 
+     888        9530 :   if (speed > _speed_check_max_speed_) {
+     889           0 :     speed_check_violated_time_ = ros::Time::now();
+     890           0 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: the estimated speed (%.2f ms^-2) is over the limit (%.2f ms^-2)", speed, _speed_check_max_speed_);
+     891             :   }
+     892             : 
+     893        9530 :   if (speed_check_violated_time_ != ros::Time::UNINITIALIZED &&
+     894        9530 :       (ros::Time::now() - speed_check_violated_time_) < ros::Duration(_preflight_check_time_window_)) {
+     895           0 :     return false;
+     896             :   } else {
+     897        9530 :     return true;
+     898             :   }
+     899             : }
+     900             : 
+     901             : //}
+     902             : 
+     903             : /* preflighCheckHeight() //{ */
+     904             : 
+     905        9530 : bool AutomaticStart::preflighCheckHeight(void) {
+     906             : 
+     907        9530 :   if (!_height_check_enabled_) {
+     908         245 :     return true;
+     909             :   }
+     910             : 
+     911             :   // | ----------------- is the check possible? ----------------- |
+     912             : 
+     913        9285 :   if (!sh_hw_api_capabilities_.hasMsg()) {
+     914           0 :     return false;
+     915             :   }
+     916             : 
+     917       18570 :   auto capabilities = sh_hw_api_capabilities_.getMsg();
+     918             : 
+     919        9285 :   if (!capabilities->produces_distance_sensor) {
+     920           0 :     return true;
+     921             :   }
+     922             : 
+     923             :   // | -------------------- do we have data? -------------------- |
+     924             : 
+     925        9285 :   if (!sh_distance_sensor_.hasMsg()) {
+     926         676 :     return true;
+     927             :   }
+     928             : 
+     929        8609 :   double height = sh_distance_sensor_.getMsg()->range;
+     930             : 
+     931        8609 :   if (height > _height_check_max_height_) {
+     932         151 :     height_check_violated_time_ = ros::Time::now();
+     933         151 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: the height (%.2f m) is over the limit (%.2f m)", height, _height_check_max_height_);
+     934             :   }
+     935             : 
+     936        8760 :   if (height_check_violated_time_ != ros::Time::UNINITIALIZED &&
+     937        8760 :       (ros::Time::now() - height_check_violated_time_) < ros::Duration(_preflight_check_time_window_)) {
+     938         151 :     return false;
+     939             :   } else {
+     940        8458 :     return true;
+     941             :   }
+     942             : }
+     943             : 
+     944             : //}
+     945             : 
+     946             : /* preflighCheckGyro() //{ */
+     947             : 
+     948        9530 : bool AutomaticStart::preflighCheckGyro(void) {
+     949             : 
+     950        9530 :   if (!_gyro_check_enabled_) {
+     951           0 :     return true;
+     952             :   }
+     953             : 
+     954             :   // | ----------------- is the check possible? ----------------- |
+     955             : 
+     956        9530 :   if (!sh_hw_api_capabilities_.hasMsg()) {
+     957           0 :     return false;
+     958             :   }
+     959             : 
+     960       19060 :   auto capabilities = sh_hw_api_capabilities_.getMsg();
+     961             : 
+     962        9530 :   if (!capabilities->produces_imu) {
+     963           0 :     return true;
+     964             :   }
+     965             : 
+     966             :   // | -------------------- do we have data? -------------------- |
+     967             : 
+     968        9530 :   if (!sh_imu_.hasMsg()) {
+     969           0 :     return true;
+     970             :   }
+     971             : 
+     972        9530 :   auto gyros = sh_imu_.getMsg()->angular_velocity;
+     973             : 
+     974        9530 :   if (abs(gyros.x) > _gyro_check_max_rate_ || abs(gyros.y) > _gyro_check_max_rate_ || abs(gyros.z) > _gyro_check_max_rate_) {
+     975           1 :     gyro_check_violated_time_ = ros::Time::now();
+     976           1 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: the angular velocity ([%.2f, %.2f, %.2f] rad/s) is over the limit (%.2f rad/s)", gyros.x, gyros.y, gyros.z,
+     977             :                       _gyro_check_max_rate_);
+     978             :   }
+     979             : 
+     980        9530 :   if (gyro_check_violated_time_ != ros::Time::UNINITIALIZED && (ros::Time::now() - gyro_check_violated_time_) < ros::Duration(_preflight_check_time_window_)) {
+     981           1 :     return false;
+     982             :   } else {
+     983        9529 :     return true;
+     984             :   }
+     985             : }
+     986             : 
+     987             : //}
+     988             : 
+     989             : }  // namespace automatic_start
+     990             : 
+     991             : }  // namespace mrs_uav_autostart
+     992             : 
+     993             : #include <pluginlib/class_list_macros.h>
+     994          31 : PLUGINLIB_EXPORT_CLASS(mrs_uav_autostart::automatic_start::AutomaticStart, nodelet::Nodelet)
+
+
+
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mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)2
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mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)2
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)4
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)10
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)39
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)52
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mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)52
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)2
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)4
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)39
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)2
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)10
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)2
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          Line data    Source code
+
+       1             : #ifndef MRS_UAV_CONTROLLERS_COMMON_H
+       2             : #define MRS_UAV_CONTROLLERS_COMMON_H
+       3             : 
+       4             : #include <eigen3/Eigen/Eigen>
+       5             : #include <mrs_uav_managers/control_manager/common_handlers.h>
+       6             : #include <mrs_uav_managers/controller.h>
+       7             : #include <mrs_lib/attitude_converter.h>
+       8             : 
+       9             : namespace mrs_uav_controllers
+      10             : {
+      11             : 
+      12             : namespace common
+      13             : {
+      14             : 
+      15             : enum CONTROL_OUTPUT
+      16             : {
+      17             :   ACTUATORS_CMD,
+      18             :   CONTROL_GROUP,
+      19             :   ATTITUDE_RATE,
+      20             :   ATTITUDE,
+      21             :   ACCELERATION_HDG_RATE,
+      22             :   ACCELERATION_HDG,
+      23             :   VELOCITY_HDG_RATE,
+      24             :   VELOCITY_HDG,
+      25             :   POSITION
+      26             : };
+      27             : 
+      28             : Eigen::Vector3d orientationError(const Eigen::Matrix3d& R, const Eigen::Matrix3d& Rd);
+      29             : 
+      30             : std::optional<Eigen::Vector3d> sanitizeDesiredForce(const Eigen::Vector3d& desired_force, const double& tilt_over_limit, const double& tilt_saturation,
+      31             :                                                     const std::string& node_name);
+      32             : 
+      33             : Eigen::Matrix3d so3transform(const Eigen::Vector3d& body_z, const ::Eigen::Vector3d& heading, const bool& preserve_heading);
+      34             : 
+      35             : std::optional<CONTROL_OUTPUT> getLowestOuput(const mrs_uav_managers::control_manager::ControlOutputModalities_t& outputs);
+      36             : 
+      37             : std::optional<CONTROL_OUTPUT> getHighestOuput(const mrs_uav_managers::control_manager::ControlOutputModalities_t& outputs);
+      38             : 
+      39             : std::optional<mrs_msgs::HwApiAttitudeRateCmd> attitudeController(const mrs_msgs::UavState& uav_state, const mrs_msgs::HwApiAttitudeCmd& reference,
+      40             :                                                                  const Eigen::Vector3d& ff_rate, const Eigen::Vector3d& rate_saturation,
+      41             :                                                                  const Eigen::Vector3d& gains, const bool& parasitic_heading_rate_compensation);
+      42             : 
+      43             : std::optional<mrs_msgs::HwApiControlGroupCmd> attitudeRateController(const mrs_msgs::UavState& uav_state, const mrs_msgs::HwApiAttitudeRateCmd& reference,
+      44             :                                                                      const Eigen::Vector3d& gains);
+      45             : 
+      46             : 
+      47             : mrs_msgs::HwApiActuatorCmd actuatorMixer(const mrs_msgs::HwApiControlGroupCmd& ctrl_group_cmd, const Eigen::MatrixXd& mixer);
+      48             : 
+      49             : /* throttle extraction //{ */
+      50             : 
+      51             : std::optional<double> extractThrottle(const mrs_uav_managers::Controller::ControlOutput& control_output);
+      52             : 
+      53             : struct HwApiCmdExtractThrottleVisitor
+      54             : {
+      55           3 :   std::optional<double> operator()(const mrs_msgs::HwApiActuatorCmd& msg) {
+      56             : 
+      57           3 :     double throttle = 0;
+      58             : 
+      59           3 :     if (msg.motors.size() == 0) {
+      60           0 :       return std::nullopt;
+      61             :     }
+      62             : 
+      63           3 :     throttle = 0;
+      64             : 
+      65          15 :     for (size_t i = 0; i < msg.motors.size(); i++) {
+      66          12 :       throttle += msg.motors[i];
+      67             :     };
+      68             : 
+      69           3 :     throttle /= msg.motors.size();
+      70             : 
+      71           3 :     return throttle;
+      72             :   }
+      73           3 :   std::optional<double> operator()(const mrs_msgs::HwApiControlGroupCmd& msg) {
+      74           3 :     return msg.throttle;
+      75             :   }
+      76          52 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeCmd& msg) {
+      77          52 :     return msg.throttle;
+      78             :   }
+      79          39 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeRateCmd& msg) {
+      80          39 :     return msg.throttle;
+      81             :   }
+      82           2 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiAccelerationHdgRateCmd& msg) {
+      83           2 :     return std::nullopt;
+      84             :   }
+      85           2 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiAccelerationHdgCmd& msg) {
+      86           2 :     return std::nullopt;
+      87             :   }
+      88          10 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiVelocityHdgRateCmd& msg) {
+      89          10 :     return std::nullopt;
+      90             :   }
+      91           4 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiVelocityHdgCmd& msg) {
+      92           4 :     return std::nullopt;
+      93             :   }
+      94           2 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiPositionCmd& msg) {
+      95           2 :     return std::nullopt;
+      96             :   }
+      97             : };
+      98             : 
+      99             : //}
+     100             : 
+     101             : }  // namespace common
+     102             : 
+     103             : }  // namespace mrs_uav_controllers
+     104             : 
+     105             : #endif  // MRS_UAV_CONTROLLERS_COMMON_H
+
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
common.h +
96.0%96.0%
+ 		96.0 %24 / 25100.0 %9 / 9
pid.hpp +
100.0%
+ 		100.0 %33 / 33100.0 %5 / 5
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LCOV - code coverage report
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Current view:top level - mrs_uav_controllers/include - pid.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3333100.0 %
Date:2024-08-07 22:18:19Functions:55100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_controllers::PIDController::reset()1296
mrs_uav_controllers::PIDController::setParams(double const&, double const&, double const&, double const&, double const&)1296
mrs_uav_controllers::PIDController::PIDController()1296
mrs_uav_controllers::PIDController::setSaturation(double)14995
mrs_uav_controllers::PIDController::update(double const&, double const&)14995
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LCOV - code coverage report
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Current view:top level - mrs_uav_controllers/include - pid.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3333100.0 %
Date:2024-08-07 22:18:19Functions:55100.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_controllers::PIDController::setSaturation(double)14995
mrs_uav_controllers::PIDController::reset()1296
mrs_uav_controllers::PIDController::update(double const&, double const&)14995
mrs_uav_controllers::PIDController::setParams(double const&, double const&, double const&, double const&, double const&)1296
mrs_uav_controllers::PIDController::PIDController()1296
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Current view:top level - mrs_uav_controllers/include - pid.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3333100.0 %
Date:2024-08-07 22:18:19Functions:55100.0 %
Legend: Lines: + hit + not hit +
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          Line data    Source code
+
+       1             : #ifndef PID_H
+       2             : #define PID_H
+       3             : 
+       4             : #include <math.h>
+       5             : 
+       6             : namespace mrs_uav_controllers
+       7             : {
+       8             : 
+       9             : class PIDController {
+      10             : 
+      11             : private:
+      12             :   // | ----------------------- parameters ----------------------- |
+      13             : 
+      14             :   // gains
+      15             :   double _kp_ = 0;  // proportional gain
+      16             :   double _kd_ = 0;  // derivative gain
+      17             :   double _ki_ = 0;  // integral gain
+      18             : 
+      19             :   // we remember the last control error, to calculate the difference
+      20             :   double last_error_ = 0;
+      21             :   double integral_   = 0;
+      22             : 
+      23             :   double saturation = -1;
+      24             :   double antiwindup = -1;
+      25             : 
+      26             : public:
+      27             :   PIDController();
+      28             : 
+      29             :   void setParams(const double &kp, const double &kd, const double &ki, const double &saturation, const double &antiwindup);
+      30             : 
+      31             :   void setSaturation(const double saturation = -1);
+      32             : 
+      33             :   void reset(void);
+      34             : 
+      35             :   double update(const double &error, const double &dt);
+      36             : };
+      37             : 
+      38             : // --------------------------------------------------------------
+      39             : // |                       implementation                       |
+      40             : // --------------------------------------------------------------
+      41             : 
+      42        1296 : PIDController::PIDController() {
+      43             : 
+      44        1296 :   this->reset();
+      45        1296 : }
+      46             : 
+      47        1296 : void PIDController::setParams(const double &kp, const double &kd, const double &ki, const double &saturation, const double &antiwindup) {
+      48             : 
+      49        1296 :   this->_kp_       = kp;
+      50        1296 :   this->_kd_       = kd;
+      51        1296 :   this->_ki_       = ki;
+      52        1296 :   this->saturation = saturation;
+      53        1296 :   this->antiwindup = antiwindup;
+      54        1296 : }
+      55             : 
+      56       14995 : void PIDController::setSaturation(const double saturation) {
+      57             : 
+      58       14995 :   this->saturation = saturation;
+      59       14995 : }
+      60             : 
+      61        1296 : void PIDController::reset(void) {
+      62             : 
+      63        1296 :   this->last_error_ = 0;
+      64        1296 :   this->integral_   = 0;
+      65        1296 : }
+      66             : 
+      67       14995 : double PIDController::update(const double &error, const double &dt) {
+      68             : 
+      69             :   // calculate the control error difference
+      70       14995 :   double difference = (error - last_error_) / dt;
+      71       14995 :   last_error_       = error;
+      72             : 
+      73       14995 :   double p_component = _kp_ * error;       // proportional feedback
+      74       14995 :   double d_component = _kd_ * difference;  // derivative feedback
+      75       14995 :   double i_component = _ki_ * integral_;   // derivative feedback
+      76             : 
+      77       14995 :   double sum = p_component + d_component + i_component;
+      78             : 
+      79       14995 :   if (saturation > 0) {
+      80       14995 :     if (sum >= saturation) {
+      81         123 :       sum = saturation;
+      82       14872 :     } else if (sum <= -saturation) {
+      83         154 :       sum = -saturation;
+      84             :     }
+      85             :   }
+      86             : 
+      87       14995 :   if (antiwindup > 0) {
+      88       14995 :     if (std::abs(sum) < antiwindup) {
+      89             :       // add to the integral
+      90       14607 :       integral_ += error * dt;
+      91             :     }
+      92             :   }
+      93             : 
+      94             :   // return the summ of the components
+      95       14995 :   return sum;
+      96             : }
+      97             : 
+      98             : }  // namespace mrs_uav_controllers
+      99             : 
+     100             : #endif  // PID_H
+
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Generated by: LCOV version 1.14
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+ + diff --git a/mrs_uav_controllers/include/pid.hpp.gcov.png b/mrs_uav_controllers/include/pid.hpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..210752eb0f7abbe4f604ca452c63cabd54fcbebc GIT binary patch literal 519 zcmV+i0{H!jP)i;6ZDy3l1+EM97q1wFfy?;^t%ULDl)5$x zudZxs9|wgN#&S+{%-+D_U+^5KcAHUcKec%`Ff)4a1ZJuwkkpJ?V2Hm?hhj?cyI$-j z6IR|&6Z#l1hU=$#>Vf|txG3H9(th`RKN%W%c##Z|uGZuhz)xh|)X=9I-kXLt8S|8a zV%YX4lM~-WcfrHDO)|?9Z_{+J>{Z4~pHXJ@bSWS)bb#Sm1{SzJ&~<@(G5U+N_@Nr8 zXB3uUa|&Kps($zM!m literal 0 HcmV?d00001 diff --git a/mrs_uav_controllers/src/common.cpp.func-sort-c.html b/mrs_uav_controllers/src/common.cpp.func-sort-c.html new file mode 100644 index 0000000000..de04038df8 --- /dev/null +++ b/mrs_uav_controllers/src/common.cpp.func-sort-c.html @@ -0,0 +1,116 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/common.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_controllers/src - common.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13415984.3 %
Date:2024-08-07 22:18:19Functions:99100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_controllers::common::extractThrottle(mrs_uav_managers::Controller::ControlOutput const&)255
mrs_uav_controllers::common::actuatorMixer(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&)3960
mrs_uav_controllers::common::attitudeRateController(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)7978
mrs_uav_controllers::common::getHighestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)10229
mrs_uav_controllers::common::so3transform(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool const&)94225
mrs_uav_controllers::common::sanitizeDesiredForce(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double const&, double const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)94225
mrs_uav_controllers::common::orientationError(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&)96054
mrs_uav_controllers::common::attitudeController(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool const&)96054
mrs_uav_controllers::common::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)100733
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_controllers/src - common.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13415984.3 %
Date:2024-08-07 22:18:19Functions:99100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_controllers::common::so3transform(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool const&)94225
mrs_uav_controllers::common::actuatorMixer(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&)3960
mrs_uav_controllers::common::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)100733
mrs_uav_controllers::common::extractThrottle(mrs_uav_managers::Controller::ControlOutput const&)255
mrs_uav_controllers::common::getHighestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)10229
mrs_uav_controllers::common::orientationError(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&)96054
mrs_uav_controllers::common::attitudeController(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool const&)96054
mrs_uav_controllers::common::sanitizeDesiredForce(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double const&, double const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)94225
mrs_uav_controllers::common::attitudeRateController(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)7978
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_controllers/src/common.cpp.gcov.frameset.html b/mrs_uav_controllers/src/common.cpp.gcov.frameset.html new file mode 100644 index 0000000000..f24fe27b38 --- /dev/null +++ b/mrs_uav_controllers/src/common.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/common.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_controllers/src/common.cpp.gcov.html b/mrs_uav_controllers/src/common.cpp.gcov.html new file mode 100644 index 0000000000..dec7b63319 --- /dev/null +++ b/mrs_uav_controllers/src/common.cpp.gcov.html @@ -0,0 +1,471 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/common.cpp + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_controllers/src - common.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13415984.3 %
Date:2024-08-07 22:18:19Functions:99100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #include <common.h>
+       2             : 
+       3             : namespace mrs_uav_controllers
+       4             : {
+       5             : 
+       6             : namespace common
+       7             : {
+       8             : 
+       9             : /* orientationError() //{ */
+      10             : 
+      11       96054 : Eigen::Vector3d orientationError(const Eigen::Matrix3d& R, const Eigen::Matrix3d& Rd) {
+      12             : 
+      13             :   // orientation error
+      14       96054 :   Eigen::Matrix3d R_error = 0.5 * (Rd.transpose() * R - R.transpose() * Rd);
+      15             : 
+      16             :   // vectorize the orientation error
+      17             :   // clang-format off
+      18       96054 :     Eigen::Vector3d R_error_vec;
+      19       96054 :     R_error_vec << (R_error(1, 2) - R_error(2, 1)) / 2.0,
+      20       96054 :                    (R_error(2, 0) - R_error(0, 2)) / 2.0,
+      21       96054 :                    (R_error(0, 1) - R_error(1, 0)) / 2.0;
+      22             :   // clang-format on
+      23             : 
+      24      192108 :   return R_error_vec;
+      25             : }
+      26             : 
+      27             : //}
+      28             : 
+      29             : /* sanitizeDesiredForce() //{ */
+      30             : 
+      31       94225 : std::optional<Eigen::Vector3d> sanitizeDesiredForce(const Eigen::Vector3d& input, const double& tilt_safety_limit, const double& tilt_saturation,
+      32             :                                                     const std::string& node_name) {
+      33             : 
+      34             :   // calculate the force in spherical coordinates
+      35       94225 :   double theta = acos(input(2));
+      36       94225 :   double phi   = atan2(input(1), input(0));
+      37             : 
+      38             :   // check for the failsafe limit
+      39       94225 :   if (!std::isfinite(theta)) {
+      40           0 :     ROS_ERROR("[%s]: sanitizeDesiredForce(): NaN detected in variable 'theta', returning empty command", node_name.c_str());
+      41           0 :     return {};
+      42             :   }
+      43             : 
+      44       94225 :   if (tilt_safety_limit > 1e-3 && std::abs(theta) > tilt_safety_limit) {
+      45             : 
+      46           0 :     ROS_ERROR("[%s]: the produced tilt angle (%.2f deg) would be over the failsafe limit (%.2f deg), returning null", node_name.c_str(), (180.0 / M_PI) * theta,
+      47             :               (180.0 / M_PI) * tilt_safety_limit);
+      48           0 :     ROS_ERROR_STREAM("[" << node_name << "]: f = [" << input.transpose() << "]");
+      49             : 
+      50           0 :     return {};
+      51             :   }
+      52             : 
+      53             :   // saturate the angle
+      54             : 
+      55       94225 :   if (tilt_saturation > 1e-3 && std::abs(theta) > tilt_saturation) {
+      56           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: tilt is being saturated, desired: %.2f deg, saturated %.2f deg", node_name.c_str(), (theta / M_PI) * 180.0,
+      57             :                       (tilt_saturation / M_PI) * 180.0);
+      58           0 :     theta = tilt_saturation;
+      59             :   }
+      60             : 
+      61             :   // reconstruct the force vector back out of the spherical coordinates
+      62       94225 :   Eigen::Vector3d output(sin(theta) * cos(phi), sin(theta) * sin(phi), cos(theta));
+      63             : 
+      64       94225 :   return {output};
+      65             : }
+      66             : 
+      67             : //}
+      68             : 
+      69             : /* so3transform() //{ */
+      70             : 
+      71       94225 : Eigen::Matrix3d so3transform(const Eigen::Vector3d& body_z, const ::Eigen::Vector3d& heading, const bool& preserve_heading) {
+      72             : 
+      73       94225 :   Eigen::Vector3d body_z_normed = body_z.normalized();
+      74             : 
+      75       94225 :   Eigen::Matrix3d Rd;
+      76             : 
+      77       94225 :   if (preserve_heading) {
+      78             : 
+      79       24159 :     ROS_DEBUG_THROTTLE(1.0, "[SO3Transform]: using Baca's method");
+      80             : 
+      81             :     // | ------------------------- body z ------------------------- |
+      82       24159 :     Rd.col(2) = body_z_normed;
+      83             : 
+      84             :     // | ------------------------- body x ------------------------- |
+      85             : 
+      86             :     // construct the oblique projection
+      87       24159 :     Eigen::Matrix3d projector_body_z_compl = (Eigen::Matrix3d::Identity(3, 3) - body_z_normed * body_z_normed.transpose());
+      88             : 
+      89             :     // create a basis of the body-z complement subspace
+      90       48318 :     Eigen::MatrixXd A = Eigen::MatrixXd(3, 2);
+      91       24159 :     A.col(0)          = projector_body_z_compl.col(0);
+      92       24159 :     A.col(1)          = projector_body_z_compl.col(1);
+      93             : 
+      94             :     // create the basis of the projection null-space complement
+      95       48318 :     Eigen::MatrixXd B = Eigen::MatrixXd(3, 2);
+      96       24159 :     B.col(0)          = Eigen::Vector3d(1, 0, 0);
+      97       24159 :     B.col(1)          = Eigen::Vector3d(0, 1, 0);
+      98             : 
+      99             :     // oblique projector to <range_basis>
+     100       48318 :     Eigen::MatrixXd Bt_A               = B.transpose() * A;
+     101       48318 :     Eigen::MatrixXd Bt_A_pseudoinverse = ((Bt_A.transpose() * Bt_A).inverse()) * Bt_A.transpose();
+     102       24159 :     Eigen::MatrixXd oblique_projector  = A * Bt_A_pseudoinverse * B.transpose();
+     103             : 
+     104       24159 :     Rd.col(0) = oblique_projector * heading;
+     105       24159 :     Rd.col(0).normalize();
+     106             : 
+     107             :     // | ------------------------- body y ------------------------- |
+     108             : 
+     109       24159 :     Rd.col(1) = Rd.col(2).cross(Rd.col(0));
+     110       24159 :     Rd.col(1).normalize();
+     111             : 
+     112             :   } else {
+     113             : 
+     114       70066 :     ROS_DEBUG_THROTTLE(1.0, "[SO3Transform]: using Lee's method");
+     115             : 
+     116       70066 :     Rd.col(2) = body_z_normed;
+     117       70066 :     Rd.col(1) = Rd.col(2).cross(heading);
+     118       70066 :     Rd.col(1).normalize();
+     119       70066 :     Rd.col(0) = Rd.col(1).cross(Rd.col(2));
+     120       70066 :     Rd.col(0).normalize();
+     121             :   }
+     122             : 
+     123      188450 :   return Rd;
+     124             : }
+     125             : 
+     126             : //}
+     127             : 
+     128             : /* getLowestOutput() //{ */
+     129             : 
+     130      100733 : std::optional<CONTROL_OUTPUT> getLowestOuput(const mrs_uav_managers::control_manager::ControlOutputModalities_t& outputs) {
+     131             : 
+     132      100733 :   if (outputs.actuators) {
+     133        2567 :     return ACTUATORS_CMD;
+     134             :   }
+     135             : 
+     136       98166 :   if (outputs.control_group) {
+     137        2624 :     return CONTROL_GROUP;
+     138             :   }
+     139             : 
+     140       95542 :   if (outputs.attitude_rate) {
+     141       86682 :     return ATTITUDE_RATE;
+     142             :   }
+     143             : 
+     144        8860 :   if (outputs.attitude) {
+     145        2352 :     return ATTITUDE;
+     146             :   }
+     147             : 
+     148        6508 :   if (outputs.acceleration_hdg_rate) {
+     149        1019 :     return ACCELERATION_HDG_RATE;
+     150             :   }
+     151             : 
+     152        5489 :   if (outputs.acceleration_hdg) {
+     153        1098 :     return ACCELERATION_HDG;
+     154             :   }
+     155             : 
+     156        4391 :   if (outputs.velocity_hdg_rate) {
+     157        2396 :     return VELOCITY_HDG_RATE;
+     158             :   }
+     159             : 
+     160        1995 :   if (outputs.velocity_hdg) {
+     161        1464 :     return VELOCITY_HDG;
+     162             :   }
+     163             : 
+     164         531 :   if (outputs.position) {
+     165         531 :     return POSITION;
+     166             :   }
+     167             : 
+     168           0 :   return {};
+     169             : }
+     170             : 
+     171             : //}
+     172             : 
+     173             : /* getHighestOutput() //{ */
+     174             : 
+     175       10229 : std::optional<CONTROL_OUTPUT> getHighestOuput(const mrs_uav_managers::control_manager::ControlOutputModalities_t& outputs) {
+     176             : 
+     177       10229 :   if (outputs.position) {
+     178           3 :     return POSITION;
+     179             :   }
+     180             : 
+     181       10226 :   if (outputs.velocity_hdg) {
+     182           7 :     return VELOCITY_HDG;
+     183             :   }
+     184             : 
+     185       10219 :   if (outputs.velocity_hdg_rate) {
+     186          14 :     return VELOCITY_HDG_RATE;
+     187             :   }
+     188             : 
+     189       10205 :   if (outputs.acceleration_hdg) {
+     190           6 :     return ACCELERATION_HDG;
+     191             :   }
+     192             : 
+     193       10199 :   if (outputs.acceleration_hdg_rate) {
+     194           6 :     return ACCELERATION_HDG_RATE;
+     195             :   }
+     196             : 
+     197       10193 :   if (outputs.attitude) {
+     198        5931 :     return ATTITUDE;
+     199             :   }
+     200             : 
+     201        4262 :   if (outputs.attitude_rate) {
+     202        1427 :     return ATTITUDE_RATE;
+     203             :   }
+     204             : 
+     205        2835 :   if (outputs.control_group) {
+     206        1418 :     return CONTROL_GROUP;
+     207             :   }
+     208             : 
+     209        1417 :   if (outputs.actuators) {
+     210        1417 :     return ACTUATORS_CMD;
+     211             :   }
+     212             : 
+     213           0 :   return {};
+     214             : }
+     215             : 
+     216             : //}
+     217             : 
+     218             : /* extractThrottle() //{ */
+     219             : 
+     220         255 : std::optional<double> extractThrottle(const mrs_uav_managers::Controller::ControlOutput& control_output) {
+     221             : 
+     222         255 :   if (!control_output.control_output) {
+     223         138 :     return {};
+     224             :   }
+     225             : 
+     226         234 :   return std::visit(HwApiCmdExtractThrottleVisitor(), control_output.control_output.value());
+     227             : }
+     228             : 
+     229             : //}
+     230             : 
+     231             : /* attitudeController() //{ */
+     232             : 
+     233       96054 : std::optional<mrs_msgs::HwApiAttitudeRateCmd> attitudeController(const mrs_msgs::UavState& uav_state, const mrs_msgs::HwApiAttitudeCmd& reference,
+     234             :                                                                  const Eigen::Vector3d& ff_rate, const Eigen::Vector3d& rate_saturation,
+     235             :                                                                  const Eigen::Vector3d& gains, const bool& parasitic_heading_rate_compensation) {
+     236             : 
+     237       96054 :   Eigen::Matrix3d R  = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+     238       96054 :   Eigen::Matrix3d Rd = mrs_lib::AttitudeConverter(reference.orientation);
+     239             : 
+     240             :   // calculate the orientation error
+     241       96054 :   Eigen::Vector3d E = common::orientationError(R, Rd);
+     242             : 
+     243       96054 :   Eigen::Vector3d rate_feedback = gains.array() * E.array() + ff_rate.array();
+     244             : 
+     245             :   // | ----------- parasitic heading rate compensation ---------- |
+     246             : 
+     247       96054 :   if (parasitic_heading_rate_compensation) {
+     248             : 
+     249       22943 :     ROS_DEBUG_THROTTLE(1.0, "[AttitudeController]: parasitic heading rate compensation enabled");
+     250             : 
+     251             :     // compensate for the parasitic heading rate created by the desired pitch and roll rate
+     252       22943 :     Eigen::Vector3d rp_heading_rate_compensation(0, 0, 0);
+     253             : 
+     254       22943 :     Eigen::Vector3d q_feedback_yawless = rate_feedback;
+     255       22943 :     q_feedback_yawless(2)              = 0;  // nullyfy the effect of the original yaw feedback
+     256             : 
+     257       22943 :     double parasitic_heading_rate = 0;
+     258             : 
+     259             :     try {
+     260       22943 :       parasitic_heading_rate = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeadingRate(q_feedback_yawless);
+     261             :     }
+     262           0 :     catch (...) {
+     263           0 :       ROS_ERROR("[AttitudeController]: exception caught while calculating the parasitic heading rate!");
+     264             :     }
+     265             : 
+     266             :     try {
+     267       22943 :       rp_heading_rate_compensation(2) = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getYawRateIntrinsic(-parasitic_heading_rate);
+     268             :     }
+     269           0 :     catch (...) {
+     270           0 :       ROS_ERROR("[AttitudeController]: exception caught while calculating the parasitic heading rate compensation!");
+     271             :     }
+     272             : 
+     273       22943 :     rate_feedback += rp_heading_rate_compensation;
+     274             :   }
+     275             : 
+     276             :   // | --------------- saturate the attitude rate --------------- |
+     277             : 
+     278       96054 :   if (rate_feedback(0) > rate_saturation(0)) {
+     279           0 :     rate_feedback(0) = rate_saturation(0);
+     280       96054 :   } else if (rate_feedback(0) < -rate_saturation(0)) {
+     281           0 :     rate_feedback(0) = -rate_saturation(0);
+     282             :   }
+     283             : 
+     284       96054 :   if (rate_feedback(1) > rate_saturation(1)) {
+     285           0 :     rate_feedback(1) = rate_saturation(1);
+     286       96054 :   } else if (rate_feedback(1) < -rate_saturation(1)) {
+     287           0 :     rate_feedback(1) = -rate_saturation(1);
+     288             :   }
+     289             : 
+     290       96054 :   if (rate_feedback(2) > rate_saturation(2)) {
+     291           0 :     rate_feedback(2) = rate_saturation(2);
+     292       96054 :   } else if (rate_feedback(2) < -rate_saturation(2)) {
+     293           0 :     rate_feedback(2) = -rate_saturation(2);
+     294             :   }
+     295             : 
+     296             :   // | ------------ fill in the attitude rate command ----------- |
+     297             : 
+     298       96054 :   mrs_msgs::HwApiAttitudeRateCmd cmd;
+     299             : 
+     300       96054 :   cmd.stamp = ros::Time::now();
+     301             : 
+     302       96054 :   cmd.body_rate.x = rate_feedback(0);
+     303       96054 :   cmd.body_rate.y = rate_feedback(1);
+     304       96054 :   cmd.body_rate.z = rate_feedback(2);
+     305             : 
+     306       96054 :   cmd.throttle = reference.throttle;
+     307             : 
+     308      192108 :   return cmd;
+     309             : }
+     310             : 
+     311             : //}
+     312             : 
+     313             : /* attitudeRateController() //{ */
+     314             : 
+     315        7978 : std::optional<mrs_msgs::HwApiControlGroupCmd> attitudeRateController(const mrs_msgs::UavState& uav_state, const mrs_msgs::HwApiAttitudeRateCmd& reference,
+     316             :                                                                      const Eigen::Vector3d& gains) {
+     317             : 
+     318        7978 :   Eigen::Vector3d des_rate(reference.body_rate.x, reference.body_rate.y, reference.body_rate.z);
+     319        7978 :   Eigen::Vector3d cur_rate(uav_state.velocity.angular.x, uav_state.velocity.angular.y, uav_state.velocity.angular.z);
+     320             : 
+     321        7978 :   Eigen::Vector3d ctrl_group_action = (des_rate - cur_rate).array() * gains.array();
+     322             : 
+     323        7978 :   mrs_msgs::HwApiControlGroupCmd cmd;
+     324             : 
+     325        7978 :   cmd.stamp = ros::Time::now();
+     326             : 
+     327        7978 :   cmd.throttle = reference.throttle;
+     328             : 
+     329        7978 :   cmd.roll  = ctrl_group_action(0);
+     330        7978 :   cmd.pitch = ctrl_group_action(1);
+     331        7978 :   cmd.yaw   = ctrl_group_action(2);
+     332             : 
+     333       15956 :   return {cmd};
+     334             : }
+     335             : 
+     336             : //}
+     337             : 
+     338             : /* actuatorMixer() //{ */
+     339             : 
+     340        3960 : mrs_msgs::HwApiActuatorCmd actuatorMixer(const mrs_msgs::HwApiControlGroupCmd& ctrl_group_cmd, const Eigen::MatrixXd& mixer) {
+     341             : 
+     342        3960 :   Eigen::Vector4d ctrl_group(ctrl_group_cmd.roll, ctrl_group_cmd.pitch, ctrl_group_cmd.yaw, ctrl_group_cmd.throttle);
+     343             : 
+     344        7920 :   Eigen::VectorXd motors = mixer * ctrl_group;
+     345             : 
+     346        3960 :   double min = motors.minCoeff();
+     347             : 
+     348        3960 :   if (min < 0.0) {
+     349           0 :     motors.array() += abs(min);
+     350             :   }
+     351             : 
+     352        3960 :   double max = motors.maxCoeff();
+     353             : 
+     354        3960 :   if (max > 1.0) {
+     355             : 
+     356           0 :     if (ctrl_group_cmd.throttle > 1e-2) {
+     357             : 
+     358             :       // scale down roll/pitch/yaw actions to maintain desired throttle
+     359           0 :       for (int i = 0; i < 3; i++) {
+     360           0 :         ctrl_group(i) = ctrl_group(i) / (motors.mean() / ctrl_group_cmd.throttle);
+     361             :       }
+     362             : 
+     363           0 :       motors = mixer * ctrl_group;
+     364             : 
+     365             :     } else {
+     366           0 :       motors /= max;
+     367             :     }
+     368             :   }
+     369             : 
+     370             :   // | --------------------- fill in the msg -------------------- |
+     371             : 
+     372        3960 :   mrs_msgs::HwApiActuatorCmd actuator_msg;
+     373             : 
+     374        3960 :   actuator_msg.stamp = ros::Time::now();
+     375             : 
+     376       19800 :   for (int i = 0; i < motors.size(); i++) {
+     377       15840 :     actuator_msg.motors.push_back(motors(i));
+     378             :   }
+     379             : 
+     380        7920 :   return actuator_msg;
+     381             : }
+     382             : 
+     383             : //}
+     384             : 
+     385             : }  // namespace common
+     386             : 
+     387             : }  // namespace mrs_uav_controllers
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_controllers::failsafe_controller::FailsafeController::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_controllers::failsafe_controller::FailsafeController::resetDisturbanceEstimators()0
mrs_uav_controllers::failsafe_controller::FailsafeController::getHeadingSafely(geometry_msgs::Quaternion_<std::allocator<void> > const&)8
mrs_uav_controllers::failsafe_controller::FailsafeController::activate(mrs_uav_managers::Controller::ControlOutput const&)8
mrs_uav_controllers::failsafe_controller::FailsafeController::deactivate()34
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_controllers::failsafe_controller::FailsafeController::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)108
mrs_uav_controllers::failsafe_controller::FailsafeController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)428
mrs_uav_controllers::failsafe_controller::FailsafeController::getStatus()971
mrs_uav_controllers::failsafe_controller::FailsafeController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)9721
mrs_uav_controllers::failsafe_controller::FailsafeController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)138751
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(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_controllers::failsafe_controller::FailsafeController::deactivate()34
mrs_uav_controllers::failsafe_controller::FailsafeController::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)108
mrs_uav_controllers::failsafe_controller::FailsafeController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)9721
mrs_uav_controllers::failsafe_controller::FailsafeController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)428
mrs_uav_controllers::failsafe_controller::FailsafeController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)138751
mrs_uav_controllers::failsafe_controller::FailsafeController::getHeadingSafely(geometry_msgs::Quaternion_<std::allocator<void> > const&)8
mrs_uav_controllers::failsafe_controller::FailsafeController::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_controllers::failsafe_controller::FailsafeController::resetDisturbanceEstimators()0
mrs_uav_controllers::failsafe_controller::FailsafeController::activate(mrs_uav_managers::Controller::ControlOutput const&)8
mrs_uav_controllers::failsafe_controller::FailsafeController::getStatus()971
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+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : 
+       6             : #include <common.h>
+       7             : 
+       8             : #include <mrs_uav_managers/controller.h>
+       9             : 
+      10             : #include <mrs_lib/profiler.h>
+      11             : #include <mrs_lib/attitude_converter.h>
+      12             : #include <mrs_lib/mutex.h>
+      13             : #include <mrs_lib/subscribe_handler.h>
+      14             : 
+      15             : //}
+      16             : 
+      17             : namespace mrs_uav_controllers
+      18             : {
+      19             : 
+      20             : namespace failsafe_controller
+      21             : {
+      22             : 
+      23             : /* class FailsafeController //{ */
+      24             : 
+      25             : class FailsafeController : public mrs_uav_managers::Controller {
+      26             : 
+      27             : public:
+      28             :   bool initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      29             :                   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
+      30             : 
+      31             :   bool activate(const ControlOutput &last_control_output);
+      32             :   void deactivate(void);
+      33             : 
+      34             :   void updateInactive(const mrs_msgs::UavState &uav_state, const std::optional<mrs_msgs::TrackerCommand> &tracker_command);
+      35             : 
+      36             :   ControlOutput updateActive(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command);
+      37             : 
+      38             :   const mrs_msgs::ControllerStatus getStatus();
+      39             : 
+      40             :   void switchOdometrySource(const mrs_msgs::UavState &new_uav_state);
+      41             : 
+      42             :   void resetDisturbanceEstimators(void);
+      43             : 
+      44             :   const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd);
+      45             : 
+      46             :   double getHeadingSafely(const geometry_msgs::Quaternion &quaternion);
+      47             : 
+      48             : private:
+      49             :   ros::NodeHandle nh_;
+      50             : 
+      51             :   bool is_initialized_ = false;
+      52             :   bool is_active_      = false;
+      53             : 
+      54             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>  common_handlers_;
+      55             :   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers_;
+      56             : 
+      57             :   // | ----------------------- parameters ----------------------- |
+      58             : 
+      59             :   double _descend_speed_;
+      60             :   double _descend_acceleration_;
+      61             : 
+      62             :   double _kq_;
+      63             :   double _kw_;
+      64             : 
+      65             :   // | ------------------- remember uav state ------------------- |
+      66             : 
+      67             :   mrs_msgs::UavState uav_state_;
+      68             :   std::mutex         mutex_uav_state_;
+      69             : 
+      70             :   // | --------------------- throttle control --------------------- |
+      71             : 
+      72             :   double _uav_mass_;
+      73             :   double uav_mass_difference_;
+      74             : 
+      75             :   double hover_throttle_;
+      76             : 
+      77             :   double _throttle_decrease_rate_;
+      78             :   double _initial_throttle_percentage_;
+      79             : 
+      80             :   // | ----------------------- yaw control ---------------------- |
+      81             : 
+      82             :   double heading_setpoint_;
+      83             : 
+      84             :   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_hw_api_orientation_;
+      85             : 
+      86             :   // | ------------------ activation and output ----------------- |
+      87             : 
+      88             :   ControlOutput last_control_output_;
+      89             :   ControlOutput activation_control_output_;
+      90             : 
+      91             :   ros::Time         last_update_time_;
+      92             :   std::atomic<bool> first_iteration_ = true;
+      93             : 
+      94             :   // | ------------------------ profiler ------------------------ |
+      95             : 
+      96             :   mrs_lib::Profiler profiler_;
+      97             :   bool              _profiler_enabled_ = false;
+      98             : 
+      99             :   // | ----------------------- constraints ---------------------- |
+     100             : 
+     101             :   mrs_msgs::DynamicsConstraints constraints_;
+     102             :   std::mutex                    mutex_constraints_;
+     103             : };
+     104             : 
+     105             : //}
+     106             : 
+     107             : // --------------------------------------------------------------
+     108             : // |                   controller's interface                   |
+     109             : // --------------------------------------------------------------
+     110             : 
+     111             : /* initialize() //{ */
+     112             : 
+     113         108 : bool FailsafeController::initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+     114             :                                     std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers) {
+     115             : 
+     116         108 :   nh_ = nh;
+     117             : 
+     118         108 :   common_handlers_  = common_handlers;
+     119         108 :   private_handlers_ = private_handlers;
+     120             : 
+     121         108 :   _uav_mass_ = common_handlers->getMass();
+     122             : 
+     123         108 :   ros::Time::waitForValid();
+     124             : 
+     125             :   // | ---------- loading params using the parent's nh ---------- |
+     126             : 
+     127         216 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     128             : 
+     129         108 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     130             : 
+     131         108 :   if (!param_loader_parent.loadedSuccessfully()) {
+     132           0 :     ROS_ERROR("[FailsafeController]: Could not load all parameters!");
+     133           0 :     return false;
+     134             :   }
+     135             : 
+     136             :   // | -------------------- loading my params ------------------- |
+     137             : 
+     138         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/failsafe_controller.yaml");
+     139         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/failsafe_controller.yaml");
+     140             : 
+     141         216 :   const std::string yaml_namespace = "mrs_uav_controllers/failsafe_controller/";
+     142             : 
+     143         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "throttle_output/throttle_decrease_rate", _throttle_decrease_rate_);
+     144         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "throttle_output/initial_throttle_percentage", _initial_throttle_percentage_);
+     145             : 
+     146         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "attitude_controller/gains/kp", _kq_);
+     147             : 
+     148         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "rate_controller/gains/kp", _kw_);
+     149             : 
+     150         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "velocity_output/descend_speed", _descend_speed_);
+     151         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "acceleration_output/descend_acceleration", _descend_acceleration_);
+     152             : 
+     153         108 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     154           0 :     ROS_ERROR("[FailsafeController]: Could not load all parameters!");
+     155           0 :     return false;
+     156             :   }
+     157             : 
+     158         108 :   _descend_speed_        = std::abs(_descend_speed_);
+     159         108 :   _descend_acceleration_ = std::abs(_descend_acceleration_);
+     160             : 
+     161         108 :   uav_mass_difference_ = 0;
+     162             : 
+     163             :   // | ----------------------- subscribers ---------------------- |
+     164             : 
+     165         108 :   mrs_lib::SubscribeHandlerOptions shopts;
+     166         108 :   shopts.nh                 = nh_;
+     167         108 :   shopts.node_name          = "FailsafeController";
+     168         108 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     169         108 :   shopts.threadsafe         = true;
+     170         108 :   shopts.autostart          = true;
+     171         108 :   shopts.queue_size         = 10;
+     172         108 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     173             : 
+     174         108 :   sh_hw_api_orientation_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, "/" + common_handlers->uav_name + "/" + "hw_api/orientation");
+     175             : 
+     176             :   // | ----------- calculate the default hover throttle ----------- |
+     177             : 
+     178         108 :   hover_throttle_ = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, _uav_mass_ * common_handlers_->g);
+     179             : 
+     180             :   // | ------------------------ profiler ------------------------ |
+     181             : 
+     182         108 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "FailsafeController", _profiler_enabled_);
+     183             : 
+     184             :   // | ----------------------- finish init ---------------------- |
+     185             : 
+     186         108 :   ROS_INFO("[FailsafeController]: initialized");
+     187             : 
+     188         108 :   is_initialized_ = true;
+     189             : 
+     190         108 :   return true;
+     191             : }
+     192             : 
+     193             : //}
+     194             : 
+     195             : /* activate() //{ */
+     196             : 
+     197           8 : bool FailsafeController::activate(const ControlOutput &last_control_output) {
+     198             : 
+     199          16 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     200             : 
+     201           8 :   if (!last_control_output.control_output) {
+     202             : 
+     203           0 :     ROS_WARN("[FailsafeController]: activated without getting the last controller's command");
+     204             : 
+     205           0 :     return false;
+     206             : 
+     207             :   } else {
+     208             : 
+     209             :     // | -------------- calculate the initial heading ------------- |
+     210             : 
+     211           8 :     if (sh_hw_api_orientation_.getMsg()) {
+     212             : 
+     213          16 :       auto hw_api_orientation = sh_hw_api_orientation_.getMsg();
+     214             : 
+     215           8 :       heading_setpoint_ = getHeadingSafely(hw_api_orientation->quaternion);
+     216             : 
+     217           8 :       ROS_INFO("[FailsafeController]: activated with heading = %.2f rad", heading_setpoint_);
+     218             : 
+     219             :     } else {
+     220             : 
+     221           0 :       ROS_ERROR("[FailsafeController]: missing orientation from HW API, activated with heading = 0 rad");
+     222             : 
+     223           0 :       heading_setpoint_ = 0;
+     224             :     }
+     225             : 
+     226           8 :     activation_control_output_ = last_control_output;
+     227             : 
+     228           8 :     if (last_control_output.diagnostics.mass_estimator) {
+     229           8 :       uav_mass_difference_ = last_control_output.diagnostics.mass_difference;
+     230             :     } else {
+     231           0 :       uav_mass_difference_ = 0;
+     232             :     }
+     233             : 
+     234           8 :     activation_control_output_.diagnostics.controller_enforcing_constraints = false;
+     235             : 
+     236           8 :     hover_throttle_ = _initial_throttle_percentage_ * mrs_lib::quadratic_throttle_model::forceToThrottle(
+     237           8 :                                                           common_handlers_->throttle_model, (_uav_mass_ + uav_mass_difference_) * common_handlers_->g);
+     238             : 
+     239           8 :     ROS_INFO("[FailsafeController]: activated with uav_mass_difference %.2f kg.", uav_mass_difference_);
+     240             :   }
+     241             : 
+     242           8 :   first_iteration_ = true;
+     243             : 
+     244           8 :   is_active_ = true;
+     245             : 
+     246           8 :   return true;
+     247             : }
+     248             : 
+     249             : //}
+     250             : 
+     251             : /* deactivate() //{ */
+     252             : 
+     253          34 : void FailsafeController::deactivate(void) {
+     254             : 
+     255          34 :   is_active_           = false;
+     256          34 :   first_iteration_     = false;
+     257          34 :   uav_mass_difference_ = 0;
+     258             : 
+     259          34 :   ROS_INFO("[FailsafeController]: deactivated");
+     260          34 : }
+     261             : 
+     262             : //}
+     263             : 
+     264             : /* updateInactive() //{ */
+     265             : 
+     266      138751 : void FailsafeController::updateInactive(const mrs_msgs::UavState &uav_state, [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &tracker_command) {
+     267             : 
+     268      138751 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     269             : 
+     270      138751 :   last_update_time_ = ros::Time::now();
+     271             : 
+     272      138751 :   first_iteration_ = false;
+     273      138751 : }
+     274             : 
+     275             : //}
+     276             : 
+     277             : /* //{ updateWhenAcctive() */
+     278             : 
+     279        9721 : FailsafeController::ControlOutput FailsafeController::updateActive(const mrs_msgs::UavState &                       uav_state,
+     280             :                                                                    [[maybe_unused]] const mrs_msgs::TrackerCommand &tracker_command) {
+     281             : 
+     282       29163 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     283       29163 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("FailsafeController::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     284             : 
+     285             :   {
+     286       19442 :     std::scoped_lock lock(mutex_uav_state_);
+     287             : 
+     288        9721 :     uav_state_ = uav_state;
+     289             :   }
+     290             : 
+     291        9721 :   if (!is_active_) {
+     292           0 :     return ControlOutput();
+     293             :   }
+     294             : 
+     295        9721 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     296             : 
+     297             :   // | -------------------- calculate the dt -------------------- |
+     298             : 
+     299             :   double dt;
+     300             : 
+     301        9721 :   if (first_iteration_) {
+     302           7 :     dt               = 0.01;
+     303           7 :     first_iteration_ = false;
+     304             :   } else {
+     305        9714 :     dt = (ros::Time::now() - last_update_time_).toSec();
+     306             :   }
+     307             : 
+     308        9721 :   last_update_time_ = ros::Time::now();
+     309             : 
+     310        9721 :   hover_throttle_ -= _throttle_decrease_rate_ * dt;
+     311             : 
+     312        9721 :   if (!std::isfinite(hover_throttle_)) {
+     313           0 :     hover_throttle_ = 0;
+     314           0 :     ROS_ERROR("[FailsafeController]: NaN detected in variable 'hover_throttle', setting it to 0 and returning!!!");
+     315        9721 :   } else if (hover_throttle_ > 1.0) {
+     316           0 :     hover_throttle_ = 1.0;
+     317        9721 :   } else if (hover_throttle_ < 0.0) {
+     318           0 :     hover_throttle_ = 0.0;
+     319             :   }
+     320             : 
+     321             :   // | --------------- prepare the control output --------------- |
+     322             : 
+     323       19442 :   FailsafeController::ControlOutput control_output;
+     324             : 
+     325        9721 :   control_output.diagnostics.controller = "FailsafeController";
+     326             : 
+     327        9721 :   auto highest_modality = common::getHighestOuput(common_handlers_->control_output_modalities);
+     328             : 
+     329        9721 :   if (!highest_modality) {
+     330           0 :     ROS_ERROR_THROTTLE(1.0, "[FailsafeController]: output modalities are empty! This error should never appear.");
+     331           0 :     return control_output;
+     332             :   }
+     333             : 
+     334        9721 :   control_output.diagnostics.controller = "FailsafeController";
+     335             : 
+     336             :   // --------------------------------------------------------------
+     337             :   // |                       position output                      |
+     338             :   // --------------------------------------------------------------
+     339             : 
+     340        9721 :   if (highest_modality.value() == common::POSITION) {
+     341           0 :     ROS_INFO_THROTTLE(1.0, "[FailsafeController]: returning empty command, because we are at the position modality");
+     342           0 :     return control_output;
+     343             :   }
+     344             : 
+     345             :   // --------------------------------------------------------------
+     346             :   // |                       velocity output                      |
+     347             :   // --------------------------------------------------------------
+     348             : 
+     349        9721 :   if (highest_modality.value() == common::VELOCITY_HDG) {
+     350             : 
+     351           0 :     mrs_msgs::HwApiVelocityHdgCmd vel_cmd;
+     352             : 
+     353           0 :     vel_cmd.header.stamp = ros::Time::now();
+     354             : 
+     355           0 :     vel_cmd.velocity.x = 0;
+     356           0 :     vel_cmd.velocity.y = 0;
+     357           0 :     vel_cmd.velocity.z = -_descend_speed_;
+     358           0 :     vel_cmd.heading    = heading_setpoint_;
+     359             : 
+     360           0 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning velocity+hdg output");
+     361           0 :     control_output.control_output = vel_cmd;
+     362           0 :     return control_output;
+     363             :   }
+     364             : 
+     365        9721 :   if (highest_modality.value() == common::VELOCITY_HDG_RATE) {
+     366             : 
+     367           0 :     mrs_msgs::HwApiVelocityHdgRateCmd vel_cmd;
+     368             : 
+     369           0 :     vel_cmd.header.stamp = ros::Time::now();
+     370             : 
+     371           0 :     vel_cmd.velocity.x   = 0;
+     372           0 :     vel_cmd.velocity.y   = 0;
+     373           0 :     vel_cmd.velocity.z   = -_descend_speed_;
+     374           0 :     vel_cmd.heading_rate = 0.0;
+     375             : 
+     376           0 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning velocity+hdg rate output");
+     377           0 :     control_output.control_output = vel_cmd;
+     378           0 :     return control_output;
+     379             :   }
+     380             : 
+     381             :   // --------------------------------------------------------------
+     382             :   // |                     acceleration output                    |
+     383             :   // --------------------------------------------------------------
+     384             : 
+     385        9721 :   if (highest_modality.value() == common::ACCELERATION_HDG) {
+     386             : 
+     387           0 :     mrs_msgs::HwApiAccelerationHdgCmd acc_cmd;
+     388             : 
+     389           0 :     acc_cmd.header.stamp = ros::Time::now();
+     390             : 
+     391           0 :     acc_cmd.acceleration.x = 0;
+     392           0 :     acc_cmd.acceleration.y = 0;
+     393           0 :     acc_cmd.acceleration.z = -_descend_acceleration_;
+     394           0 :     acc_cmd.heading        = heading_setpoint_;
+     395             : 
+     396           0 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning acceleration+hdg output");
+     397           0 :     control_output.control_output = acc_cmd;
+     398           0 :     return control_output;
+     399             :   }
+     400             : 
+     401        9721 :   if (highest_modality.value() == common::ACCELERATION_HDG_RATE) {
+     402             : 
+     403           0 :     mrs_msgs::HwApiAccelerationHdgRateCmd acc_cmd;
+     404             : 
+     405           0 :     acc_cmd.header.stamp = ros::Time::now();
+     406             : 
+     407           0 :     acc_cmd.acceleration.x = 0;
+     408           0 :     acc_cmd.acceleration.y = 0;
+     409           0 :     acc_cmd.acceleration.z = -_descend_acceleration_;
+     410           0 :     acc_cmd.heading_rate   = 0.0;
+     411             : 
+     412           0 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning acceleration+hdg rate output");
+     413           0 :     control_output.control_output = acc_cmd;
+     414           0 :     return control_output;
+     415             :   }
+     416             : 
+     417             :   // --------------------------------------------------------------
+     418             :   // |                       attitude output                      |
+     419             :   // --------------------------------------------------------------
+     420             : 
+     421        9721 :   mrs_msgs::HwApiAttitudeCmd attitude_cmd;
+     422             : 
+     423        9721 :   attitude_cmd.stamp       = ros::Time::now();
+     424        9721 :   attitude_cmd.orientation = mrs_lib::AttitudeConverter(0, 0, heading_setpoint_);
+     425        9721 :   attitude_cmd.throttle    = hover_throttle_;
+     426             : 
+     427        9721 :   if (highest_modality.value() == common::ATTITUDE) {
+     428        5540 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning attitude output");
+     429        5540 :     control_output.control_output = attitude_cmd;
+     430        5540 :     return control_output;
+     431             :   }
+     432             : 
+     433             :   // --------------------------------------------------------------
+     434             :   // |                      attitude control                      |
+     435             :   // --------------------------------------------------------------
+     436             : 
+     437        4181 :   Eigen::Vector3d attitude_rate_saturation(constraints.roll_rate, constraints.pitch_rate, constraints.yaw_rate);
+     438        4181 :   Eigen::Vector3d rate_ff(0, 0, 0);
+     439        4181 :   Eigen::Vector3d Kq(_kq_, _kq_, _kq_);
+     440             : 
+     441        4181 :   auto attitude_rate_command = common::attitudeController(uav_state, attitude_cmd, rate_ff, attitude_rate_saturation, Kq, false);
+     442             : 
+     443        4181 :   if (highest_modality.value() == common::ATTITUDE_RATE) {
+     444        1394 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning attitude rate output");
+     445        1394 :     control_output.control_output = attitude_rate_command;
+     446        1394 :     return control_output;
+     447             :   }
+     448             : 
+     449             :   // --------------------------------------------------------------
+     450             :   // |                    attitude rate control                   |
+     451             :   // --------------------------------------------------------------
+     452             : 
+     453        2787 :   Eigen::Vector3d Kw = common_handlers_->detailed_model_params->inertia.diagonal() * _kw_;
+     454             : 
+     455        2787 :   auto control_group_command = common::attitudeRateController(uav_state, attitude_rate_command.value(), Kw);
+     456             : 
+     457        2787 :   if (highest_modality.value() == common::CONTROL_GROUP) {
+     458        1394 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning control group output");
+     459        1394 :     control_output.control_output = control_group_command;
+     460        1394 :     return control_output;
+     461             :   }
+     462             : 
+     463             :   // --------------------------------------------------------------
+     464             :   // |                            mixer                           |
+     465             :   // --------------------------------------------------------------
+     466             : 
+     467        2786 :   mrs_msgs::HwApiActuatorCmd actuator_cmd = common::actuatorMixer(control_group_command.value(), common_handlers_->detailed_model_params->control_group_mixer);
+     468             : 
+     469        1393 :   ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning actuators output");
+     470        1393 :   control_output.control_output = actuator_cmd;
+     471        1393 :   return control_output;
+     472             : }
+     473             : 
+     474             : //}
+     475             : 
+     476             : /* getStatus() //{ */
+     477             : 
+     478         971 : const mrs_msgs::ControllerStatus FailsafeController::getStatus() {
+     479             : 
+     480         971 :   mrs_msgs::ControllerStatus controller_status;
+     481             : 
+     482         971 :   controller_status.active = is_active_;
+     483             : 
+     484         971 :   return controller_status;
+     485             : }
+     486             : 
+     487             : //}
+     488             : 
+     489             : /* switchOdometrySource() //{ */
+     490             : 
+     491           0 : void FailsafeController::switchOdometrySource([[maybe_unused]] const mrs_msgs::UavState &new_uav_state) {
+     492           0 : }
+     493             : 
+     494             : //}
+     495             : 
+     496             : /* resetDisturbanceEstimators() //{ */
+     497             : 
+     498           0 : void FailsafeController::resetDisturbanceEstimators(void) {
+     499           0 : }
+     500             : 
+     501             : //}
+     502             : 
+     503             : /* setConstraints() //{ */
+     504             : 
+     505         428 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr FailsafeController::setConstraints([
+     506             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &constraints) {
+     507             : 
+     508         428 :   if (!is_initialized_) {
+     509           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     510             :   }
+     511             : 
+     512         428 :   mrs_lib::set_mutexed(mutex_constraints_, constraints->constraints, constraints_);
+     513             : 
+     514         428 :   ROS_INFO("[FailsafeController]: updating constraints");
+     515             : 
+     516         856 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     517         428 :   res.success = true;
+     518         428 :   res.message = "constraints updated";
+     519             : 
+     520         428 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     521             : }
+     522             : 
+     523             : //}
+     524             : 
+     525             : /* getHeadingSafely() //{ */
+     526             : 
+     527           8 : double FailsafeController::getHeadingSafely(const geometry_msgs::Quaternion &quaternion) {
+     528             : 
+     529             :   try {
+     530           8 :     return mrs_lib::AttitudeConverter(quaternion).getHeading();
+     531             :   }
+     532           0 :   catch (...) {
+     533             :   }
+     534             : 
+     535             :   try {
+     536           0 :     return mrs_lib::AttitudeConverter(quaternion).getYaw();
+     537             :   }
+     538           0 :   catch (...) {
+     539             :   }
+     540             : 
+     541           0 :   return 0;
+     542             : }
+     543             : 
+     544             : //}
+     545             : 
+     546             : }  // namespace failsafe_controller
+     547             : 
+     548             : }  // namespace mrs_uav_controllers
+     549             : 
+     550             : #include <pluginlib/class_list_macros.h>
+     551         108 : PLUGINLIB_EXPORT_CLASS(mrs_uav_controllers::failsafe_controller::FailsafeController, mrs_uav_managers::Controller)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + diff --git a/mrs_uav_controllers/src/failsafe_controller.cpp.gcov.png b/mrs_uav_controllers/src/failsafe_controller.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..37f1ed5c8d31b8129d2f889eaed969e69d0777e4 GIT binary patch literal 1814 zcmV+x2kH2UP)Bulo_nv>+wE~{$ zG8^Ggl!8B*M>U9CZ-=pr;d?xbAor4ws!8hm8LY4Lgv)4^9f4B_W&Ow9LOCLZ zvXlU{kdKBjj7YE-C-{7nwUv`yDe_L-;_SR_GI(VBk_+(T7QE=Xyv zV6&M#!j&Zwld0C2h1oMsm^>{(YP@o(|Iqi=x_D+*uJ)-Anq^22@*52HqjOzLdR;Vl)C7V8Uz_RYCgGCzR0sA% z=mNq1T|WWwhOSEi;)D!>Pndq|k4SaJ^15e+69Q{B8S#L%-%!t5Kx-_BvfLtlhBJH0aX;=Fd1l*+wz}Vr zrSVI)Ql(TX`k6*#3ue3aUD}u6q;nZL4xE090~;_riJaf= znRJ*+hVLl&E(I#AFrrr$hWySDJgU6FBK|FM)L>Ic4d%lh`f=2T?Jtc1{<7CYmsx#z1(-mE!J??fEa5h)dIbnPeA?u-uu7y#BaSE8$vuUPuK3%*P$P-`tNUKX<%*e3umc z4PJFy$=p{um1g>B2`FJX2uf(JT)3d%^I+n!PW? zy^FrALL@4C)q-Uef#CiMf*IsG^Tg52QU7?HdZyr---f*+A5m0qI72Eh@_)j|7saz$ zK~hIF7^=)I9}LCE?Gb#ei{aspZ+P~T7>=U&pPe&T=QDMJaP$Si<2ez<`_7r;gGbC6 zI);ZR-onQ`BmZ?izD=|*LH?tBd`2FQW{CNgn+ohX6A)*3V=1UsbL|Cqdkg(&mvz$DKyPseLy z<#R_EUcl{H;#ain#t`$G1ll&|+-Sdl=L9keyYlopF_}lKJ8UZGm|tD5|6B-0)f4JrF}&9_ELlfKKS&O`nKve8+BM*eotrhk%;EFpT)d^q#T+#mQsAn<*71j< zKF7j9h($07*qoM6N<$ Ef(Ku2xBvhE literal 0 HcmV?d00001 diff --git a/mrs_uav_controllers/src/index-detail-sort-f.html b/mrs_uav_controllers/src/index-detail-sort-f.html new file mode 100644 index 0000000000..c5e0209a51 --- /dev/null +++ b/mrs_uav_controllers/src/index-detail-sort-f.html @@ -0,0 +1,182 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_controllers/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1751217480.5 %
Date:2024-08-07 22:18:19Functions:586687.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
failsafe_controller.cpp +
67.5%67.5%
+ 		67.5 %131 / 19481.8 %9 / 11
<unnamed>67.5 %131 / 19481.8 %9 / 11
midair_activation_controller.cpp +
88.7%88.7%
+ 		88.7 %134 / 15181.8 %9 / 11
<unnamed>88.7 %134 / 15181.8 %9 / 11
se3_controller.cpp +
80.6%80.6%
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<unnamed>80.6 %625 / 77588.2 %15 / 17
mpc_controller.cpp +
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<unnamed>81.2 %727 / 89588.9 %16 / 18
common.cpp +
84.3%84.3%
+ 		84.3 %134 / 159100.0 %9 / 9
<unnamed>84.3 %134 / 159100.0 %9 / 9
+
+
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_controllers/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1751217480.5 %
Date:2024-08-07 22:18:19Functions:586687.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
failsafe_controller.cpp +
67.5%67.5%
+ 		67.5 %131 / 19481.8 %9 / 11
<unnamed>67.5 %131 / 19481.8 %9 / 11
se3_controller.cpp +
80.6%80.6%
+ 		80.6 %625 / 77588.2 %15 / 17
<unnamed>80.6 %625 / 77588.2 %15 / 17
mpc_controller.cpp +
81.2%81.2%
+ 		81.2 %727 / 89588.9 %16 / 18
<unnamed>81.2 %727 / 89588.9 %16 / 18
common.cpp +
84.3%84.3%
+ 		84.3 %134 / 159100.0 %9 / 9
<unnamed>84.3 %134 / 159100.0 %9 / 9
midair_activation_controller.cpp +
88.7%88.7%
+ 		88.7 %134 / 15181.8 %9 / 11
<unnamed>88.7 %134 / 15181.8 %9 / 11
+
+
+ + + + +
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Current view:top level - mrs_uav_controllers/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1751217480.5 %
Date:2024-08-07 22:18:19Functions:586687.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
common.cpp +
84.3%84.3%
+ 		84.3 %134 / 159100.0 %9 / 9
<unnamed>84.3 %134 / 159100.0 %9 / 9
failsafe_controller.cpp +
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+ 		67.5 %131 / 19481.8 %9 / 11
<unnamed>67.5 %131 / 19481.8 %9 / 11
midair_activation_controller.cpp +
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+ 		88.7 %134 / 15181.8 %9 / 11
<unnamed>88.7 %134 / 15181.8 %9 / 11
mpc_controller.cpp +
81.2%81.2%
+ 		81.2 %727 / 89588.9 %16 / 18
<unnamed>81.2 %727 / 89588.9 %16 / 18
se3_controller.cpp +
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+ 		80.6 %625 / 77588.2 %15 / 17
<unnamed>80.6 %625 / 77588.2 %15 / 17
+
+
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_controllers/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1751217480.5 %
Date:2024-08-07 22:18:19Functions:586687.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
failsafe_controller.cpp +
67.5%67.5%
+ 		67.5 %131 / 19481.8 %9 / 11
midair_activation_controller.cpp +
88.7%88.7%
+ 		88.7 %134 / 15181.8 %9 / 11
se3_controller.cpp +
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+ 		80.6 %625 / 77588.2 %15 / 17
mpc_controller.cpp +
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+ 		81.2 %727 / 89588.9 %16 / 18
common.cpp +
84.3%84.3%
+ 		84.3 %134 / 159100.0 %9 / 9
+
+
+ + + + +
Generated by: LCOV version 1.14
+
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LCOV - code coverage report
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Current view:top level - mrs_uav_controllers/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1751217480.5 %
Date:2024-08-07 22:18:19Functions:586687.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
failsafe_controller.cpp +
67.5%67.5%
+ 		67.5 %131 / 19481.8 %9 / 11
se3_controller.cpp +
80.6%80.6%
+ 		80.6 %625 / 77588.2 %15 / 17
mpc_controller.cpp +
81.2%81.2%
+ 		81.2 %727 / 89588.9 %16 / 18
common.cpp +
84.3%84.3%
+ 		84.3 %134 / 159100.0 %9 / 9
midair_activation_controller.cpp +
88.7%88.7%
+ 		88.7 %134 / 15181.8 %9 / 11
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_controllers/src/index.html b/mrs_uav_controllers/src/index.html new file mode 100644 index 0000000000..bd695740f3 --- /dev/null +++ b/mrs_uav_controllers/src/index.html @@ -0,0 +1,142 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_controllers/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1751217480.5 %
Date:2024-08-07 22:18:19Functions:586687.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
common.cpp +
84.3%84.3%
+ 		84.3 %134 / 159100.0 %9 / 9
failsafe_controller.cpp +
67.5%67.5%
+ 		67.5 %131 / 19481.8 %9 / 11
midair_activation_controller.cpp +
88.7%88.7%
+ 		88.7 %134 / 15181.8 %9 / 11
mpc_controller.cpp +
81.2%81.2%
+ 		81.2 %727 / 89588.9 %16 / 18
se3_controller.cpp +
80.6%80.6%
+ 		80.6 %625 / 77588.2 %15 / 17
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_controllers/src/midair_activation_controller.cpp.func-sort-c.html b/mrs_uav_controllers/src/midair_activation_controller.cpp.func-sort-c.html new file mode 100644 index 0000000000..3097ac7273 --- /dev/null +++ b/mrs_uav_controllers/src/midair_activation_controller.cpp.func-sort-c.html @@ -0,0 +1,124 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/midair_activation_controller.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_controllers/src - midair_activation_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13415188.7 %
Date:2024-08-07 22:18:19Functions:91181.8 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_controllers::midair_activation_controller::MidairActivationController::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_controllers::midair_activation_controller::MidairActivationController::resetDisturbanceEstimators()0
mrs_uav_controllers::midair_activation_controller::MidairActivationController::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)16
mrs_uav_controllers::midair_activation_controller::MidairActivationController::deactivate()103
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_controllers::midair_activation_controller::MidairActivationController::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)108
mrs_uav_controllers::midair_activation_controller::MidairActivationController::getStatus()144
mrs_uav_controllers::midair_activation_controller::MidairActivationController::activate(mrs_uav_managers::Controller::ControlOutput const&)163
mrs_uav_controllers::midair_activation_controller::MidairActivationController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)428
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)508
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)147964
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_controllers/src/midair_activation_controller.cpp.func.html b/mrs_uav_controllers/src/midair_activation_controller.cpp.func.html new file mode 100644 index 0000000000..ef7e4bed3c --- /dev/null +++ b/mrs_uav_controllers/src/midair_activation_controller.cpp.func.html @@ -0,0 +1,124 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/midair_activation_controller.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_controllers/src - midair_activation_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13415188.7 %
Date:2024-08-07 22:18:19Functions:91181.8 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_controllers::midair_activation_controller::MidairActivationController::deactivate()103
mrs_uav_controllers::midair_activation_controller::MidairActivationController::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)108
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)508
mrs_uav_controllers::midair_activation_controller::MidairActivationController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)428
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)147964
mrs_uav_controllers::midair_activation_controller::MidairActivationController::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)16
mrs_uav_controllers::midair_activation_controller::MidairActivationController::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_controllers::midair_activation_controller::MidairActivationController::resetDisturbanceEstimators()0
mrs_uav_controllers::midair_activation_controller::MidairActivationController::activate(mrs_uav_managers::Controller::ControlOutput const&)163
mrs_uav_controllers::midair_activation_controller::MidairActivationController::getStatus()144
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+ + + diff --git a/mrs_uav_controllers/src/midair_activation_controller.cpp.gcov.frameset.html b/mrs_uav_controllers/src/midair_activation_controller.cpp.gcov.frameset.html new file mode 100644 index 0000000000..0679c78cc0 --- /dev/null +++ b/mrs_uav_controllers/src/midair_activation_controller.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/midair_activation_controller.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_controllers/src/midair_activation_controller.cpp.gcov.html b/mrs_uav_controllers/src/midair_activation_controller.cpp.gcov.html new file mode 100644 index 0000000000..a37489b538 --- /dev/null +++ b/mrs_uav_controllers/src/midair_activation_controller.cpp.gcov.html @@ -0,0 +1,518 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/midair_activation_controller.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_controllers/src - midair_activation_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13415188.7 %
Date:2024-08-07 22:18:19Functions:91181.8 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : 
+       6             : #include <common.h>
+       7             : 
+       8             : #include <mrs_uav_managers/controller.h>
+       9             : 
+      10             : #include <mrs_lib/profiler.h>
+      11             : #include <mrs_lib/attitude_converter.h>
+      12             : #include <mrs_lib/mutex.h>
+      13             : #include <mrs_lib/param_loader.h>
+      14             : 
+      15             : //}
+      16             : 
+      17             : namespace mrs_uav_controllers
+      18             : {
+      19             : 
+      20             : namespace midair_activation_controller
+      21             : {
+      22             : 
+      23             : /* class MidairActivationController //{ */
+      24             : 
+      25             : class MidairActivationController : public mrs_uav_managers::Controller {
+      26             : 
+      27             : public:
+      28             :   bool initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      29             :                   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
+      30             : 
+      31             :   bool activate(const ControlOutput &last_control_output);
+      32             : 
+      33             :   void deactivate(void);
+      34             : 
+      35             :   void updateInactive(const mrs_msgs::UavState &uav_state, const std::optional<mrs_msgs::TrackerCommand> &tracker_command);
+      36             : 
+      37             :   ControlOutput updateActive(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command);
+      38             : 
+      39             :   const mrs_msgs::ControllerStatus getStatus();
+      40             : 
+      41             :   void switchOdometrySource(const mrs_msgs::UavState &new_uav_state);
+      42             : 
+      43             :   void resetDisturbanceEstimators(void);
+      44             : 
+      45             :   const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd);
+      46             : 
+      47             : private:
+      48             :   ros::NodeHandle nh_;
+      49             : 
+      50             :   bool is_initialized_ = false;
+      51             :   bool is_active_      = false;
+      52             : 
+      53             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>  common_handlers_;
+      54             :   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers_;
+      55             : 
+      56             :   // | ------------------------ uav state ----------------------- |
+      57             : 
+      58             :   mrs_msgs::UavState uav_state_;
+      59             :   std::mutex         mutex_uav_state_;
+      60             : 
+      61             :   // | --------------------- thrust control --------------------- |
+      62             : 
+      63             :   double _uav_mass_;
+      64             :   double uav_mass_difference_;
+      65             : 
+      66             :   double hover_throttle_;
+      67             : 
+      68             :   // | ------------------------ profiler ------------------------ |
+      69             : 
+      70             :   mrs_lib::Profiler profiler_;
+      71             :   bool              _profiler_enabled_ = false;
+      72             : 
+      73             :   // | ------------------------ routines ------------------------ |
+      74             : 
+      75             :   double getHeadingSafely(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command);
+      76             : };
+      77             : 
+      78             : //}
+      79             : 
+      80             : // --------------------------------------------------------------
+      81             : // |                   controller's interface                   |
+      82             : // --------------------------------------------------------------
+      83             : 
+      84             : /* initialize() //{ */
+      85             : 
+      86         108 : bool MidairActivationController::initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      87             :                                             std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers) {
+      88             : 
+      89         108 :   nh_ = nh;
+      90             : 
+      91         108 :   common_handlers_  = common_handlers;
+      92         108 :   private_handlers_ = private_handlers;
+      93             : 
+      94         108 :   _uav_mass_ = common_handlers->getMass();
+      95             : 
+      96         108 :   ros::Time::waitForValid();
+      97             : 
+      98             :   // | ---------- loading params using the parent's nh ---------- |
+      99             : 
+     100         216 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     101             : 
+     102         108 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     103             : 
+     104         108 :   if (!param_loader_parent.loadedSuccessfully()) {
+     105           0 :     ROS_ERROR("[MidairActivationController]: Could not load all parameters!");
+     106           0 :     return false;
+     107             :   }
+     108             : 
+     109             :   // | -------------------- loading my params ------------------- |
+     110             : 
+     111         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/midair_activation_controller.yaml");
+     112         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/midair_activation_controller.yaml");
+     113             : 
+     114         108 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     115           0 :     ROS_ERROR("[MidairActivationController]: Could not load all parameters!");
+     116           0 :     return false;
+     117             :   }
+     118             : 
+     119         108 :   uav_mass_difference_ = 0;
+     120             : 
+     121             :   // | ------------------------ profiler ------------------------ |
+     122             : 
+     123         108 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "MidairActivationController", _profiler_enabled_);
+     124             : 
+     125             :   // | ----------------------- finish init ---------------------- |
+     126             : 
+     127         108 :   ROS_INFO("[MidairActivationController]: initialized");
+     128             : 
+     129         108 :   is_initialized_ = true;
+     130             : 
+     131         108 :   return true;
+     132             : }
+     133             : 
+     134             : //}
+     135             : 
+     136             : /* activate() //{ */
+     137             : 
+     138         163 : bool MidairActivationController::activate([[maybe_unused]] const ControlOutput &last_control_output) {
+     139             : 
+     140         163 :   ROS_INFO("[MidairActivationController]: activating");
+     141             : 
+     142         163 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     143             : 
+     144         163 :   hover_throttle_ = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, _uav_mass_ * common_handlers_->g);
+     145             : 
+     146         163 :   is_active_ = true;
+     147             : 
+     148         163 :   ROS_INFO("[MidairActivationController]: activated, hover throttle %.2f", hover_throttle_);
+     149             : 
+     150         326 :   return true;
+     151             : }
+     152             : 
+     153             : //}
+     154             : 
+     155             : /* deactivate() //{ */
+     156             : 
+     157         103 : void MidairActivationController::deactivate(void) {
+     158             : 
+     159         103 :   is_active_           = false;
+     160         103 :   uav_mass_difference_ = 0;
+     161             : 
+     162         103 :   ROS_INFO("[MidairActivationController]: deactivated");
+     163         103 : }
+     164             : 
+     165             : //}
+     166             : 
+     167             : /* updateInactive() //{ */
+     168             : 
+     169      147964 : void MidairActivationController::updateInactive(const mrs_msgs::UavState &                                      uav_state,
+     170             :                                                 [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &tracker_command) {
+     171             : 
+     172      147964 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     173      147964 : }
+     174             : 
+     175             : //}
+     176             : 
+     177             : /* //{ updateWhenAcctive() */
+     178             : 
+     179         508 : MidairActivationController::ControlOutput MidairActivationController::updateActive(const mrs_msgs::UavState &      uav_state,
+     180             :                                                                                    const mrs_msgs::TrackerCommand &tracker_command) {
+     181             : 
+     182        1524 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     183             :   mrs_lib::ScopeTimer timer =
+     184        1524 :       mrs_lib::ScopeTimer("MidairActivationController::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     185             : 
+     186         508 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     187             : 
+     188         508 :   if (!is_active_) {
+     189           0 :     return Controller::ControlOutput();
+     190             :   }
+     191             : 
+     192             :   // | --------------- prepare the control output --------------- |
+     193             : 
+     194        1016 :   ControlOutput control_output;
+     195             : 
+     196         508 :   control_output.diagnostics.controller = "MidairActivationController";
+     197             : 
+     198         508 :   auto highest_modality = common::getHighestOuput(common_handlers_->control_output_modalities);
+     199             : 
+     200         508 :   if (!highest_modality) {
+     201             : 
+     202           0 :     ROS_ERROR_THROTTLE(1.0, "[MidairActivationController]: output modalities are empty! This error should never appear.");
+     203             : 
+     204           0 :     return control_output;
+     205             :   }
+     206             : 
+     207         508 :   switch (highest_modality.value()) {
+     208             : 
+     209           3 :     case common::POSITION: {
+     210             : 
+     211           6 :       mrs_msgs::HwApiPositionCmd cmd;
+     212             : 
+     213           3 :       cmd.header.stamp    = ros::Time::now();
+     214           3 :       cmd.header.frame_id = uav_state.header.frame_id;
+     215             : 
+     216           3 :       cmd.position.x = uav_state.pose.position.x;
+     217           3 :       cmd.position.y = uav_state.pose.position.y;
+     218           3 :       cmd.position.z = uav_state.pose.position.z;
+     219             : 
+     220           3 :       cmd.heading = getHeadingSafely(uav_state, tracker_command);
+     221             : 
+     222           3 :       control_output.control_output = cmd;
+     223             : 
+     224           3 :       break;
+     225             :     }
+     226             : 
+     227           7 :     case common::VELOCITY_HDG: {
+     228             : 
+     229          14 :       mrs_msgs::HwApiVelocityHdgCmd cmd;
+     230             : 
+     231           7 :       cmd.header.stamp    = ros::Time::now();
+     232           7 :       cmd.header.frame_id = uav_state.header.frame_id;
+     233             : 
+     234           7 :       cmd.velocity.x = uav_state.velocity.linear.x;
+     235           7 :       cmd.velocity.y = uav_state.velocity.linear.y;
+     236           7 :       cmd.velocity.z = uav_state.velocity.linear.z;
+     237             : 
+     238           7 :       cmd.heading = getHeadingSafely(uav_state, tracker_command);
+     239             : 
+     240           7 :       control_output.control_output = cmd;
+     241             : 
+     242           7 :       break;
+     243             :     }
+     244             : 
+     245          14 :     case common::VELOCITY_HDG_RATE: {
+     246             : 
+     247          28 :       mrs_msgs::HwApiVelocityHdgRateCmd cmd;
+     248             : 
+     249          14 :       cmd.header.stamp    = ros::Time::now();
+     250          14 :       cmd.header.frame_id = uav_state.header.frame_id;
+     251             : 
+     252          14 :       cmd.velocity.x = uav_state.velocity.linear.x;
+     253          14 :       cmd.velocity.y = uav_state.velocity.linear.y;
+     254          14 :       cmd.velocity.z = uav_state.velocity.linear.z;
+     255             : 
+     256          14 :       cmd.heading_rate = 0;
+     257             : 
+     258          14 :       control_output.control_output = cmd;
+     259             : 
+     260          14 :       break;
+     261             :     }
+     262             : 
+     263           6 :     case common::ACCELERATION_HDG: {
+     264             : 
+     265          12 :       mrs_msgs::HwApiAccelerationHdgCmd cmd;
+     266             : 
+     267           6 :       cmd.header.stamp    = ros::Time::now();
+     268           6 :       cmd.header.frame_id = uav_state.header.frame_id;
+     269             : 
+     270           6 :       cmd.acceleration.x = uav_state.acceleration.linear.x;
+     271           6 :       cmd.acceleration.y = uav_state.acceleration.linear.y;
+     272           6 :       cmd.acceleration.z = uav_state.acceleration.linear.z;
+     273             : 
+     274           6 :       cmd.heading = getHeadingSafely(uav_state, tracker_command);
+     275             : 
+     276           6 :       control_output.control_output = cmd;
+     277             : 
+     278           6 :       break;
+     279             :     }
+     280             : 
+     281           6 :     case common::ACCELERATION_HDG_RATE: {
+     282             : 
+     283          12 :       mrs_msgs::HwApiAccelerationHdgRateCmd cmd;
+     284             : 
+     285           6 :       cmd.header.stamp    = ros::Time::now();
+     286           6 :       cmd.header.frame_id = uav_state.header.frame_id;
+     287             : 
+     288           6 :       cmd.acceleration.x = uav_state.acceleration.linear.x;
+     289           6 :       cmd.acceleration.y = uav_state.acceleration.linear.y;
+     290           6 :       cmd.acceleration.z = uav_state.acceleration.linear.z;
+     291             : 
+     292           6 :       cmd.heading_rate = 0;
+     293             : 
+     294           6 :       control_output.control_output = cmd;
+     295             : 
+     296           6 :       break;
+     297             :     }
+     298             : 
+     299         391 :     case common::ATTITUDE: {
+     300             : 
+     301         391 :       mrs_msgs::HwApiAttitudeCmd cmd;
+     302             : 
+     303         391 :       cmd.stamp = ros::Time::now();
+     304             : 
+     305         391 :       cmd.orientation = uav_state.pose.orientation;
+     306         391 :       cmd.throttle    = hover_throttle_;
+     307             : 
+     308         391 :       control_output.control_output = cmd;
+     309             : 
+     310         391 :       break;
+     311             :     }
+     312             : 
+     313          33 :     case common::ATTITUDE_RATE: {
+     314             : 
+     315          33 :       mrs_msgs::HwApiAttitudeRateCmd cmd;
+     316             : 
+     317          33 :       cmd.stamp = ros::Time::now();
+     318             : 
+     319          33 :       cmd.body_rate.x = 0;
+     320          33 :       cmd.body_rate.y = 0;
+     321          33 :       cmd.body_rate.z = 0;
+     322             : 
+     323          33 :       cmd.throttle = hover_throttle_;
+     324             : 
+     325          33 :       control_output.control_output = cmd;
+     326             : 
+     327          33 :       break;
+     328             :     }
+     329             : 
+     330          24 :     case common::CONTROL_GROUP: {
+     331             : 
+     332          24 :       mrs_msgs::HwApiControlGroupCmd cmd;
+     333             : 
+     334          24 :       cmd.stamp = ros::Time::now();
+     335             : 
+     336          24 :       cmd.roll     = 0;
+     337          24 :       cmd.pitch    = 0;
+     338          24 :       cmd.yaw      = 0;
+     339          24 :       cmd.throttle = hover_throttle_;
+     340             : 
+     341          24 :       control_output.control_output = cmd;
+     342             : 
+     343          24 :       break;
+     344             :     }
+     345             : 
+     346          24 :     case common::ACTUATORS_CMD: {
+     347             : 
+     348          48 :       mrs_msgs::HwApiActuatorCmd cmd;
+     349             : 
+     350          24 :       cmd.stamp = ros::Time::now();
+     351             : 
+     352         120 :       for (int i = 0; i < common_handlers_->throttle_model.n_motors; i++) {
+     353          96 :         cmd.motors.push_back(hover_throttle_);
+     354             :       }
+     355             : 
+     356          24 :       control_output.control_output = cmd;
+     357             : 
+     358          24 :       break;
+     359             :     }
+     360             :   }
+     361             : 
+     362         508 :   return control_output;
+     363             : }  // namespace midair_activation_controller
+     364             : 
+     365             : //}
+     366             : 
+     367             : /* getStatus() //{ */
+     368             : 
+     369         144 : const mrs_msgs::ControllerStatus MidairActivationController::getStatus() {
+     370             : 
+     371         144 :   mrs_msgs::ControllerStatus controller_status;
+     372             : 
+     373         144 :   controller_status.active = is_active_;
+     374             : 
+     375         144 :   return controller_status;
+     376             : }
+     377             : 
+     378             : //}
+     379             : 
+     380             : /* switchOdometrySource() //{ */
+     381             : 
+     382           0 : void MidairActivationController::switchOdometrySource([[maybe_unused]] const mrs_msgs::UavState &new_uav_state) {
+     383           0 : }
+     384             : 
+     385             : //}
+     386             : 
+     387             : /* resetDisturbanceEstimators() //{ */
+     388             : 
+     389           0 : void MidairActivationController::resetDisturbanceEstimators(void) {
+     390           0 : }
+     391             : 
+     392             : //}
+     393             : 
+     394             : /* setConstraints() //{ */
+     395             : 
+     396         428 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MidairActivationController::setConstraints([
+     397             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &constraints) {
+     398             : 
+     399         428 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     400             : }
+     401             : 
+     402             : //}
+     403             : 
+     404             : /* getHeadingSafely() //{ */
+     405             : 
+     406          16 : double MidairActivationController::getHeadingSafely(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+     407             : 
+     408             :   try {
+     409          16 :     return mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     410             :   }
+     411           0 :   catch (...) {
+     412             :   }
+     413             : 
+     414             :   try {
+     415           0 :     return mrs_lib::AttitudeConverter(uav_state.pose.orientation).getYaw();
+     416             :   }
+     417           0 :   catch (...) {
+     418             :   }
+     419             : 
+     420           0 :   if (tracker_command.use_heading) {
+     421           0 :     return tracker_command.heading;
+     422             :   }
+     423             : 
+     424           0 :   return 0;
+     425             : }
+     426             : 
+     427             : //}
+     428             : 
+     429             : }  // namespace midair_activation_controller
+     430             : 
+     431             : }  // namespace mrs_uav_controllers
+     432             : 
+     433             : #include <pluginlib/class_list_macros.h>
+     434         108 : PLUGINLIB_EXPORT_CLASS(mrs_uav_controllers::midair_activation_controller::MidairActivationController, mrs_uav_managers::Controller)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_controllers/src/midair_activation_controller.cpp.gcov.overview.html b/mrs_uav_controllers/src/midair_activation_controller.cpp.gcov.overview.html new file mode 100644 index 0000000000..ca2d6e0fdf --- /dev/null +++ b/mrs_uav_controllers/src/midair_activation_controller.cpp.gcov.overview.html @@ -0,0 +1,129 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/midair_activation_controller.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_controllers/src/midair_activation_controller.cpp.gcov.png b/mrs_uav_controllers/src/midair_activation_controller.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..49f6832acd8e49470672760900f2d06888ca2a29 GIT binary patch literal 1228 zcmV;-1T*`IP);0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vph4Hy$oLH;~?T|h?sE{F^y{nigeQwS&~b%McnB~@KD?`FrCR}1JerB z`tpc`p(qsvr?`mJYP(o^_aBZTKe^FMlq%#+_n`w!7&I8E78#6xR}J&Gq9x*3_Evvh zun+-#4j^u*0U{tcbe0W{aO#482VxHqa#70hs!`{o8eJivg0;&vg{FoIyt2JS^u7Yu1_<`hK&0f<5qD6I7WmN)ga?n_bI z7hQQSj-4jKD1hkk*v>Sa+|u7#mR}ae%ZEUEr)b}!T-?r|o{h-$QE)Rg&(n;FcK>&U zZbT)1Bi-~kYdvcm*O!E8Owl+oYI~Je)K(F7gll>VlPQ3hjf0738i48X`}jOI=c=v& zcs}AZ%Cn~!HNP zS4x-_hT_%A!1~;xGX7AQGF^>7T;=BL-AC8*Lh)`_`>5bPT!xRvwYoeS#4YgLbi+fO zay{875@xqUku0s&J(8c#rYD0VZ|AGiwOQdLg$@-Nh|@7vlgNBTOS7ERtSL&0Tp#0T z&$8&_@=p(iA6Z_5bZ|?!UvJDvrnSL@L~hOGT9ZvT-0q20JKgqNN0@R^TP3q)p{qJzPu~_kVzAwNe?obgTdz+? zqr|d=G|MVB*%t-_J~6f#3HNH4%Qy!yB-)hVZWZD#s56Rkqx14t;qB7>ESenC%X70hNB#R7%t54`RU+eO899}jWkU~WO&?XhAuq1H4}QIioLKK>RT zzjYekPM@yiNj#~T_EhYM$g3zKsWhC*+<<1{4`}^I8d=kN+6xD&hxtgAX6FEu%#-F# zV8Ga^fb2PdxYjscM1V@fv+LrD9K^I|p5l!T0tucEfls+p=UF@A1IUH`@U!_>B?K~5 zO3(XD%e~Sgc(f?}tln=go!cs8-lDlji!#SK-Eot9jccjW + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/mpc_controller.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_controllers/src - mpc_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:72789581.2 %
Date:2024-08-07 22:18:19Functions:161888.9 %
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+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_controllers::mpc_controller::MpcController::callbackSetIntegralTerms(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_controllers::mpc_controller::MpcController::resetDisturbanceEstimators()0
mrs_uav_controllers::mpc_controller::MpcController::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)5
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_controllers::mpc_controller::MpcController::deactivate()173
mrs_uav_controllers::mpc_controller::MpcController::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)216
mrs_uav_controllers::mpc_controller::MpcController::callbackDrs(mrs_uav_controllers::mpc_controllerConfig&, unsigned int)216
mrs_uav_controllers::mpc_controller::MpcController::activate(mrs_uav_managers::Controller::ControlOutput const&)228
mrs_uav_controllers::mpc_controller::MpcController::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)271
mrs_uav_controllers::mpc_controller::MpcController::PIDVelocityOutput(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&, mrs_uav_controllers::common::CONTROL_OUTPUT const&, double const&)773
mrs_uav_controllers::mpc_controller::MpcController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)856
mrs_uav_controllers::mpc_controller::MpcController::getStatus()15099
mrs_uav_controllers::mpc_controller::MpcController::timerGains(ros::TimerEvent const&)16385
mrs_uav_controllers::mpc_controller::MpcController::MPC(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&, double const&, mrs_uav_controllers::common::CONTROL_OUTPUT const&)71042
mrs_uav_controllers::mpc_controller::MpcController::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)71815
mrs_uav_controllers::mpc_controller::MpcController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)72086
mrs_uav_controllers::mpc_controller::MpcController::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)129576
mrs_uav_controllers::mpc_controller::MpcController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)224858
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_controllers/src/mpc_controller.cpp.func.html b/mrs_uav_controllers/src/mpc_controller.cpp.func.html new file mode 100644 index 0000000000..8f9bccca51 --- /dev/null +++ b/mrs_uav_controllers/src/mpc_controller.cpp.func.html @@ -0,0 +1,152 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/mpc_controller.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_controllers/src - mpc_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:72789581.2 %
Date:2024-08-07 22:18:19Functions:161888.9 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_controllers::mpc_controller::MpcController::deactivate()173
mrs_uav_controllers::mpc_controller::MpcController::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)216
mrs_uav_controllers::mpc_controller::MpcController::timerGains(ros::TimerEvent const&)16385
mrs_uav_controllers::mpc_controller::MpcController::callbackDrs(mrs_uav_controllers::mpc_controllerConfig&, unsigned int)216
mrs_uav_controllers::mpc_controller::MpcController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)72086
mrs_uav_controllers::mpc_controller::MpcController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)856
mrs_uav_controllers::mpc_controller::MpcController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)224858
mrs_uav_controllers::mpc_controller::MpcController::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)71815
mrs_uav_controllers::mpc_controller::MpcController::PIDVelocityOutput(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&, mrs_uav_controllers::common::CONTROL_OUTPUT const&, double const&)773
mrs_uav_controllers::mpc_controller::MpcController::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)129576
mrs_uav_controllers::mpc_controller::MpcController::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)271
mrs_uav_controllers::mpc_controller::MpcController::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)5
mrs_uav_controllers::mpc_controller::MpcController::callbackSetIntegralTerms(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_controllers::mpc_controller::MpcController::resetDisturbanceEstimators()0
mrs_uav_controllers::mpc_controller::MpcController::MPC(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&, double const&, mrs_uav_controllers::common::CONTROL_OUTPUT const&)71042
mrs_uav_controllers::mpc_controller::MpcController::activate(mrs_uav_managers::Controller::ControlOutput const&)228
mrs_uav_controllers::mpc_controller::MpcController::getStatus()15099
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+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_controllers/src/mpc_controller.cpp.gcov.frameset.html b/mrs_uav_controllers/src/mpc_controller.cpp.gcov.frameset.html new file mode 100644 index 0000000000..8a9f67a4c4 --- /dev/null +++ b/mrs_uav_controllers/src/mpc_controller.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/mpc_controller.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_controllers/src/mpc_controller.cpp.gcov.html b/mrs_uav_controllers/src/mpc_controller.cpp.gcov.html new file mode 100644 index 0000000000..2889fccbb3 --- /dev/null +++ b/mrs_uav_controllers/src/mpc_controller.cpp.gcov.html @@ -0,0 +1,2217 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/mpc_controller.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_controllers/src - mpc_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:72789581.2 %
Date:2024-08-07 22:18:19Functions:161888.9 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : 
+       6             : #include <common.h>
+       7             : #include <pid.hpp>
+       8             : 
+       9             : #include <mrs_uav_managers/controller.h>
+      10             : 
+      11             : #include <mpc_controller.h>
+      12             : 
+      13             : #include <dynamic_reconfigure/server.h>
+      14             : #include <mrs_uav_controllers/mpc_controllerConfig.h>
+      15             : 
+      16             : #include <std_srvs/SetBool.h>
+      17             : 
+      18             : #include <mrs_lib/profiler.h>
+      19             : #include <mrs_lib/utils.h>
+      20             : #include <mrs_lib/mutex.h>
+      21             : #include <mrs_lib/attitude_converter.h>
+      22             : #include <mrs_lib/geometry/cyclic.h>
+      23             : 
+      24             : #include <geometry_msgs/Vector3Stamped.h>
+      25             : 
+      26             : //}
+      27             : 
+      28             : #define OUTPUT_ACTUATORS 0
+      29             : #define OUTPUT_CONTROL_GROUP 1
+      30             : #define OUTPUT_ATTITUDE_RATE 2
+      31             : #define OUTPUT_ATTITUDE 3
+      32             : 
+      33             : namespace mrs_uav_controllers
+      34             : {
+      35             : 
+      36             : namespace mpc_controller
+      37             : {
+      38             : 
+      39             : /* structs //{ */
+      40             : 
+      41             : typedef struct
+      42             : {
+      43             :   double kiwxy;          // world xy integral gain
+      44             :   double kibxy;          // body xy integral gain
+      45             :   double kiwxy_lim;      // world xy integral limit
+      46             :   double kibxy_lim;      // body xy integral limit
+      47             :   double km;             // mass estimator gain
+      48             :   double km_lim;         // mass estimator limit
+      49             :   double kq_roll_pitch;  // pitch/roll attitude gain
+      50             :   double kq_yaw;         // yaw attitude gain
+      51             :   double kw_rp;          // attitude rate gain
+      52             :   double kw_y;           // attitude rate gain
+      53             : } Gains_t;
+      54             : 
+      55             : //}
+      56             : 
+      57             : /* //{ class MpcController */
+      58             : 
+      59             : class MpcController : public mrs_uav_managers::Controller {
+      60             : 
+      61             : public:
+      62             :   bool initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      63             :                   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
+      64             : 
+      65             :   bool activate(const ControlOutput &last_control_output);
+      66             : 
+      67             :   void deactivate(void);
+      68             : 
+      69             :   void updateInactive(const mrs_msgs::UavState &uav_state, const std::optional<mrs_msgs::TrackerCommand> &tracker_command);
+      70             : 
+      71             :   ControlOutput updateActive(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command);
+      72             : 
+      73             :   const mrs_msgs::ControllerStatus getStatus();
+      74             : 
+      75             :   void switchOdometrySource(const mrs_msgs::UavState &new_uav_state);
+      76             : 
+      77             :   void resetDisturbanceEstimators(void);
+      78             : 
+      79             :   const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd);
+      80             : 
+      81             : private:
+      82             :   ros::NodeHandle nh_;
+      83             : 
+      84             :   bool is_initialized_ = false;
+      85             :   bool is_active_      = false;
+      86             : 
+      87             :   std::string name_;
+      88             : 
+      89             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>  common_handlers_;
+      90             :   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers_;
+      91             : 
+      92             :   // | ------------------------ uav state ----------------------- |
+      93             : 
+      94             :   mrs_msgs::UavState uav_state_;
+      95             :   std::mutex         mutex_uav_state_;
+      96             : 
+      97             :   // | --------------- dynamic reconfigure server --------------- |
+      98             : 
+      99             :   boost::recursive_mutex                            mutex_drs_;
+     100             :   typedef mrs_uav_controllers::mpc_controllerConfig DrsConfig_t;
+     101             :   typedef dynamic_reconfigure::Server<DrsConfig_t>  Drs_t;
+     102             :   boost::shared_ptr<Drs_t>                          drs_;
+     103             :   void                                              callbackDrs(mrs_uav_controllers::mpc_controllerConfig &config, uint32_t level);
+     104             :   DrsConfig_t                                       drs_params_;
+     105             : 
+     106             :   // | ----------------------- controllers ---------------------- |
+     107             : 
+     108             :   void positionPassthrough(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command);
+     109             : 
+     110             :   void PIDVelocityOutput(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command, const common::CONTROL_OUTPUT &control_output,
+     111             :                          const double &dt);
+     112             : 
+     113             :   void MPC(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command, const double &dt,
+     114             :            const common::CONTROL_OUTPUT &output_modality);
+     115             : 
+     116             :   // | ----------------------- constraints ---------------------- |
+     117             : 
+     118             :   mrs_msgs::DynamicsConstraints constraints_;
+     119             :   std::mutex                    mutex_constraints_;
+     120             : 
+     121             :   // | -------- throttle generation and mass estimation --------- |
+     122             : 
+     123             :   double _uav_mass_;
+     124             :   double uav_mass_difference_;
+     125             : 
+     126             :   Gains_t gains_;
+     127             : 
+     128             :   // | ------------------- configurable gains ------------------- |
+     129             : 
+     130             :   std::mutex mutex_gains_;       // locks the gains the are used and filtered
+     131             :   std::mutex mutex_drs_params_;  // locks the gains that came from the drs
+     132             : 
+     133             :   ros::Timer timer_gains_;
+     134             :   void       timerGains(const ros::TimerEvent &event);
+     135             : 
+     136             :   double _gain_filtering_rate_;
+     137             : 
+     138             :   // | --------------------- gain filtering --------------------- |
+     139             : 
+     140             :   double calculateGainChange(const double dt, const double current_value, const double desired_value, const bool bypass_rate, std::string name, bool &updated);
+     141             : 
+     142             :   double getHeadingSafely(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command);
+     143             : 
+     144             :   double _gains_filter_change_rate_;
+     145             :   double _gains_filter_min_change_rate_;
+     146             : 
+     147             :   // | ----------------------- gain muting ---------------------- |
+     148             : 
+     149             :   std::atomic<bool> mute_gains_            = false;
+     150             :   std::atomic<bool> mute_gains_by_tracker_ = false;
+     151             :   double            _gain_mute_coefficient_;
+     152             : 
+     153             :   // | ------------ controller limits and saturations ----------- |
+     154             : 
+     155             :   bool   _tilt_angle_failsafe_enabled_;
+     156             :   double _tilt_angle_failsafe_;
+     157             : 
+     158             :   double _throttle_saturation_;
+     159             : 
+     160             :   // | ------------------ activation and output ----------------- |
+     161             : 
+     162             :   ControlOutput last_control_output_;
+     163             :   ControlOutput activation_control_output_;
+     164             : 
+     165             :   ros::Time         last_update_time_;
+     166             :   std::atomic<bool> first_iteration_ = true;
+     167             : 
+     168             :   // | ----------------- integral terms enabler ----------------- |
+     169             : 
+     170             :   ros::ServiceServer service_set_integral_terms_;
+     171             :   bool               callbackSetIntegralTerms(std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res);
+     172             :   bool               integral_terms_enabled_ = true;
+     173             : 
+     174             :   // | --------------------- MPC controller --------------------- |
+     175             : 
+     176             :   // number of states
+     177             :   int _n_states_;
+     178             : 
+     179             :   // time steps
+     180             :   double _dt1_;  // the first time step
+     181             :   double _dt2_;  // all the other steps
+     182             : 
+     183             :   // the last control input
+     184             :   double mpc_solver_x_u_ = 0;
+     185             :   double mpc_solver_y_u_ = 0;
+     186             :   double mpc_solver_z_u_ = 0;
+     187             : 
+     188             :   int _horizon_length_;
+     189             : 
+     190             :   // constraints
+     191             :   double _max_speed_horizontal_, _max_acceleration_horizontal_, _max_jerk_;
+     192             :   double _max_speed_vertical_, _max_acceleration_vertical_, _max_u_vertical_;
+     193             : 
+     194             :   // Q and S matrix diagonals for horizontal
+     195             :   std::vector<double> _mat_Q_, _mat_S_;
+     196             : 
+     197             :   // Q and S matrix diagonals for vertical
+     198             :   std::vector<double> _mat_Q_z_, _mat_S_z_;
+     199             : 
+     200             :   // MPC solver handlers
+     201             :   std::shared_ptr<mrs_mpc_solvers::mpc_controller::Solver> mpc_solver_x_;
+     202             :   std::shared_ptr<mrs_mpc_solvers::mpc_controller::Solver> mpc_solver_y_;
+     203             :   std::shared_ptr<mrs_mpc_solvers::mpc_controller::Solver> mpc_solver_z_;
+     204             : 
+     205             :   // MPC solver params
+     206             :   bool _mpc_solver_verbose_ = false;
+     207             :   int  _mpc_solver_max_iterations_;
+     208             : 
+     209             :   // | ------------------------ profiler ------------------------ |
+     210             : 
+     211             :   mrs_lib::Profiler profiler_;
+     212             :   bool              _profiler_enabled_ = false;
+     213             : 
+     214             :   // | ------------------------ integrals ----------------------- |
+     215             : 
+     216             :   Eigen::Vector2d Ib_b_;  // body error integral in the body frame
+     217             :   Eigen::Vector2d Iw_w_;  // world error integral in the world_frame
+     218             :   std::mutex      mutex_integrals_;
+     219             : 
+     220             :   // | ------------------------- rampup ------------------------- |
+     221             : 
+     222             :   bool   _rampup_enabled_ = false;
+     223             :   double _rampup_speed_;
+     224             : 
+     225             :   bool      rampup_active_ = false;
+     226             :   double    rampup_throttle_;
+     227             :   int       rampup_direction_;
+     228             :   double    rampup_duration_;
+     229             :   ros::Time rampup_start_time_;
+     230             :   ros::Time rampup_last_time_;
+     231             : 
+     232             :   // | ---------------------- position pid ---------------------- |
+     233             : 
+     234             :   double _pos_pid_p_;
+     235             :   double _pos_pid_i_;
+     236             :   double _pos_pid_d_;
+     237             : 
+     238             :   double _hdg_pid_p_;
+     239             :   double _hdg_pid_i_;
+     240             :   double _hdg_pid_d_;
+     241             : 
+     242             :   PIDController position_pid_x_;
+     243             :   PIDController position_pid_y_;
+     244             :   PIDController position_pid_z_;
+     245             :   PIDController position_pid_heading_;
+     246             : };
+     247             : 
+     248             : //}
+     249             : 
+     250             : // --------------------------------------------------------------
+     251             : // |                   controller's interface                   |
+     252             : // --------------------------------------------------------------
+     253             : 
+     254             : /* //{ initialize() */
+     255             : 
+     256         216 : bool MpcController::initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+     257             :                                std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers) {
+     258             : 
+     259         216 :   nh_ = nh;
+     260             : 
+     261         216 :   common_handlers_  = common_handlers;
+     262         216 :   private_handlers_ = private_handlers;
+     263             : 
+     264         216 :   _uav_mass_ = common_handlers_->getMass();
+     265         216 :   name_      = private_handlers_->runtime_name;
+     266             : 
+     267         216 :   ros::Time::waitForValid();
+     268             : 
+     269             :   // | ---------- loading params using the parent's nh ---------- |
+     270             : 
+     271         432 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     272             : 
+     273         216 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     274             : 
+     275         216 :   if (!param_loader_parent.loadedSuccessfully()) {
+     276           0 :     ROS_ERROR("[%s]: Could not load all parameters!", name_.c_str());
+     277           0 :     return false;
+     278             :   }
+     279             : 
+     280             :   // | -------------------- loading my params ------------------- |
+     281             : 
+     282         216 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/mpc_controller.yaml");
+     283         216 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/mpc_controller.yaml");
+     284         216 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/" + private_handlers->name_space + ".yaml");
+     285         216 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/" + private_handlers->name_space + ".yaml");
+     286             : 
+     287         432 :   const std::string yaml_namespace = "mrs_uav_controllers/" + private_handlers_->name_space + "/";
+     288             : 
+     289             :   // load the dynamicall model parameters
+     290         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_model/number_of_states", _n_states_);
+     291         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_model/dt1", _dt1_);
+     292         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_model/dt2", _dt2_);
+     293             : 
+     294         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizon_length", _horizon_length_);
+     295             : 
+     296         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/max_speed", _max_speed_horizontal_);
+     297         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/max_acceleration", _max_acceleration_horizontal_);
+     298         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/max_jerk", _max_jerk_);
+     299             : 
+     300         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/Q", _mat_Q_);
+     301         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/S", _mat_S_);
+     302             : 
+     303         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/max_speed", _max_speed_vertical_);
+     304         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/max_acceleration", _max_acceleration_vertical_);
+     305         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/max_u", _max_u_vertical_);
+     306             : 
+     307         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/Q", _mat_Q_z_);
+     308         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/S", _mat_S_z_);
+     309             : 
+     310         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/solver/verbose", _mpc_solver_verbose_);
+     311         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/solver/max_iterations", _mpc_solver_max_iterations_);
+     312             : 
+     313             :   // | ------------------------- rampup ------------------------- |
+     314             : 
+     315         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/rampup/enabled", _rampup_enabled_);
+     316         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/rampup/speed", _rampup_speed_);
+     317             : 
+     318             :   // | --------------------- integral gains --------------------- |
+     319             : 
+     320         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/integral_gains/kiw", gains_.kiwxy);
+     321         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/integral_gains/kib", gains_.kibxy);
+     322             : 
+     323             :   // integrator limits
+     324         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/integral_gains/kiw_lim", gains_.kiwxy_lim);
+     325         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/integral_gains/kib_lim", gains_.kibxy_lim);
+     326             : 
+     327             :   // | ------------- height and attitude controller ------------- |
+     328             : 
+     329             :   // attitude gains
+     330         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude/roll_pitch", gains_.kq_roll_pitch);
+     331         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude/yaw", gains_.kq_yaw);
+     332             : 
+     333             :   // attitude rate gains
+     334         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude_rate/roll_pitch", gains_.kw_rp);
+     335         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude_rate/yaw", gains_.kw_y);
+     336             : 
+     337             :   // mass estimator
+     338         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/mass_estimator/km", gains_.km);
+     339         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/mass_estimator/km_lim", gains_.km_lim);
+     340             : 
+     341             :   // constraints
+     342         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/constraints/tilt_angle_failsafe/enabled", _tilt_angle_failsafe_enabled_);
+     343         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/constraints/tilt_angle_failsafe/limit", _tilt_angle_failsafe_);
+     344             : 
+     345         216 :   _tilt_angle_failsafe_ = M_PI * (_tilt_angle_failsafe_ / 180.0);
+     346             : 
+     347         216 :   if (_tilt_angle_failsafe_enabled_ && std::abs(_tilt_angle_failsafe_) < 1e-3) {
+     348           0 :     ROS_ERROR("[%s]: constraints/tilt_angle_failsafe/enabled = 'TRUE' but the limit is too low", name_.c_str());
+     349           0 :     return false;
+     350             :   }
+     351             : 
+     352         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/constraints/throttle_saturation", _throttle_saturation_);
+     353             : 
+     354             :   // gain filtering
+     355         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/perc_change_rate", _gains_filter_change_rate_);
+     356         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/min_change_rate", _gains_filter_min_change_rate_);
+     357         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/rate", _gain_filtering_rate_);
+     358         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/gain_mute_coefficient", _gain_mute_coefficient_);
+     359             : 
+     360             :   // angular rate feed forward
+     361         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/angular_rate_feedforward/jerk", drs_params_.jerk_feedforward);
+     362             : 
+     363             :   // output mode
+     364         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/preferred_output", drs_params_.preferred_output_mode);
+     365             : 
+     366             :   // | ------------------- position pid params ------------------ |
+     367             : 
+     368         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/p", _pos_pid_p_);
+     369         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/i", _pos_pid_i_);
+     370         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/d", _pos_pid_d_);
+     371             : 
+     372         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/p", _hdg_pid_p_);
+     373         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/i", _hdg_pid_i_);
+     374         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/d", _hdg_pid_d_);
+     375             : 
+     376         216 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     377           0 :     ROS_ERROR("[%s]: Could not load all parameters!", this->name_.c_str());
+     378           0 :     return false;
+     379             :   }
+     380             : 
+     381             :   // | ---------------- prepare stuff from params --------------- |
+     382             : 
+     383         216 :   if (!(drs_params_.preferred_output_mode == OUTPUT_ACTUATORS || drs_params_.preferred_output_mode == OUTPUT_CONTROL_GROUP ||
+     384         216 :         drs_params_.preferred_output_mode == OUTPUT_ATTITUDE_RATE || drs_params_.preferred_output_mode == OUTPUT_ATTITUDE)) {
+     385           0 :     ROS_ERROR("[%s]: preferred output mode has to be {0, 1, 2, 3}!", this->name_.c_str());
+     386           0 :     return false;
+     387             :   }
+     388             : 
+     389         216 :   uav_mass_difference_ = 0;
+     390         216 :   Iw_w_                = Eigen::Vector2d::Zero(2);
+     391         216 :   Ib_b_                = Eigen::Vector2d::Zero(2);
+     392             : 
+     393             :   // | ----------------- prepare the MPC solver ----------------- |
+     394             : 
+     395         216 :   mpc_solver_x_ = std::make_shared<mrs_mpc_solvers::mpc_controller::Solver>(name_, _mpc_solver_verbose_, _mpc_solver_max_iterations_, _mat_Q_, _mat_S_, _dt1_,
+     396         216 :                                                                             _dt2_, 0, 1.0);
+     397         216 :   mpc_solver_y_ = std::make_shared<mrs_mpc_solvers::mpc_controller::Solver>(name_, _mpc_solver_verbose_, _mpc_solver_max_iterations_, _mat_Q_, _mat_S_, _dt1_,
+     398         216 :                                                                             _dt2_, 0, 1.0);
+     399         216 :   mpc_solver_z_ = std::make_shared<mrs_mpc_solvers::mpc_controller::Solver>(name_, _mpc_solver_verbose_, _mpc_solver_max_iterations_, _mat_Q_z_, _mat_S_z_,
+     400         216 :                                                                             _dt1_, _dt2_, 0.5, 0.5);
+     401             : 
+     402             :   // | --------------- dynamic reconfigure server --------------- |
+     403             : 
+     404         216 :   drs_params_.kiwxy         = gains_.kiwxy;
+     405         216 :   drs_params_.kibxy         = gains_.kibxy;
+     406         216 :   drs_params_.kq_roll_pitch = gains_.kq_roll_pitch;
+     407         216 :   drs_params_.kq_yaw        = gains_.kq_yaw;
+     408         216 :   drs_params_.km            = gains_.km;
+     409         216 :   drs_params_.km_lim        = gains_.km_lim;
+     410         216 :   drs_params_.kiwxy_lim     = gains_.kiwxy_lim;
+     411         216 :   drs_params_.kibxy_lim     = gains_.kibxy_lim;
+     412             : 
+     413         216 :   drs_.reset(new Drs_t(mutex_drs_, nh_));
+     414         216 :   drs_->updateConfig(drs_params_);
+     415         216 :   Drs_t::CallbackType f = boost::bind(&MpcController::callbackDrs, this, _1, _2);
+     416         216 :   drs_->setCallback(f);
+     417             : 
+     418             :   // | --------------------- service servers -------------------- |
+     419             : 
+     420         216 :   service_set_integral_terms_ = nh_.advertiseService("set_integral_terms_in", &MpcController::callbackSetIntegralTerms, this);
+     421             : 
+     422             :   // | ------------------------- timers ------------------------- |
+     423             : 
+     424         216 :   timer_gains_ = nh_.createTimer(ros::Rate(_gain_filtering_rate_), &MpcController::timerGains, this, false, false);
+     425             : 
+     426             :   // | ---------------------- position pid ---------------------- |
+     427             : 
+     428         216 :   position_pid_x_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     429         216 :   position_pid_y_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     430         216 :   position_pid_z_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     431         216 :   position_pid_heading_.setParams(_hdg_pid_p_, _hdg_pid_d_, _hdg_pid_i_, -1, 0.1);
+     432             : 
+     433             :   // | ------------------------ profiler ------------------------ |
+     434             : 
+     435         216 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "MpcController", _profiler_enabled_);
+     436             : 
+     437             :   // | ----------------------- finish init ---------------------- |
+     438             : 
+     439         216 :   ROS_INFO("[%s]: initialized", this->name_.c_str());
+     440             : 
+     441         216 :   is_initialized_ = true;
+     442             : 
+     443         216 :   return true;
+     444             : }
+     445             : 
+     446             : //}
+     447             : 
+     448             : /* //{ activate() */
+     449             : 
+     450         228 : bool MpcController::activate(const ControlOutput &last_control_output) {
+     451             : 
+     452         228 :   activation_control_output_ = last_control_output;
+     453             : 
+     454         228 :   double activation_mass = _uav_mass_;
+     455             : 
+     456         228 :   if (activation_control_output_.diagnostics.mass_estimator) {
+     457           7 :     uav_mass_difference_ = activation_control_output_.diagnostics.mass_difference;
+     458           7 :     activation_mass += uav_mass_difference_;
+     459           7 :     ROS_INFO("[%s]: setting mass difference from the last control output: %.2f kg", this->name_.c_str(), uav_mass_difference_);
+     460             :   }
+     461             : 
+     462         228 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+     463             : 
+     464         228 :   if (activation_control_output_.diagnostics.disturbance_estimator) {
+     465           7 :     Ib_b_(0) = -activation_control_output_.diagnostics.disturbance_bx_b;
+     466           7 :     Ib_b_(1) = -activation_control_output_.diagnostics.disturbance_by_b;
+     467             : 
+     468           7 :     Iw_w_(0) = -activation_control_output_.diagnostics.disturbance_wx_w;
+     469           7 :     Iw_w_(1) = -activation_control_output_.diagnostics.disturbance_wy_w;
+     470             : 
+     471           7 :     ROS_INFO(
+     472             :         "[%s]: setting disturbances from the last control output: Ib_b_: %.2f, %.2f N, Iw_w_: "
+     473             :         "%.2f, %.2f N",
+     474             :         this->name_.c_str(), Ib_b_(0), Ib_b_(1), Iw_w_(0), Iw_w_(1));
+     475             :   }
+     476             : 
+     477             :   // did the last controller use manual throttle control?
+     478         228 :   auto throttle_last_controller = common::extractThrottle(activation_control_output_);
+     479             : 
+     480             :   // rampup check
+     481         228 :   if (_rampup_enabled_ && throttle_last_controller) {
+     482             : 
+     483          83 :     double hover_throttle = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, activation_mass * common_handlers_->g);
+     484             : 
+     485          83 :     double throttle_difference = hover_throttle - throttle_last_controller.value();
+     486             : 
+     487          83 :     if (throttle_difference > 0) {
+     488          34 :       rampup_direction_ = 1;
+     489          49 :     } else if (throttle_difference < 0) {
+     490           3 :       rampup_direction_ = -1;
+     491             :     } else {
+     492          46 :       rampup_direction_ = 0;
+     493             :     }
+     494             : 
+     495          83 :     ROS_INFO("[%s]: activating rampup with initial throttle: %.4f, target: %.4f", name_.c_str(), throttle_last_controller.value(), hover_throttle);
+     496             : 
+     497          83 :     rampup_active_     = true;
+     498          83 :     rampup_start_time_ = ros::Time::now();
+     499          83 :     rampup_last_time_  = ros::Time::now();
+     500          83 :     rampup_throttle_   = throttle_last_controller.value();
+     501             : 
+     502          83 :     rampup_duration_ = std::abs(throttle_difference) / _rampup_speed_;
+     503             :   }
+     504             : 
+     505         228 :   first_iteration_ = true;
+     506         228 :   mute_gains_      = true;
+     507             : 
+     508         228 :   timer_gains_.start();
+     509             : 
+     510         228 :   ROS_INFO("[%s]: activated", this->name_.c_str());
+     511             : 
+     512         228 :   is_active_ = true;
+     513             : 
+     514         228 :   return true;
+     515             : }
+     516             : 
+     517             : //}
+     518             : 
+     519             : /* //{ deactivate() */
+     520             : 
+     521         173 : void MpcController::deactivate(void) {
+     522             : 
+     523         173 :   is_active_           = false;
+     524         173 :   first_iteration_     = false;
+     525         173 :   uav_mass_difference_ = 0;
+     526             : 
+     527         173 :   timer_gains_.stop();
+     528             : 
+     529         173 :   ROS_INFO("[%s]: deactivated", this->name_.c_str());
+     530         173 : }
+     531             : 
+     532             : //}
+     533             : 
+     534             : /* updateInactive() //{ */
+     535             : 
+     536      224858 : void MpcController::updateInactive(const mrs_msgs::UavState &uav_state, [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &tracker_command) {
+     537             : 
+     538      224858 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     539             : 
+     540      224858 :   last_update_time_ = uav_state.header.stamp;
+     541             : 
+     542      224858 :   first_iteration_ = false;
+     543      224858 : }
+     544             : 
+     545             : //}
+     546             : 
+     547             : /* //{ updateWhenAcctive() */
+     548             : 
+     549       72086 : MpcController::ControlOutput MpcController::updateActive(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+     550             : 
+     551      216258 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("updateActive");
+     552      216258 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcController::updateActive", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     553             : 
+     554      144172 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     555             : 
+     556       72086 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     557             : 
+     558       72086 :   last_control_output_.desired_heading_rate          = {};
+     559       72086 :   last_control_output_.desired_orientation           = {};
+     560       72086 :   last_control_output_.desired_unbiased_acceleration = {};
+     561       72086 :   last_control_output_.control_output                = {};
+     562             : 
+     563       72086 :   if (!is_active_) {
+     564           0 :     return last_control_output_;
+     565             :   }
+     566             : 
+     567             :   // | -------------------- calculate the dt -------------------- |
+     568             : 
+     569             :   double dt;
+     570             : 
+     571       72086 :   if (first_iteration_) {
+     572          83 :     dt               = 0.01;
+     573          83 :     first_iteration_ = false;
+     574             :   } else {
+     575       72003 :     dt = (uav_state.header.stamp - last_update_time_).toSec();
+     576             :   }
+     577             : 
+     578       72086 :   last_update_time_ = uav_state.header.stamp;
+     579             : 
+     580       72086 :   if (std::abs(dt) < 0.001) {
+     581             : 
+     582           0 :     ROS_DEBUG("[%s]: the last odometry message came too close (%.2f s)!", name_.c_str(), dt);
+     583             : 
+     584           0 :     dt = 0.01;
+     585             :   }
+     586             : 
+     587             :   // | ----------- obtain the lowest possible modality ---------- |
+     588             : 
+     589       72086 :   auto lowest_modality = common::getLowestOuput(common_handlers_->control_output_modalities);
+     590             : 
+     591       72086 :   if (!lowest_modality) {
+     592             : 
+     593           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: output modalities are empty! This error should never appear.", name_.c_str());
+     594             : 
+     595           0 :     return last_control_output_;
+     596             :   }
+     597             : 
+     598             :   // | ----- we might prefer some output mode over the other ---- |
+     599             : 
+     600       72086 :   if (drs_params.preferred_output_mode == OUTPUT_ATTITUDE_RATE && common_handlers_->control_output_modalities.attitude_rate) {
+     601       66350 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: prioritizing attitude rate output", name_.c_str());
+     602       66350 :     lowest_modality = common::ATTITUDE_RATE;
+     603        5736 :   } else if (drs_params.preferred_output_mode == OUTPUT_ATTITUDE && common_handlers_->control_output_modalities.attitude) {
+     604           0 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: prioritizing attitude output", name_.c_str());
+     605           0 :     lowest_modality = common::ATTITUDE;
+     606        5736 :   } else if (drs_params.preferred_output_mode == OUTPUT_CONTROL_GROUP && common_handlers_->control_output_modalities.control_group) {
+     607           0 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: prioritizing control group output", name_.c_str());
+     608           0 :     lowest_modality = common::CONTROL_GROUP;
+     609        5736 :   } else if (drs_params.preferred_output_mode == OUTPUT_ACTUATORS && common_handlers_->control_output_modalities.actuators) {
+     610           0 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: prioritizing actuators output", name_.c_str());
+     611           0 :     lowest_modality = common::ACTUATORS_CMD;
+     612             :   }
+     613             : 
+     614       72086 :   switch (lowest_modality.value()) {
+     615             : 
+     616         271 :     case common::POSITION: {
+     617         271 :       positionPassthrough(uav_state, tracker_command);
+     618         271 :       break;
+     619             :     }
+     620             : 
+     621         280 :     case common::VELOCITY_HDG: {
+     622         280 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG, dt);
+     623         280 :       break;
+     624             :     }
+     625             : 
+     626         493 :     case common::VELOCITY_HDG_RATE: {
+     627         493 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG_RATE, dt);
+     628         493 :       break;
+     629             :     }
+     630             : 
+     631         526 :     case common::ACCELERATION_HDG: {
+     632         526 :       MPC(uav_state, tracker_command, dt, common::ACCELERATION_HDG);
+     633         526 :       break;
+     634             :     }
+     635             : 
+     636         450 :     case common::ACCELERATION_HDG_RATE: {
+     637         450 :       MPC(uav_state, tracker_command, dt, common::ACCELERATION_HDG_RATE);
+     638         450 :       break;
+     639             :     }
+     640             : 
+     641        1136 :     case common::ATTITUDE: {
+     642        1136 :       MPC(uav_state, tracker_command, dt, common::ATTITUDE);
+     643        1136 :       break;
+     644             :     }
+     645             : 
+     646       66350 :     case common::ATTITUDE_RATE: {
+     647       66350 :       MPC(uav_state, tracker_command, dt, common::ATTITUDE_RATE);
+     648       66350 :       break;
+     649             :     }
+     650             : 
+     651        1309 :     case common::CONTROL_GROUP: {
+     652        1309 :       MPC(uav_state, tracker_command, dt, common::CONTROL_GROUP);
+     653        1309 :       break;
+     654             :     }
+     655             : 
+     656        1271 :     case common::ACTUATORS_CMD: {
+     657        1271 :       MPC(uav_state, tracker_command, dt, common::ACTUATORS_CMD);
+     658        1271 :       break;
+     659             :     }
+     660             : 
+     661           0 :     default: {
+     662           0 :       break;
+     663             :     }
+     664             :   }
+     665             : 
+     666       72086 :   return last_control_output_;
+     667             : }
+     668             : 
+     669             : //}
+     670             : 
+     671             : /* //{ getStatus() */
+     672             : 
+     673       15099 : const mrs_msgs::ControllerStatus MpcController::getStatus() {
+     674             : 
+     675       15099 :   mrs_msgs::ControllerStatus controller_status;
+     676             : 
+     677       15099 :   controller_status.active = is_active_;
+     678             : 
+     679       15099 :   return controller_status;
+     680             : }
+     681             : 
+     682             : //}
+     683             : 
+     684             : /* switchOdometrySource() //{ */
+     685             : 
+     686           5 : void MpcController::switchOdometrySource(const mrs_msgs::UavState &new_uav_state) {
+     687             : 
+     688           5 :   ROS_INFO("[%s]: switching the odometry source", this->name_.c_str());
+     689             : 
+     690          10 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     691             : 
+     692             :   // | ----- transform world disturabances to the new frame ----- |
+     693             : 
+     694          10 :   geometry_msgs::Vector3Stamped world_integrals;
+     695             : 
+     696           5 :   world_integrals.header.stamp    = ros::Time::now();
+     697           5 :   world_integrals.header.frame_id = uav_state.header.frame_id;
+     698             : 
+     699           5 :   world_integrals.vector.x = Iw_w_(0);
+     700           5 :   world_integrals.vector.y = Iw_w_(1);
+     701           5 :   world_integrals.vector.z = 0;
+     702             : 
+     703          10 :   auto res = common_handlers_->transformer->transformSingle(world_integrals, new_uav_state.header.frame_id);
+     704             : 
+     705           5 :   if (res) {
+     706             : 
+     707           5 :     std::scoped_lock lock(mutex_integrals_);
+     708             : 
+     709           5 :     Iw_w_(0) = res.value().vector.x;
+     710           5 :     Iw_w_(1) = res.value().vector.y;
+     711             : 
+     712             :   } else {
+     713             : 
+     714           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: could not transform world integral to the new frame", this->name_.c_str());
+     715             : 
+     716           0 :     std::scoped_lock lock(mutex_integrals_);
+     717             : 
+     718           0 :     Iw_w_(0) = 0;
+     719           0 :     Iw_w_(1) = 0;
+     720             :   }
+     721           5 : }
+     722             : 
+     723             : //}
+     724             : 
+     725             : /* resetDisturbanceEstimators() //{ */
+     726             : 
+     727           0 : void MpcController::resetDisturbanceEstimators(void) {
+     728             : 
+     729           0 :   std::scoped_lock lock(mutex_integrals_);
+     730             : 
+     731           0 :   Iw_w_ = Eigen::Vector2d::Zero(2);
+     732           0 :   Ib_b_ = Eigen::Vector2d::Zero(2);
+     733           0 : }
+     734             : 
+     735             : //}
+     736             : 
+     737             : /* setConstraints() //{ */
+     738             : 
+     739         856 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MpcController::setConstraints([
+     740             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &constraints) {
+     741             : 
+     742         856 :   if (!is_initialized_) {
+     743           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     744             :   }
+     745             : 
+     746         856 :   mrs_lib::set_mutexed(mutex_constraints_, constraints->constraints, constraints_);
+     747             : 
+     748         856 :   ROS_INFO("[%s]: updating constraints", this->name_.c_str());
+     749             : 
+     750        1712 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     751         856 :   res.success = true;
+     752         856 :   res.message = "constraints updated";
+     753             : 
+     754         856 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     755             : }
+     756             : 
+     757             : //}
+     758             : 
+     759             : // --------------------------------------------------------------
+     760             : // |                         controllers                        |
+     761             : // --------------------------------------------------------------
+     762             : 
+     763             : /* Mpc() //{ */
+     764             : 
+     765       71042 : void MpcController::MPC(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command, const double &dt,
+     766             :                         const common::CONTROL_OUTPUT &output_modality) {
+     767             : 
+     768      142084 :   auto drs_params  = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     769       71042 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     770       71042 :   auto gains       = mrs_lib::get_mutexed(mutex_gains_, gains_);
+     771             : 
+     772             :   // | ----------------- get the current heading ---------------- |
+     773             : 
+     774       71042 :   double uav_heading = getHeadingSafely(uav_state, tracker_command);
+     775             : 
+     776             :   // | ------------------- prepare constraints ------------------ |
+     777             : 
+     778       71042 :   double max_speed_horizontal        = _max_speed_horizontal_;
+     779       71042 :   double max_speed_vertical          = _max_speed_vertical_;
+     780       71042 :   double max_acceleration_horizontal = _max_acceleration_horizontal_;
+     781       71042 :   double max_acceleration_vertical   = _max_acceleration_vertical_;
+     782       71042 :   double max_jerk                    = _max_jerk_;
+     783       71042 :   double max_u_vertical              = _max_u_vertical_;
+     784             : 
+     785       71042 :   if (tracker_command.use_full_state_prediction) {
+     786             : 
+     787       51830 :     max_speed_horizontal = 1.5 * (constraints.horizontal_speed);
+     788       51830 :     max_speed_vertical   = 1.5 * (constraints.vertical_ascending_speed < constraints.vertical_descending_speed ? constraints.vertical_ascending_speed
+     789             :                                                                                                              : constraints.vertical_descending_speed);
+     790             : 
+     791       51830 :     max_acceleration_horizontal = 1.5 * (constraints.horizontal_acceleration);
+     792       51830 :     max_acceleration_vertical =
+     793       51830 :         1.5 * (constraints.vertical_ascending_acceleration < constraints.vertical_descending_acceleration ? constraints.vertical_ascending_acceleration
+     794             :                                                                                                           : constraints.vertical_descending_acceleration);
+     795             : 
+     796       51830 :     max_jerk       = 1.5 * constraints.horizontal_jerk;
+     797       51830 :     max_u_vertical = 1.5 * (constraints.vertical_ascending_jerk < constraints.vertical_descending_jerk ? constraints.vertical_ascending_jerk
+     798             :                                                                                                        : constraints.vertical_descending_jerk);
+     799             :   }
+     800             : 
+     801             :   // --------------------------------------------------------------
+     802             :   // |          load the control reference and estimates          |
+     803             :   // --------------------------------------------------------------
+     804             : 
+     805             :   // Rp - position reference in global frame
+     806             :   // Rv - velocity reference in global frame
+     807             :   // Ra - velocity reference in global frame
+     808             : 
+     809       71042 :   Eigen::Vector3d Rp = Eigen::Vector3d::Zero(3);
+     810       71042 :   Eigen::Vector3d Rv = Eigen::Vector3d::Zero(3);
+     811       71042 :   Eigen::Vector3d Ra = Eigen::Vector3d::Zero(3);
+     812             : 
+     813       71042 :   Rp << tracker_command.position.x, tracker_command.position.y, tracker_command.position.z;  // fill the desired position
+     814       71042 :   Rv << tracker_command.velocity.x, tracker_command.velocity.y, tracker_command.velocity.z;
+     815             : 
+     816             :   // | ------ store the estimated values from the uav state ----- |
+     817             : 
+     818             :   // Op - position in global frame
+     819             :   // Ov - velocity in global frame
+     820       71042 :   Eigen::Vector3d Op(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+     821       71042 :   Eigen::Vector3d Ov(uav_state.velocity.linear.x, uav_state.velocity.linear.y, uav_state.velocity.linear.z);
+     822             : 
+     823             :   // R - current uav attitude
+     824       71042 :   Eigen::Matrix3d R = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+     825             : 
+     826             :   // Ow - UAV angular rate
+     827       71042 :   Eigen::Vector3d Ow(uav_state.velocity.angular.x, uav_state.velocity.angular.y, uav_state.velocity.angular.z);
+     828             : 
+     829             :   // --------------------------------------------------------------
+     830             :   // |                     MPC lateral control                    |
+     831             :   // --------------------------------------------------------------
+     832             : 
+     833             :   // | --------------- calculate the control erros -------------- |
+     834             : 
+     835       71042 :   Eigen::Vector3d Ep = Rp - Op;
+     836       71042 :   Eigen::Vector3d Ev = Rv - Ov;
+     837             : 
+     838             :   // | ------------------- initial conditions ------------------- |
+     839             : 
+     840      142084 :   Eigen::MatrixXd initial_x = Eigen::MatrixXd::Zero(3, 1);
+     841      142084 :   Eigen::MatrixXd initial_y = Eigen::MatrixXd::Zero(3, 1);
+     842      142084 :   Eigen::MatrixXd initial_z = Eigen::MatrixXd::Zero(3, 1);
+     843             : 
+     844             :   /* initial x //{ */
+     845             : 
+     846             :   {
+     847             :     double acceleration;
+     848             :     double velocity;
+     849       71042 :     double coef = 1.5;
+     850             : 
+     851       71042 :     if (std::abs(uav_state.acceleration.linear.x) < coef * max_acceleration_horizontal) {
+     852       71042 :       acceleration = uav_state.acceleration.linear.x;
+     853             :     } else {
+     854           0 :       acceleration = tracker_command.acceleration.x;
+     855             : 
+     856           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: odometry x acceleration exceeds constraints (%.2f > %.1f * %.2f m), using reference for initial condition", name_.c_str(),
+     857             :                          std::abs(uav_state.acceleration.linear.x), coef, max_acceleration_horizontal);
+     858             :     }
+     859             : 
+     860       71042 :     if (std::abs(uav_state.velocity.linear.x) < coef * max_speed_horizontal) {
+     861       71042 :       velocity = uav_state.velocity.linear.x;
+     862             :     } else {
+     863           0 :       velocity = tracker_command.velocity.x;
+     864             : 
+     865           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: odometry x velocity exceeds constraints (%.2f > %0.1f * %.2f m), using reference for initial condition", name_.c_str(),
+     866             :                          std::abs(uav_state.velocity.linear.x), coef, max_speed_horizontal);
+     867             :     }
+     868             : 
+     869       71042 :     initial_x << uav_state.pose.position.x, velocity, acceleration;
+     870             :   }
+     871             : 
+     872             :   //}
+     873             : 
+     874             :   /* initial y //{ */
+     875             : 
+     876             :   {
+     877             :     double acceleration;
+     878             :     double velocity;
+     879       71042 :     double coef = 1.5;
+     880             : 
+     881       71042 :     if (std::abs(uav_state.acceleration.linear.y) < coef * max_acceleration_horizontal) {
+     882       71042 :       acceleration = uav_state.acceleration.linear.y;
+     883             :     } else {
+     884           0 :       acceleration = tracker_command.acceleration.y;
+     885             : 
+     886           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: odometry y acceleration exceeds constraints (%.2f > %.1f * %.2f m), using reference for initial condition", name_.c_str(),
+     887             :                          std::abs(uav_state.acceleration.linear.y), coef, max_acceleration_horizontal);
+     888             :     }
+     889             : 
+     890       71042 :     if (std::abs(uav_state.velocity.linear.y) < coef * max_speed_horizontal) {
+     891       71042 :       velocity = uav_state.velocity.linear.y;
+     892             :     } else {
+     893           0 :       velocity = tracker_command.velocity.y;
+     894             : 
+     895           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: odometry y velocity exceeds constraints (%.2f > %0.1f * %.2f m), using reference for initial condition", name_.c_str(),
+     896             :                          std::abs(uav_state.velocity.linear.y), coef, max_speed_horizontal);
+     897             :     }
+     898             : 
+     899       71042 :     initial_y << uav_state.pose.position.y, velocity, acceleration;
+     900             :   }
+     901             : 
+     902             :   //}
+     903             : 
+     904             :   /* initial z //{ */
+     905             : 
+     906             :   {
+     907             :     double acceleration;
+     908             :     double velocity;
+     909       71042 :     double coef = 1.5;
+     910             : 
+     911       71042 :     if (std::abs(uav_state.acceleration.linear.z) < coef * max_acceleration_horizontal) {
+     912       71042 :       acceleration = uav_state.acceleration.linear.z;
+     913             :     } else {
+     914           0 :       acceleration = tracker_command.acceleration.z;
+     915             : 
+     916           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: odometry z acceleration exceeds constraints (%.2f > %.1f * %.2f m), using reference for initial condition", name_.c_str(),
+     917             :                          std::abs(uav_state.acceleration.linear.z), coef, max_acceleration_horizontal);
+     918             :     }
+     919             : 
+     920       71042 :     if (std::abs(uav_state.velocity.linear.z) < coef * max_speed_vertical) {
+     921       71042 :       velocity = uav_state.velocity.linear.z;
+     922             :     } else {
+     923           0 :       velocity = tracker_command.velocity.z;
+     924             : 
+     925           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: odometry z velocity exceeds constraints (%.2f > %0.1f * %.2f m), using reference for initial condition", name_.c_str(),
+     926             :                          std::abs(uav_state.velocity.linear.z), coef, max_speed_vertical);
+     927             :     }
+     928             : 
+     929       71042 :     initial_z << uav_state.pose.position.z, velocity, acceleration;
+     930             :   }
+     931             : 
+     932             :   //}
+     933             : 
+     934             :   // | ---------------------- set reference --------------------- |
+     935             : 
+     936      142084 :   Eigen::MatrixXd mpc_reference_x = Eigen::MatrixXd::Zero(_horizon_length_ * _n_states_, 1);
+     937      142084 :   Eigen::MatrixXd mpc_reference_y = Eigen::MatrixXd::Zero(_horizon_length_ * _n_states_, 1);
+     938      142084 :   Eigen::MatrixXd mpc_reference_z = Eigen::MatrixXd::Zero(_horizon_length_ * _n_states_, 1);
+     939             : 
+     940             :   // prepare the full reference vector
+     941       71042 :   if (tracker_command.use_full_state_prediction) {
+     942             : 
+     943       51830 :     mpc_reference_x(0, 0) = tracker_command.position.x;
+     944       51830 :     mpc_reference_y(0, 0) = tracker_command.position.y;
+     945       51830 :     mpc_reference_z(0, 0) = tracker_command.position.z;
+     946             : 
+     947             :     // TODO !! this is a very crude way of sampling from the desired full-state prediction, which only works
+     948             :     // with the MpcTracker. Rework this please.
+     949             : 
+     950     1347580 :     for (int i = 1; i < _horizon_length_; i++) {
+     951     1295750 :       mpc_reference_x((i * _n_states_) + 0, 0) = tracker_command.full_state_prediction.position.at(i).x;
+     952     1295750 :       mpc_reference_y((i * _n_states_) + 0, 0) = tracker_command.full_state_prediction.position.at(i).y;
+     953     1295750 :       mpc_reference_z((i * _n_states_) + 0, 0) = tracker_command.full_state_prediction.position.at(i).z;
+     954             :     }
+     955             : 
+     956     1347580 :     for (int i = 1; i < _horizon_length_; i++) {
+     957     1295750 :       mpc_reference_x((i * _n_states_) + 1, 0) = tracker_command.full_state_prediction.velocity.at(i).x;
+     958     1295750 :       mpc_reference_y((i * _n_states_) + 1, 0) = tracker_command.full_state_prediction.velocity.at(i).y;
+     959     1295750 :       mpc_reference_z((i * _n_states_) + 1, 0) = tracker_command.full_state_prediction.velocity.at(i).z;
+     960             :     }
+     961             : 
+     962     1347580 :     for (int i = 1; i < _horizon_length_; i++) {
+     963     1295750 :       mpc_reference_x((i * _n_states_) + 2, 0) = tracker_command.full_state_prediction.acceleration.at(i).x;
+     964     1295750 :       mpc_reference_y((i * _n_states_) + 2, 0) = tracker_command.full_state_prediction.acceleration.at(i).y;
+     965     1295750 :       mpc_reference_z((i * _n_states_) + 2, 0) = tracker_command.full_state_prediction.acceleration.at(i).z;
+     966             :     }
+     967             : 
+     968             :   } else {
+     969             : 
+     970      518724 :     for (int i = 0; i < _horizon_length_; i++) {
+     971      499512 :       mpc_reference_x((i * _n_states_) + 0, 0) = tracker_command.position.x;
+     972      499512 :       mpc_reference_y((i * _n_states_) + 0, 0) = tracker_command.position.y;
+     973      499512 :       mpc_reference_z((i * _n_states_) + 0, 0) = tracker_command.position.z;
+     974             :     }
+     975             :   }
+     976             : 
+     977             :   // | ------------------ set the penalizations ----------------- |
+     978             : 
+     979      142084 :   std::vector<double> temp_Q_horizontal = _mat_Q_;
+     980      142084 :   std::vector<double> temp_Q_vertical   = _mat_Q_z_;
+     981             : 
+     982      142084 :   std::vector<double> temp_S_horizontal = _mat_S_;
+     983      142084 :   std::vector<double> temp_S_vertical   = _mat_S_z_;
+     984             : 
+     985       71042 :   if (!tracker_command.use_position_horizontal) {
+     986           0 :     temp_Q_horizontal.at(0) = 0;
+     987           0 :     temp_S_horizontal.at(0) = 0;
+     988             :   }
+     989             : 
+     990       71042 :   if (!tracker_command.use_velocity_horizontal) {
+     991           0 :     temp_Q_horizontal.at(1) = 0;
+     992           0 :     temp_S_horizontal.at(1) = 0;
+     993             :   }
+     994             : 
+     995       71042 :   if (!tracker_command.use_position_vertical) {
+     996           0 :     temp_Q_vertical.at(0) = 0;
+     997           0 :     temp_S_vertical.at(0) = 0;
+     998             :   }
+     999             : 
+    1000       71042 :   if (!tracker_command.use_velocity_vertical) {
+    1001           0 :     temp_Q_vertical.at(1) = 0;
+    1002           0 :     temp_S_vertical.at(1) = 0;
+    1003             :   }
+    1004             : 
+    1005             :   // | ------------------------ optimize ------------------------ |
+    1006             : 
+    1007       71042 :   mpc_solver_x_->setQ(temp_Q_horizontal);
+    1008       71042 :   mpc_solver_x_->setS(temp_S_horizontal);
+    1009       71042 :   mpc_solver_x_->setParams();
+    1010       71042 :   mpc_solver_x_->setLastInput(mpc_solver_x_u_);
+    1011       71042 :   mpc_solver_x_->loadReference(mpc_reference_x);
+    1012       71042 :   mpc_solver_x_->setLimits(max_speed_horizontal, 999, max_acceleration_horizontal, max_jerk, _dt1_, _dt2_);
+    1013       71042 :   mpc_solver_x_->setInitialState(initial_x);
+    1014       71042 :   [[maybe_unused]] int iters_x = mpc_solver_x_->solveMPC();
+    1015       71042 :   mpc_solver_x_u_              = mpc_solver_x_->getFirstControlInput();
+    1016             : 
+    1017       71042 :   mpc_solver_y_->setQ(temp_Q_horizontal);
+    1018       71042 :   mpc_solver_y_->setS(temp_S_horizontal);
+    1019       71042 :   mpc_solver_y_->setParams();
+    1020       71042 :   mpc_solver_y_->setLastInput(mpc_solver_y_u_);
+    1021       71042 :   mpc_solver_y_->loadReference(mpc_reference_y);
+    1022       71042 :   mpc_solver_y_->setLimits(max_speed_horizontal, 999, max_acceleration_horizontal, max_jerk, _dt1_, _dt2_);
+    1023       71042 :   mpc_solver_y_->setInitialState(initial_y);
+    1024       71042 :   [[maybe_unused]] int iters_y = mpc_solver_y_->solveMPC();
+    1025       71042 :   mpc_solver_y_u_              = mpc_solver_y_->getFirstControlInput();
+    1026             : 
+    1027       71042 :   mpc_solver_z_->setQ(temp_Q_vertical);
+    1028       71042 :   mpc_solver_z_->setS(temp_S_vertical);
+    1029       71042 :   mpc_solver_z_->setParams();
+    1030       71042 :   mpc_solver_z_->setLastInput(mpc_solver_z_u_);
+    1031       71042 :   mpc_solver_z_->loadReference(mpc_reference_z);
+    1032       71042 :   mpc_solver_z_->setLimits(max_speed_vertical, max_acceleration_vertical, max_u_vertical, 999.0, _dt1_, _dt2_);
+    1033       71042 :   mpc_solver_z_->setInitialState(initial_z);
+    1034       71042 :   [[maybe_unused]] int iters_z = mpc_solver_z_->solveMPC();
+    1035       71042 :   mpc_solver_z_u_              = mpc_solver_z_->getFirstControlInput();
+    1036             : 
+    1037             :   // | ----------- disable lateral feedback if needed ----------- |
+    1038             : 
+    1039       71042 :   if (tracker_command.disable_position_gains) {
+    1040           0 :     mpc_solver_x_u_ = 0;
+    1041           0 :     mpc_solver_y_u_ = 0;
+    1042             :   }
+    1043             : 
+    1044             :   // | --------------------- load the gains --------------------- |
+    1045             : 
+    1046       71042 :   mute_gains_by_tracker_ = tracker_command.disable_position_gains;
+    1047             : 
+    1048       71042 :   Eigen::Array3d Kw(0, 0, 0);
+    1049       71042 :   Eigen::Array3d Kq;
+    1050             : 
+    1051             :   {
+    1052       71042 :     std::scoped_lock lock(mutex_gains_);
+    1053             : 
+    1054       71042 :     Kq << gains.kq_roll_pitch, gains.kq_roll_pitch, gains.kq_yaw;
+    1055             : 
+    1056       71042 :     Kw(0) = gains.kw_rp;
+    1057       71042 :     Kw(1) = gains.kw_rp;
+    1058       71042 :     Kw(2) = gains.kw_y;
+    1059             :   }
+    1060             : 
+    1061             :   // | ---------- desired orientation matrix and force ---------- |
+    1062             : 
+    1063             :   // get body integral in the world frame
+    1064             : 
+    1065       71042 :   Eigen::Vector2d Ib_w = Eigen::Vector2d(0, 0);
+    1066             : 
+    1067             :   {
+    1068             : 
+    1069      142084 :     geometry_msgs::Vector3Stamped Ib_b_stamped;
+    1070             : 
+    1071       71042 :     Ib_b_stamped.header.stamp    = ros::Time::now();
+    1072       71042 :     Ib_b_stamped.header.frame_id = "fcu_untilted";
+    1073       71042 :     Ib_b_stamped.vector.x        = Ib_b_(0);
+    1074       71042 :     Ib_b_stamped.vector.y        = Ib_b_(1);
+    1075       71042 :     Ib_b_stamped.vector.z        = 0;
+    1076             : 
+    1077      142084 :     auto res = common_handlers_->transformer->transformSingle(Ib_b_stamped, uav_state_.header.frame_id);
+    1078             : 
+    1079       71042 :     if (res) {
+    1080       71042 :       Ib_w(0) = res.value().vector.x;
+    1081       71042 :       Ib_w(1) = res.value().vector.y;
+    1082             :     } else {
+    1083           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: could not transform the Ib_b_ to the world frame", name_.c_str());
+    1084             :     }
+    1085             :   }
+    1086             : 
+    1087             :   // construct the desired force vector
+    1088             : 
+    1089       71042 :   if (tracker_command.use_acceleration && !tracker_command.use_full_state_prediction) {
+    1090        1679 :     Ra << tracker_command.acceleration.x + mpc_solver_x_u_, tracker_command.acceleration.y + mpc_solver_y_u_, tracker_command.acceleration.z + mpc_solver_z_u_;
+    1091             :   } else {
+    1092       69363 :     Ra << mpc_solver_x_u_, mpc_solver_y_u_, mpc_solver_z_u_;
+    1093             :   }
+    1094             : 
+    1095       71042 :   double total_mass = _uav_mass_ + uav_mass_difference_;
+    1096             : 
+    1097       71042 :   Eigen::Vector3d feed_forward = total_mass * (Eigen::Vector3d(0, 0, common_handlers_->g) + Ra);
+    1098             : 
+    1099       71042 :   Eigen::Vector3d integral_feedback;
+    1100             :   {
+    1101       71042 :     std::scoped_lock lock(mutex_integrals_);
+    1102             : 
+    1103       71042 :     integral_feedback << Ib_w(0) + Iw_w_(0), Ib_w(1) + Iw_w_(1), 0;
+    1104             :   }
+    1105             : 
+    1106             :   // --------------------------------------------------------------
+    1107             :   // |                 integrators and estimators                 |
+    1108             :   // --------------------------------------------------------------
+    1109             : 
+    1110             :   /* world error integrator //{ */
+    1111             : 
+    1112             :   // --------------------------------------------------------------
+    1113             :   // |                  integrate the world error                 |
+    1114             :   // --------------------------------------------------------------
+    1115             : 
+    1116             :   {
+    1117      142084 :     std::scoped_lock lock(mutex_gains_, mutex_integrals_);
+    1118             : 
+    1119       71042 :     Eigen::Vector3d integration_switch(1, 1, 0);
+    1120             : 
+    1121             :     // integrate the world error
+    1122             : 
+    1123             :     // antiwindup
+    1124       71042 :     double temp_gain = gains.kiwxy;
+    1125       71042 :     if (!tracker_command.disable_antiwindups) {
+    1126       62234 :       if (rampup_active_ || sqrt(pow(uav_state.velocity.linear.x, 2) + pow(uav_state.velocity.linear.y, 2)) > 0.3) {
+    1127       26502 :         temp_gain = 0;
+    1128       26502 :         ROS_DEBUG_THROTTLE(1.0, "[%s]: anti-windup for world integral kicks in", this->name_.c_str());
+    1129             :       }
+    1130             :     }
+    1131             : 
+    1132       71042 :     if (integral_terms_enabled_) {
+    1133       71042 :       if (tracker_command.use_position_horizontal) {
+    1134       71042 :         Iw_w_ += temp_gain * Ep.head(2) * dt;
+    1135           0 :       } else if (tracker_command.use_velocity_horizontal) {
+    1136           0 :         Iw_w_ += temp_gain * Ev.head(2) * dt;
+    1137             :       }
+    1138             :     }
+    1139             : 
+    1140             :     // saturate the world X
+    1141       71042 :     bool world_integral_saturated = false;
+    1142       71042 :     if (!std::isfinite(Iw_w_(0))) {
+    1143           0 :       Iw_w_(0) = 0;
+    1144           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable 'Iw_w_(0)', setting it to 0!!!", this->name_.c_str());
+    1145       71042 :     } else if (Iw_w_(0) > gains.kiwxy_lim) {
+    1146           0 :       Iw_w_(0)                 = gains.kiwxy_lim;
+    1147           0 :       world_integral_saturated = true;
+    1148       71042 :     } else if (Iw_w_(0) < -gains.kiwxy_lim) {
+    1149           0 :       Iw_w_(0)                 = -gains.kiwxy_lim;
+    1150           0 :       world_integral_saturated = true;
+    1151             :     }
+    1152             : 
+    1153       71042 :     if (gains.kiwxy_lim >= 0 && world_integral_saturated) {
+    1154           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: MPC's world X integral is being saturated!", this->name_.c_str());
+    1155             :     }
+    1156             : 
+    1157             :     // saturate the world Y
+    1158       71042 :     world_integral_saturated = false;
+    1159       71042 :     if (!std::isfinite(Iw_w_(1))) {
+    1160           0 :       Iw_w_(1) = 0;
+    1161           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable 'Iw_w_(1)', setting it to 0!!!", this->name_.c_str());
+    1162       71042 :     } else if (Iw_w_(1) > gains.kiwxy_lim) {
+    1163           0 :       Iw_w_(1)                 = gains.kiwxy_lim;
+    1164           0 :       world_integral_saturated = true;
+    1165       71042 :     } else if (Iw_w_(1) < -gains.kiwxy_lim) {
+    1166           0 :       Iw_w_(1)                 = -gains.kiwxy_lim;
+    1167           0 :       world_integral_saturated = true;
+    1168             :     }
+    1169             : 
+    1170       71042 :     if (gains.kiwxy_lim >= 0 && world_integral_saturated) {
+    1171           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: MPC's world Y integral is being saturated!", this->name_.c_str());
+    1172             :     }
+    1173             :   }
+    1174             : 
+    1175             :   //}
+    1176             : 
+    1177             :   /* body error integrator //{ */
+    1178             : 
+    1179             :   {
+    1180      142084 :     std::scoped_lock lock(mutex_gains_);
+    1181             : 
+    1182       71042 :     Eigen::Vector2d Ep_fcu_untilted = Eigen::Vector2d(0, 0);  // position error in the untilted frame of the UAV
+    1183       71042 :     Eigen::Vector2d Ev_fcu_untilted = Eigen::Vector2d(0, 0);  // velocity error in the untilted frame of the UAV
+    1184             : 
+    1185             :     // get the position control error in the fcu_untilted frame
+    1186             :     {
+    1187             : 
+    1188      142084 :       geometry_msgs::Vector3Stamped Ep_stamped;
+    1189             : 
+    1190       71042 :       Ep_stamped.header.stamp    = ros::Time::now();
+    1191       71042 :       Ep_stamped.header.frame_id = uav_state_.header.frame_id;
+    1192       71042 :       Ep_stamped.vector.x        = Ep(0);
+    1193       71042 :       Ep_stamped.vector.y        = Ep(1);
+    1194       71042 :       Ep_stamped.vector.z        = Ep(2);
+    1195             : 
+    1196      213126 :       auto res = common_handlers_->transformer->transformSingle(Ep_stamped, "fcu_untilted");
+    1197             : 
+    1198       71042 :       if (res) {
+    1199       71042 :         Ep_fcu_untilted(0) = res.value().vector.x;
+    1200       71042 :         Ep_fcu_untilted(1) = res.value().vector.y;
+    1201             :       } else {
+    1202           0 :         ROS_ERROR_THROTTLE(1.0, "[%s]: could not transform the position error to fcu_untilted", name_.c_str());
+    1203             :       }
+    1204             :     }
+    1205             : 
+    1206             :     // get the velocity control error in the fcu_untilted frame
+    1207             :     {
+    1208      142084 :       geometry_msgs::Vector3Stamped Ev_stamped;
+    1209             : 
+    1210       71042 :       Ev_stamped.header.stamp    = ros::Time::now();
+    1211       71042 :       Ev_stamped.header.frame_id = uav_state_.header.frame_id;
+    1212       71042 :       Ev_stamped.vector.x        = Ev(0);
+    1213       71042 :       Ev_stamped.vector.y        = Ev(1);
+    1214       71042 :       Ev_stamped.vector.z        = Ev(2);
+    1215             : 
+    1216      213126 :       auto res = common_handlers_->transformer->transformSingle(Ev_stamped, "fcu_untilted");
+    1217             : 
+    1218       71042 :       if (res) {
+    1219       71042 :         Ev_fcu_untilted(0) = res.value().vector.x;
+    1220       71042 :         Ev_fcu_untilted(1) = res.value().vector.x;
+    1221             :       } else {
+    1222           0 :         ROS_ERROR_THROTTLE(1.0, "[%s]: could not transform the velocity error to fcu_untilted", name_.c_str());
+    1223             :       }
+    1224             :     }
+    1225             : 
+    1226             :     // integrate the body error
+    1227             : 
+    1228             :     // antiwindup
+    1229       71042 :     double temp_gain = gains.kibxy;
+    1230       71042 :     if (!tracker_command.disable_antiwindups) {
+    1231       62234 :       if (rampup_active_ || sqrt(pow(uav_state.velocity.linear.x, 2) + pow(uav_state.velocity.linear.y, 2)) > 0.3) {
+    1232       26502 :         temp_gain = 0;
+    1233       26502 :         ROS_DEBUG_THROTTLE(1.0, "[%s]: anti-windup for body integral kicks in", this->name_.c_str());
+    1234             :       }
+    1235             :     }
+    1236             : 
+    1237       71042 :     if (integral_terms_enabled_) {
+    1238       71042 :       if (tracker_command.use_position_horizontal) {
+    1239       71042 :         Ib_b_ += temp_gain * Ep_fcu_untilted * dt;
+    1240           0 :       } else if (tracker_command.use_velocity_horizontal) {
+    1241           0 :         Ib_b_ += temp_gain * Ev_fcu_untilted * dt;
+    1242             :       }
+    1243             :     }
+    1244             : 
+    1245             :     // saturate the body X
+    1246       71042 :     bool body_integral_saturated = false;
+    1247       71042 :     if (!std::isfinite(Ib_b_(0))) {
+    1248           0 :       Ib_b_(0) = 0;
+    1249           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable 'Ib_b_(0)', setting it to 0!!!", this->name_.c_str());
+    1250       71042 :     } else if (Ib_b_(0) > gains.kibxy_lim) {
+    1251           0 :       Ib_b_(0)                = gains.kibxy_lim;
+    1252           0 :       body_integral_saturated = true;
+    1253       71042 :     } else if (Ib_b_(0) < -gains.kibxy_lim) {
+    1254           0 :       Ib_b_(0)                = -gains.kibxy_lim;
+    1255           0 :       body_integral_saturated = true;
+    1256             :     }
+    1257             : 
+    1258       71042 :     if (gains.kibxy_lim > 0 && body_integral_saturated) {
+    1259           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: MPC's body pitch integral is being saturated!", this->name_.c_str());
+    1260             :     }
+    1261             : 
+    1262             :     // saturate the body
+    1263       71042 :     body_integral_saturated = false;
+    1264       71042 :     if (!std::isfinite(Ib_b_(1))) {
+    1265           0 :       Ib_b_(1) = 0;
+    1266           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable 'Ib_b_(1)', setting it to 0!!!", this->name_.c_str());
+    1267       71042 :     } else if (Ib_b_(1) > gains.kibxy_lim) {
+    1268           0 :       Ib_b_(1)                = gains.kibxy_lim;
+    1269           0 :       body_integral_saturated = true;
+    1270       71042 :     } else if (Ib_b_(1) < -gains.kibxy_lim) {
+    1271           0 :       Ib_b_(1)                = -gains.kibxy_lim;
+    1272           0 :       body_integral_saturated = true;
+    1273             :     }
+    1274             : 
+    1275       71042 :     if (gains.kibxy_lim > 0 && body_integral_saturated) {
+    1276           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: MPC's body roll integral is being saturated!", this->name_.c_str());
+    1277             :     }
+    1278             :   }
+    1279             : 
+    1280             :   //}
+    1281             : 
+    1282       71042 :   Eigen::Vector3d des_acc = integral_feedback / total_mass + Ra;
+    1283             : 
+    1284       71042 :   if (output_modality == common::ACCELERATION_HDG || output_modality == common::ACCELERATION_HDG_RATE) {
+    1285             : 
+    1286         976 :     if (output_modality == common::ACCELERATION_HDG) {
+    1287             : 
+    1288        1052 :       mrs_msgs::HwApiAccelerationHdgCmd cmd;
+    1289             : 
+    1290         526 :       cmd.acceleration.x = des_acc(0);
+    1291         526 :       cmd.acceleration.y = des_acc(1);
+    1292         526 :       cmd.acceleration.z = des_acc(2);
+    1293             : 
+    1294         526 :       cmd.heading = tracker_command.heading;
+    1295             : 
+    1296         526 :       last_control_output_.control_output = cmd;
+    1297             : 
+    1298             :     } else {
+    1299             : 
+    1300         450 :       double des_hdg_ff = 0;
+    1301             : 
+    1302         450 :       if (tracker_command.use_heading_rate) {
+    1303         450 :         des_hdg_ff = tracker_command.heading_rate;
+    1304             :       }
+    1305             : 
+    1306         900 :       mrs_msgs::HwApiAccelerationHdgRateCmd cmd;
+    1307             : 
+    1308         450 :       cmd.acceleration.x = des_acc(0);
+    1309         450 :       cmd.acceleration.y = des_acc(1);
+    1310         450 :       cmd.acceleration.z = des_acc(2);
+    1311             : 
+    1312         450 :       position_pid_heading_.setSaturation(constraints.heading_speed);
+    1313             : 
+    1314         450 :       double hdg_err = mrs_lib::geometry::sradians::diff(tracker_command.heading, uav_heading);
+    1315             : 
+    1316         450 :       double des_hdg_rate = position_pid_heading_.update(hdg_err, dt) + des_hdg_ff;
+    1317             : 
+    1318         450 :       cmd.heading_rate = des_hdg_rate;
+    1319             : 
+    1320         450 :       last_control_output_.desired_heading_rate = des_hdg_rate;
+    1321             : 
+    1322         450 :       last_control_output_.control_output = cmd;
+    1323             :     }
+    1324             : 
+    1325             :     // | -------------- unbiased desired acceleration ------------- |
+    1326             : 
+    1327         976 :     Eigen::Vector3d unbiased_des_acc(0, 0, 0);
+    1328             : 
+    1329             :     {
+    1330             : 
+    1331        1952 :       geometry_msgs::Vector3Stamped world_accel;
+    1332             : 
+    1333         976 :       world_accel.header.stamp    = ros::Time::now();
+    1334         976 :       world_accel.header.frame_id = uav_state.header.frame_id;
+    1335         976 :       world_accel.vector.x        = Ra(0);
+    1336         976 :       world_accel.vector.y        = Ra(1);
+    1337         976 :       world_accel.vector.z        = Ra(2);
+    1338             : 
+    1339        2928 :       auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1340             : 
+    1341         976 :       if (res) {
+    1342         976 :         unbiased_des_acc << res.value().vector.x, res.value().vector.y, res.value().vector.z;
+    1343             :       }
+    1344             :     }
+    1345             : 
+    1346             :     // fill the unbiased desired accelerations
+    1347         976 :     last_control_output_.desired_unbiased_acceleration = unbiased_des_acc;
+    1348             : 
+    1349             :     // | ----------------- fill in the diagnostics ---------------- |
+    1350             : 
+    1351         976 :     last_control_output_.diagnostics.ramping_up = false;
+    1352             : 
+    1353         976 :     last_control_output_.diagnostics.mass_estimator  = false;
+    1354         976 :     last_control_output_.diagnostics.mass_difference = 0;
+    1355         976 :     last_control_output_.diagnostics.total_mass      = total_mass;
+    1356             : 
+    1357         976 :     last_control_output_.diagnostics.disturbance_estimator = true;
+    1358             : 
+    1359         976 :     last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_(0);
+    1360         976 :     last_control_output_.diagnostics.disturbance_by_b = -Ib_b_(1);
+    1361             : 
+    1362         976 :     last_control_output_.diagnostics.disturbance_bx_w = -Ib_w(0);
+    1363         976 :     last_control_output_.diagnostics.disturbance_by_w = -Ib_w(1);
+    1364             : 
+    1365         976 :     last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_(0);
+    1366         976 :     last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_(1);
+    1367             : 
+    1368         976 :     last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1369             : 
+    1370         976 :     last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * max_speed_horizontal;
+    1371         976 :     last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * max_acceleration_horizontal;
+    1372             : 
+    1373         976 :     last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * max_speed_vertical;
+    1374         976 :     last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * max_acceleration_vertical;
+    1375             : 
+    1376         976 :     last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * max_speed_vertical;
+    1377         976 :     last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * max_acceleration_vertical;
+    1378             : 
+    1379         976 :     last_control_output_.diagnostics.controller = name_;
+    1380             : 
+    1381         976 :     return;
+    1382             :   }
+    1383             : 
+    1384             :   /* mass estimatior //{ */
+    1385             : 
+    1386             :   // --------------------------------------------------------------
+    1387             :   // |                integrate the mass difference               |
+    1388             :   // --------------------------------------------------------------
+    1389             : 
+    1390             :   {
+    1391      140132 :     std::scoped_lock lock(mutex_gains_);
+    1392             : 
+    1393             :     // antiwindup
+    1394       70066 :     double temp_gain = gains.km;
+    1395      156105 :     if (rampup_active_ ||
+    1396       86039 :         (std::abs(uav_state.velocity.linear.z) > 0.3 && ((Ep(2) > 0 && uav_state.velocity.linear.z > 0) || (Ep(2) < 0 && uav_state.velocity.linear.z < 0)))) {
+    1397       16045 :       temp_gain = 0;
+    1398       16045 :       ROS_DEBUG_THROTTLE(1.0, "[%s]: anti-windup for the mass kicks in", this->name_.c_str());
+    1399             :     }
+    1400             : 
+    1401       70066 :     if (tracker_command.use_position_vertical) {
+    1402       70066 :       uav_mass_difference_ += temp_gain * Ep(2) * dt;
+    1403             :     }
+    1404             : 
+    1405             :     // saturate the mass estimator
+    1406       70066 :     bool uav_mass_saturated = false;
+    1407       70066 :     if (!std::isfinite(uav_mass_difference_)) {
+    1408           0 :       uav_mass_difference_ = 0;
+    1409           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in variable 'uav_mass_difference_', setting it to 0 and returning!!!", this->name_.c_str());
+    1410       70066 :     } else if (uav_mass_difference_ > gains.km_lim) {
+    1411           0 :       uav_mass_difference_ = gains.km_lim;
+    1412           0 :       uav_mass_saturated   = true;
+    1413       70066 :     } else if (uav_mass_difference_ < -gains.km_lim) {
+    1414           0 :       uav_mass_difference_ = -gains.km_lim;
+    1415           0 :       uav_mass_saturated   = true;
+    1416             :     }
+    1417             : 
+    1418       70066 :     if (uav_mass_saturated) {
+    1419           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: The UAV mass difference is being saturated to %.2f!", this->name_.c_str(), uav_mass_difference_);
+    1420             :     }
+    1421             :   }
+    1422             : 
+    1423             :   //}
+    1424             : 
+    1425       70066 :   Eigen::Vector3d f = integral_feedback + feed_forward;
+    1426             : 
+    1427             :   // | ----------- limiting the downwards acceleration ---------- |
+    1428             :   // the downwards force produced by the position and the acceleration feedback should not be larger than the gravity
+    1429             : 
+    1430             :   // if the downwards part of the force is close to counter-act the gravity acceleration
+    1431       70066 :   if (f(2) < 0) {
+    1432             : 
+    1433           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: the calculated downwards desired force is negative (%.2f) -> mitigating flip", this->name_.c_str(), f(2));
+    1434             : 
+    1435           0 :     f << 0, 0, 1;
+    1436             :   }
+    1437             : 
+    1438             :   // | ------------------- sanitize tilt angle ------------------ |
+    1439             : 
+    1440       70066 :   double tilt_safety_limit = _tilt_angle_failsafe_enabled_ ? _tilt_angle_failsafe_ : std::numeric_limits<double>::max();
+    1441             : 
+    1442       70066 :   auto f_normed_sanitized = common::sanitizeDesiredForce(f.normalized(), tilt_safety_limit, constraints.tilt, "MpcController");
+    1443             : 
+    1444       70066 :   if (!f_normed_sanitized) {
+    1445             : 
+    1446           0 :     ROS_INFO("[%s]: f = [%.2f, %.2f, %.2f]", this->name_.c_str(), f(0), f(1), f(2));
+    1447           0 :     ROS_INFO("[%s]: integral feedback: [%.2f, %.2f, %.2f]", this->name_.c_str(), integral_feedback(0), integral_feedback(1), integral_feedback(2));
+    1448           0 :     ROS_INFO("[%s]: feed forward: [%.2f, %.2f, %.2f]", this->name_.c_str(), feed_forward(0), feed_forward(1), feed_forward(2));
+    1449           0 :     ROS_INFO("[%s]: tracker_cmd: x: %.2f, y: %.2f, z: %.2f, heading: %.2f", this->name_.c_str(), tracker_command.position.x, tracker_command.position.y,
+    1450             :              tracker_command.position.z, tracker_command.heading);
+    1451           0 :     ROS_INFO("[%s]: odometry: x: %.2f, y: %.2f, z: %.2f, heading: %.2f", this->name_.c_str(), uav_state.pose.position.x, uav_state.pose.position.y,
+    1452             :              uav_state.pose.position.z, uav_heading);
+    1453             : 
+    1454           0 :     return;
+    1455             :   }
+    1456             : 
+    1457       70066 :   Eigen::Vector3d f_normed = f_normed_sanitized.value();
+    1458             : 
+    1459             :   // --------------------------------------------------------------
+    1460             :   // |               desired orientation + throttle               |
+    1461             :   // --------------------------------------------------------------
+    1462             : 
+    1463             :   // | ------------------- desired orientation ------------------ |
+    1464             : 
+    1465       70066 :   Eigen::Matrix3d Rd;
+    1466             : 
+    1467       70066 :   if (tracker_command.use_orientation) {
+    1468             : 
+    1469             :     // fill in the desired orientation based on the desired orientation from the control command
+    1470           0 :     Rd = mrs_lib::AttitudeConverter(tracker_command.orientation);
+    1471             : 
+    1472           0 :     if (tracker_command.use_heading) {
+    1473             :       try {
+    1474           0 :         Rd = mrs_lib::AttitudeConverter(Rd).setHeading(tracker_command.heading);
+    1475             :       }
+    1476           0 :       catch (...) {
+    1477           0 :         ROS_WARN_THROTTLE(1.0, "[%s]: failed to add heading to the desired orientation matrix", this->name_.c_str());
+    1478             :       }
+    1479             :     }
+    1480             : 
+    1481             :   } else {
+    1482             : 
+    1483       70066 :     Eigen::Vector3d bxd;  // desired heading vector
+    1484             : 
+    1485       70066 :     if (tracker_command.use_heading) {
+    1486       70066 :       bxd << cos(tracker_command.heading), sin(tracker_command.heading), 0;
+    1487             :     } else {
+    1488           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: desired heading was not specified, using current heading instead!", this->name_.c_str());
+    1489           0 :       bxd << cos(uav_heading), sin(uav_heading), 0;
+    1490             :     }
+    1491             : 
+    1492       70066 :     Rd = common::so3transform(f_normed, bxd, false);
+    1493             :   }
+    1494             : 
+    1495             :   // | -------------------- desired throttle -------------------- |
+    1496             : 
+    1497       70066 :   double desired_thrust_force = f.dot(R.col(2));
+    1498       70066 :   double throttle             = 0;
+    1499             : 
+    1500       70066 :   if (rampup_active_) {
+    1501             : 
+    1502             :     // deactivate the rampup when the times up
+    1503        1029 :     if (std::abs((ros::Time::now() - rampup_start_time_).toSec()) >= rampup_duration_) {
+    1504             : 
+    1505          76 :       rampup_active_ = false;
+    1506             : 
+    1507          76 :       ROS_INFO("[%s]: rampup finished", name_.c_str());
+    1508             : 
+    1509             :     } else {
+    1510             : 
+    1511         953 :       double rampup_dt = (ros::Time::now() - rampup_last_time_).toSec();
+    1512             : 
+    1513         953 :       rampup_throttle_ += double(rampup_direction_) * _rampup_speed_ * rampup_dt;
+    1514             : 
+    1515         953 :       rampup_last_time_ = ros::Time::now();
+    1516             : 
+    1517         953 :       throttle = rampup_throttle_;
+    1518             : 
+    1519         953 :       ROS_INFO_THROTTLE(0.1, "[%s]: ramping up throttle, %.4f", name_.c_str(), throttle);
+    1520             :     }
+    1521             : 
+    1522             :   } else {
+    1523             : 
+    1524       69037 :     if (desired_thrust_force >= 0) {
+    1525       69037 :       throttle = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, desired_thrust_force);
+    1526             :     } else {
+    1527           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: just so you know, the desired throttle force is negative (%.2f)", name_.c_str(), desired_thrust_force);
+    1528             :     }
+    1529             :   }
+    1530             : 
+    1531             :   // | ------------------- throttle saturation ------------------ |
+    1532             : 
+    1533       70066 :   bool throttle_saturated = false;
+    1534             : 
+    1535       70066 :   if (!std::isfinite(throttle)) {
+    1536             : 
+    1537           0 :     ROS_ERROR("[%s]: NaN detected in variable 'throttle'!!!", name_.c_str());
+    1538           0 :     return;
+    1539             : 
+    1540       70066 :   } else if (throttle > _throttle_saturation_) {
+    1541          25 :     throttle = _throttle_saturation_;
+    1542          25 :     ROS_WARN_THROTTLE(0.1, "[%s]: saturating throttle to %.2f", name_.c_str(), _throttle_saturation_);
+    1543       70041 :   } else if (throttle < 0.0) {
+    1544           0 :     throttle = 0.0;
+    1545           0 :     ROS_WARN_THROTTLE(0.1, "[%s]: saturating throttle to 0.0", name_.c_str());
+    1546             :   }
+    1547             : 
+    1548       70066 :   if (throttle_saturated) {
+    1549           0 :     ROS_WARN_THROTTLE(0.1, "[%s]: ---------------------------", name_.c_str());
+    1550           0 :     ROS_WARN_THROTTLE(0.1, "[%s]: desired state: pos [x: %.2f, y: %.2f, z: %.2f, hdg: %.2f]", name_.c_str(), tracker_command.position.x,
+    1551             :                       tracker_command.position.y, tracker_command.position.z, tracker_command.heading);
+    1552           0 :     ROS_WARN_THROTTLE(0.1, "[%s]: desired state: vel [x: %.2f, y: %.2f, z: %.2f, hdg: %.2f]", name_.c_str(), tracker_command.velocity.x,
+    1553             :                       tracker_command.velocity.y, tracker_command.velocity.z, tracker_command.heading_rate);
+    1554           0 :     ROS_WARN_THROTTLE(0.1, "[%s]: desired state: acc [x: %.2f, y: %.2f, z: %.2f, hdg: %.2f]", name_.c_str(), tracker_command.acceleration.x,
+    1555             :                       tracker_command.acceleration.y, tracker_command.acceleration.z, tracker_command.heading_acceleration);
+    1556           0 :     ROS_WARN_THROTTLE(0.1, "[%s]: desired state: jerk [x: %.2f, y: %.2f, z: %.2f, hdg: %.2f]", name_.c_str(), tracker_command.jerk.x, tracker_command.jerk.y,
+    1557             :                       tracker_command.jerk.z, tracker_command.heading_jerk);
+    1558           0 :     ROS_WARN_THROTTLE(0.1, "[%s]: ---------------------------", name_.c_str());
+    1559           0 :     ROS_WARN_THROTTLE(0.1, "[%s]: current state: pos [x: %.2f, y: %.2f, z: %.2f, hdg: %.2f]", name_.c_str(), uav_state.pose.position.x,
+    1560             :                       uav_state.pose.position.y, uav_state.pose.position.z, uav_heading);
+    1561           0 :     ROS_WARN_THROTTLE(0.1, "[%s]: current state: vel [x: %.2f, y: %.2f, z: %.2f, yaw rate: %.2f]", name_.c_str(), uav_state.velocity.linear.x,
+    1562             :                       uav_state.velocity.linear.y, uav_state.velocity.linear.z, uav_state.velocity.angular.z);
+    1563           0 :     ROS_WARN_THROTTLE(0.1, "[%s]: ---------------------------", name_.c_str());
+    1564             :   }
+    1565             : 
+    1566             :   // | -------------- unbiased desired acceleration ------------- |
+    1567             : 
+    1568       70066 :   double desired_x_accel = 0;
+    1569       70066 :   double desired_y_accel = 0;
+    1570       70066 :   double desired_z_accel = 0;
+    1571             : 
+    1572             :   {
+    1573       70066 :     Eigen::Vector3d thrust_vector = desired_thrust_force * Rd.col(2);
+    1574             : 
+    1575       70066 :     double world_accel_x = (thrust_vector(0) / total_mass) - (Iw_w_(0) / total_mass) - (Ib_w(0) / total_mass);
+    1576       70066 :     double world_accel_y = (thrust_vector(1) / total_mass) - (Iw_w_(1) / total_mass) - (Ib_w(1) / total_mass);
+    1577             : 
+    1578             :     // TODO change to z from IMU?
+    1579       70066 :     double world_accel_z = tracker_command.acceleration.z;
+    1580             : 
+    1581      140132 :     geometry_msgs::Vector3Stamped world_accel;
+    1582             : 
+    1583       70066 :     world_accel.header.stamp    = ros::Time::now();
+    1584       70066 :     world_accel.header.frame_id = uav_state.header.frame_id;
+    1585       70066 :     world_accel.vector.x        = world_accel_x;
+    1586       70066 :     world_accel.vector.y        = world_accel_y;
+    1587       70066 :     world_accel.vector.z        = world_accel_z;
+    1588             : 
+    1589      210198 :     auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1590             : 
+    1591       70066 :     if (res) {
+    1592             : 
+    1593       70066 :       desired_x_accel = res.value().vector.x;
+    1594       70066 :       desired_y_accel = res.value().vector.y;
+    1595       70066 :       desired_z_accel = res.value().vector.z;
+    1596             :     }
+    1597             :   }
+    1598             : 
+    1599             :   // | --------------- fill the resulting command --------------- |
+    1600             : 
+    1601             :   // fill the desired orientation for the tilt error check
+    1602       70066 :   last_control_output_.desired_orientation = mrs_lib::AttitudeConverter(Rd);
+    1603             : 
+    1604             :   // fill the unbiased desired accelerations
+    1605       70066 :   last_control_output_.desired_unbiased_acceleration = Eigen::Vector3d(desired_x_accel, desired_y_accel, desired_z_accel);
+    1606             : 
+    1607             :   // | ----------------- fill in the diagnostics ---------------- |
+    1608             : 
+    1609       70066 :   last_control_output_.diagnostics.ramping_up = rampup_active_;
+    1610             : 
+    1611       70066 :   last_control_output_.diagnostics.mass_estimator  = true;
+    1612       70066 :   last_control_output_.diagnostics.mass_difference = uav_mass_difference_;
+    1613       70066 :   last_control_output_.diagnostics.total_mass      = total_mass;
+    1614             : 
+    1615       70066 :   last_control_output_.diagnostics.disturbance_estimator = true;
+    1616             : 
+    1617       70066 :   last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_(0);
+    1618       70066 :   last_control_output_.diagnostics.disturbance_by_b = -Ib_b_(1);
+    1619             : 
+    1620       70066 :   last_control_output_.diagnostics.disturbance_bx_w = -Ib_w(0);
+    1621       70066 :   last_control_output_.diagnostics.disturbance_by_w = -Ib_w(1);
+    1622             : 
+    1623       70066 :   last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_(0);
+    1624       70066 :   last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_(1);
+    1625             : 
+    1626       70066 :   last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1627             : 
+    1628       70066 :   last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * _max_speed_horizontal_;
+    1629       70066 :   last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * _max_acceleration_horizontal_;
+    1630             : 
+    1631       70066 :   last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1632       70066 :   last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1633             : 
+    1634       70066 :   last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1635       70066 :   last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1636             : 
+    1637       70066 :   last_control_output_.diagnostics.controller = name_;
+    1638             : 
+    1639             :   // | ------------ construct the attitude reference ------------ |
+    1640             : 
+    1641       70066 :   mrs_msgs::HwApiAttitudeCmd attitude_cmd;
+    1642             : 
+    1643       70066 :   attitude_cmd.stamp       = ros::Time::now();
+    1644       70066 :   attitude_cmd.orientation = mrs_lib::AttitudeConverter(Rd);
+    1645       70066 :   attitude_cmd.throttle    = throttle;
+    1646             : 
+    1647       70066 :   if (output_modality == common::ATTITUDE) {
+    1648             : 
+    1649        1136 :     last_control_output_.control_output = attitude_cmd;
+    1650             : 
+    1651        1136 :     return;
+    1652             :   }
+    1653             : 
+    1654             :   // --------------------------------------------------------------
+    1655             :   // |                      attitude control                      |
+    1656             :   // --------------------------------------------------------------
+    1657             : 
+    1658       68930 :   Eigen::Vector3d rate_feedforward = Eigen::Vector3d::Zero(3);
+    1659             : 
+    1660       68930 :   if (tracker_command.use_attitude_rate) {
+    1661             : 
+    1662           0 :     rate_feedforward << tracker_command.attitude_rate.x, tracker_command.attitude_rate.y, tracker_command.attitude_rate.z;
+    1663             : 
+    1664       68930 :   } else if (tracker_command.use_heading_rate) {
+    1665             : 
+    1666             :     // to fill in the feed forward yaw rate
+    1667       68929 :     double desired_yaw_rate = 0;
+    1668             : 
+    1669             :     try {
+    1670       68929 :       desired_yaw_rate = mrs_lib::AttitudeConverter(Rd).getYawRateIntrinsic(tracker_command.heading_rate);
+    1671             :     }
+    1672           0 :     catch (...) {
+    1673           0 :       ROS_ERROR("[%s]: exception caught while calculating the desired_yaw_rate feedforward", name_.c_str());
+    1674             :     }
+    1675             : 
+    1676       68929 :     rate_feedforward << 0, 0, desired_yaw_rate;
+    1677             :   }
+    1678             : 
+    1679             :   // | ------------ jerk feedforward -> angular rate ------------ |
+    1680             : 
+    1681       68930 :   Eigen::Vector3d jerk_feedforward = Eigen::Vector3d(0, 0, 0);
+    1682             : 
+    1683       68930 :   if (tracker_command.use_jerk && drs_params.jerk_feedforward) {
+    1684             : 
+    1685       49721 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: using jerk feedforward", name_.c_str());
+    1686             : 
+    1687       49721 :     Eigen::Matrix3d I;
+    1688       49721 :     I << 0, 1, 0, -1, 0, 0, 0, 0, 0;
+    1689       49721 :     Eigen::Vector3d desired_jerk = Eigen::Vector3d(tracker_command.jerk.x, tracker_command.jerk.y, tracker_command.jerk.z);
+    1690       49721 :     jerk_feedforward             = (I.transpose() * Rd.transpose() * desired_jerk) / (desired_thrust_force / total_mass);
+    1691             :   }
+    1692             : 
+    1693             :   // | --------------- run the attitude controller -------------- |
+    1694             : 
+    1695       68930 :   Eigen::Vector3d attitude_rate_saturation(constraints.roll_rate, constraints.pitch_rate, constraints.yaw_rate);
+    1696             : 
+    1697       68930 :   auto attitude_rate_command = common::attitudeController(uav_state, attitude_cmd, jerk_feedforward + rate_feedforward, attitude_rate_saturation, Kq, false);
+    1698             : 
+    1699       68930 :   if (!attitude_rate_command) {
+    1700           0 :     return;
+    1701             :   }
+    1702             : 
+    1703             :   // | --------- fill in the already known attitude rate -------- |
+    1704             : 
+    1705             :   {
+    1706             :     try {
+    1707       68930 :       last_control_output_.desired_heading_rate = mrs_lib::AttitudeConverter(R).getHeadingRate(attitude_rate_command->body_rate);
+    1708             :     }
+    1709           0 :     catch (...) {
+    1710             :     }
+    1711             :   }
+    1712             : 
+    1713             :   // | ---------- construct the attitude rate reference --------- |
+    1714             : 
+    1715       68930 :   if (output_modality == common::ATTITUDE_RATE) {
+    1716             : 
+    1717       66350 :     last_control_output_.control_output = attitude_rate_command;
+    1718             : 
+    1719       66350 :     return;
+    1720             :   }
+    1721             : 
+    1722             :   // --------------------------------------------------------------
+    1723             :   // |                    Attitude rate control                   |
+    1724             :   // --------------------------------------------------------------
+    1725             : 
+    1726        2580 :   Kw = common_handlers_->detailed_model_params->inertia.diagonal().array() * Kw;
+    1727             : 
+    1728        2580 :   auto control_group_command = common::attitudeRateController(uav_state, attitude_rate_command.value(), Kw);
+    1729             : 
+    1730        2580 :   if (!control_group_command) {
+    1731           0 :     return;
+    1732             :   }
+    1733             : 
+    1734        2580 :   if (output_modality == common::CONTROL_GROUP) {
+    1735             : 
+    1736        1309 :     last_control_output_.control_output = control_group_command;
+    1737             : 
+    1738        1309 :     return;
+    1739             :   }
+    1740             : 
+    1741             :   // --------------------------------------------------------------
+    1742             :   // |                        output mixer                        |
+    1743             :   // --------------------------------------------------------------
+    1744             : 
+    1745        2542 :   mrs_msgs::HwApiActuatorCmd actuator_cmd = common::actuatorMixer(control_group_command.value(), common_handlers_->detailed_model_params->control_group_mixer);
+    1746             : 
+    1747        1271 :   last_control_output_.control_output = actuator_cmd;
+    1748             : 
+    1749        1271 :   return;
+    1750             : }
+    1751             : 
+    1752             : //}
+    1753             : 
+    1754             : /* positionPassthrough() //{ */
+    1755             : 
+    1756         271 : void MpcController::positionPassthrough(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+    1757             : 
+    1758         271 :   if (!tracker_command.use_position_vertical || !tracker_command.use_position_horizontal || !tracker_command.use_heading) {
+    1759           0 :     ROS_ERROR("[%s]: the tracker did not provide position+hdg reference", name_.c_str());
+    1760           0 :     return;
+    1761             :   }
+    1762             : 
+    1763         542 :   mrs_msgs::HwApiPositionCmd cmd;
+    1764             : 
+    1765         271 :   cmd.header.frame_id = uav_state.header.frame_id;
+    1766         271 :   cmd.header.stamp    = ros::Time::now();
+    1767             : 
+    1768         271 :   cmd.position = tracker_command.position;
+    1769         271 :   cmd.heading  = tracker_command.heading;
+    1770             : 
+    1771         271 :   last_control_output_.control_output = cmd;
+    1772             : 
+    1773             :   // fill the unbiased desired accelerations
+    1774         271 :   last_control_output_.desired_unbiased_acceleration = {};
+    1775         271 :   last_control_output_.desired_orientation           = {};
+    1776         271 :   last_control_output_.desired_heading_rate          = {};
+    1777             : 
+    1778             :   // | ----------------- fill in the diagnostics ---------------- |
+    1779             : 
+    1780         271 :   last_control_output_.diagnostics.ramping_up = false;
+    1781             : 
+    1782         271 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1783         271 :   last_control_output_.diagnostics.mass_difference = 0;
+    1784             : 
+    1785         271 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1786             : 
+    1787         271 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1788         271 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1789             : 
+    1790         271 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1791         271 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1792             : 
+    1793         271 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1794         271 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1795             : 
+    1796         271 :   last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1797             : 
+    1798         271 :   last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * _max_speed_horizontal_;
+    1799         271 :   last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * _max_acceleration_horizontal_;
+    1800             : 
+    1801         271 :   last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1802         271 :   last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1803             : 
+    1804         271 :   last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1805         271 :   last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1806             : 
+    1807         271 :   last_control_output_.diagnostics.controller = name_;
+    1808             : }
+    1809             : 
+    1810             : //}
+    1811             : 
+    1812             : /* PIDVelocityOutput() //{ */
+    1813             : 
+    1814         773 : void MpcController::PIDVelocityOutput(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command,
+    1815             :                                       const common::CONTROL_OUTPUT &control_output, const double &dt) {
+    1816             : 
+    1817         773 :   if (!tracker_command.use_position_vertical || !tracker_command.use_position_horizontal || !tracker_command.use_heading) {
+    1818           0 :     ROS_ERROR("[%s]: the tracker did not provide position+hdg reference", name_.c_str());
+    1819           0 :     return;
+    1820             :   }
+    1821             : 
+    1822         773 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    1823             : 
+    1824         773 :   Eigen::Vector3d pos_ref = Eigen::Vector3d(tracker_command.position.x, tracker_command.position.y, tracker_command.position.z);
+    1825         773 :   Eigen::Vector3d pos     = Eigen::Vector3d(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+    1826             : 
+    1827         773 :   double hdg_ref = tracker_command.heading;
+    1828         773 :   double hdg     = getHeadingSafely(uav_state, tracker_command);
+    1829             : 
+    1830             :   // | ------------------ velocity feedforward ------------------ |
+    1831             : 
+    1832         773 :   Eigen::Vector3d vel_ff(0, 0, 0);
+    1833             : 
+    1834         773 :   if (tracker_command.use_velocity_horizontal && tracker_command.use_velocity_vertical) {
+    1835         773 :     vel_ff = Eigen::Vector3d(tracker_command.velocity.x, tracker_command.velocity.y, tracker_command.velocity.z);
+    1836             :   }
+    1837             : 
+    1838             :   // | --------------------- control errors --------------------- |
+    1839             : 
+    1840         773 :   Eigen::Vector3d Ep = pos_ref - pos;
+    1841             : 
+    1842             :   // | --------------------------- pid -------------------------- |
+    1843             : 
+    1844         773 :   position_pid_x_.setSaturation(constraints.horizontal_speed);
+    1845         773 :   position_pid_y_.setSaturation(constraints.horizontal_speed);
+    1846         773 :   position_pid_z_.setSaturation(std::min(constraints.vertical_ascending_speed, constraints.vertical_descending_speed));
+    1847             : 
+    1848         773 :   double des_vel_x = position_pid_x_.update(Ep(0), dt);
+    1849         773 :   double des_vel_y = position_pid_y_.update(Ep(1), dt);
+    1850         773 :   double des_vel_z = position_pid_z_.update(Ep(2), dt);
+    1851             : 
+    1852             :   // | -------------------- position feedback ------------------- |
+    1853             : 
+    1854         773 :   Eigen::Vector3d des_vel = Eigen::Vector3d(des_vel_x, des_vel_y, des_vel_z) + vel_ff;
+    1855             : 
+    1856         773 :   if (control_output == common::VELOCITY_HDG) {
+    1857             : 
+    1858             :     // | --------------------- fill the output -------------------- |
+    1859             : 
+    1860         560 :     mrs_msgs::HwApiVelocityHdgCmd cmd;
+    1861             : 
+    1862         280 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1863         280 :     cmd.header.stamp    = ros::Time::now();
+    1864             : 
+    1865         280 :     cmd.velocity.x = des_vel(0);
+    1866         280 :     cmd.velocity.y = des_vel(1);
+    1867         280 :     cmd.velocity.z = des_vel(2);
+    1868             : 
+    1869         280 :     cmd.heading = tracker_command.heading;
+    1870             : 
+    1871         280 :     last_control_output_.control_output = cmd;
+    1872             : 
+    1873         493 :   } else if (control_output == common::VELOCITY_HDG_RATE) {
+    1874             : 
+    1875         493 :     position_pid_heading_.setSaturation(constraints.heading_speed);
+    1876             : 
+    1877         493 :     double hdg_err = mrs_lib::geometry::sradians::diff(hdg_ref, hdg);
+    1878             : 
+    1879         493 :     double des_hdg_rate = position_pid_heading_.update(hdg_err, dt);
+    1880             : 
+    1881             :     // | --------------------------- ff --------------------------- |
+    1882             : 
+    1883         493 :     double des_hdg_ff = 0;
+    1884             : 
+    1885         493 :     if (tracker_command.use_heading_rate) {
+    1886         493 :       des_hdg_ff = tracker_command.heading_rate;
+    1887             :     }
+    1888             : 
+    1889             :     // | --------------------- fill the output -------------------- |
+    1890             : 
+    1891         986 :     mrs_msgs::HwApiVelocityHdgRateCmd cmd;
+    1892             : 
+    1893         493 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1894         493 :     cmd.header.stamp    = ros::Time::now();
+    1895             : 
+    1896         493 :     cmd.velocity.x = des_vel(0);
+    1897         493 :     cmd.velocity.y = des_vel(1);
+    1898         493 :     cmd.velocity.z = des_vel(2);
+    1899             : 
+    1900         493 :     cmd.heading_rate = des_hdg_rate + des_hdg_ff;
+    1901             : 
+    1902         493 :     last_control_output_.control_output = cmd;
+    1903             :   } else {
+    1904             : 
+    1905           0 :     ROS_ERROR("[%s]: the required output of the position PID is not supported", name_.c_str());
+    1906           0 :     return;
+    1907             :   }
+    1908             : 
+    1909             :   // fill the unbiased desired accelerations
+    1910         773 :   last_control_output_.desired_unbiased_acceleration = {};
+    1911         773 :   last_control_output_.desired_orientation           = {};
+    1912         773 :   last_control_output_.desired_heading_rate          = {};
+    1913             : 
+    1914             :   // | ----------------- fill in the diagnostics ---------------- |
+    1915             : 
+    1916         773 :   last_control_output_.diagnostics.ramping_up = false;
+    1917             : 
+    1918         773 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1919         773 :   last_control_output_.diagnostics.mass_difference = 0;
+    1920             : 
+    1921         773 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1922             : 
+    1923         773 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1924         773 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1925             : 
+    1926         773 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1927         773 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1928             : 
+    1929         773 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1930         773 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1931             : 
+    1932         773 :   last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1933             : 
+    1934         773 :   last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * _max_speed_horizontal_;
+    1935         773 :   last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * _max_acceleration_horizontal_;
+    1936             : 
+    1937         773 :   last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1938         773 :   last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1939             : 
+    1940         773 :   last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1941         773 :   last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1942             : 
+    1943         773 :   last_control_output_.diagnostics.controller = name_;
+    1944             : }
+    1945             : 
+    1946             : //}
+    1947             : 
+    1948             : // --------------------------------------------------------------
+    1949             : // |                          callbacks                         |
+    1950             : // --------------------------------------------------------------
+    1951             : 
+    1952             : /* //{ callbackDrs() */
+    1953             : 
+    1954         216 : void MpcController::callbackDrs(mrs_uav_controllers::mpc_controllerConfig &config, [[maybe_unused]] uint32_t level) {
+    1955             : 
+    1956         216 :   mrs_lib::set_mutexed(mutex_drs_params_, config, drs_params_);
+    1957             : 
+    1958         216 :   ROS_INFO("[%s]: DRS updated gains", this->name_.c_str());
+    1959         216 : }
+    1960             : 
+    1961             : //}
+    1962             : 
+    1963             : /* //{ callbackSetIntegralTerms() */
+    1964             : 
+    1965           0 : bool MpcController::callbackSetIntegralTerms(std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res) {
+    1966             : 
+    1967           0 :   if (!is_initialized_)
+    1968           0 :     return false;
+    1969             : 
+    1970           0 :   integral_terms_enabled_ = req.data;
+    1971             : 
+    1972           0 :   std::stringstream ss;
+    1973             : 
+    1974           0 :   ss << "integral terms %s" << (integral_terms_enabled_ ? "enabled" : "disabled");
+    1975             : 
+    1976           0 :   ROS_INFO_STREAM_THROTTLE(1.0, "[" << name_.c_str() << "]: " << ss.str());
+    1977             : 
+    1978           0 :   res.message = ss.str();
+    1979           0 :   res.success = true;
+    1980             : 
+    1981           0 :   return true;
+    1982             : }
+    1983             : 
+    1984             : //}
+    1985             : 
+    1986             : // --------------------------------------------------------------
+    1987             : // |                           timers                           |
+    1988             : // --------------------------------------------------------------
+    1989             : 
+    1990             : /* timerGains() //{ */
+    1991             : 
+    1992       16385 : void MpcController::timerGains(const ros::TimerEvent &event) {
+    1993             : 
+    1994       32770 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerGains", _gain_filtering_rate_, 1.0, event);
+    1995       32770 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcController::timerGains", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1996             : 
+    1997       16385 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+    1998       16385 :   auto gains      = mrs_lib::get_mutexed(mutex_gains_, gains_);
+    1999             : 
+    2000             :   // When muting the gains, we want to bypass the filter,
+    2001             :   // so it happens immediately.
+    2002       16385 :   bool   bypass_filter = (mute_gains_ || mute_gains_by_tracker_);
+    2003       16385 :   double gain_coeff    = (mute_gains_ || mute_gains_by_tracker_) ? _gain_mute_coefficient_ : 1.0;
+    2004             : 
+    2005       16385 :   mute_gains_ = false;
+    2006             : 
+    2007       16385 :   double dt = (event.current_real - event.last_real).toSec();
+    2008             : 
+    2009       16385 :   if (!std::isfinite(dt) || (dt <= 0) || (dt > 5 * (1.0 / _gain_filtering_rate_))) {
+    2010         188 :     return;
+    2011             :   }
+    2012             : 
+    2013       16197 :   bool updated = false;
+    2014             : 
+    2015       16197 :   gains.kq_roll_pitch = calculateGainChange(dt, gains.kq_roll_pitch, drs_params.kq_roll_pitch * gain_coeff, bypass_filter, "kq_roll_pitch", updated);
+    2016       16197 :   gains.kq_yaw        = calculateGainChange(dt, gains.kq_yaw, drs_params.kq_yaw * gain_coeff, bypass_filter, "kq_yaw", updated);
+    2017       16197 :   gains.km            = calculateGainChange(dt, gains.km, drs_params.km * gain_coeff, bypass_filter, "km", updated);
+    2018       16197 :   gains.kiwxy         = calculateGainChange(dt, gains.kiwxy, drs_params.kiwxy * gain_coeff, bypass_filter, "kiwxy", updated);
+    2019       16197 :   gains.kibxy         = calculateGainChange(dt, gains.kibxy, drs_params.kibxy * gain_coeff, bypass_filter, "kibxy", updated);
+    2020             : 
+    2021             :   // do not apply muting on these gains
+    2022       16197 :   gains.kiwxy_lim = calculateGainChange(dt, gains.kiwxy_lim, drs_params.kiwxy_lim, false, "kiwxy_lim", updated);
+    2023       16197 :   gains.kibxy_lim = calculateGainChange(dt, gains.kibxy_lim, drs_params.kibxy_lim, false, "kibxy_lim", updated);
+    2024       16197 :   gains.km_lim    = calculateGainChange(dt, gains.km_lim, drs_params.km_lim, false, "km_lim", updated);
+    2025             : 
+    2026       16197 :   mrs_lib::set_mutexed(mutex_gains_, gains, gains_);
+    2027             : 
+    2028             :   // set the gains back to dynamic reconfigure
+    2029             :   // and only do it when some filtering occurs
+    2030       16197 :   if (updated) {
+    2031             : 
+    2032           0 :     drs_params.kiwxy         = gains.kiwxy;
+    2033           0 :     drs_params.kibxy         = gains.kibxy;
+    2034           0 :     drs_params.kq_roll_pitch = gains.kq_roll_pitch;
+    2035           0 :     drs_params.kq_yaw        = gains.kq_yaw;
+    2036           0 :     drs_params.km            = gains.km;
+    2037           0 :     drs_params.km_lim        = gains.km_lim;
+    2038           0 :     drs_params.kiwxy_lim     = gains.kiwxy_lim;
+    2039           0 :     drs_params.kibxy_lim     = gains.kibxy_lim;
+    2040             : 
+    2041           0 :     drs_->updateConfig(drs_params);
+    2042             : 
+    2043           0 :     ROS_INFO_THROTTLE(10.0, "[%s]: gains have been updated", name_.c_str());
+    2044             :   }
+    2045             : }
+    2046             : 
+    2047             : //}
+    2048             : 
+    2049             : // --------------------------------------------------------------
+    2050             : // |                       other routines                       |
+    2051             : // --------------------------------------------------------------
+    2052             : 
+    2053             : /* calculateGainChange() //{ */
+    2054             : 
+    2055      129576 : double MpcController::calculateGainChange(const double dt, const double current_value, const double desired_value, const bool bypass_rate, std::string name,
+    2056             :                                           bool &updated) {
+    2057             : 
+    2058      129576 :   double change = desired_value - current_value;
+    2059             : 
+    2060      129576 :   double gains_filter_max_change = _gains_filter_change_rate_ * dt;
+    2061      129576 :   double gains_filter_min_change = _gains_filter_min_change_rate_ * dt;
+    2062             : 
+    2063      129576 :   if (!bypass_rate) {
+    2064             : 
+    2065             :     // if current value is near 0...
+    2066             :     double change_in_perc;
+    2067             :     double saturated_change;
+    2068             : 
+    2069      129576 :     if (std::abs(current_value) < 1e-6) {
+    2070           0 :       change *= gains_filter_max_change;
+    2071             :     } else {
+    2072             : 
+    2073      129576 :       saturated_change = change;
+    2074             : 
+    2075      129576 :       change_in_perc = ((current_value + saturated_change) / current_value) - 1.0;
+    2076             : 
+    2077      129576 :       if (change_in_perc > gains_filter_max_change) {
+    2078           0 :         saturated_change = current_value * gains_filter_max_change;
+    2079      129576 :       } else if (change_in_perc < -gains_filter_max_change) {
+    2080           0 :         saturated_change = current_value * -gains_filter_max_change;
+    2081             :       }
+    2082             : 
+    2083      129576 :       if (std::abs(saturated_change) < std::abs(change) * gains_filter_min_change) {
+    2084           0 :         change *= gains_filter_min_change;
+    2085             :       } else {
+    2086      129576 :         change = saturated_change;
+    2087             :       }
+    2088             :     }
+    2089             :   }
+    2090             : 
+    2091      129576 :   if (std::abs(change) > 1e-3) {
+    2092           0 :     ROS_DEBUG("[%s]: changing gain '%s' from %.2f to %.2f", name_.c_str(), name.c_str(), current_value, desired_value);
+    2093           0 :     updated = true;
+    2094             :   }
+    2095             : 
+    2096      129576 :   return current_value + change;
+    2097             : }
+    2098             : 
+    2099             : //}
+    2100             : 
+    2101             : /* getHeadingSafely() //{ */
+    2102             : 
+    2103       71815 : double MpcController::getHeadingSafely(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+    2104             : 
+    2105             :   try {
+    2106       71815 :     return mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    2107             :   }
+    2108           0 :   catch (...) {
+    2109             :   }
+    2110             : 
+    2111             :   try {
+    2112           0 :     return mrs_lib::AttitudeConverter(uav_state.pose.orientation).getYaw();
+    2113             :   }
+    2114           0 :   catch (...) {
+    2115             :   }
+    2116             : 
+    2117           0 :   if (tracker_command.use_heading) {
+    2118           0 :     return tracker_command.heading;
+    2119             :   }
+    2120             : 
+    2121           0 :   return 0;
+    2122             : }
+    2123             : 
+    2124             : //}
+    2125             : 
+    2126             : //}
+    2127             : 
+    2128             : }  // namespace mpc_controller
+    2129             : 
+    2130             : }  // namespace mrs_uav_controllers
+    2131             : 
+    2132             : #include <pluginlib/class_list_macros.h>
+    2133         108 : PLUGINLIB_EXPORT_CLASS(mrs_uav_controllers::mpc_controller::MpcController, mrs_uav_managers::Controller)
+
+
+
+ + + + +
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LCOV - code coverage report
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Current view:top level - mrs_uav_controllers/src - se3_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:62577580.6 %
Date:2024-08-07 22:18:19Functions:151788.2 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_controllers::se3_controller::Se3Controller::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_controllers::se3_controller::Se3Controller::resetDisturbanceEstimators()0
mrs_uav_controllers::se3_controller::Se3Controller::deactivate()24
mrs_uav_controllers::se3_controller::Se3Controller::activate(mrs_uav_managers::Controller::ControlOutput const&)27
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_controllers::se3_controller::Se3Controller::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)108
mrs_uav_controllers::se3_controller::Se3Controller::callbackDrs(mrs_uav_controllers::se3_controllerConfig&, unsigned int)217
mrs_uav_controllers::se3_controller::Se3Controller::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)260
mrs_uav_controllers::se3_controller::Se3Controller::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)428
mrs_uav_controllers::se3_controller::Se3Controller::getStatus()2889
mrs_uav_controllers::se3_controller::Se3Controller::PIDVelocityOutput(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&, mrs_uav_controllers::common::CONTROL_OUTPUT const&, double const&)3087
mrs_uav_controllers::se3_controller::Se3Controller::timerGains(ros::TimerEvent const&)4683
mrs_uav_controllers::se3_controller::Se3Controller::SE3Controller(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&, double const&, mrs_uav_controllers::common::CONTROL_OUTPUT const&)25300
mrs_uav_controllers::se3_controller::Se3Controller::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)28387
mrs_uav_controllers::se3_controller::Se3Controller::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)28647
mrs_uav_controllers::se3_controller::Se3Controller::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)65184
mrs_uav_controllers::se3_controller::Se3Controller::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)119825
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_controllers/src/se3_controller.cpp.func.html b/mrs_uav_controllers/src/se3_controller.cpp.func.html new file mode 100644 index 0000000000..3250016dc8 --- /dev/null +++ b/mrs_uav_controllers/src/se3_controller.cpp.func.html @@ -0,0 +1,148 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/se3_controller.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_controllers/src - se3_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:62577580.6 %
Date:2024-08-07 22:18:19Functions:151788.2 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_controllers::se3_controller::Se3Controller::deactivate()24
mrs_uav_controllers::se3_controller::Se3Controller::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)108
mrs_uav_controllers::se3_controller::Se3Controller::timerGains(ros::TimerEvent const&)4683
mrs_uav_controllers::se3_controller::Se3Controller::callbackDrs(mrs_uav_controllers::se3_controllerConfig&, unsigned int)217
mrs_uav_controllers::se3_controller::Se3Controller::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)28647
mrs_uav_controllers::se3_controller::Se3Controller::SE3Controller(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&, double const&, mrs_uav_controllers::common::CONTROL_OUTPUT const&)25300
mrs_uav_controllers::se3_controller::Se3Controller::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)428
mrs_uav_controllers::se3_controller::Se3Controller::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)119825
mrs_uav_controllers::se3_controller::Se3Controller::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)28387
mrs_uav_controllers::se3_controller::Se3Controller::PIDVelocityOutput(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&, mrs_uav_controllers::common::CONTROL_OUTPUT const&, double const&)3087
mrs_uav_controllers::se3_controller::Se3Controller::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)65184
mrs_uav_controllers::se3_controller::Se3Controller::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)260
mrs_uav_controllers::se3_controller::Se3Controller::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_controllers::se3_controller::Se3Controller::resetDisturbanceEstimators()0
mrs_uav_controllers::se3_controller::Se3Controller::activate(mrs_uav_managers::Controller::ControlOutput const&)27
mrs_uav_controllers::se3_controller::Se3Controller::getStatus()2889
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+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_controllers/src/se3_controller.cpp.gcov.frameset.html b/mrs_uav_controllers/src/se3_controller.cpp.gcov.frameset.html new file mode 100644 index 0000000000..96cbbf6f55 --- /dev/null +++ b/mrs_uav_controllers/src/se3_controller.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/se3_controller.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_controllers/src/se3_controller.cpp.gcov.html b/mrs_uav_controllers/src/se3_controller.cpp.gcov.html new file mode 100644 index 0000000000..1b81cfa16f --- /dev/null +++ b/mrs_uav_controllers/src/se3_controller.cpp.gcov.html @@ -0,0 +1,1930 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/se3_controller.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_controllers/src - se3_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:62577580.6 %
Date:2024-08-07 22:18:19Functions:151788.2 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : 
+       6             : #include <common.h>
+       7             : #include <pid.hpp>
+       8             : 
+       9             : #include <mrs_uav_managers/controller.h>
+      10             : 
+      11             : #include <dynamic_reconfigure/server.h>
+      12             : #include <mrs_uav_controllers/se3_controllerConfig.h>
+      13             : 
+      14             : #include <mrs_lib/profiler.h>
+      15             : #include <mrs_lib/utils.h>
+      16             : #include <mrs_lib/mutex.h>
+      17             : #include <mrs_lib/attitude_converter.h>
+      18             : #include <mrs_lib/geometry/cyclic.h>
+      19             : 
+      20             : #include <geometry_msgs/Vector3Stamped.h>
+      21             : 
+      22             : //}
+      23             : 
+      24             : #define OUTPUT_ACTUATORS 0
+      25             : #define OUTPUT_CONTROL_GROUP 1
+      26             : #define OUTPUT_ATTITUDE_RATE 2
+      27             : #define OUTPUT_ATTITUDE 3
+      28             : 
+      29             : namespace mrs_uav_controllers
+      30             : {
+      31             : 
+      32             : namespace se3_controller
+      33             : {
+      34             : 
+      35             : /* structs //{ */
+      36             : 
+      37             : typedef struct
+      38             : {
+      39             :   double kpxy;           // position xy gain
+      40             :   double kvxy;           // velocity xy gain
+      41             :   double kaxy;           // acceleration xy gain (feed forward, =1)
+      42             :   double kiwxy;          // world xy integral gain
+      43             :   double kibxy;          // body xy integral gain
+      44             :   double kiwxy_lim;      // world xy integral limit
+      45             :   double kibxy_lim;      // body xy integral limit
+      46             :   double kpz;            // position z gain
+      47             :   double kvz;            // velocity z gain
+      48             :   double kaz;            // acceleration z gain (feed forward, =1)
+      49             :   double km;             // mass estimator gain
+      50             :   double km_lim;         // mass estimator limit
+      51             :   double kq_roll_pitch;  // pitch/roll attitude gain
+      52             :   double kq_yaw;         // yaw attitude gain
+      53             :   double kw_roll_pitch;  // attitude rate gain
+      54             :   double kw_yaw;         // attitude rate gain
+      55             : } Gains_t;
+      56             : 
+      57             : //}
+      58             : 
+      59             : /* //{ class Se3Controller */
+      60             : 
+      61             : class Se3Controller : public mrs_uav_managers::Controller {
+      62             : 
+      63             : public:
+      64             :   bool initialize(const ros::NodeHandle& nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      65             :                   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
+      66             : 
+      67             :   bool activate(const ControlOutput& last_control_output);
+      68             : 
+      69             :   void deactivate(void);
+      70             : 
+      71             :   void updateInactive(const mrs_msgs::UavState& uav_state, const std::optional<mrs_msgs::TrackerCommand>& tracker_command);
+      72             : 
+      73             :   ControlOutput updateActive(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command);
+      74             : 
+      75             :   const mrs_msgs::ControllerStatus getStatus();
+      76             : 
+      77             :   void switchOdometrySource(const mrs_msgs::UavState& new_uav_state);
+      78             : 
+      79             :   void resetDisturbanceEstimators(void);
+      80             : 
+      81             :   const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& cmd);
+      82             : 
+      83             : private:
+      84             :   ros::NodeHandle nh_;
+      85             : 
+      86             :   bool is_initialized_ = false;
+      87             :   bool is_active_      = false;
+      88             : 
+      89             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>  common_handlers_;
+      90             :   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers_;
+      91             : 
+      92             :   // | ------------------------ uav state ----------------------- |
+      93             : 
+      94             :   mrs_msgs::UavState uav_state_;
+      95             :   std::mutex         mutex_uav_state_;
+      96             : 
+      97             :   // | --------------- dynamic reconfigure server --------------- |
+      98             : 
+      99             :   boost::recursive_mutex                            mutex_drs_;
+     100             :   typedef mrs_uav_controllers::se3_controllerConfig DrsConfig_t;
+     101             :   typedef dynamic_reconfigure::Server<DrsConfig_t>  Drs_t;
+     102             :   boost::shared_ptr<Drs_t>                          drs_;
+     103             :   void                                              callbackDrs(mrs_uav_controllers::se3_controllerConfig& config, uint32_t level);
+     104             :   DrsConfig_t                                       drs_params_;
+     105             : 
+     106             :   // | ----------------------- controllers ---------------------- |
+     107             : 
+     108             :   void positionPassthrough(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command);
+     109             : 
+     110             :   void PIDVelocityOutput(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command, const common::CONTROL_OUTPUT& control_output,
+     111             :                          const double& dt);
+     112             : 
+     113             :   void SE3Controller(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command, const double& dt,
+     114             :                      const common::CONTROL_OUTPUT& output_modality);
+     115             : 
+     116             :   // | ----------------------- constraints ---------------------- |
+     117             : 
+     118             :   mrs_msgs::DynamicsConstraints constraints_;
+     119             :   std::mutex                    mutex_constraints_;
+     120             : 
+     121             :   // | --------- throttle generation and mass estimation -------- |
+     122             : 
+     123             :   double _uav_mass_;
+     124             :   double uav_mass_difference_;
+     125             : 
+     126             :   Gains_t gains_;
+     127             : 
+     128             :   std::mutex mutex_gains_;       // locks the gains the are used and filtered
+     129             :   std::mutex mutex_drs_params_;  // locks the gains that came from the drs
+     130             : 
+     131             :   ros::Timer timer_gains_;
+     132             :   void       timerGains(const ros::TimerEvent& event);
+     133             : 
+     134             :   double _gain_filtering_rate_;
+     135             : 
+     136             :   // | ----------------------- gain muting ---------------------- |
+     137             : 
+     138             :   std::atomic<bool> mute_gains_            = false;
+     139             :   std::atomic<bool> mute_gains_by_tracker_ = false;
+     140             :   double            _gain_mute_coefficient_;
+     141             : 
+     142             :   // | --------------------- gain filtering --------------------- |
+     143             : 
+     144             :   double calculateGainChange(const double dt, const double current_value, const double desired_value, const bool bypass_rate, std::string name, bool& updated);
+     145             : 
+     146             :   double getHeadingSafely(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command);
+     147             : 
+     148             :   double _gains_filter_change_rate_;
+     149             :   double _gains_filter_min_change_rate_;
+     150             : 
+     151             :   // | ------------ controller limits and saturations ----------- |
+     152             : 
+     153             :   bool   _tilt_angle_failsafe_enabled_;
+     154             :   double _tilt_angle_failsafe_;
+     155             : 
+     156             :   double _throttle_saturation_;
+     157             : 
+     158             :   // | ------------------ activation and output ----------------- |
+     159             : 
+     160             :   ControlOutput last_control_output_;
+     161             :   ControlOutput activation_control_output_;
+     162             : 
+     163             :   ros::Time         last_update_time_;
+     164             :   std::atomic<bool> first_iteration_ = true;
+     165             : 
+     166             :   // | ------------------------ profiler_ ------------------------ |
+     167             : 
+     168             :   mrs_lib::Profiler profiler_;
+     169             :   bool              _profiler_enabled_ = false;
+     170             : 
+     171             :   // | ------------------------ integrals ----------------------- |
+     172             : 
+     173             :   Eigen::Vector2d Ib_b_;  // body error integral in the body frame
+     174             :   Eigen::Vector2d Iw_w_;  // world error integral in the world_frame
+     175             :   std::mutex      mutex_integrals_;
+     176             : 
+     177             :   // | ------------------------- rampup ------------------------- |
+     178             : 
+     179             :   bool   _rampup_enabled_ = false;
+     180             :   double _rampup_speed_;
+     181             : 
+     182             :   bool      rampup_active_ = false;
+     183             :   double    rampup_throttle_;
+     184             :   int       rampup_direction_;
+     185             :   double    rampup_duration_;
+     186             :   ros::Time rampup_start_time_;
+     187             :   ros::Time rampup_last_time_;
+     188             : 
+     189             :   // | ---------------------- position pid ---------------------- |
+     190             : 
+     191             :   double _pos_pid_p_;
+     192             :   double _pos_pid_i_;
+     193             :   double _pos_pid_d_;
+     194             : 
+     195             :   double _hdg_pid_p_;
+     196             :   double _hdg_pid_i_;
+     197             :   double _hdg_pid_d_;
+     198             : 
+     199             :   PIDController position_pid_x_;
+     200             :   PIDController position_pid_y_;
+     201             :   PIDController position_pid_z_;
+     202             :   PIDController position_pid_heading_;
+     203             : };
+     204             : 
+     205             : //}
+     206             : 
+     207             : // --------------------------------------------------------------
+     208             : // |                   controller's interface                   |
+     209             : // --------------------------------------------------------------
+     210             : 
+     211             : /* //{ initialize() */
+     212             : 
+     213         108 : bool Se3Controller::initialize(const ros::NodeHandle& nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+     214             :                                std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers) {
+     215             : 
+     216         108 :   nh_ = nh;
+     217             : 
+     218         108 :   common_handlers_  = common_handlers;
+     219         108 :   private_handlers_ = private_handlers;
+     220             : 
+     221         108 :   _uav_mass_ = common_handlers->getMass();
+     222             : 
+     223         108 :   ros::Time::waitForValid();
+     224             : 
+     225             :   // | ---------- loading params using the parent's nh ---------- |
+     226             : 
+     227         216 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     228             : 
+     229         108 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     230             : 
+     231         108 :   if (!param_loader_parent.loadedSuccessfully()) {
+     232           0 :     ROS_ERROR("[MidairActivationController]: Could not load all parameters!");
+     233           0 :     return false;
+     234             :   }
+     235             : 
+     236             :   // | -------------------- loading my params ------------------- |
+     237             : 
+     238         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/se3_controller.yaml");
+     239         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/se3_controller.yaml");
+     240             : 
+     241         216 :   const std::string yaml_namespace = "mrs_uav_controllers/se3_controller/";
+     242             : 
+     243             :   // lateral gains
+     244         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kp", gains_.kpxy);
+     245         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kv", gains_.kvxy);
+     246         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/ka", gains_.kaxy);
+     247             : 
+     248         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kiw", gains_.kiwxy);
+     249         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kib", gains_.kibxy);
+     250             : 
+     251             :   // | ------------------------- rampup ------------------------- |
+     252             : 
+     253         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/rampup/enabled", _rampup_enabled_);
+     254         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/rampup/speed", _rampup_speed_);
+     255             : 
+     256             :   // height gains
+     257         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/vertical/kp", gains_.kpz);
+     258         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/vertical/kv", gains_.kvz);
+     259         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/vertical/ka", gains_.kaz);
+     260             : 
+     261             :   // attitude gains
+     262         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/attitude/kq_roll_pitch", gains_.kq_roll_pitch);
+     263         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/attitude/kq_yaw", gains_.kq_yaw);
+     264             : 
+     265             :   // attitude rate gains
+     266         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/attitude_rate_gains/kw_roll_pitch", gains_.kw_roll_pitch);
+     267         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/attitude_rate_gains/kw_yaw", gains_.kw_yaw);
+     268             : 
+     269             :   // mass estimator
+     270         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/mass_estimator/km", gains_.km);
+     271         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/mass_estimator/km_lim", gains_.km_lim);
+     272             : 
+     273             :   // integrator limits
+     274         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kiw_lim", gains_.kiwxy_lim);
+     275         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kib_lim", gains_.kibxy_lim);
+     276             : 
+     277             :   // constraints
+     278         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/constraints/tilt_angle_failsafe/enabled", _tilt_angle_failsafe_enabled_);
+     279         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/constraints/tilt_angle_failsafe/limit", _tilt_angle_failsafe_);
+     280             : 
+     281         108 :   _tilt_angle_failsafe_ = M_PI * (_tilt_angle_failsafe_ / 180.0);
+     282             : 
+     283         108 :   if (_tilt_angle_failsafe_enabled_ && std::abs(_tilt_angle_failsafe_) < 1e-3) {
+     284           0 :     ROS_ERROR("[Se3Controller]: constraints/tilt_angle_failsafe/enabled = 'TRUE' but the limit is too low");
+     285           0 :     return false;
+     286             :   }
+     287             : 
+     288         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/constraints/throttle_saturation", _throttle_saturation_);
+     289             : 
+     290             :   // gain filtering
+     291         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/perc_change_rate", _gains_filter_change_rate_);
+     292         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/min_change_rate", _gains_filter_min_change_rate_);
+     293         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/rate", _gain_filtering_rate_);
+     294         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/gain_mute_coefficient", _gain_mute_coefficient_);
+     295             : 
+     296             :   // output mode
+     297         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/preferred_output", drs_params_.preferred_output_mode);
+     298             : 
+     299         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/rotation_matrix", drs_params_.rotation_type);
+     300             : 
+     301             :   // angular rate feed forward
+     302         216 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/angular_rate_feedforward/parasitic_pitch_roll",
+     303         108 :                                             drs_params_.pitch_roll_heading_rate_compensation);
+     304         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/angular_rate_feedforward/jerk", drs_params_.jerk_feedforward);
+     305             : 
+     306             :   // | ------------------- position pid params ------------------ |
+     307             : 
+     308         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/p", _pos_pid_p_);
+     309         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/i", _pos_pid_i_);
+     310         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/d", _pos_pid_d_);
+     311             : 
+     312         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/p", _hdg_pid_p_);
+     313         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/i", _hdg_pid_i_);
+     314         108 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/d", _hdg_pid_d_);
+     315             : 
+     316             :   // | ------------------ finish loading params ----------------- |
+     317             : 
+     318         108 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     319           0 :     ROS_ERROR("[Se3Controller]: could not load all parameters!");
+     320           0 :     return false;
+     321             :   }
+     322             : 
+     323             :   // | ---------------- prepare stuff from params --------------- |
+     324             : 
+     325         108 :   if (!(drs_params_.preferred_output_mode == OUTPUT_ACTUATORS || drs_params_.preferred_output_mode == OUTPUT_CONTROL_GROUP ||
+     326         108 :         drs_params_.preferred_output_mode == OUTPUT_ATTITUDE_RATE || drs_params_.preferred_output_mode == OUTPUT_ATTITUDE)) {
+     327           0 :     ROS_ERROR("[Se3Controller]: preferred output mode has to be {0, 1, 2, 3}!");
+     328           0 :     return false;
+     329             :   }
+     330             : 
+     331             :   // initialize the integrals
+     332         108 :   uav_mass_difference_ = 0;
+     333         108 :   Iw_w_                = Eigen::Vector2d::Zero(2);
+     334         108 :   Ib_b_                = Eigen::Vector2d::Zero(2);
+     335             : 
+     336             :   // | --------------- dynamic reconfigure server --------------- |
+     337             : 
+     338         108 :   drs_params_.kpxy             = gains_.kpxy;
+     339         108 :   drs_params_.kvxy             = gains_.kvxy;
+     340         108 :   drs_params_.kaxy             = gains_.kaxy;
+     341         108 :   drs_params_.kiwxy            = gains_.kiwxy;
+     342         108 :   drs_params_.kibxy            = gains_.kibxy;
+     343         108 :   drs_params_.kpz              = gains_.kpz;
+     344         108 :   drs_params_.kvz              = gains_.kvz;
+     345         108 :   drs_params_.kaz              = gains_.kaz;
+     346         108 :   drs_params_.kq_roll_pitch    = gains_.kq_roll_pitch;
+     347         108 :   drs_params_.kq_yaw           = gains_.kq_yaw;
+     348         108 :   drs_params_.kiwxy_lim        = gains_.kiwxy_lim;
+     349         108 :   drs_params_.kibxy_lim        = gains_.kibxy_lim;
+     350         108 :   drs_params_.km               = gains_.km;
+     351         108 :   drs_params_.km_lim           = gains_.km_lim;
+     352         108 :   drs_params_.jerk_feedforward = true;
+     353             : 
+     354         108 :   drs_.reset(new Drs_t(mutex_drs_, nh_));
+     355         108 :   drs_->updateConfig(drs_params_);
+     356         108 :   Drs_t::CallbackType f = boost::bind(&Se3Controller::callbackDrs, this, _1, _2);
+     357         108 :   drs_->setCallback(f);
+     358             : 
+     359             :   // | ------------------------- timers ------------------------- |
+     360             : 
+     361         108 :   timer_gains_ = nh_.createTimer(ros::Rate(_gain_filtering_rate_), &Se3Controller::timerGains, this, false, false);
+     362             : 
+     363             :   // | ---------------------- position pid ---------------------- |
+     364             : 
+     365         108 :   position_pid_x_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     366         108 :   position_pid_y_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     367         108 :   position_pid_z_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     368         108 :   position_pid_heading_.setParams(_hdg_pid_p_, _hdg_pid_d_, _hdg_pid_i_, -1, 0.1);
+     369             : 
+     370             :   // | ------------------------ profiler ------------------------ |
+     371             : 
+     372         108 :   profiler_ = mrs_lib::Profiler(common_handlers_->parent_nh, "Se3Controller", _profiler_enabled_);
+     373             : 
+     374             :   // | ----------------------- finish init ---------------------- |
+     375             : 
+     376         108 :   ROS_INFO("[Se3Controller]: initialized");
+     377             : 
+     378         108 :   is_initialized_ = true;
+     379             : 
+     380         108 :   return true;
+     381             : }
+     382             : 
+     383             : //}
+     384             : 
+     385             : /* //{ activate() */
+     386             : 
+     387          27 : bool Se3Controller::activate(const ControlOutput& last_control_output) {
+     388             : 
+     389          27 :   activation_control_output_ = last_control_output;
+     390             : 
+     391          27 :   double activation_mass = _uav_mass_;
+     392             : 
+     393          27 :   if (activation_control_output_.diagnostics.mass_estimator) {
+     394           1 :     uav_mass_difference_ = activation_control_output_.diagnostics.mass_difference;
+     395           1 :     activation_mass += uav_mass_difference_;
+     396           1 :     ROS_INFO("[Se3Controller]: setting mass difference from the last control output: %.2f kg", uav_mass_difference_);
+     397             :   }
+     398             : 
+     399          27 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+     400             : 
+     401          27 :   if (activation_control_output_.diagnostics.disturbance_estimator) {
+     402           1 :     Ib_b_(0) = -activation_control_output_.diagnostics.disturbance_bx_b;
+     403           1 :     Ib_b_(1) = -activation_control_output_.diagnostics.disturbance_by_b;
+     404             : 
+     405           1 :     Iw_w_(0) = -activation_control_output_.diagnostics.disturbance_wx_w;
+     406           1 :     Iw_w_(1) = -activation_control_output_.diagnostics.disturbance_wy_w;
+     407             : 
+     408           1 :     ROS_INFO(
+     409             :         "[Se3Controller]: setting disturbances from the last control output: Ib_b_: %.2f, %.2f N, Iw_w_: "
+     410             :         "%.2f, %.2f N",
+     411             :         Ib_b_(0), Ib_b_(1), Iw_w_(0), Iw_w_(1));
+     412             :   }
+     413             : 
+     414             :   // did the last controller use manual throttle control?
+     415          27 :   auto throttle_last_controller = common::extractThrottle(activation_control_output_);
+     416             : 
+     417             :   // rampup check
+     418          27 :   if (_rampup_enabled_ && throttle_last_controller) {
+     419             : 
+     420          14 :     double hover_throttle = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, activation_mass * common_handlers_->g);
+     421             : 
+     422          14 :     double throttle_difference = hover_throttle - throttle_last_controller.value();
+     423             : 
+     424          14 :     if (throttle_difference > 0) {
+     425           3 :       rampup_direction_ = 1;
+     426          11 :     } else if (throttle_difference < 0) {
+     427           0 :       rampup_direction_ = -1;
+     428             :     } else {
+     429          11 :       rampup_direction_ = 0;
+     430             :     }
+     431             : 
+     432          14 :     ROS_INFO("[Se3Controller]: activating rampup with initial throttle: %.4f, target: %.4f", throttle_last_controller.value(), hover_throttle);
+     433             : 
+     434          14 :     rampup_active_     = true;
+     435          14 :     rampup_start_time_ = ros::Time::now();
+     436          14 :     rampup_last_time_  = ros::Time::now();
+     437          14 :     rampup_throttle_   = throttle_last_controller.value();
+     438             : 
+     439          14 :     rampup_duration_ = std::abs(throttle_difference) / _rampup_speed_;
+     440             :   }
+     441             : 
+     442          27 :   first_iteration_ = true;
+     443          27 :   mute_gains_      = true;
+     444             : 
+     445          27 :   timer_gains_.start();
+     446             : 
+     447             :   // | ------------------ finish the activation ----------------- |
+     448             : 
+     449          27 :   ROS_INFO("[Se3Controller]: activated");
+     450             : 
+     451          27 :   is_active_ = true;
+     452             : 
+     453          27 :   return true;
+     454             : }
+     455             : 
+     456             : //}
+     457             : 
+     458             : /* //{ deactivate() */
+     459             : 
+     460          24 : void Se3Controller::deactivate(void) {
+     461             : 
+     462          24 :   is_active_           = false;
+     463          24 :   first_iteration_     = false;
+     464          24 :   uav_mass_difference_ = 0;
+     465             : 
+     466          24 :   timer_gains_.stop();
+     467             : 
+     468          24 :   ROS_INFO("[Se3Controller]: deactivated");
+     469          24 : }
+     470             : 
+     471             : //}
+     472             : 
+     473             : /* updateInactive() //{ */
+     474             : 
+     475      119825 : void Se3Controller::updateInactive(const mrs_msgs::UavState& uav_state, [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand>& tracker_command) {
+     476             : 
+     477      119825 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     478             : 
+     479      119825 :   last_update_time_ = uav_state.header.stamp;
+     480             : 
+     481      119825 :   first_iteration_ = false;
+     482      119825 : }
+     483             : 
+     484             : //}
+     485             : 
+     486             : /* //{ updateWhenActive() */
+     487             : 
+     488       28647 : Se3Controller::ControlOutput Se3Controller::updateActive(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command) {
+     489             : 
+     490       85941 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("updateActive");
+     491       85941 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("Se3Controller::updateActive", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     492             : 
+     493       57294 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     494             : 
+     495       28647 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     496             : 
+     497       28647 :   last_control_output_.desired_heading_rate          = {};
+     498       28647 :   last_control_output_.desired_orientation           = {};
+     499       28647 :   last_control_output_.desired_unbiased_acceleration = {};
+     500       28647 :   last_control_output_.control_output                = {};
+     501             : 
+     502             :   // | -------------------- calculate the dt -------------------- |
+     503             : 
+     504             :   double dt;
+     505             : 
+     506       28647 :   if (first_iteration_) {
+     507          27 :     dt               = 0.01;
+     508          27 :     first_iteration_ = false;
+     509             :   } else {
+     510       28620 :     dt = (uav_state.header.stamp - last_update_time_).toSec();
+     511             :   }
+     512             : 
+     513       28647 :   last_update_time_ = uav_state.header.stamp;
+     514             : 
+     515       28647 :   if (std::abs(dt) < 0.001) {
+     516             : 
+     517           0 :     ROS_DEBUG("[Se3Controller]: the last odometry message came too close (%.2f s)!", dt);
+     518             : 
+     519           0 :     dt = 0.01;
+     520             :   }
+     521             : 
+     522             :   // | ----------- obtain the lowest possible modality ---------- |
+     523             : 
+     524       28647 :   auto lowest_modality = common::getLowestOuput(common_handlers_->control_output_modalities);
+     525             : 
+     526       28647 :   if (!lowest_modality) {
+     527             : 
+     528           0 :     ROS_ERROR_THROTTLE(1.0, "[Se3Controller]: output modalities are empty! This error should never appear.");
+     529             : 
+     530           0 :     return last_control_output_;
+     531             :   }
+     532             : 
+     533             :   // | ----- we might prefer some output mode over the other ---- |
+     534             : 
+     535       28647 :   if (drs_params.preferred_output_mode == OUTPUT_ATTITUDE_RATE && common_handlers_->control_output_modalities.attitude_rate) {
+     536       20332 :     ROS_DEBUG_THROTTLE(1.0, "[Se3Controller]: prioritizing attitude rate output");
+     537       20332 :     lowest_modality = common::ATTITUDE_RATE;
+     538        8315 :   } else if (drs_params.preferred_output_mode == OUTPUT_ATTITUDE && common_handlers_->control_output_modalities.attitude) {
+     539           0 :     ROS_DEBUG_THROTTLE(1.0, "[Se3Controller]: prioritizing attitude output");
+     540           0 :     lowest_modality = common::ATTITUDE;
+     541        8315 :   } else if (drs_params.preferred_output_mode == OUTPUT_CONTROL_GROUP && common_handlers_->control_output_modalities.control_group) {
+     542           0 :     ROS_DEBUG_THROTTLE(1.0, "[Se3Controller]: prioritizing control group output");
+     543           0 :     lowest_modality = common::CONTROL_GROUP;
+     544        8315 :   } else if (drs_params.preferred_output_mode == OUTPUT_ACTUATORS && common_handlers_->control_output_modalities.actuators) {
+     545           0 :     ROS_DEBUG_THROTTLE(1.0, "[Se3Controller]: prioritizing actuators output");
+     546           0 :     lowest_modality = common::ACTUATORS_CMD;
+     547             :   }
+     548             : 
+     549       28647 :   switch (lowest_modality.value()) {
+     550             : 
+     551         260 :     case common::POSITION: {
+     552         260 :       positionPassthrough(uav_state, tracker_command);
+     553         260 :       break;
+     554             :     }
+     555             : 
+     556        1184 :     case common::VELOCITY_HDG: {
+     557        1184 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG, dt);
+     558        1184 :       break;
+     559             :     }
+     560             : 
+     561        1903 :     case common::VELOCITY_HDG_RATE: {
+     562        1903 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG_RATE, dt);
+     563        1903 :       break;
+     564             :     }
+     565             : 
+     566         572 :     case common::ACCELERATION_HDG: {
+     567         572 :       SE3Controller(uav_state, tracker_command, dt, common::ACCELERATION_HDG);
+     568         572 :       break;
+     569             :     }
+     570             : 
+     571         569 :     case common::ACCELERATION_HDG_RATE: {
+     572         569 :       SE3Controller(uav_state, tracker_command, dt, common::ACCELERATION_HDG_RATE);
+     573         569 :       break;
+     574             :     }
+     575             : 
+     576        1216 :     case common::ATTITUDE: {
+     577        1216 :       SE3Controller(uav_state, tracker_command, dt, common::ATTITUDE);
+     578        1216 :       break;
+     579             :     }
+     580             : 
+     581       20332 :     case common::ATTITUDE_RATE: {
+     582       20332 :       SE3Controller(uav_state, tracker_command, dt, common::ATTITUDE_RATE);
+     583       20332 :       break;
+     584             :     }
+     585             : 
+     586        1315 :     case common::CONTROL_GROUP: {
+     587        1315 :       SE3Controller(uav_state, tracker_command, dt, common::CONTROL_GROUP);
+     588        1315 :       break;
+     589             :     }
+     590             : 
+     591        1296 :     case common::ACTUATORS_CMD: {
+     592        1296 :       SE3Controller(uav_state, tracker_command, dt, common::ACTUATORS_CMD);
+     593        1296 :       break;
+     594             :     }
+     595             : 
+     596       28647 :     default: {
+     597             :     }
+     598             :   }
+     599             : 
+     600       28647 :   return last_control_output_;
+     601             : }
+     602             : 
+     603             : //}
+     604             : 
+     605             : /* //{ getStatus() */
+     606             : 
+     607        2889 : const mrs_msgs::ControllerStatus Se3Controller::getStatus() {
+     608             : 
+     609        2889 :   mrs_msgs::ControllerStatus controller_status;
+     610             : 
+     611        2889 :   controller_status.active = is_active_;
+     612             : 
+     613        2889 :   return controller_status;
+     614             : }
+     615             : 
+     616             : //}
+     617             : 
+     618             : /* switchOdometrySource() //{ */
+     619             : 
+     620           0 : void Se3Controller::switchOdometrySource(const mrs_msgs::UavState& new_uav_state) {
+     621             : 
+     622           0 :   ROS_INFO("[Se3Controller]: switching the odometry source");
+     623             : 
+     624           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     625             : 
+     626             :   // | ----- transform world disturabances to the new frame ----- |
+     627             : 
+     628           0 :   geometry_msgs::Vector3Stamped world_integrals;
+     629             : 
+     630           0 :   world_integrals.header.stamp    = ros::Time::now();
+     631           0 :   world_integrals.header.frame_id = uav_state.header.frame_id;
+     632             : 
+     633           0 :   world_integrals.vector.x = Iw_w_(0);
+     634           0 :   world_integrals.vector.y = Iw_w_(1);
+     635           0 :   world_integrals.vector.z = 0;
+     636             : 
+     637           0 :   auto res = common_handlers_->transformer->transformSingle(world_integrals, new_uav_state.header.frame_id);
+     638             : 
+     639           0 :   if (res) {
+     640             : 
+     641           0 :     std::scoped_lock lock(mutex_integrals_);
+     642             : 
+     643           0 :     Iw_w_(0) = res.value().vector.x;
+     644           0 :     Iw_w_(1) = res.value().vector.y;
+     645             : 
+     646             :   } else {
+     647             : 
+     648           0 :     ROS_ERROR_THROTTLE(1.0, "[Se3Controller]: could not transform world integral to the new frame");
+     649             : 
+     650           0 :     std::scoped_lock lock(mutex_integrals_);
+     651             : 
+     652           0 :     Iw_w_(0) = 0;
+     653           0 :     Iw_w_(1) = 0;
+     654             :   }
+     655           0 : }
+     656             : 
+     657             : //}
+     658             : 
+     659             : /* resetDisturbanceEstimators() //{ */
+     660             : 
+     661           0 : void Se3Controller::resetDisturbanceEstimators(void) {
+     662             : 
+     663           0 :   std::scoped_lock lock(mutex_integrals_);
+     664             : 
+     665           0 :   Iw_w_ = Eigen::Vector2d::Zero(2);
+     666           0 :   Ib_b_ = Eigen::Vector2d::Zero(2);
+     667           0 : }
+     668             : 
+     669             : //}
+     670             : 
+     671             : /* setConstraints() //{ */
+     672             : 
+     673         428 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr Se3Controller::setConstraints([
+     674             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& constraints) {
+     675             : 
+     676         428 :   if (!is_initialized_) {
+     677           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     678             :   }
+     679             : 
+     680         428 :   mrs_lib::set_mutexed(mutex_constraints_, constraints->constraints, constraints_);
+     681             : 
+     682         428 :   ROS_INFO("[Se3Controller]: updating constraints");
+     683             : 
+     684         856 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     685         428 :   res.success = true;
+     686         428 :   res.message = "constraints updated";
+     687             : 
+     688         428 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     689             : }
+     690             : 
+     691             : //}
+     692             : 
+     693             : // --------------------------------------------------------------
+     694             : // |                         controllers                        |
+     695             : // --------------------------------------------------------------
+     696             : 
+     697             : /* SE3Controller() //{ */
+     698             : 
+     699       25300 : void Se3Controller::SE3Controller(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command, const double& dt,
+     700             :                                   const common::CONTROL_OUTPUT& output_modality) {
+     701             : 
+     702       50600 :   auto drs_params  = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     703       25300 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     704       25300 :   auto gains       = mrs_lib::get_mutexed(mutex_gains_, gains_);
+     705             : 
+     706             :   // | ----------------- get the current heading ---------------- |
+     707             : 
+     708       25300 :   double uav_heading = getHeadingSafely(uav_state, tracker_command);
+     709             : 
+     710             :   // --------------------------------------------------------------
+     711             :   // |          load the control reference and estimates          |
+     712             :   // --------------------------------------------------------------
+     713             : 
+     714             :   // Rp - position reference in global frame
+     715             :   // Rv - velocity reference in global frame
+     716             :   // Ra - velocity reference in global frame
+     717             : 
+     718       25300 :   Eigen::Vector3d Rp = Eigen::Vector3d::Zero(3);
+     719       25300 :   Eigen::Vector3d Rv = Eigen::Vector3d::Zero(3);
+     720       25300 :   Eigen::Vector3d Ra = Eigen::Vector3d::Zero(3);
+     721             : 
+     722       25300 :   if (tracker_command.use_position_vertical || tracker_command.use_position_horizontal) {
+     723             : 
+     724       25300 :     if (tracker_command.use_position_horizontal) {
+     725       25300 :       Rp(0) = tracker_command.position.x;
+     726       25300 :       Rp(1) = tracker_command.position.y;
+     727             :     } else {
+     728           0 :       Rv(0) = 0;
+     729           0 :       Rv(1) = 0;
+     730             :     }
+     731             : 
+     732       25300 :     if (tracker_command.use_position_vertical) {
+     733       25300 :       Rp(2) = tracker_command.position.z;
+     734             :     } else {
+     735           0 :       Rv(2) = 0;
+     736             :     }
+     737             :   }
+     738             : 
+     739       25300 :   if (tracker_command.use_velocity_horizontal) {
+     740       25300 :     Rv(0) = tracker_command.velocity.x;
+     741       25300 :     Rv(1) = tracker_command.velocity.y;
+     742             :   } else {
+     743           0 :     Rv(0) = 0;
+     744           0 :     Rv(1) = 0;
+     745             :   }
+     746             : 
+     747       25300 :   if (tracker_command.use_velocity_vertical) {
+     748       25300 :     Rv(2) = tracker_command.velocity.z;
+     749             :   } else {
+     750           0 :     Rv(2) = 0;
+     751             :   }
+     752             : 
+     753       25300 :   if (tracker_command.use_acceleration) {
+     754       25299 :     Ra << tracker_command.acceleration.x, tracker_command.acceleration.y, tracker_command.acceleration.z;
+     755             :   } else {
+     756           1 :     Ra << 0, 0, 0;
+     757             :   }
+     758             : 
+     759             :   // | ------ store the estimated values from the uav state ----- |
+     760             : 
+     761             :   // Op - position in global frame
+     762             :   // Ov - velocity in global frame
+     763       25300 :   Eigen::Vector3d Op(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+     764       25300 :   Eigen::Vector3d Ov(uav_state.velocity.linear.x, uav_state.velocity.linear.y, uav_state.velocity.linear.z);
+     765             : 
+     766             :   // R - current uav attitude
+     767       25300 :   Eigen::Matrix3d R = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+     768             : 
+     769             :   // Ow - UAV angular rate
+     770       25300 :   Eigen::Vector3d Ow(uav_state.velocity.angular.x, uav_state.velocity.angular.y, uav_state.velocity.angular.z);
+     771             : 
+     772             :   // | -------------- calculate the control errors -------------- |
+     773             : 
+     774             :   // position control error
+     775       25300 :   Eigen::Vector3d Ep(0, 0, 0);
+     776             : 
+     777       25300 :   if (tracker_command.use_position_horizontal || tracker_command.use_position_vertical) {
+     778       25300 :     Ep = Rp - Op;
+     779             :   }
+     780             : 
+     781             :   // velocity control error
+     782       25300 :   Eigen::Vector3d Ev(0, 0, 0);
+     783             : 
+     784       25300 :   if (tracker_command.use_velocity_horizontal || tracker_command.use_velocity_vertical ||
+     785           0 :       tracker_command.use_position_vertical) {  // use_position_vertical = true, not a mistake, this provides dampening
+     786       25300 :     Ev = Rv - Ov;
+     787             :   }
+     788             : 
+     789             :   // | --------------------- load the gains --------------------- |
+     790             : 
+     791       25300 :   mute_gains_by_tracker_ = tracker_command.disable_position_gains;
+     792             : 
+     793       25300 :   Eigen::Vector3d Ka(0, 0, 0);
+     794       25300 :   Eigen::Array3d  Kp(0, 0, 0);
+     795       25300 :   Eigen::Array3d  Kv(0, 0, 0);
+     796       25300 :   Eigen::Array3d  Kq(0, 0, 0);
+     797       25300 :   Eigen::Array3d  Kw(0, 0, 0);
+     798             : 
+     799             :   {
+     800       25300 :     std::scoped_lock lock(mutex_gains_);
+     801             : 
+     802       25300 :     if (tracker_command.use_position_horizontal) {
+     803       25300 :       Kp(0) = gains.kpxy;
+     804       25300 :       Kp(1) = gains.kpxy;
+     805             :     } else {
+     806           0 :       Kp(0) = 0;
+     807           0 :       Kp(1) = 0;
+     808             :     }
+     809             : 
+     810       25300 :     if (tracker_command.use_position_vertical) {
+     811       25300 :       Kp(2) = gains.kpz;
+     812             :     } else {
+     813           0 :       Kp(2) = 0;
+     814             :     }
+     815             : 
+     816       25300 :     if (tracker_command.use_velocity_horizontal) {
+     817       25300 :       Kv(0) = gains.kvxy;
+     818       25300 :       Kv(1) = gains.kvxy;
+     819             :     } else {
+     820           0 :       Kv(0) = 0;
+     821           0 :       Kv(1) = 0;
+     822             :     }
+     823             : 
+     824             :     // special case: if want to control z-pos but not the velocity => at least provide z dampening, therefore kvz_
+     825       25300 :     if (tracker_command.use_velocity_vertical || tracker_command.use_position_vertical) {
+     826       25300 :       Kv(2) = gains.kvz;
+     827             :     } else {
+     828           0 :       Kv(2) = 0;
+     829             :     }
+     830             : 
+     831       25300 :     if (tracker_command.use_acceleration) {
+     832       25299 :       Ka << gains.kaxy, gains.kaxy, gains.kaz;
+     833             :     } else {
+     834           1 :       Ka << 0, 0, 0;
+     835             :     }
+     836             : 
+     837       25300 :     if (!tracker_command.use_attitude_rate) {
+     838       25300 :       Kq << gains.kq_roll_pitch, gains.kq_roll_pitch, gains.kq_yaw;
+     839             :     }
+     840             : 
+     841       25300 :     Kw(0) = gains.kw_roll_pitch;
+     842       25300 :     Kw(1) = gains.kw_roll_pitch;
+     843       25300 :     Kw(2) = gains.kw_yaw;
+     844             :   }
+     845             : 
+     846       25300 :   Kp = Kp * (_uav_mass_ + uav_mass_difference_);
+     847       25300 :   Kv = Kv * (_uav_mass_ + uav_mass_difference_);
+     848             : 
+     849             :   // | --------------- desired orientation matrix --------------- |
+     850             : 
+     851             :   // get body integral in the world frame
+     852             : 
+     853       25300 :   Eigen::Vector2d Ib_w = Eigen::Vector2d(0, 0);
+     854             : 
+     855             :   {
+     856       50600 :     geometry_msgs::Vector3Stamped Ib_b_stamped;
+     857             : 
+     858       25300 :     Ib_b_stamped.header.stamp    = ros::Time::now();
+     859       25300 :     Ib_b_stamped.header.frame_id = "fcu_untilted";
+     860       25300 :     Ib_b_stamped.vector.x        = Ib_b_(0);
+     861       25300 :     Ib_b_stamped.vector.y        = Ib_b_(1);
+     862       25300 :     Ib_b_stamped.vector.z        = 0;
+     863             : 
+     864       50600 :     auto res = common_handlers_->transformer->transformSingle(Ib_b_stamped, uav_state_.header.frame_id);
+     865             : 
+     866       25300 :     if (res) {
+     867       25300 :       Ib_w(0) = res.value().vector.x;
+     868       25300 :       Ib_w(1) = res.value().vector.y;
+     869             :     } else {
+     870           0 :       ROS_ERROR_THROTTLE(1.0, "[Se3Controller]: could not transform the Ib_b_ to the world frame");
+     871             :     }
+     872             :   }
+     873             : 
+     874             :   // construct the desired force vector
+     875             : 
+     876       25300 :   double total_mass = _uav_mass_ + uav_mass_difference_;
+     877             : 
+     878       25300 :   Eigen::Vector3d feed_forward      = total_mass * (Eigen::Vector3d(0, 0, common_handlers_->g) + Ra);
+     879       25300 :   Eigen::Vector3d position_feedback = Kp * Ep.array();
+     880       25300 :   Eigen::Vector3d velocity_feedback = Kv * Ev.array();
+     881       25300 :   Eigen::Vector3d integral_feedback;
+     882             :   {
+     883       25300 :     std::scoped_lock lock(mutex_integrals_);
+     884             : 
+     885       25300 :     integral_feedback << Ib_w(0) + Iw_w_(0), Ib_w(1) + Iw_w_(1), 0;
+     886             :   }
+     887             : 
+     888             :   // --------------------------------------------------------------
+     889             :   // |                 integrators and estimators                 |
+     890             :   // --------------------------------------------------------------
+     891             : 
+     892             :   /* world error integrator //{ */
+     893             : 
+     894             :   // --------------------------------------------------------------
+     895             :   // |                  integrate the world error                 |
+     896             :   // --------------------------------------------------------------
+     897             : 
+     898             :   {
+     899       50600 :     std::scoped_lock lock(mutex_gains_, mutex_integrals_);
+     900             : 
+     901       25300 :     Eigen::Vector3d integration_switch(1, 1, 0);
+     902             : 
+     903             :     // integrate the world error
+     904       25300 :     if (tracker_command.use_position_horizontal) {
+     905       25300 :       Iw_w_ += gains.kiwxy * Ep.head(2) * dt;
+     906           0 :     } else if (tracker_command.use_velocity_horizontal) {
+     907           0 :       Iw_w_ += gains.kiwxy * Ev.head(2) * dt;
+     908             :     }
+     909             : 
+     910             :     // saturate the world X
+     911       25300 :     bool world_integral_saturated = false;
+     912       25300 :     if (!std::isfinite(Iw_w_(0))) {
+     913           0 :       Iw_w_(0) = 0;
+     914           0 :       ROS_ERROR_THROTTLE(1.0, "[Se3Controller]: NaN detected in variable 'Iw_w_(0)', setting it to 0!!!");
+     915       25300 :     } else if (Iw_w_(0) > gains.kiwxy_lim) {
+     916           0 :       Iw_w_(0)                 = gains.kiwxy_lim;
+     917           0 :       world_integral_saturated = true;
+     918       25300 :     } else if (Iw_w_(0) < -gains.kiwxy_lim) {
+     919           0 :       Iw_w_(0)                 = -gains.kiwxy_lim;
+     920           0 :       world_integral_saturated = true;
+     921             :     }
+     922             : 
+     923       25300 :     if (gains.kiwxy_lim >= 0 && world_integral_saturated) {
+     924           0 :       ROS_WARN_THROTTLE(1.0, "[Se3Controller]: SE3's world X integral is being saturated!");
+     925             :     }
+     926             : 
+     927             :     // saturate the world Y
+     928       25300 :     world_integral_saturated = false;
+     929       25300 :     if (!std::isfinite(Iw_w_(1))) {
+     930           0 :       Iw_w_(1) = 0;
+     931           0 :       ROS_ERROR_THROTTLE(1.0, "[Se3Controller]: NaN detected in variable 'Iw_w_(1)', setting it to 0!!!");
+     932       25300 :     } else if (Iw_w_(1) > gains.kiwxy_lim) {
+     933           0 :       Iw_w_(1)                 = gains.kiwxy_lim;
+     934           0 :       world_integral_saturated = true;
+     935       25300 :     } else if (Iw_w_(1) < -gains.kiwxy_lim) {
+     936           0 :       Iw_w_(1)                 = -gains.kiwxy_lim;
+     937           0 :       world_integral_saturated = true;
+     938             :     }
+     939             : 
+     940       25300 :     if (gains.kiwxy_lim >= 0 && world_integral_saturated) {
+     941           0 :       ROS_WARN_THROTTLE(1.0, "[Se3Controller]: SE3's world Y integral is being saturated!");
+     942             :     }
+     943             :   }
+     944             : 
+     945             :   //}
+     946             : 
+     947             :   /* body error integrator //{ */
+     948             : 
+     949             :   // --------------------------------------------------------------
+     950             :   // |                  integrate the body error                  |
+     951             :   // --------------------------------------------------------------
+     952             : 
+     953             :   {
+     954       50600 :     std::scoped_lock lock(mutex_gains_);
+     955             : 
+     956       25300 :     Eigen::Vector2d Ep_fcu_untilted = Eigen::Vector2d(0, 0);  // position error in the untilted frame of the UAV
+     957       25300 :     Eigen::Vector2d Ev_fcu_untilted = Eigen::Vector2d(0, 0);  // velocity error in the untilted frame of the UAV
+     958             : 
+     959             :     // get the position control error in the fcu_untilted frame
+     960             :     {
+     961             : 
+     962       50600 :       geometry_msgs::Vector3Stamped Ep_stamped;
+     963             : 
+     964       25300 :       Ep_stamped.header.stamp    = ros::Time::now();
+     965       25300 :       Ep_stamped.header.frame_id = uav_state_.header.frame_id;
+     966       25300 :       Ep_stamped.vector.x        = Ep(0);
+     967       25300 :       Ep_stamped.vector.y        = Ep(1);
+     968       25300 :       Ep_stamped.vector.z        = Ep(2);
+     969             : 
+     970       75900 :       auto res = common_handlers_->transformer->transformSingle(Ep_stamped, "fcu_untilted");
+     971             : 
+     972       25300 :       if (res) {
+     973       25300 :         Ep_fcu_untilted(0) = res.value().vector.x;
+     974       25300 :         Ep_fcu_untilted(1) = res.value().vector.y;
+     975             :       } else {
+     976           0 :         ROS_ERROR_THROTTLE(1.0, "[Se3Controller]: could not transform the position error to fcu_untilted");
+     977             :       }
+     978             :     }
+     979             : 
+     980             :     // get the velocity control error in the fcu_untilted frame
+     981             :     {
+     982       50600 :       geometry_msgs::Vector3Stamped Ev_stamped;
+     983             : 
+     984       25300 :       Ev_stamped.header.stamp    = ros::Time::now();
+     985       25300 :       Ev_stamped.header.frame_id = uav_state_.header.frame_id;
+     986       25300 :       Ev_stamped.vector.x        = Ev(0);
+     987       25300 :       Ev_stamped.vector.y        = Ev(1);
+     988       25300 :       Ev_stamped.vector.z        = Ev(2);
+     989             : 
+     990       75900 :       auto res = common_handlers_->transformer->transformSingle(Ev_stamped, "fcu_untilted");
+     991             : 
+     992       25300 :       if (res) {
+     993       25300 :         Ev_fcu_untilted(0) = res.value().vector.x;
+     994       25300 :         Ev_fcu_untilted(1) = res.value().vector.x;
+     995             :       } else {
+     996           0 :         ROS_ERROR_THROTTLE(1.0, "[Se3Controller]: could not transform the velocity error to fcu_untilted");
+     997             :       }
+     998             :     }
+     999             : 
+    1000             :     // integrate the body error
+    1001       25300 :     if (tracker_command.use_position_horizontal) {
+    1002       25300 :       Ib_b_ += gains.kibxy * Ep_fcu_untilted * dt;
+    1003           0 :     } else if (tracker_command.use_velocity_horizontal) {
+    1004           0 :       Ib_b_ += gains.kibxy * Ev_fcu_untilted * dt;
+    1005             :     }
+    1006             : 
+    1007             :     // saturate the body
+    1008       25300 :     bool body_integral_saturated = false;
+    1009       25300 :     if (!std::isfinite(Ib_b_(0))) {
+    1010           0 :       Ib_b_(0) = 0;
+    1011           0 :       ROS_ERROR_THROTTLE(1.0, "[Se3Controller]: NaN detected in variable 'Ib_b_(0)', setting it to 0!!!");
+    1012       25300 :     } else if (Ib_b_(0) > gains.kibxy_lim) {
+    1013           0 :       Ib_b_(0)                = gains.kibxy_lim;
+    1014           0 :       body_integral_saturated = true;
+    1015       25300 :     } else if (Ib_b_(0) < -gains.kibxy_lim) {
+    1016           0 :       Ib_b_(0)                = -gains.kibxy_lim;
+    1017           0 :       body_integral_saturated = true;
+    1018             :     }
+    1019             : 
+    1020       25300 :     if (gains.kibxy_lim > 0 && body_integral_saturated) {
+    1021           0 :       ROS_WARN_THROTTLE(1.0, "[Se3Controller]: SE3's body pitch integral is being saturated!");
+    1022             :     }
+    1023             : 
+    1024             :     // saturate the body
+    1025       25300 :     body_integral_saturated = false;
+    1026       25300 :     if (!std::isfinite(Ib_b_(1))) {
+    1027           0 :       Ib_b_(1) = 0;
+    1028           0 :       ROS_ERROR_THROTTLE(1.0, "[Se3Controller]: NaN detected in variable 'Ib_b_(1)', setting it to 0!!!");
+    1029       25300 :     } else if (Ib_b_(1) > gains.kibxy_lim) {
+    1030           0 :       Ib_b_(1)                = gains.kibxy_lim;
+    1031           0 :       body_integral_saturated = true;
+    1032       25300 :     } else if (Ib_b_(1) < -gains.kibxy_lim) {
+    1033           0 :       Ib_b_(1)                = -gains.kibxy_lim;
+    1034           0 :       body_integral_saturated = true;
+    1035             :     }
+    1036             : 
+    1037       25300 :     if (gains.kibxy_lim > 0 && body_integral_saturated) {
+    1038           0 :       ROS_WARN_THROTTLE(1.0, "[Se3Controller]: SE3's body roll integral is being saturated!");
+    1039             :     }
+    1040             :   }
+    1041             : 
+    1042             :   //}
+    1043             : 
+    1044       25300 :   if (output_modality == common::ACCELERATION_HDG || output_modality == common::ACCELERATION_HDG_RATE) {
+    1045             : 
+    1046        1141 :     Eigen::Vector3d des_acc = (position_feedback + velocity_feedback + integral_feedback) / total_mass + Ra;
+    1047             : 
+    1048        1141 :     if (output_modality == common::ACCELERATION_HDG) {
+    1049             : 
+    1050        1144 :       mrs_msgs::HwApiAccelerationHdgCmd cmd;
+    1051             : 
+    1052         572 :       cmd.acceleration.x = des_acc(0);
+    1053         572 :       cmd.acceleration.y = des_acc(1);
+    1054         572 :       cmd.acceleration.z = des_acc(2);
+    1055             : 
+    1056         572 :       cmd.heading = tracker_command.heading;
+    1057             : 
+    1058         572 :       last_control_output_.control_output = cmd;
+    1059             : 
+    1060             :     } else {
+    1061             : 
+    1062         569 :       double des_hdg_ff = 0;
+    1063             : 
+    1064         569 :       if (tracker_command.use_heading_rate) {
+    1065         569 :         des_hdg_ff = tracker_command.heading_rate;
+    1066             :       }
+    1067             : 
+    1068        1138 :       mrs_msgs::HwApiAccelerationHdgRateCmd cmd;
+    1069             : 
+    1070         569 :       cmd.acceleration.x = des_acc(0);
+    1071         569 :       cmd.acceleration.y = des_acc(1);
+    1072         569 :       cmd.acceleration.z = des_acc(2);
+    1073             : 
+    1074         569 :       position_pid_heading_.setSaturation(constraints.heading_speed);
+    1075             : 
+    1076         569 :       double hdg_err = mrs_lib::geometry::sradians::diff(tracker_command.heading, uav_heading);
+    1077             : 
+    1078         569 :       double des_hdg_rate = position_pid_heading_.update(hdg_err, dt) + des_hdg_ff;
+    1079             : 
+    1080         569 :       cmd.heading_rate = des_hdg_rate;
+    1081             : 
+    1082         569 :       last_control_output_.desired_heading_rate = des_hdg_rate;
+    1083             : 
+    1084         569 :       last_control_output_.control_output = cmd;
+    1085             :     }
+    1086             : 
+    1087             :     // | -------------- unbiased desired acceleration ------------- |
+    1088             : 
+    1089        1141 :     Eigen::Vector3d unbiased_des_acc(0, 0, 0);
+    1090             : 
+    1091             :     {
+    1092             : 
+    1093        1141 :       Eigen::Vector3d unbiased_des_acc_world = (position_feedback + velocity_feedback) / total_mass + Ra;
+    1094             : 
+    1095        2282 :       geometry_msgs::Vector3Stamped world_accel;
+    1096             : 
+    1097        1141 :       world_accel.header.stamp    = ros::Time::now();
+    1098        1141 :       world_accel.header.frame_id = uav_state.header.frame_id;
+    1099        1141 :       world_accel.vector.x        = unbiased_des_acc_world(0);
+    1100        1141 :       world_accel.vector.y        = unbiased_des_acc_world(1);
+    1101        1141 :       world_accel.vector.z        = unbiased_des_acc_world(2);
+    1102             : 
+    1103        3423 :       auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1104             : 
+    1105        1141 :       if (res) {
+    1106        1141 :         unbiased_des_acc << res.value().vector.x, res.value().vector.y, res.value().vector.z;
+    1107             :       }
+    1108             :     }
+    1109             : 
+    1110             :     // fill the unbiased desired accelerations
+    1111        1141 :     last_control_output_.desired_unbiased_acceleration = unbiased_des_acc;
+    1112             : 
+    1113             :     // | ----------------- fill in the diagnostics ---------------- |
+    1114             : 
+    1115        1141 :     last_control_output_.diagnostics.ramping_up = false;
+    1116             : 
+    1117        1141 :     last_control_output_.diagnostics.mass_estimator  = false;
+    1118        1141 :     last_control_output_.diagnostics.mass_difference = 0;
+    1119        1141 :     last_control_output_.diagnostics.total_mass      = total_mass;
+    1120             : 
+    1121        1141 :     last_control_output_.diagnostics.disturbance_estimator = true;
+    1122             : 
+    1123        1141 :     last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_(0);
+    1124        1141 :     last_control_output_.diagnostics.disturbance_by_b = -Ib_b_(1);
+    1125             : 
+    1126        1141 :     last_control_output_.diagnostics.disturbance_bx_w = -Ib_w(0);
+    1127        1141 :     last_control_output_.diagnostics.disturbance_by_w = -Ib_w(1);
+    1128             : 
+    1129        1141 :     last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_(0);
+    1130        1141 :     last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_(1);
+    1131             : 
+    1132        1141 :     last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1133             : 
+    1134        1141 :     last_control_output_.diagnostics.controller = "Se3Controller";
+    1135             : 
+    1136        1141 :     return;
+    1137             :   }
+    1138             : 
+    1139             :   /* mass estimatior //{ */
+    1140             : 
+    1141             :   // --------------------------------------------------------------
+    1142             :   // |                integrate the mass difference               |
+    1143             :   // --------------------------------------------------------------
+    1144             : 
+    1145             :   {
+    1146       48318 :     std::scoped_lock lock(mutex_gains_);
+    1147             : 
+    1148       24159 :     if (tracker_command.use_position_vertical && !rampup_active_) {
+    1149       24143 :       uav_mass_difference_ += gains.km * Ep(2) * dt;
+    1150             :     }
+    1151             : 
+    1152             :     // saturate the mass estimator
+    1153       24159 :     bool uav_mass_saturated = false;
+    1154       24159 :     if (!std::isfinite(uav_mass_difference_)) {
+    1155           0 :       uav_mass_difference_ = 0;
+    1156           0 :       ROS_WARN_THROTTLE(1.0, "[Se3Controller]: NaN detected in variable 'uav_mass_difference_', setting it to 0 and returning!!!");
+    1157       24159 :     } else if (uav_mass_difference_ > gains.km_lim) {
+    1158           0 :       uav_mass_difference_ = gains.km_lim;
+    1159           0 :       uav_mass_saturated   = true;
+    1160       24159 :     } else if (uav_mass_difference_ < -gains.km_lim) {
+    1161           0 :       uav_mass_difference_ = -gains.km_lim;
+    1162           0 :       uav_mass_saturated   = true;
+    1163             :     }
+    1164             : 
+    1165       24159 :     if (uav_mass_saturated) {
+    1166           0 :       ROS_WARN_THROTTLE(1.0, "[Se3Controller]: The UAV mass difference is being saturated to %.2f!", uav_mass_difference_);
+    1167             :     }
+    1168             :   }
+    1169             : 
+    1170             :   //}
+    1171             : 
+    1172       24159 :   Eigen::Vector3d f = position_feedback + velocity_feedback + integral_feedback + feed_forward;
+    1173             : 
+    1174             :   // | ----------- limiting the downwards acceleration ---------- |
+    1175             :   // the downwards force produced by the position and the acceleration feedback should not be larger than the gravity
+    1176             : 
+    1177             :   // if the downwards part of the force is close to counter-act the gravity acceleration
+    1178       24159 :   if (f(2) < 0) {
+    1179             : 
+    1180           0 :     ROS_WARN_THROTTLE(1.0, "[Se3Controller]: the calculated downwards desired force is negative (%.2f) -> mitigating flip", f(2));
+    1181             : 
+    1182           0 :     f << 0, 0, 1;
+    1183             :   }
+    1184             : 
+    1185             :   // | ------------------- sanitize tilt angle ------------------ |
+    1186             : 
+    1187       24159 :   double tilt_safety_limit = _tilt_angle_failsafe_enabled_ ? _tilt_angle_failsafe_ : std::numeric_limits<double>::max();
+    1188             : 
+    1189       24159 :   auto f_normed_sanitized = common::sanitizeDesiredForce(f.normalized(), tilt_safety_limit, constraints.tilt, "Se3Controller");
+    1190             : 
+    1191       24159 :   if (!f_normed_sanitized) {
+    1192             : 
+    1193           0 :     ROS_INFO("[Se3Controller]: position feedback: [%.2f, %.2f, %.2f]", position_feedback(0), position_feedback(1), position_feedback(2));
+    1194           0 :     ROS_INFO("[Se3Controller]: velocity feedback: [%.2f, %.2f, %.2f]", velocity_feedback(0), velocity_feedback(1), velocity_feedback(2));
+    1195           0 :     ROS_INFO("[Se3Controller]: integral feedback: [%.2f, %.2f, %.2f]", integral_feedback(0), integral_feedback(1), integral_feedback(2));
+    1196           0 :     ROS_INFO("[Se3Controller]: tracker_cmd: x: %.2f, y: %.2f, z: %.2f, heading: %.2f", tracker_command.position.x, tracker_command.position.y,
+    1197             :              tracker_command.position.z, tracker_command.heading);
+    1198           0 :     ROS_INFO("[Se3Controller]: odometry: x: %.2f, y: %.2f, z: %.2f, heading: %.2f", uav_state.pose.position.x, uav_state.pose.position.y,
+    1199             :              uav_state.pose.position.z, uav_heading);
+    1200             : 
+    1201           0 :     return;
+    1202             :   }
+    1203             : 
+    1204       24159 :   Eigen::Vector3d f_normed = f_normed_sanitized.value();
+    1205             : 
+    1206             :   // --------------------------------------------------------------
+    1207             :   // |               desired orientation + throttle               |
+    1208             :   // --------------------------------------------------------------
+    1209             : 
+    1210             :   // | ------------------- desired orientation ------------------ |
+    1211             : 
+    1212       24159 :   Eigen::Matrix3d Rd;
+    1213             : 
+    1214       24159 :   if (tracker_command.use_orientation) {
+    1215             : 
+    1216             :     // fill in the desired orientation based on the desired orientation from the control command
+    1217           0 :     Rd = mrs_lib::AttitudeConverter(tracker_command.orientation);
+    1218             : 
+    1219           0 :     if (tracker_command.use_heading) {
+    1220             :       try {
+    1221           0 :         Rd = mrs_lib::AttitudeConverter(Rd).setHeading(tracker_command.heading);
+    1222             :       }
+    1223           0 :       catch (...) {
+    1224           0 :         ROS_ERROR_THROTTLE(1.0, "[Se3Controller]: could not set the desired heading");
+    1225             :       }
+    1226             :     }
+    1227             : 
+    1228             :   } else {
+    1229             : 
+    1230       24159 :     Eigen::Vector3d bxd;  // desired heading vector
+    1231             : 
+    1232       24159 :     if (tracker_command.use_heading) {
+    1233       24159 :       bxd << cos(tracker_command.heading), sin(tracker_command.heading), 0;
+    1234             :     } else {
+    1235           0 :       ROS_WARN_THROTTLE(10.0, "[Se3Controller]: desired heading was not specified, using current heading instead!");
+    1236           0 :       bxd << cos(uav_heading), sin(uav_heading), 0;
+    1237             :     }
+    1238             : 
+    1239       24159 :     Rd = common::so3transform(f_normed, bxd, drs_params.rotation_type == 1);
+    1240             :   }
+    1241             : 
+    1242             :   // | -------------------- desired throttle -------------------- |
+    1243             : 
+    1244       24159 :   double desired_thrust_force = f.dot(R.col(2));
+    1245       24159 :   double throttle             = 0;
+    1246             : 
+    1247       24159 :   if (tracker_command.use_throttle) {
+    1248             : 
+    1249             :     // the throttle is overriden from the tracker command
+    1250           0 :     throttle = tracker_command.throttle;
+    1251             : 
+    1252       24159 :   } else if (rampup_active_) {
+    1253             : 
+    1254             :     // deactivate the rampup when the times up
+    1255          16 :     if (std::abs((ros::Time::now() - rampup_start_time_).toSec()) >= rampup_duration_) {
+    1256             : 
+    1257          14 :       rampup_active_ = false;
+    1258             : 
+    1259          14 :       ROS_INFO("[Se3Controller]: rampup finished");
+    1260             : 
+    1261             :     } else {
+    1262             : 
+    1263           2 :       double rampup_dt = (ros::Time::now() - rampup_last_time_).toSec();
+    1264             : 
+    1265           2 :       rampup_throttle_ += double(rampup_direction_) * _rampup_speed_ * rampup_dt;
+    1266             : 
+    1267           2 :       rampup_last_time_ = ros::Time::now();
+    1268             : 
+    1269           2 :       throttle = rampup_throttle_;
+    1270             : 
+    1271           2 :       ROS_INFO_THROTTLE(0.1, "[Se3Controller]: ramping up throttle, %.4f", throttle);
+    1272             :     }
+    1273             : 
+    1274             :   } else {
+    1275             : 
+    1276       24143 :     if (desired_thrust_force >= 0) {
+    1277       24143 :       throttle = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, desired_thrust_force);
+    1278             :     } else {
+    1279           0 :       ROS_WARN_THROTTLE(1.0, "[Se3Controller]: just so you know, the desired throttle force is negative (%.2f)", desired_thrust_force);
+    1280             :     }
+    1281             :   }
+    1282             : 
+    1283             :   // | ------------------- throttle saturation ------------------ |
+    1284             : 
+    1285       24159 :   bool throttle_saturated = false;
+    1286             : 
+    1287       24159 :   if (!std::isfinite(throttle)) {
+    1288             : 
+    1289           0 :     ROS_ERROR("[Se3Controller]: NaN detected in variable 'throttle'!!!");
+    1290           0 :     return;
+    1291             : 
+    1292       24159 :   } else if (throttle > _throttle_saturation_) {
+    1293           0 :     throttle = _throttle_saturation_;
+    1294           0 :     ROS_WARN_THROTTLE(0.1, "[Se3Controller]: saturating throttle to %.2f", _throttle_saturation_);
+    1295       24159 :   } else if (throttle < 0.0) {
+    1296           0 :     throttle = 0.0;
+    1297           0 :     ROS_WARN_THROTTLE(0.1, "[Se3Controller]: saturating throttle to 0.0");
+    1298             :   }
+    1299             : 
+    1300       24159 :   if (throttle_saturated) {
+    1301           0 :     ROS_WARN_THROTTLE(0.1, "[Se3Controller]: ---------------------------");
+    1302           0 :     ROS_WARN_THROTTLE(0.1, "[Se3Controller]: desired state: pos [x: %.2f, y: %.2f, z: %.2f, hdg: %.2f]", tracker_command.position.x, tracker_command.position.y,
+    1303             :                       tracker_command.position.z, tracker_command.heading);
+    1304           0 :     ROS_WARN_THROTTLE(0.1, "[Se3Controller]: desired state: vel [x: %.2f, y: %.2f, z: %.2f, hdg: %.2f]", tracker_command.velocity.x, tracker_command.velocity.y,
+    1305             :                       tracker_command.velocity.z, tracker_command.heading_rate);
+    1306           0 :     ROS_WARN_THROTTLE(0.1, "[Se3Controller]: desired state: acc [x: %.2f, y: %.2f, z: %.2f, hdg: %.2f]", tracker_command.acceleration.x,
+    1307             :                       tracker_command.acceleration.y, tracker_command.acceleration.z, tracker_command.heading_acceleration);
+    1308           0 :     ROS_WARN_THROTTLE(0.1, "[Se3Controller]: desired state: jerk [x: %.2f, y: %.2f, z: %.2f, hdg: %.2f]", tracker_command.jerk.x, tracker_command.jerk.y,
+    1309             :                       tracker_command.jerk.z, tracker_command.heading_jerk);
+    1310           0 :     ROS_WARN_THROTTLE(0.1, "[Se3Controller]: ---------------------------");
+    1311           0 :     ROS_WARN_THROTTLE(0.1, "[Se3Controller]: current state: pos [x: %.2f, y: %.2f, z: %.2f, hdg: %.2f]", uav_state.pose.position.x, uav_state.pose.position.y,
+    1312             :                       uav_state.pose.position.z, uav_heading);
+    1313           0 :     ROS_WARN_THROTTLE(0.1, "[Se3Controller]: current state: vel [x: %.2f, y: %.2f, z: %.2f, yaw rate: %.2f]", uav_state.velocity.linear.x,
+    1314             :                       uav_state.velocity.linear.y, uav_state.velocity.linear.z, uav_state.velocity.angular.z);
+    1315           0 :     ROS_WARN_THROTTLE(0.1, "[Se3Controller]: ---------------------------");
+    1316             :   }
+    1317             : 
+    1318             :   // | -------------- unbiased desired acceleration ------------- |
+    1319             : 
+    1320       24159 :   Eigen::Vector3d unbiased_des_acc(0, 0, 0);
+    1321             : 
+    1322             :   {
+    1323       24159 :     Eigen::Vector3d unbiased_des_acc_world = (position_feedback + velocity_feedback) / total_mass + Ra;
+    1324             : 
+    1325       48318 :     geometry_msgs::Vector3Stamped world_accel;
+    1326             : 
+    1327       24159 :     world_accel.header.stamp    = ros::Time::now();
+    1328       24159 :     world_accel.header.frame_id = uav_state.header.frame_id;
+    1329       24159 :     world_accel.vector.x        = unbiased_des_acc_world(0);
+    1330       24159 :     world_accel.vector.y        = unbiased_des_acc_world(1);
+    1331       24159 :     world_accel.vector.z        = unbiased_des_acc_world(2);
+    1332             : 
+    1333       72477 :     auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1334             : 
+    1335       24159 :     if (res) {
+    1336       24159 :       unbiased_des_acc << res.value().vector.x, res.value().vector.y, res.value().vector.z;
+    1337             :     }
+    1338             :   }
+    1339             : 
+    1340             :   // | --------------- fill the resulting command --------------- |
+    1341             : 
+    1342             :   // fill the desired orientation for the tilt error check
+    1343       24159 :   last_control_output_.desired_orientation = mrs_lib::AttitudeConverter(Rd);
+    1344             : 
+    1345             :   // fill the unbiased desired accelerations
+    1346       24159 :   last_control_output_.desired_unbiased_acceleration = unbiased_des_acc;
+    1347             : 
+    1348             :   // | ----------------- fill in the diagnostics ---------------- |
+    1349             : 
+    1350       24159 :   last_control_output_.diagnostics.ramping_up = rampup_active_;
+    1351             : 
+    1352       24159 :   last_control_output_.diagnostics.mass_estimator  = true;
+    1353       24159 :   last_control_output_.diagnostics.mass_difference = uav_mass_difference_;
+    1354       24159 :   last_control_output_.diagnostics.total_mass      = total_mass;
+    1355             : 
+    1356       24159 :   last_control_output_.diagnostics.disturbance_estimator = true;
+    1357             : 
+    1358       24159 :   last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_(0);
+    1359       24159 :   last_control_output_.diagnostics.disturbance_by_b = -Ib_b_(1);
+    1360             : 
+    1361       24159 :   last_control_output_.diagnostics.disturbance_bx_w = -Ib_w(0);
+    1362       24159 :   last_control_output_.diagnostics.disturbance_by_w = -Ib_w(1);
+    1363             : 
+    1364       24159 :   last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_(0);
+    1365       24159 :   last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_(1);
+    1366             : 
+    1367       24159 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1368             : 
+    1369       24159 :   last_control_output_.diagnostics.controller = "Se3Controller";
+    1370             : 
+    1371             :   // | ------------ construct the attitude reference ------------ |
+    1372             : 
+    1373       24159 :   mrs_msgs::HwApiAttitudeCmd attitude_cmd;
+    1374             : 
+    1375       24159 :   attitude_cmd.stamp       = ros::Time::now();
+    1376       24159 :   attitude_cmd.orientation = mrs_lib::AttitudeConverter(Rd);
+    1377       24159 :   attitude_cmd.throttle    = throttle;
+    1378             : 
+    1379       24159 :   if (output_modality == common::ATTITUDE) {
+    1380             : 
+    1381        1216 :     last_control_output_.control_output = attitude_cmd;
+    1382             : 
+    1383        1216 :     return;
+    1384             :   }
+    1385             : 
+    1386             :   // --------------------------------------------------------------
+    1387             :   // |                      attitude control                      |
+    1388             :   // --------------------------------------------------------------
+    1389             : 
+    1390       22943 :   Eigen::Vector3d rate_feedforward = Eigen::Vector3d::Zero(3);
+    1391             : 
+    1392       22943 :   if (tracker_command.use_attitude_rate) {
+    1393             : 
+    1394           0 :     rate_feedforward << tracker_command.attitude_rate.x, tracker_command.attitude_rate.y, tracker_command.attitude_rate.z;
+    1395             : 
+    1396       22943 :   } else if (tracker_command.use_heading_rate) {
+    1397             : 
+    1398             :     // to fill in the feed forward yaw rate
+    1399       22942 :     double desired_yaw_rate = 0;
+    1400             : 
+    1401             :     try {
+    1402       22942 :       desired_yaw_rate = mrs_lib::AttitudeConverter(Rd).getYawRateIntrinsic(tracker_command.heading_rate);
+    1403             :     }
+    1404           0 :     catch (...) {
+    1405           0 :       ROS_ERROR("[Se3Controller]: exception caught while calculating the desired_yaw_rate feedforward");
+    1406             :     }
+    1407             : 
+    1408       22942 :     rate_feedforward << 0, 0, desired_yaw_rate;
+    1409             :   }
+    1410             : 
+    1411             :   // | ------------ jerk feedforward -> angular rate ------------ |
+    1412             : 
+    1413       22943 :   Eigen::Vector3d jerk_feedforward = Eigen::Vector3d(0, 0, 0);
+    1414             : 
+    1415       22943 :   if (tracker_command.use_jerk && drs_params.jerk_feedforward) {
+    1416             : 
+    1417       22924 :     ROS_DEBUG_THROTTLE(1.0, "[Se3Controller]: using jerk feedforward");
+    1418             : 
+    1419       22924 :     Eigen::Matrix3d I;
+    1420       22924 :     I << 0, 1, 0, -1, 0, 0, 0, 0, 0;
+    1421       22924 :     Eigen::Vector3d desired_jerk = Eigen::Vector3d(tracker_command.jerk.x, tracker_command.jerk.y, tracker_command.jerk.z);
+    1422       22924 :     jerk_feedforward             = (I.transpose() * Rd.transpose() * desired_jerk) / (desired_thrust_force / total_mass);
+    1423             :   }
+    1424             : 
+    1425             :   // | --------------- run the attitude controller -------------- |
+    1426             : 
+    1427       22943 :   Eigen::Vector3d attitude_rate_saturation(constraints.roll_rate, constraints.pitch_rate, constraints.yaw_rate);
+    1428             : 
+    1429       22943 :   auto attitude_rate_command = common::attitudeController(uav_state, attitude_cmd, jerk_feedforward + rate_feedforward, attitude_rate_saturation, Kq,
+    1430       45886 :                                                           drs_params.pitch_roll_heading_rate_compensation);
+    1431             : 
+    1432       22943 :   if (!attitude_rate_command) {
+    1433           0 :     return;
+    1434             :   }
+    1435             : 
+    1436             :   // | --------- fill in the already known attitude rate -------- |
+    1437             : 
+    1438             :   {
+    1439             :     try {
+    1440       22943 :       last_control_output_.desired_heading_rate = mrs_lib::AttitudeConverter(R).getHeadingRate(attitude_rate_command->body_rate);
+    1441             :     }
+    1442           0 :     catch (...) {
+    1443             :     }
+    1444             :   }
+    1445             : 
+    1446             :   // | ---------- construct the attitude rate reference --------- |
+    1447             : 
+    1448       22943 :   if (output_modality == common::ATTITUDE_RATE) {
+    1449             : 
+    1450       20332 :     last_control_output_.control_output = attitude_rate_command;
+    1451             : 
+    1452       20332 :     return;
+    1453             :   }
+    1454             : 
+    1455             :   // --------------------------------------------------------------
+    1456             :   // |                    Attitude rate control                   |
+    1457             :   // --------------------------------------------------------------
+    1458             : 
+    1459        2611 :   Kw = common_handlers_->detailed_model_params->inertia.diagonal().array() * Kw;
+    1460             : 
+    1461        2611 :   auto control_group_command = common::attitudeRateController(uav_state, attitude_rate_command.value(), Kw);
+    1462             : 
+    1463        2611 :   if (!control_group_command) {
+    1464           0 :     return;
+    1465             :   }
+    1466             : 
+    1467        2611 :   if (output_modality == common::CONTROL_GROUP) {
+    1468             : 
+    1469        1315 :     last_control_output_.control_output = control_group_command;
+    1470             : 
+    1471        1315 :     return;
+    1472             :   }
+    1473             : 
+    1474             :   // --------------------------------------------------------------
+    1475             :   // |                        output mixer                        |
+    1476             :   // --------------------------------------------------------------
+    1477             : 
+    1478        2592 :   mrs_msgs::HwApiActuatorCmd actuator_cmd = common::actuatorMixer(control_group_command.value(), common_handlers_->detailed_model_params->control_group_mixer);
+    1479             : 
+    1480        1296 :   last_control_output_.control_output = actuator_cmd;
+    1481             : 
+    1482        1296 :   return;
+    1483             : }
+    1484             : 
+    1485             : //}
+    1486             : 
+    1487             : /* positionPassthrough() //{ */
+    1488             : 
+    1489         260 : void Se3Controller::positionPassthrough(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command) {
+    1490             : 
+    1491         260 :   if (!tracker_command.use_position_vertical || !tracker_command.use_position_horizontal || !tracker_command.use_heading) {
+    1492           0 :     ROS_ERROR("[Se3Controller]: the tracker did not provide position+hdg reference");
+    1493           0 :     return;
+    1494             :   }
+    1495             : 
+    1496         520 :   mrs_msgs::HwApiPositionCmd cmd;
+    1497             : 
+    1498         260 :   cmd.header.frame_id = uav_state.header.frame_id;
+    1499         260 :   cmd.header.stamp    = ros::Time::now();
+    1500             : 
+    1501         260 :   cmd.position = tracker_command.position;
+    1502         260 :   cmd.heading  = tracker_command.heading;
+    1503             : 
+    1504         260 :   last_control_output_.control_output = cmd;
+    1505             : 
+    1506             :   // fill the unbiased desired accelerations
+    1507         260 :   last_control_output_.desired_unbiased_acceleration = {};
+    1508         260 :   last_control_output_.desired_orientation           = {};
+    1509         260 :   last_control_output_.desired_heading_rate          = {};
+    1510             : 
+    1511             :   // | ----------------- fill in the diagnostics ---------------- |
+    1512             : 
+    1513         260 :   last_control_output_.diagnostics.ramping_up = false;
+    1514             : 
+    1515         260 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1516         260 :   last_control_output_.diagnostics.mass_difference = 0;
+    1517             : 
+    1518         260 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1519             : 
+    1520         260 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1521         260 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1522             : 
+    1523         260 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1524         260 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1525             : 
+    1526         260 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1527         260 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1528             : 
+    1529         260 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1530             : 
+    1531         260 :   last_control_output_.diagnostics.controller = "Se3Controller";
+    1532             : }
+    1533             : 
+    1534             : //}
+    1535             : 
+    1536             : /* PIDVelocityOutput() //{ */
+    1537             : 
+    1538        3087 : void Se3Controller::PIDVelocityOutput(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command,
+    1539             :                                       const common::CONTROL_OUTPUT& control_output, const double& dt) {
+    1540             : 
+    1541        3087 :   if (!tracker_command.use_position_vertical || !tracker_command.use_position_horizontal || !tracker_command.use_heading) {
+    1542           0 :     ROS_ERROR("[Se3Controller]: the tracker did not provide position+hdg reference");
+    1543           0 :     return;
+    1544             :   }
+    1545             : 
+    1546        3087 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    1547        3087 :   auto gains       = mrs_lib::get_mutexed(mutex_gains_, gains_);
+    1548             : 
+    1549        3087 :   Eigen::Vector3d pos_ref = Eigen::Vector3d(tracker_command.position.x, tracker_command.position.y, tracker_command.position.z);
+    1550        3087 :   Eigen::Vector3d pos     = Eigen::Vector3d(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+    1551             : 
+    1552        3087 :   double hdg_ref = tracker_command.heading;
+    1553        3087 :   double hdg     = getHeadingSafely(uav_state, tracker_command);
+    1554             : 
+    1555             :   // | ------------------ velocity feedforward ------------------ |
+    1556             : 
+    1557        3087 :   Eigen::Vector3d vel_ff(0, 0, 0);
+    1558             : 
+    1559        3087 :   if (tracker_command.use_velocity_horizontal && tracker_command.use_velocity_vertical) {
+    1560        3087 :     vel_ff = Eigen::Vector3d(tracker_command.velocity.x, tracker_command.velocity.y, tracker_command.velocity.z);
+    1561             :   }
+    1562             : 
+    1563             :   // | -------------------------- gains ------------------------- |
+    1564             : 
+    1565        3087 :   Eigen::Vector3d Kp;
+    1566             : 
+    1567             :   {
+    1568        3087 :     std::scoped_lock lock(mutex_gains_);
+    1569             : 
+    1570        3087 :     Kp << gains.kpxy, gains.kpxy, gains.kpz;
+    1571             :   }
+    1572             : 
+    1573             :   // | --------------------- control errors --------------------- |
+    1574             : 
+    1575        3087 :   Eigen::Vector3d Ep = pos_ref - pos;
+    1576             : 
+    1577             :   // | --------------------------- pid -------------------------- |
+    1578             : 
+    1579        3087 :   position_pid_x_.setSaturation(constraints.horizontal_speed);
+    1580        3087 :   position_pid_y_.setSaturation(constraints.horizontal_speed);
+    1581        3087 :   position_pid_z_.setSaturation(std::min(constraints.vertical_ascending_speed, constraints.vertical_descending_speed));
+    1582             : 
+    1583        3087 :   double des_vel_x = position_pid_x_.update(Ep(0), dt);
+    1584        3087 :   double des_vel_y = position_pid_y_.update(Ep(1), dt);
+    1585        3087 :   double des_vel_z = position_pid_z_.update(Ep(2), dt);
+    1586             : 
+    1587             :   // | -------------------- position feedback ------------------- |
+    1588             : 
+    1589        3087 :   Eigen::Vector3d des_vel = Eigen::Vector3d(des_vel_x, des_vel_y, des_vel_z) + vel_ff;
+    1590             : 
+    1591        3087 :   if (control_output == common::VELOCITY_HDG) {
+    1592             : 
+    1593             :     // | --------------------- fill the output -------------------- |
+    1594             : 
+    1595        2368 :     mrs_msgs::HwApiVelocityHdgCmd cmd;
+    1596             : 
+    1597        1184 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1598        1184 :     cmd.header.stamp    = ros::Time::now();
+    1599             : 
+    1600        1184 :     cmd.velocity.x = des_vel(0);
+    1601        1184 :     cmd.velocity.y = des_vel(1);
+    1602        1184 :     cmd.velocity.z = des_vel(2);
+    1603             : 
+    1604        1184 :     cmd.heading = tracker_command.heading;
+    1605             : 
+    1606        1184 :     last_control_output_.control_output = cmd;
+    1607             : 
+    1608        1903 :   } else if (control_output == common::VELOCITY_HDG_RATE) {
+    1609             : 
+    1610        1903 :     position_pid_heading_.setSaturation(constraints.heading_speed);
+    1611             : 
+    1612        1903 :     double hdg_err = mrs_lib::geometry::sradians::diff(hdg_ref, hdg);
+    1613             : 
+    1614        1903 :     double des_hdg_rate = position_pid_heading_.update(hdg_err, dt);
+    1615             : 
+    1616             :     // | --------------------------- ff --------------------------- |
+    1617             : 
+    1618        1903 :     double des_hdg_ff = 0;
+    1619             : 
+    1620        1903 :     if (tracker_command.use_heading_rate) {
+    1621        1903 :       des_hdg_ff = tracker_command.heading_rate;
+    1622             :     }
+    1623             : 
+    1624             :     // | --------------------- fill the output -------------------- |
+    1625             : 
+    1626        3806 :     mrs_msgs::HwApiVelocityHdgRateCmd cmd;
+    1627             : 
+    1628        1903 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1629        1903 :     cmd.header.stamp    = ros::Time::now();
+    1630             : 
+    1631        1903 :     cmd.velocity.x = des_vel(0);
+    1632        1903 :     cmd.velocity.y = des_vel(1);
+    1633        1903 :     cmd.velocity.z = des_vel(2);
+    1634             : 
+    1635        1903 :     cmd.heading_rate = des_hdg_rate + des_hdg_ff;
+    1636             : 
+    1637        1903 :     last_control_output_.control_output = cmd;
+    1638             :   } else {
+    1639             : 
+    1640           0 :     ROS_ERROR("[Se3Controller]: the required output of the position PID is not supported");
+    1641           0 :     return;
+    1642             :   }
+    1643             : 
+    1644             :   // fill the unbiased desired accelerations
+    1645        3087 :   last_control_output_.desired_unbiased_acceleration = {};
+    1646        3087 :   last_control_output_.desired_orientation           = {};
+    1647        3087 :   last_control_output_.desired_heading_rate          = {};
+    1648             : 
+    1649             :   // | ----------------- fill in the diagnostics ---------------- |
+    1650             : 
+    1651        3087 :   last_control_output_.diagnostics.ramping_up = false;
+    1652             : 
+    1653        3087 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1654        3087 :   last_control_output_.diagnostics.mass_difference = 0;
+    1655             : 
+    1656        3087 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1657             : 
+    1658        3087 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1659        3087 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1660             : 
+    1661        3087 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1662        3087 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1663             : 
+    1664        3087 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1665        3087 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1666             : 
+    1667        3087 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1668             : 
+    1669        3087 :   last_control_output_.diagnostics.controller = "Se3Controller";
+    1670             : }
+    1671             : 
+    1672             : //}
+    1673             : 
+    1674             : // --------------------------------------------------------------
+    1675             : // |                          callbacks                         |
+    1676             : 
+    1677             : 
+    1678             : /* //{ callbackDrs() */
+    1679             : 
+    1680         217 : void Se3Controller::callbackDrs(mrs_uav_controllers::se3_controllerConfig& config, [[maybe_unused]] uint32_t level) {
+    1681             : 
+    1682         217 :   mrs_lib::set_mutexed(mutex_drs_params_, config, drs_params_);
+    1683             : 
+    1684         217 :   ROS_INFO("[Se3Controller]: DRS updated gains");
+    1685         217 : }
+    1686             : 
+    1687             : //}
+    1688             : 
+    1689             : // --------------------------------------------------------------
+    1690             : // |                           timers                           |
+    1691             : // --------------------------------------------------------------
+    1692             : 
+    1693             : /* timerGains() //{ */
+    1694             : 
+    1695        4683 : void Se3Controller::timerGains(const ros::TimerEvent& event) {
+    1696             : 
+    1697        9366 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerGains", _gain_filtering_rate_, 1.0, event);
+    1698        9366 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("Se3Controller::timerGains", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1699             : 
+    1700        4683 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+    1701        4683 :   auto gains      = mrs_lib::get_mutexed(mutex_gains_, gains_);
+    1702             : 
+    1703             :   // When muting the gains, we want to bypass the filter,
+    1704             :   // so it happens immediately.
+    1705        4683 :   bool   bypass_filter = (mute_gains_ || mute_gains_by_tracker_);
+    1706        4683 :   double gain_coeff    = (mute_gains_ || mute_gains_by_tracker_) ? _gain_mute_coefficient_ : 1.0;
+    1707             : 
+    1708        4683 :   mute_gains_ = false;
+    1709             : 
+    1710        4683 :   double dt = (event.current_real - event.last_real).toSec();
+    1711             : 
+    1712        4683 :   if (!std::isfinite(dt) || (dt <= 0) || (dt > 5 * (1.0 / _gain_filtering_rate_))) {
+    1713          27 :     return;
+    1714             :   }
+    1715             : 
+    1716        4656 :   bool updated = false;
+    1717             : 
+    1718        4656 :   gains.kpxy          = calculateGainChange(dt, gains.kpxy, drs_params.kpxy * gain_coeff, bypass_filter, "kpxy", updated);
+    1719        4656 :   gains.kvxy          = calculateGainChange(dt, gains.kvxy, drs_params.kvxy * gain_coeff, bypass_filter, "kvxy", updated);
+    1720        4656 :   gains.kaxy          = calculateGainChange(dt, gains.kaxy, drs_params.kaxy * gain_coeff, bypass_filter, "kaxy", updated);
+    1721        4656 :   gains.kiwxy         = calculateGainChange(dt, gains.kiwxy, drs_params.kiwxy * gain_coeff, bypass_filter, "kiwxy", updated);
+    1722        4656 :   gains.kibxy         = calculateGainChange(dt, gains.kibxy, drs_params.kibxy * gain_coeff, bypass_filter, "kibxy", updated);
+    1723        4656 :   gains.kpz           = calculateGainChange(dt, gains.kpz, drs_params.kpz * gain_coeff, bypass_filter, "kpz", updated);
+    1724        4656 :   gains.kvz           = calculateGainChange(dt, gains.kvz, drs_params.kvz * gain_coeff, bypass_filter, "kvz", updated);
+    1725        4656 :   gains.kaz           = calculateGainChange(dt, gains.kaz, drs_params.kaz * gain_coeff, bypass_filter, "kaz", updated);
+    1726        4656 :   gains.kq_roll_pitch = calculateGainChange(dt, gains.kq_roll_pitch, drs_params.kq_roll_pitch * gain_coeff, bypass_filter, "kq_roll_pitch", updated);
+    1727        4656 :   gains.kq_yaw        = calculateGainChange(dt, gains.kq_yaw, drs_params.kq_yaw * gain_coeff, bypass_filter, "kq_yaw", updated);
+    1728        4656 :   gains.km            = calculateGainChange(dt, gains.km, drs_params.km * gain_coeff, bypass_filter, "km", updated);
+    1729             : 
+    1730             :   // do not apply muting on these gains
+    1731        4656 :   gains.kiwxy_lim = calculateGainChange(dt, gains.kiwxy_lim, drs_params.kiwxy_lim, false, "kiwxy_lim", updated);
+    1732        4656 :   gains.kibxy_lim = calculateGainChange(dt, gains.kibxy_lim, drs_params.kibxy_lim, false, "kibxy_lim", updated);
+    1733        4656 :   gains.km_lim    = calculateGainChange(dt, gains.km_lim, drs_params.km_lim, false, "km_lim", updated);
+    1734             : 
+    1735        4656 :   mrs_lib::set_mutexed(mutex_gains_, gains, gains_);
+    1736             : 
+    1737             :   // set the gains back to dynamic reconfigure
+    1738             :   // and only do it when some filtering occurs
+    1739        4656 :   if (updated) {
+    1740             : 
+    1741         540 :     drs_params.kpxy          = gains.kpxy;
+    1742         540 :     drs_params.kvxy          = gains.kvxy;
+    1743         540 :     drs_params.kaxy          = gains.kaxy;
+    1744         540 :     drs_params.kiwxy         = gains.kiwxy;
+    1745         540 :     drs_params.kibxy         = gains.kibxy;
+    1746         540 :     drs_params.kpz           = gains.kpz;
+    1747         540 :     drs_params.kvz           = gains.kvz;
+    1748         540 :     drs_params.kaz           = gains.kaz;
+    1749         540 :     drs_params.kq_roll_pitch = gains.kq_roll_pitch;
+    1750         540 :     drs_params.kq_yaw        = gains.kq_yaw;
+    1751         540 :     drs_params.kiwxy_lim     = gains.kiwxy_lim;
+    1752         540 :     drs_params.kibxy_lim     = gains.kibxy_lim;
+    1753         540 :     drs_params.km            = gains.km;
+    1754         540 :     drs_params.km_lim        = gains.km_lim;
+    1755             : 
+    1756         540 :     drs_->updateConfig(drs_params);
+    1757             : 
+    1758         540 :     ROS_INFO_THROTTLE(10.0, "[Se3Controller]: gains have been updated");
+    1759             :   }
+    1760             : }
+    1761             : 
+    1762             : //}
+    1763             : 
+    1764             : // --------------------------------------------------------------
+    1765             : // |                       other routines                       |
+    1766             : // --------------------------------------------------------------
+    1767             : 
+    1768             : /* calculateGainChange() //{ */
+    1769             : 
+    1770       65184 : double Se3Controller::calculateGainChange(const double dt, const double current_value, const double desired_value, const bool bypass_rate, std::string name,
+    1771             :                                           bool& updated) {
+    1772             : 
+    1773       65184 :   double change = desired_value - current_value;
+    1774             : 
+    1775       65184 :   double gains_filter_max_change = _gains_filter_change_rate_ * dt;
+    1776       65184 :   double gains_filter_min_change = _gains_filter_min_change_rate_ * dt;
+    1777             : 
+    1778       65184 :   if (!bypass_rate) {
+    1779             : 
+    1780             :     // if current value is near 0...
+    1781             :     double change_in_perc;
+    1782             :     double saturated_change;
+    1783             : 
+    1784       65184 :     if (std::abs(current_value) < 1e-6) {
+    1785           0 :       change *= gains_filter_max_change;
+    1786             :     } else {
+    1787             : 
+    1788       65184 :       saturated_change = change;
+    1789             : 
+    1790       65184 :       change_in_perc = ((current_value + saturated_change) / current_value) - 1.0;
+    1791             : 
+    1792       65184 :       if (change_in_perc > gains_filter_max_change) {
+    1793        1269 :         saturated_change = current_value * gains_filter_max_change;
+    1794       63915 :       } else if (change_in_perc < -gains_filter_max_change) {
+    1795         162 :         saturated_change = current_value * -gains_filter_max_change;
+    1796             :       }
+    1797             : 
+    1798       65184 :       if (std::abs(saturated_change) < std::abs(change) * gains_filter_min_change) {
+    1799          30 :         change *= gains_filter_min_change;
+    1800             :       } else {
+    1801       65154 :         change = saturated_change;
+    1802             :       }
+    1803             :     }
+    1804             :   }
+    1805             : 
+    1806       65184 :   if (std::abs(change) > 1e-3) {
+    1807        1593 :     ROS_DEBUG("[Se3Controller]: changing gain '%s' from %.2f to %.2f", name.c_str(), current_value, desired_value);
+    1808        1593 :     updated = true;
+    1809             :   }
+    1810             : 
+    1811       65184 :   return current_value + change;
+    1812             : }
+    1813             : 
+    1814             : //}
+    1815             : 
+    1816             : /* getHeadingSafely() //{ */
+    1817             : 
+    1818       28387 : double Se3Controller::getHeadingSafely(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command) {
+    1819             : 
+    1820             :   try {
+    1821       28387 :     return mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1822             :   }
+    1823           0 :   catch (...) {
+    1824             :   }
+    1825             : 
+    1826             :   try {
+    1827           0 :     return mrs_lib::AttitudeConverter(uav_state.pose.orientation).getYaw();
+    1828             :   }
+    1829           0 :   catch (...) {
+    1830             :   }
+    1831             : 
+    1832           0 :   if (tracker_command.use_heading) {
+    1833           0 :     return tracker_command.heading;
+    1834             :   }
+    1835             : 
+    1836           0 :   return 0;
+    1837             : }
+    1838             : 
+    1839             : //}
+    1840             : 
+    1841             : }  // namespace se3_controller
+    1842             : 
+    1843             : }  // namespace mrs_uav_controllers
+    1844             : 
+    1845             : #include <pluginlib/class_list_macros.h>
+    1846         108 : PLUGINLIB_EXPORT_CLASS(mrs_uav_controllers::se3_controller::Se3Controller, mrs_uav_managers::Controller)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + diff --git a/mrs_uav_controllers/src/se3_controller.cpp.gcov.png b/mrs_uav_controllers/src/se3_controller.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..b28cdc9e93d4ee501a0f3008a3010cdc4632d341 GIT binary patch literal 5859 zcmV<9798n`P)vX+d=hvT0 zukyloAidU5CcrAFwdz?5*r(nLCg$3OC7FTr%-dc453j$PQ)K_hyT0vN`aC~g# zpvQRb=N!g;u=+A-0gIq5fO8+ZuBh$;&hBhPRTlvVR6QMXHub~oX{iJ1t8_!*c$^MC z?f>=#bfD8UtUwrW4uG@&K1WIbef5kSUDK+7FlLYhFklp_o*~s-y{7;jsF%{|iUBVX zaFU1)#1KHHZ_>0k`>F+wV~irZ8H^L#fms_xz_~h3t!2Q}JOyDsM7syZFh$LC;^?U< zxIE2b$WUKeZx}5Dp)M6uBZKh7id)dI#Pkv(q#u!|Bn39AF|G+eg_*#F5iINx;~Bvu zLP!a3K+b5cC)(#Q&J-iVQ$s`bZA#2&YdVK9G8PHI5t$5DV0nLItP3YG% z?$d^;k4QiTaDV7FVI*RvSpRfNm4;oAe=(!a>{yuTk0rnhtpa_CznIDAdgHHAdITM! zjr&-7Ch%`N!_g!q%*;(oToED0I0XqhX_M0GxQbELlh9gw)dPA4mY^+3fXwgOdFhFn zV!e}7Uc}`UH+dr=#n!5^!7rS@uvWJs_GKpB~A1| z&28r?5$IMl5F;5g#1c3$W@gYvR%sx^$~8a$#J@N#mWXOUtUxo)46fA6QL#woh6OL_ z2=X*(2Xmo~;%_s+^IEfKcx?O}gJ!DJB3$%iUz;2&m8v6eisEpEmTrl}q|;R8QHv4DRV5fVYpPZk)YslWds_L> zxuN<4{%dW7z5PZ&5w@?t{=hiGXJ0HSD3w+wpeUvG%w~+1Hijyj>BQxBTW`38&)e%y zDwhQp`l|$}F3W9u)v;6yt-1gh8nMKtR{*yN$Tq}U^@`cj0b`L4BgQa?&(~<{Oi@?3 zw#?z6jgmmDob+g^rg&0MSupZVTPfiE{=<~V{`c|oeEo6d?f_r!pZ9XP+-nd4P+#CO zJcq6WD#4j9EEWTxp|9QW3xjZFdTKLD_*IB(8>j}&7y)Qt&%3Jbui3ws7@b4sF9^j& zOj!9ahEp^31KUXSwvTM1pXNWkjdgYOGbYkq--D~nq5o|WP>+$UR9mh_zh10Vr+8-S z#p~Vv@|`-xzcsk}16rt7C49V7RWK0~qHZOcPF9`&X0$rv)+Q7?`v`TWJJo-ojWn7v z5oNQbXGGV;4H|vS)O^@@yRqk9#2NP^%sp?k&nGj6IQDG7=M$bT+~9<(TzF=exaYyK zou3c?&wH1+s7cjUCFsyt3%;qtcJ7&D#H$QIlt-_D%;k$@XwQ3t>cRn72m z9H57W{Vf3^Vlw_9)pdaqbQ*Ah#4wWH)W*H+fH}IQ#q}A9Sb6_!z97{w?i&9_f8=Xe zUw>y*#=XdJ(*_GaUSwL}ehL1>=hG z34nTxN)rHTxbkdzOr(Lzo3y6q7(HF9=l1F%s_xZgQ3|BKudDHyW4h_b#{(mzy2L@p zEDNBvjqk3y-jB$X+HPPC0s?Ue#W4vuuS{*8C?GsoJQDqCBe8k0W zNFXO^j;PuV_m;7*!{jMZVj>1&1cI3%H(>_gM>Ixrl#a74C3mz@%@ z>LazaQJTX}V!Yi-wyRpq)Kw46Ozn0y7niQL;-_PsI~Qz9cv8PMU_>er=R!7PEXw!a z5el$;^uQ>I1AWnwk1Og79%Jg?qJC|vdd-9fR1#$ABP1NPZU5@Ur7GZ}1#~T~0fHbE z0@MF){X&G!}v%UFfq6=r(6z8O2fz9ii2ZBN+}|JYtvb*#o97{0V6rM~eP$ci|LwkH>%g31D3^G>{7>JYzq_Mjlr8xFSF_uDLEG z?w)`#ij@DZ(1kx~IQ~5E3GkVqScccC4$t+f-30K%Rn3Y5h2ySqAJK$|0!2|x3jdf z)e(LG(s|M;&1O_KVJsxiv}NP;@saAgaOjZ^eSGK0%uMA$pA5EZj_3hRs03)h=+H1t zeF9TNkI@^s-Y?;qI?eIaG`o>|XPcGVNUePQIT8&#@**I%(Lf6tt9D%P3n*HNMxo#& z0+okJa38u<4n4+uY6sIH%@`k5*N_EJS@nKSz5NKY;+T=#56`&i=J@|7FucCUM-8ZT zktpE|#0)=UsKc5hEJ#0eXg17dWtp&H#FMPhReHcb)z=-P_HtwtYNs$=x%d-()#@k! 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Test:MRS UAV System - Test coverage reportLines:44100.0 %
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Current view:top level - mrs_uav_managers/include/control_managerHitTotalCoverage
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Current view:top level - mrs_uav_managers/include/control_managerHitTotalCoverage
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/control_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-08-07 22:18:19Functions:1010100.0 %
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/control_managerHitTotalCoverage
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/control_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-08-07 22:18:19Functions:1010100.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
output_publisher.h +
100.0%
+ 		100.0 %4 / 4100.0 %10 / 10
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/include/control_manager/output_publisher.h.func-sort-c.html b/mrs_uav_managers/include/control_manager/output_publisher.h.func-sort-c.html new file mode 100644 index 0000000000..e78420b3b0 --- /dev/null +++ b/mrs_uav_managers/include/control_manager/output_publisher.h.func-sort-c.html @@ -0,0 +1,120 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/control_manager/output_publisher.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/control_manager - output_publisher.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-08-07 22:18:19Functions:1010100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)534
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1025
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1104
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1471
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2410
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3984
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)4042
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)8283
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)102222
mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::PublisherVisitor(mrs_uav_managers::control_manager::OutputPublisher*)125075
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/include/control_manager/output_publisher.h.func.html b/mrs_uav_managers/include/control_manager/output_publisher.h.func.html new file mode 100644 index 0000000000..289650cddb --- /dev/null +++ b/mrs_uav_managers/include/control_manager/output_publisher.h.func.html @@ -0,0 +1,120 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/control_manager/output_publisher.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/include/control_manager - output_publisher.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-08-07 22:18:19Functions:1010100.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::PublisherVisitor(mrs_uav_managers::control_manager::OutputPublisher*)125075
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3984
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)8283
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)534
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1471
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)102222
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)4042
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1104
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2410
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1025
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.frameset.html b/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.frameset.html new file mode 100644 index 0000000000..137c10c3db --- /dev/null +++ b/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/control_manager/output_publisher.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.html b/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.html new file mode 100644 index 0000000000..e0abb06d2b --- /dev/null +++ b/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.html @@ -0,0 +1,146 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/control_manager/output_publisher.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/include/control_manager - output_publisher.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-08-07 22:18:19Functions:1010100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef CONTROL_MANAGER_OUTPUT_PUBLISHER
+       2             : #define CONTROL_MANAGER_OUTPUT_PUBLISHER
+       3             : 
+       4             : #include <mrs_lib/publisher_handler.h>
+       5             : 
+       6             : #include <mrs_uav_managers/controller.h>
+       7             : 
+       8             : namespace mrs_uav_managers
+       9             : {
+      10             : 
+      11             : namespace control_manager
+      12             : {
+      13             : 
+      14             : class OutputPublisher {
+      15             : 
+      16             : public:
+      17             :   OutputPublisher();
+      18             : 
+      19             :   OutputPublisher(ros::NodeHandle& nh);
+      20             : 
+      21             :   void publish(const Controller::HwApiOutputVariant& control_output);
+      22             : 
+      23             : private:
+      24             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd>            ph_hw_api_actuator_cmd_;
+      25             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd>        ph_hw_api_control_group_cmd_;
+      26             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd>        ph_hw_api_attitude_rate_cmd_;
+      27             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd>            ph_hw_api_attitude_cmd_;
+      28             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd> ph_hw_api_acceleration_hdg_rate_cmd_;
+      29             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd>     ph_hw_api_acceleration_hdg_cmd_;
+      30             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd>     ph_hw_api_velocity_hdg_rate_cmd_;
+      31             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd>         ph_hw_api_velocity_hdg_cmd_;
+      32             :   mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd>            ph_hw_api_position_cmd_;
+      33             : 
+      34             :   void publish(const mrs_msgs::HwApiActuatorCmd& msg);
+      35             :   void publish(const mrs_msgs::HwApiControlGroupCmd& msg);
+      36             :   void publish(const mrs_msgs::HwApiAttitudeRateCmd& msg);
+      37             :   void publish(const mrs_msgs::HwApiAttitudeCmd& msg);
+      38             :   void publish(const mrs_msgs::HwApiAccelerationHdgRateCmd& msg);
+      39             :   void publish(const mrs_msgs::HwApiAccelerationHdgCmd& msg);
+      40             :   void publish(const mrs_msgs::HwApiVelocityHdgRateCmd& msg);
+      41             :   void publish(const mrs_msgs::HwApiVelocityHdgCmd& msg);
+      42             :   void publish(const mrs_msgs::HwApiPositionCmd& msg);
+      43             : 
+      44             :   class PublisherVisitor {
+      45             : 
+      46             :   public:
+      47      125075 :     PublisherVisitor(OutputPublisher* obj) : obj_(obj){};
+      48             : 
+      49             :     OutputPublisher* obj_;
+      50             : 
+      51             :     template <class T>
+      52      125075 :     void operator()(const T& msg) {
+      53      125075 :       obj_->publish(msg);
+      54      125075 :     }
+      55             :   };
+      56             : };
+      57             : 
+      58             : }  // namespace control_manager
+      59             : 
+      60             : }  // namespace mrs_uav_managers
+      61             : 
+      62             : #endif  //  CONTROL_MANAGER_OUTPUT_PUBLISHER
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.overview.html b/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.overview.html new file mode 100644 index 0000000000..09b263e5e1 --- /dev/null +++ b/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.overview.html @@ -0,0 +1,36 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/control_manager/output_publisher.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.png b/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..fdd688bb370f7663153724647927eaa459667bca GIT binary patch literal 332 zcmeAS@N?(olHy`uVBq!ia0vp^0YGfW!VDz+4mNH9QW60^A+G=b|6c_J%iqVwzWUF= zunH&+rp|e9UJ7J$7I;J!GcfQS0b$0e+I-SL!CRg#jv*eMTc_R@JgmUO63D)Y^##MP z_qxsoW@77=HNHQc`DTrZj!g2}RPCgyMn{X24zmu;3tZ^#7E%+I9$1z2-~Hw84U=k2 z4|j*$Z0-BVwQ#LZPe@1*@1FIJ-4-|f*Lgnua4f;i^kDBLO$82VM}aqiJexoA?e=!; zP1$C<>VaG4@4cUR8vfjSmptKVZex36aP6U&;q4|#;dgdw2qk^7v)`$HtkLlNGdUR# zYu`;D4^40T_+7%T&EUnw&}9A@Oy}y>9psSfzqj9wQ#d|**7eZ4D=rjGy76rCwIcb5 X-I2 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/mrs_uav_managers - agl_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-08-07 22:18:19Functions:2366.7 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::AglEstimator::~AglEstimator()0
mrs_uav_managers::AglEstimator::AglEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)87
mrs_uav_managers::AglEstimator::~AglEstimator().287
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.func.html b/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.func.html new file mode 100644 index 0000000000..82be2b8550 --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/include/mrs_uav_managers - agl_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-08-07 22:18:19Functions:2366.7 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::AglEstimator::AglEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)87
mrs_uav_managers::AglEstimator::~AglEstimator()0
mrs_uav_managers::AglEstimator::~AglEstimator().287
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.frameset.html b/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.frameset.html new file mode 100644 index 0000000000..ca31d3043e --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.html b/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.html new file mode 100644 index 0000000000..57ab1fe7f3 --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.html @@ -0,0 +1,157 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/mrs_uav_managers - agl_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-08-07 22:18:19Functions:2366.7 %
Legend: Lines: + hit + not hit +
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          Line data    Source code
+
+       1             : #ifndef MRS_UAV_MANAGERS_AGL_ESTIMATOR_H
+       2             : #define MRS_UAV_MANAGERS_AGL_ESTIMATOR_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <Eigen/Dense>
+       9             : 
+      10             : #include <nav_msgs/Odometry.h>
+      11             : 
+      12             : #include <mrs_msgs/UavState.h>
+      13             : #include <mrs_msgs/Float64Stamped.h>
+      14             : #include <mrs_msgs/Float64ArrayStamped.h>
+      15             : #include <mrs_msgs/HwApiCapabilities.h>
+      16             : 
+      17             : #include <mrs_uav_managers/estimation_manager/estimator.h>
+      18             : #include <mrs_uav_managers/estimation_manager/support.h>
+      19             : 
+      20             : //}
+      21             : 
+      22             : namespace mrs_uav_managers
+      23             : {
+      24             : 
+      25             : namespace agl
+      26             : {
+      27             : const char type[] = "AGL";
+      28             : }
+      29             : 
+      30             : using namespace estimation_manager;
+      31             : 
+      32             : class AglEstimator : public Estimator {
+      33             : 
+      34             : protected:
+      35             :   const std::string package_name_ = "mrs_uav_state_estimators";
+      36             : 
+      37             :   ros::NodeHandle nh_;
+      38             : 
+      39             :   mrs_msgs::Float64Stamped agl_height_;
+      40             :   mrs_msgs::Float64Stamped agl_height_init_;
+      41             :   mutable std::mutex       mtx_agl_height_;
+      42             : 
+      43             :   mrs_msgs::Float64ArrayStamped agl_height_cov_;
+      44             :   mrs_msgs::Float64ArrayStamped agl_height_cov_init_;
+      45             :   mutable std::mutex            mtx_agl_height_cov_;
+      46             : 
+      47             :   bool is_override_frame_id_ = false;
+      48             : 
+      49             : protected:
+      50             :   mutable mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>      ph_agl_height_;
+      51             :   mutable mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped> ph_agl_height_cov_;
+      52             : 
+      53             : public:
+      54          87 :   AglEstimator(const std::string &name, const std::string &frame_id, const std::string &package_name)
+      55          87 :       : Estimator(agl::type, name, frame_id), package_name_(package_name) {
+      56          87 :   }
+      57             : 
+      58          87 :   virtual ~AglEstimator(void) {
+      59          87 :   }
+      60             : 
+      61             :   // virtual methods
+      62             :   virtual mrs_msgs::Float64Stamped getUavAglHeight() const     = 0;
+      63             :   virtual std::vector<double>      getHeightCovariance() const = 0;
+      64             : 
+      65             :   // implemented methods
+      66             :   void publishAglHeight() const;
+      67             :   void publishCovariance() const;
+      68             :   bool isCompatibleWithHwApi(const mrs_msgs::HwApiCapabilitiesConstPtr &hw_api_capabilities) const;
+      69             : };
+      70             : 
+      71             : }  // namespace mrs_uav_managers
+      72             : 
+      73             : #endif  // MRS_UAV_MANAGERS_AGL_ESTIMATOR_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.overview.html b/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.overview.html new file mode 100644 index 0000000000..21f3af39aa --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.overview.html @@ -0,0 +1,39 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.png b/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..d88c3428e27de2da87a77f1e9b45246bce5c1009 GIT binary patch literal 397 zcmeAS@N?(olHy`uVBq!ia0vp^0YL1@!VDxMp6xjcq$C1-LR|m<|Gx?dmcNgUef6J# zVHHpuOr7)IycEdhEbxddW?X?_wfUqO7#O8JT^vI^I**2N^Bq>;m@551^bPNq zf9122k3Q-bES1dkxxB~jU(@G%i}R249^oF@8-^V(Ynvcr7WJ?T*XcTjST)6V%To!AaM zVduIYRMU7w<@9e;50Qhsq7K!Y7H0fOOAcJ-FL2X1>-ZLKhy8pP p#LM#zrZ}!(zhtL;GxNsIIKPIdz%zeOxB$bB!PC{xWt~$(697r3r%?a^ literal 0 HcmV?d00001 diff --git a/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.func-sort-c.html b/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.func-sort-c.html new file mode 100644 index 0000000000..bf5ef5d994 --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.func-sort-c.html @@ -0,0 +1,188 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/mrs_uav_managers/control_manager - common.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:539655.2 %
Date:2024-08-07 22:18:19Functions:192770.4 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)0
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)0
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiPositionCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)0
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)0
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)0
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)0
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)0
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)0
mrs_uav_managers::control_manager::HwApiValidateVisitor::operator()(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&, mrs_uav_managers::control_manager::ControlOutputModalities_t const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)534
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)534
mrs_uav_managers::control_manager::HwApiValidateVisitor::operator()(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&, mrs_uav_managers::control_manager::ControlOutputModalities_t const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1025
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1025
mrs_uav_managers::control_manager::HwApiValidateVisitor::operator()(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&, mrs_uav_managers::control_manager::ControlOutputModalities_t const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1104
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1104
mrs_uav_managers::control_manager::HwApiValidateVisitor::operator()(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&, mrs_uav_managers::control_manager::ControlOutputModalities_t const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1471
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1471
mrs_uav_managers::control_manager::HwApiValidateVisitor::operator()(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&, mrs_uav_managers::control_manager::ControlOutputModalities_t const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2410
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2538
mrs_uav_managers::control_manager::HwApiValidateVisitor::operator()(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&, mrs_uav_managers::control_manager::ControlOutputModalities_t const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)3984
mrs_uav_managers::control_manager::HwApiValidateVisitor::operator()(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&, mrs_uav_managers::control_manager::ControlOutputModalities_t const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)4042
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)5377
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)5436
mrs_uav_managers::control_manager::HwApiValidateVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&, mrs_uav_managers::control_manager::ControlOutputModalities_t const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)8283
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)13822
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)14117
mrs_uav_managers::control_manager::HwApiValidateVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&, mrs_uav_managers::control_manager::ControlOutputModalities_t const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)88109
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)104858
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.func.html b/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.func.html new file mode 100644 index 0000000000..e1078d3fe8 --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.func.html @@ -0,0 +1,188 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/include/mrs_uav_managers/control_manager - common.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:539655.2 %
Date:2024-08-07 22:18:19Functions:192770.4 %
Legend: Lines: + hit + not hit +
+
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::control_manager::HwApiValidateVisitor::operator()(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&, mrs_uav_managers::control_manager::ControlOutputModalities_t const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)3984
mrs_uav_managers::control_manager::HwApiValidateVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&, mrs_uav_managers::control_manager::ControlOutputModalities_t const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)8283
mrs_uav_managers::control_manager::HwApiValidateVisitor::operator()(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&, mrs_uav_managers::control_manager::ControlOutputModalities_t const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)534
mrs_uav_managers::control_manager::HwApiValidateVisitor::operator()(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&, mrs_uav_managers::control_manager::ControlOutputModalities_t const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1471
mrs_uav_managers::control_manager::HwApiValidateVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&, mrs_uav_managers::control_manager::ControlOutputModalities_t const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)88109
mrs_uav_managers::control_manager::HwApiValidateVisitor::operator()(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&, mrs_uav_managers::control_manager::ControlOutputModalities_t const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)4042
mrs_uav_managers::control_manager::HwApiValidateVisitor::operator()(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&, mrs_uav_managers::control_manager::ControlOutputModalities_t const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1104
mrs_uav_managers::control_manager::HwApiValidateVisitor::operator()(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&, mrs_uav_managers::control_manager::ControlOutputModalities_t const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2410
mrs_uav_managers::control_manager::HwApiValidateVisitor::operator()(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&, mrs_uav_managers::control_manager::ControlOutputModalities_t const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1025
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)0
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)0
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiPositionCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)0
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)0
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)14117
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)0
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)0
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)0
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)0
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)5377
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)13822
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)534
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1471
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)104858
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)5436
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1104
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2538
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1025
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/mrs_uav_managers/control_manager - common.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:539655.2 %
Date:2024-08-07 22:18:19Functions:192770.4 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef CONTROL_MANAGER_COMMON_H
+       2             : #define CONTROL_MANAGER_COMMON_H
+       3             : 
+       4             : #include <ros/ros.h>
+       5             : 
+       6             : #include <vector>
+       7             : #include <string>
+       8             : #include <optional>
+       9             : #include <variant>
+      10             : 
+      11             : #include <mrs_lib/attitude_converter.h>
+      12             : #include <mrs_lib/param_loader.h>
+      13             : 
+      14             : #include <mrs_uav_managers/control_manager/common_handlers.h>
+      15             : #include <mrs_uav_managers/controller.h>
+      16             : 
+      17             : #include <mrs_msgs/TrackerCommand.h>
+      18             : #include <mrs_msgs/UavState.h>
+      19             : #include <mrs_msgs/VelocityReference.h>
+      20             : 
+      21             : #include <mrs_msgs/HwApiActuatorCmd.h>
+      22             : #include <mrs_msgs/HwApiControlGroupCmd.h>
+      23             : #include <mrs_msgs/HwApiAttitudeRateCmd.h>
+      24             : #include <mrs_msgs/HwApiAttitudeCmd.h>
+      25             : #include <mrs_msgs/HwApiAccelerationHdgRateCmd.h>
+      26             : #include <mrs_msgs/HwApiAccelerationHdgCmd.h>
+      27             : #include <mrs_msgs/HwApiVelocityHdgRateCmd.h>
+      28             : #include <mrs_msgs/HwApiVelocityHdgCmd.h>
+      29             : #include <mrs_msgs/HwApiPositionCmd.h>
+      30             : 
+      31             : #include <mrs_msgs/HwApiCapabilities.h>
+      32             : 
+      33             : #include <nav_msgs/Odometry.h>
+      34             : 
+      35             : namespace mrs_uav_managers
+      36             : {
+      37             : 
+      38             : namespace control_manager
+      39             : {
+      40             : 
+      41             : enum CONTROL_OUTPUT
+      42             : {
+      43             :   ACTUATORS_CMD,
+      44             :   CONTROL_GROUP,
+      45             :   ATTITUDE_RATE,
+      46             :   ATTITUDE,
+      47             :   ACCELERATION_HDG_RATE,
+      48             :   ACCELERATION_HDG,
+      49             :   VELOCITY_HDG_RATE,
+      50             :   VELOCITY_HDG,
+      51             :   POSITION
+      52             : };
+      53             : 
+      54             : CONTROL_OUTPUT getLowestOuput(const ControlOutputModalities_t& outputs);
+      55             : 
+      56             : CONTROL_OUTPUT getHighestOuput(const ControlOutputModalities_t& outputs);
+      57             : 
+      58             : std::optional<unsigned int> idxInVector(const std::string& str, const std::vector<std::string>& vec);
+      59             : 
+      60             : // checks for invalid values in the result from trackers
+      61             : bool validateTrackerCommand(const std::optional<mrs_msgs::TrackerCommand>& msg, const std::string& node_name, const std::string& var_name);
+      62             : 
+      63             : // checks for invalid messages in/out
+      64             : bool validateOdometry(const nav_msgs::Odometry& msg, const std::string& node_name, const std::string& var_name);
+      65             : bool validateUavState(const mrs_msgs::UavState& msg, const std::string& node_name, const std::string& var_nam);
+      66             : bool validateVelocityReference(const mrs_msgs::VelocityReference& msg, const std::string& node_name, const std::string& var_name);
+      67             : bool validateReference(const mrs_msgs::Reference& msg, const std::string& node_name, const std::string& var_name);
+      68             : 
+      69             : std::optional<DetailedModelParams_t> loadDetailedUavModelParams(ros::NodeHandle& nh, const std::string& node_name, const std::string& platform_config,
+      70             :                                                                 const std::string& custom_config);
+      71             : 
+      72             : // translates the channel values to desired range
+      73             : double RCChannelToRange(double rc_value, double range, double deadband);
+      74             : 
+      75             : /* throttle extraction //{ */
+      76             : 
+      77             : std::optional<double> extractThrottle(const Controller::ControlOutput& control_output);
+      78             : 
+      79             : struct HwApiCmdExtractThrottleVisitor
+      80             : {
+      81        5377 :   std::optional<double> operator()(const mrs_msgs::HwApiActuatorCmd& msg) {
+      82             : 
+      83        5377 :     if (msg.motors.size() == 0) {
+      84           0 :       return std::nullopt;
+      85             :     }
+      86             : 
+      87        5377 :     double throttle = 0;
+      88             : 
+      89       26885 :     for (size_t i = 0; i < msg.motors.size(); i++) {
+      90       21508 :       throttle += msg.motors.at(i);
+      91             :     };
+      92             : 
+      93        5377 :     throttle /= msg.motors.size();
+      94             : 
+      95        5377 :     return throttle;
+      96             :   }
+      97        5436 :   std::optional<double> operator()(const mrs_msgs::HwApiControlGroupCmd& msg) {
+      98        5436 :     return msg.throttle;
+      99             :   }
+     100       13822 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeCmd& msg) {
+     101       13822 :     return msg.throttle;
+     102             :   }
+     103      104858 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeRateCmd& msg) {
+     104      104858 :     return msg.throttle;
+     105             :   }
+     106        1025 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiAccelerationHdgRateCmd& msg) {
+     107        1025 :     return std::nullopt;
+     108             :   }
+     109        1104 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiAccelerationHdgCmd& msg) {
+     110        1104 :     return std::nullopt;
+     111             :   }
+     112        2538 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiVelocityHdgRateCmd& msg) {
+     113        2538 :     return std::nullopt;
+     114             :   }
+     115        1471 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiVelocityHdgCmd& msg) {
+     116        1471 :     return std::nullopt;
+     117             :   }
+     118         534 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiPositionCmd& msg) {
+     119         534 :     return std::nullopt;
+     120             :   }
+     121             : };
+     122             : 
+     123             : //}
+     124             : 
+     125             : /* control output validation //{ */
+     126             : 
+     127             : bool validateControlOutput(const Controller::ControlOutput& control_output, const ControlOutputModalities_t& output_modalities, const std::string& node_name,
+     128             :                            const std::string& var_name);
+     129             : 
+     130             : // validation of hw api messages
+     131             : bool validateHwApiActuatorCmd(const mrs_msgs::HwApiActuatorCmd& msg, const std::string& node_name, const std::string& var_name);
+     132             : bool validateHwApiControlGroupCmd(const mrs_msgs::HwApiControlGroupCmd& msg, const std::string& node_name, const std::string& var_name);
+     133             : bool validateHwApiAttitudeCmd(const mrs_msgs::HwApiAttitudeCmd& msg, const std::string& node_name, const std::string& var_name);
+     134             : bool validateHwApiAttitudeRateCmd(const mrs_msgs::HwApiAttitudeRateCmd& msg, const std::string& node_name, const std::string& var_name);
+     135             : bool validateHwApiAccelerationHdgRateCmd(const mrs_msgs::HwApiAccelerationHdgRateCmd& msg, const std::string& node_name, const std::string& var_name);
+     136             : bool validateHwApiAccelerationHdgCmd(const mrs_msgs::HwApiAccelerationHdgCmd& msg, const std::string& node_name, const std::string& var_name);
+     137             : bool validateHwApiVelocityHdgRateCmd(const mrs_msgs::HwApiVelocityHdgRateCmd& msg, const std::string& node_name, const std::string& var_name);
+     138             : bool validateHwApiVelocityHdgCmd(const mrs_msgs::HwApiVelocityHdgCmd& msg, const std::string& node_name, const std::string& var_name);
+     139             : bool validateHwApiPositionCmd(const mrs_msgs::HwApiPositionCmd& msg, const std::string& node_name, const std::string& var_name);
+     140             : 
+     141             : struct HwApiValidateVisitor
+     142             : {
+     143        3984 :   bool operator()(const mrs_msgs::HwApiActuatorCmd& msg, const ControlOutputModalities_t& output_modalities, const std::string& node_name,
+     144             :                   const std::string& var_name) {
+     145             : 
+     146        3984 :     if (!output_modalities.actuators) {
+     147           0 :       ROS_ERROR("[%s]: The controller returned an output modality (actuator cmd) that is not supported by the hardware API", node_name.c_str());
+     148           0 :       return false;
+     149             :     }
+     150             : 
+     151        3984 :     return validateHwApiActuatorCmd(msg, node_name, var_name);
+     152             :   }
+     153        4042 :   bool operator()(const mrs_msgs::HwApiControlGroupCmd& msg, const ControlOutputModalities_t& output_modalities, const std::string& node_name,
+     154             :                   const std::string& var_name) {
+     155             : 
+     156        4042 :     if (!output_modalities.control_group) {
+     157           0 :       ROS_ERROR("[%s]: The controller returned an output modality (control group cmd) that is not supported by the hardware API", node_name.c_str());
+     158           0 :       return false;
+     159             :     }
+     160             : 
+     161        4042 :     return validateHwApiControlGroupCmd(msg, node_name, var_name);
+     162             :   }
+     163        8283 :   bool operator()(const mrs_msgs::HwApiAttitudeCmd& msg, const ControlOutputModalities_t& output_modalities, const std::string& node_name,
+     164             :                   const std::string& var_name) {
+     165             : 
+     166        8283 :     if (!output_modalities.attitude) {
+     167           0 :       ROS_ERROR("[%s]: The controller returned an output modality (attitude cmd) that is not supported by the hardware API", node_name.c_str());
+     168           0 :       return false;
+     169             :     }
+     170             : 
+     171        8283 :     return validateHwApiAttitudeCmd(msg, node_name, var_name);
+     172             :   }
+     173       88109 :   bool operator()(const mrs_msgs::HwApiAttitudeRateCmd& msg, const ControlOutputModalities_t& output_modalities, const std::string& node_name,
+     174             :                   const std::string& var_name) {
+     175             : 
+     176       88109 :     if (!output_modalities.attitude_rate) {
+     177           0 :       ROS_ERROR("[%s]: The controller returned an output modality (attitude rate cmd) that is not supported by the hardware API", node_name.c_str());
+     178           0 :       return false;
+     179             :     }
+     180             : 
+     181       88109 :     return validateHwApiAttitudeRateCmd(msg, node_name, var_name);
+     182             :   }
+     183        1025 :   bool operator()(const mrs_msgs::HwApiAccelerationHdgRateCmd& msg, const ControlOutputModalities_t& output_modalities, const std::string& node_name,
+     184             :                   const std::string& var_name) {
+     185             : 
+     186        1025 :     if (!output_modalities.acceleration_hdg_rate) {
+     187           0 :       ROS_ERROR("[%s]: The controller returned an output modality (acceleration+hdg rate cmd) that is not supported by the hardware API", node_name.c_str());
+     188           0 :       return false;
+     189             :     }
+     190             : 
+     191        1025 :     return validateHwApiAccelerationHdgRateCmd(msg, node_name, var_name);
+     192             :   }
+     193        1104 :   bool operator()(const mrs_msgs::HwApiAccelerationHdgCmd& msg, const ControlOutputModalities_t& output_modalities, const std::string& node_name,
+     194             :                   const std::string& var_name) {
+     195             : 
+     196        1104 :     if (!output_modalities.acceleration_hdg) {
+     197           0 :       ROS_ERROR("[%s]: The controller returned an output modality (acceleration+hdg cmd) that is not supported by the hardware API", node_name.c_str());
+     198           0 :       return false;
+     199             :     }
+     200             : 
+     201        1104 :     return validateHwApiAccelerationHdgCmd(msg, node_name, var_name);
+     202             :   }
+     203        2410 :   bool operator()(const mrs_msgs::HwApiVelocityHdgRateCmd& msg, const ControlOutputModalities_t& output_modalities, const std::string& node_name,
+     204             :                   const std::string& var_name) {
+     205             : 
+     206        2410 :     if (!output_modalities.velocity_hdg_rate) {
+     207           0 :       ROS_ERROR("[%s]: The controller returned an output modality (velocity+hdg rate cmd) that is not supported by the hardware API", node_name.c_str());
+     208           0 :       return false;
+     209             :     }
+     210             : 
+     211        2410 :     return validateHwApiVelocityHdgRateCmd(msg, node_name, var_name);
+     212             :   }
+     213        1471 :   bool operator()(const mrs_msgs::HwApiVelocityHdgCmd& msg, const ControlOutputModalities_t& output_modalities, const std::string& node_name,
+     214             :                   const std::string& var_name) {
+     215             : 
+     216        1471 :     if (!output_modalities.velocity_hdg) {
+     217           0 :       ROS_ERROR("[%s]: The controller returned an output modality (velocity+hdg cmd) that is not supported by the hardware API", node_name.c_str());
+     218           0 :       return false;
+     219             :     }
+     220             : 
+     221        1471 :     return validateHwApiVelocityHdgCmd(msg, node_name, var_name);
+     222             :   }
+     223         534 :   bool operator()(const mrs_msgs::HwApiPositionCmd& msg, const ControlOutputModalities_t& output_modalities, const std::string& node_name,
+     224             :                   const std::string& var_name) {
+     225             : 
+     226         534 :     if (!output_modalities.position) {
+     227           0 :       ROS_ERROR("[%s]: The controller returned an output modality (position cmd) that is not supported by the hardware API", node_name.c_str());
+     228           0 :       return false;
+     229             :     }
+     230             : 
+     231         534 :     return validateHwApiPositionCmd(msg, node_name, var_name);
+     232             :   }
+     233             : };
+     234             : 
+     235             : //}
+     236             : 
+     237             : /* control output initialization //{ */
+     238             : 
+     239             : Controller::HwApiOutputVariant initializeDefaultOutput(const ControlOutputModalities_t& possible_outputs, const mrs_msgs::UavState& uav_state,
+     240             :                                                        const double& min_throttle, const double& n_motors);
+     241             : 
+     242             : void initializeHwApiCmd(mrs_msgs::HwApiActuatorCmd& msg, const double& min_throttle, const double& n_motors);
+     243             : void initializeHwApiCmd(mrs_msgs::HwApiControlGroupCmd& msg, const double& min_throttle);
+     244             : void initializeHwApiCmd(mrs_msgs::HwApiAttitudeRateCmd& msg, const double& min_throttle);
+     245             : void initializeHwApiCmd(mrs_msgs::HwApiAttitudeCmd& msg, const mrs_msgs::UavState& uav_state, const double& min_throttle);
+     246             : void initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgRateCmd& msg, const mrs_msgs::UavState& uav_state);
+     247             : void initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgCmd& msg, const mrs_msgs::UavState& uav_state);
+     248             : void initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgRateCmd& msg, const mrs_msgs::UavState& uav_state);
+     249             : void initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgCmd& msg, const mrs_msgs::UavState& uav_state);
+     250             : void initializeHwApiCmd(mrs_msgs::HwApiPositionCmd& msg, const mrs_msgs::UavState& uav_state);
+     251             : 
+     252             : struct HwApiInitializeVisitor
+     253             : {
+     254           0 :   void operator()(mrs_msgs::HwApiActuatorCmd& msg, [[maybe_unused]] const mrs_msgs::UavState& uav_state, const double& min_throttle, const double& n_motors) {
+     255           0 :     initializeHwApiCmd(msg, min_throttle, n_motors);
+     256           0 :   }
+     257           0 :   void operator()(mrs_msgs::HwApiControlGroupCmd& msg, [[maybe_unused]] const mrs_msgs::UavState& uav_state, const double& min_throttle,
+     258             :                   [[maybe_unused]] const double& n_motors) {
+     259           0 :     initializeHwApiCmd(msg, min_throttle);
+     260           0 :   }
+     261           0 :   void operator()(mrs_msgs::HwApiAttitudeCmd& msg, const mrs_msgs::UavState& uav_state, const double& min_throttle, [[maybe_unused]] const double& n_motors) {
+     262           0 :     initializeHwApiCmd(msg, uav_state, min_throttle);
+     263           0 :   }
+     264       14117 :   void operator()(mrs_msgs::HwApiAttitudeRateCmd& msg, [[maybe_unused]] const mrs_msgs::UavState& uav_state, const double& min_throttle,
+     265             :                   [[maybe_unused]] const double& n_motors) {
+     266       14117 :     initializeHwApiCmd(msg, min_throttle);
+     267       14117 :   }
+     268           0 :   void operator()(mrs_msgs::HwApiAccelerationHdgRateCmd& msg, const mrs_msgs::UavState& uav_state, [[maybe_unused]] const double& min_throttle,
+     269             :                   [[maybe_unused]] const double& n_motors) {
+     270           0 :     initializeHwApiCmd(msg, uav_state);
+     271           0 :   }
+     272           0 :   void operator()(mrs_msgs::HwApiAccelerationHdgCmd& msg, const mrs_msgs::UavState& uav_state, [[maybe_unused]] const double& min_throttle,
+     273             :                   [[maybe_unused]] const double& n_motors) {
+     274           0 :     initializeHwApiCmd(msg, uav_state);
+     275           0 :   }
+     276           0 :   void operator()(mrs_msgs::HwApiVelocityHdgRateCmd& msg, const mrs_msgs::UavState& uav_state, [[maybe_unused]] const double& min_throttle,
+     277             :                   [[maybe_unused]] const double& n_motors) {
+     278           0 :     initializeHwApiCmd(msg, uav_state);
+     279           0 :   }
+     280           0 :   void operator()(mrs_msgs::HwApiVelocityHdgCmd& msg, const mrs_msgs::UavState& uav_state, [[maybe_unused]] const double& min_throttle,
+     281             :                   [[maybe_unused]] const double& n_motors) {
+     282           0 :     initializeHwApiCmd(msg, uav_state);
+     283           0 :   }
+     284           0 :   void operator()(mrs_msgs::HwApiPositionCmd& msg, const mrs_msgs::UavState& uav_state, [[maybe_unused]] const double& min_throttle,
+     285             :                   [[maybe_unused]] const double& n_motors) {
+     286           0 :     initializeHwApiCmd(msg, uav_state);
+     287           0 :   }
+     288             : };
+     289             : 
+     290             : //}
+     291             : 
+     292             : }  // namespace control_manager
+     293             : 
+     294             : }  // namespace mrs_uav_managers
+     295             : 
+     296             : #endif  // CONTROL_MANAGER_COMMON_H
+
+
+
+ + + + +
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+
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          Line data    Source code
+
+       1             : #ifndef MRS_UAV_CONTROLLER_H
+       2             : #define MRS_UAV_CONTROLLER_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <mrs_uav_managers/control_manager/common_handlers.h>
+       9             : #include <mrs_uav_managers/control_manager/private_handlers.h>
+      10             : 
+      11             : #include <mrs_msgs/HwApiActuatorCmd.h>
+      12             : #include <mrs_msgs/HwApiControlGroupCmd.h>
+      13             : #include <mrs_msgs/HwApiAttitudeRateCmd.h>
+      14             : #include <mrs_msgs/HwApiAttitudeCmd.h>
+      15             : #include <mrs_msgs/HwApiAccelerationHdgRateCmd.h>
+      16             : #include <mrs_msgs/HwApiAccelerationHdgCmd.h>
+      17             : #include <mrs_msgs/HwApiVelocityHdgRateCmd.h>
+      18             : #include <mrs_msgs/HwApiVelocityHdgCmd.h>
+      19             : #include <mrs_msgs/HwApiPositionCmd.h>
+      20             : 
+      21             : #include <mrs_msgs/ControllerDiagnostics.h>
+      22             : #include <mrs_msgs/ControllerStatus.h>
+      23             : #include <mrs_msgs/TrackerCommand.h>
+      24             : #include <mrs_msgs/UavState.h>
+      25             : 
+      26             : #include <mrs_msgs/DynamicsConstraintsSrv.h>
+      27             : #include <mrs_msgs/DynamicsConstraintsSrvRequest.h>
+      28             : #include <mrs_msgs/DynamicsConstraintsSrvResponse.h>
+      29             : 
+      30             : //}
+      31             : 
+      32             : namespace mrs_uav_managers
+      33             : {
+      34             : 
+      35             : class Controller {
+      36             : public:
+      37             :   typedef std::variant<mrs_msgs::HwApiActuatorCmd, mrs_msgs::HwApiControlGroupCmd, mrs_msgs::HwApiAttitudeRateCmd, mrs_msgs::HwApiAttitudeCmd,
+      38             :                        mrs_msgs::HwApiAccelerationHdgRateCmd, mrs_msgs::HwApiAccelerationHdgCmd, mrs_msgs::HwApiVelocityHdgRateCmd,
+      39             :                        mrs_msgs::HwApiVelocityHdgCmd, mrs_msgs::HwApiPositionCmd>
+      40             :       HwApiOutputVariant;
+      41             : 
+      42             :   typedef struct
+      43             :   {
+      44             :     std::optional<HwApiOutputVariant> control_output;
+      45             :     mrs_msgs::ControllerDiagnostics   diagnostics;
+      46             : 
+      47             :     /**
+      48             :      * @brief Desired orientation is used for checking the orientation control error.
+      49             :      *        This variable is optional, fill it in if you know it.
+      50             :      */
+      51             :     std::optional<Eigen::Quaterniond> desired_orientation;
+      52             : 
+      53             :     /**
+      54             :      * @brief Desired unbiased acceleration is used by the MRS odometry as control input.
+      55             :      *        This variable is optional, fill it in if you know it.
+      56             :      */
+      57             :     std::optional<Eigen::Vector3d> desired_unbiased_acceleration;
+      58             : 
+      59             :     /**
+      60             :      * @brief Desired heading rate caused by the controllers control action.
+      61             :      *        This variable is optional, fill it in if you know it.
+      62             :      */
+      63             :     std::optional<double> desired_heading_rate;
+      64             :   } ControlOutput;
+      65             : 
+      66             :   /**
+      67             :    * @brief Initializes the controller. It is called once for every controller. The runtime is not limited.
+      68             :    *
+      69             :    * @param nh the node handle of the ControlManager
+      70             :    * @param name of the controller for distinguishing multiple running instances of the same code
+      71             :    * @param name_space the parameter namespace of the controller, can be used during initialization of the private node handle
+      72             :    * @param common_handlers handlers shared between trackers and controllers
+      73             :    * @param private_handlers handlers provided individually to each controller
+      74             :    *
+      75             :    * @return true if success
+      76             :    */
+      77             :   virtual bool initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      78             :                           std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers) = 0;
+      79             : 
+      80             :   /**
+      81             :    * @brief It is called before the controller output will be required and used. Should not take much time (within miliseconds).
+      82             :    *
+      83             :    * @param last_attitude_cmd the last command produced by the last active controller. Should be used as an initial condition, e.g., for re-initializing
+      84             :    * integrators and estimators.
+      85             :    *
+      86             :    * @return true if success
+      87             :    */
+      88             :   virtual bool activate(const ControlOutput &last_control_output) = 0;
+      89             : 
+      90             :   /**
+      91             :    * @brief is called when this controller's output is no longer needed. However, it can be activated later.
+      92             :    */
+      93             :   virtual void deactivate(void) = 0;
+      94             : 
+      95             :   /**
+      96             :    * @brief It may be called to reset the controllers disturbance estimators.
+      97             :    */
+      98             :   virtual void resetDisturbanceEstimators(void) = 0;
+      99             : 
+     100             :   /**
+     101             :    * @brief This method is called in the main feedback control loop when your controller is NOT active. You can use this to validate your results without endangering the drone.
+     102             :    *        The method is called even before the flight with just the uav_state being supplied.
+     103             :    *
+     104             :    * @param uav_state current estimated state of the UAV dynamics
+     105             :    * @param tracker_command current required control reference (is optional)
+     106             :    */
+     107             :   virtual void updateInactive(const mrs_msgs::UavState &uav_state, const std::optional<mrs_msgs::TrackerCommand> &tracker_command) = 0;
+     108             : 
+     109             :   /**
+     110             :    * @brief This method is called in the main feedback control loop when your controller IS active and when it is supposed to produce a control output.
+     111             :    *
+     112             :    * @param uav_state current estimated state of the UAV dynamics
+     113             :    * @param tracker_command current required control reference
+     114             :    *
+     115             :    * @return produced control output
+     116             :    */
+     117             :   virtual ControlOutput updateActive(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) = 0;
+     118             : 
+     119             :   /**
+     120             :    * @brief A request for the controller's status.
+     121             :    *
+     122             :    * @return the controller's status
+     123             :    */
+     124             :   virtual const mrs_msgs::ControllerStatus getStatus() = 0;
+     125             : 
+     126             :   /**
+     127             :    * @brief It is called during every switch of reference frames of the UAV state estimate.
+     128             :    * The controller should recalculate its internal states from old the frame to the new one.
+     129             :    *
+     130             :    * @param new_uav_state the new UavState which will come in the next update()
+     131             :    */
+     132             :   virtual void switchOdometrySource(const mrs_msgs::UavState &new_uav_state) = 0;
+     133             : 
+     134             :   /**
+     135             :    * @brief Request for setting new constraints.
+     136             :    *
+     137             :    * @param constraints to be set
+     138             :    *
+     139             :    * @return a service response
+     140             :    */
+     141             :   virtual const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &constraints) = 0;
+     142             : 
+     143         540 :   virtual ~Controller() = default;
+     144             : };
+     145             : 
+     146             : }  // namespace mrs_uav_managers
+     147             : 
+     148             : #endif
+
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mrs_uav_managers::Estimator::~Estimator()0
mrs_uav_managers::Estimator::Estimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)635
mrs_uav_managers::Estimator::~Estimator().2635
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mrs_uav_managers::Estimator::Estimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)635
mrs_uav_managers::Estimator::~Estimator()0
mrs_uav_managers::Estimator::~Estimator().2635
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Date:2024-08-07 22:18:19Functions:2366.7 %
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+
          Line data    Source code
+
+       1             : #ifndef MRS_UAV_MANAGERS_ESTIMATION_MANAGER_ESTIMATOR_H
+       2             : #define MRS_UAV_MANAGERS_ESTIMATION_MANAGER_ESTIMATOR_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <Eigen/Dense>
+       9             : 
+      10             : #include <nav_msgs/Odometry.h>
+      11             : 
+      12             : #include <sensor_msgs/Imu.h>
+      13             : 
+      14             : #include <mrs_msgs/UavState.h>
+      15             : #include <mrs_msgs/EstimatorInput.h>
+      16             : #include <mrs_msgs/EstimatorDiagnostics.h>
+      17             : 
+      18             : #include <mrs_lib/publisher_handler.h>
+      19             : #include <mrs_lib/attitude_converter.h>
+      20             : #include <mrs_lib/param_loader.h>
+      21             : #include <mrs_lib/mutex.h>
+      22             : 
+      23             : 
+      24             : #include <mrs_uav_managers/estimation_manager/types.h>
+      25             : #include <mrs_uav_managers/estimation_manager/support.h>
+      26             : #include <mrs_uav_managers/estimation_manager/common_handlers.h>
+      27             : #include <mrs_uav_managers/estimation_manager/private_handlers.h>
+      28             : 
+      29             : //}
+      30             : 
+      31             : namespace mrs_uav_managers
+      32             : {
+      33             : 
+      34             : /* using namespace estimation_manager; */
+      35             : 
+      36             : using namespace mrs_uav_managers::estimation_manager;
+      37             : 
+      38             : class Estimator {
+      39             : 
+      40             : protected:
+      41             :   mutable mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics> ph_diagnostics_;
+      42             : 
+      43             :   const std::string type_;
+      44             :   const std::string name_;
+      45             :   const std::string package_name_;
+      46             : 
+      47             :   std::string frame_id_;  // cannot be constant - must remain overridable by loaded parameter
+      48             :   std::string ns_frame_id_;
+      49             : 
+      50             :   std::shared_ptr<CommonHandlers_t>  ch_;
+      51             :   std::shared_ptr<PrivateHandlers_t> ph_;
+      52             : 
+      53             :   double max_flight_z_ = -1.0;
+      54             : 
+      55             :   std::atomic_bool is_mitigating_jump_ = false;
+      56             : 
+      57             : private:
+      58             :   SMStates_t         previous_sm_state_ = SMStates_t::UNINITIALIZED_STATE;
+      59             :   SMStates_t         current_sm_state_  = SMStates_t::UNINITIALIZED_STATE;
+      60             :   mutable std::mutex mutex_current_state_;
+      61             : 
+      62             : protected:
+      63         635 :   Estimator(const std::string &type, const std::string &name, const std::string &frame_id) : type_(type), name_(name), frame_id_(frame_id) {
+      64         635 :   }
+      65             : 
+      66         635 :   virtual ~Estimator(void) {
+      67         635 :   }
+      68             : 
+      69             : public:
+      70             :   // virtual methods
+      71             :   virtual void initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) = 0;
+      72             :   virtual bool start(void)                                                                                                                = 0;
+      73             :   virtual bool pause(void)                                                                                                                = 0;
+      74             :   virtual bool reset(void)                                                                                                                = 0;
+      75             : 
+      76             :   // implemented methods
+      77             :   // access methods
+      78             :   std::string getName(void) const;
+      79             :   std::string getPrintName(void) const;
+      80             :   std::string getType(void) const;
+      81             :   std::string getFrameId(void) const;
+      82             :   double      getMaxFlightZ(void) const;
+      83             :   std::string getSmStateString(const SMStates_t &state) const;
+      84             :   std::string getCurrentSmStateString(void) const;
+      85             :   SMStates_t  getCurrentSmState() const;
+      86             : 
+      87             :   void setCurrentSmState(const SMStates_t &new_state);
+      88             : 
+      89             :   bool isMitigatingJump();
+      90             : 
+      91             :   // state machine methods
+      92             :   bool changeState(SMStates_t new_state);
+      93             :   bool isInState(const SMStates_t &state_in) const;
+      94             :   bool isInitialized() const;
+      95             :   bool isReady() const;
+      96             :   bool isStarted() const;
+      97             :   bool isRunning() const;
+      98             :   bool isStopped() const;
+      99             :   bool isError() const;
+     100             : 
+     101             :   void publishDiagnostics() const;
+     102             : 
+     103             :   tf2::Vector3          getAccGlobal(const sensor_msgs::Imu::ConstPtr &input_msg, const double hdg);
+     104             :   tf2::Vector3          getAccGlobal(const mrs_msgs::EstimatorInput::ConstPtr &input_msg, const double hdg);
+     105             :   tf2::Vector3          getAccGlobal(const geometry_msgs::Vector3Stamped &acc_stamped, const double hdg);
+     106             :   std::optional<double> getHeadingRate(const nav_msgs::OdometryConstPtr &odom_msg);
+     107             : };
+     108             : 
+     109             : }  // namespace mrs_uav_managers
+     110             : 
+     111             : #endif  // MRS_UAV_MANAGERS_ESTIMATION_MANAGER_ESTIMATOR_H
+
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97.1%97.1%
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::estimation_manager::Support::getPoseDiff(geometry_msgs::Pose_<std::allocator<void> > const&, geometry_msgs::Pose_<std::allocator<void> > const&)5
mrs_uav_managers::estimation_manager::Support::frameIdToEstimatorName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)10
mrs_uav_managers::estimation_manager::Support::isStringInVector(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&)336
mrs_uav_managers::estimation_manager::Support::toLowercase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)432
mrs_uav_managers::estimation_manager::Support::toSnakeCase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2501
mrs_uav_managers::estimation_manager::Support::applyPoseDiff(geometry_msgs::Pose_<std::allocator<void> > const&, geometry_msgs::Pose_<std::allocator<void> > const&)171609
mrs_uav_managers::estimation_manager::Support::rotateVecByHdg(geometry_msgs::Vector3_<std::allocator<void> > const&, double)327333
mrs_uav_managers::estimation_manager::Support::msgFromTf2(tf2::Transform const&)364522
mrs_uav_managers::estimation_manager::Support::uavStateToOdom(mrs_msgs::UavState_<std::allocator<void> > const&)380422
mrs_uav_managers::estimation_manager::Support::rotateVector(geometry_msgs::Vector3_<std::allocator<void> > const&, geometry_msgs::Quaternion_<std::allocator<void> > const&)381464
mrs_uav_managers::estimation_manager::Support::noNans(geometry_msgs::Quaternion_<std::allocator<void> > const&)405817
mrs_uav_managers::estimation_manager::Support::pointToVector3(geometry_msgs::Point_<std::allocator<void> > const&)765175
mrs_uav_managers::estimation_manager::Support::poseFromTf2(tf2::Transform const&)774793
mrs_uav_managers::estimation_manager::Support::tf2FromPose(geometry_msgs::Pose_<std::allocator<void> > const&)1140986
mrs_uav_managers::estimation_manager::Support::noNans(geometry_msgs::TransformStamped_<std::allocator<void> > const&)1260794
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/support.h.func.html b/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/support.h.func.html new file mode 100644 index 0000000000..28be38c01b --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/support.h.func.html @@ -0,0 +1,140 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/estimation_manager/support.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/include/mrs_uav_managers/estimation_manager - support.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10210597.1 %
Date:2024-08-07 22:18:19Functions:1515100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::estimation_manager::Support::msgFromTf2(tf2::Transform const&)364522
mrs_uav_managers::estimation_manager::Support::getPoseDiff(geometry_msgs::Pose_<std::allocator<void> > const&, geometry_msgs::Pose_<std::allocator<void> > const&)5
mrs_uav_managers::estimation_manager::Support::poseFromTf2(tf2::Transform const&)774793
mrs_uav_managers::estimation_manager::Support::tf2FromPose(geometry_msgs::Pose_<std::allocator<void> > const&)1140986
mrs_uav_managers::estimation_manager::Support::toLowercase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)432
mrs_uav_managers::estimation_manager::Support::toSnakeCase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2501
mrs_uav_managers::estimation_manager::Support::rotateVector(geometry_msgs::Vector3_<std::allocator<void> > const&, geometry_msgs::Quaternion_<std::allocator<void> > const&)381464
mrs_uav_managers::estimation_manager::Support::applyPoseDiff(geometry_msgs::Pose_<std::allocator<void> > const&, geometry_msgs::Pose_<std::allocator<void> > const&)171609
mrs_uav_managers::estimation_manager::Support::pointToVector3(geometry_msgs::Point_<std::allocator<void> > const&)765175
mrs_uav_managers::estimation_manager::Support::rotateVecByHdg(geometry_msgs::Vector3_<std::allocator<void> > const&, double)327333
mrs_uav_managers::estimation_manager::Support::uavStateToOdom(mrs_msgs::UavState_<std::allocator<void> > const&)380422
mrs_uav_managers::estimation_manager::Support::isStringInVector(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&)336
mrs_uav_managers::estimation_manager::Support::frameIdToEstimatorName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)10
mrs_uav_managers::estimation_manager::Support::noNans(geometry_msgs::Quaternion_<std::allocator<void> > const&)405817
mrs_uav_managers::estimation_manager::Support::noNans(geometry_msgs::TransformStamped_<std::allocator<void> > const&)1260794
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/support.h.gcov.frameset.html b/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/support.h.gcov.frameset.html new file mode 100644 index 0000000000..e8f1cf866e --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/support.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/estimation_manager/support.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/support.h.gcov.html b/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/support.h.gcov.html new file mode 100644 index 0000000000..a7c71c49d5 --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/support.h.gcov.html @@ -0,0 +1,405 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/estimation_manager/support.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/mrs_uav_managers/estimation_manager - support.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10210597.1 %
Date:2024-08-07 22:18:19Functions:1515100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef ESTIMATION_MANAGER_SUPPORT_H
+       3             : #define ESTIMATION_MANAGER_SUPPORT_H
+       4             : 
+       5             : /* includes //{ */
+       6             : 
+       7             : #include <string.h>
+       8             : 
+       9             : #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+      10             : 
+      11             : #include <geometry_msgs/TransformStamped.h>
+      12             : #include <geometry_msgs/Pose.h>
+      13             : #include <geometry_msgs/PointStamped.h>
+      14             : 
+      15             : #include <nav_msgs/Odometry.h>
+      16             : 
+      17             : #include <mrs_msgs/UavState.h>
+      18             : 
+      19             : #include <mrs_lib/attitude_converter.h>
+      20             : #include <mrs_lib/transformer.h>
+      21             : 
+      22             : //}
+      23             : 
+      24             : namespace mrs_uav_managers
+      25             : {
+      26             : 
+      27             : namespace estimation_manager
+      28             : {
+      29             : 
+      30             : /*//{ class Support */
+      31             : class Support {
+      32             : 
+      33             : public:
+      34             : 
+      35             :   const static inline std::string waiting_for_string = "\033[0;36mWAITING FOR:\033[0m";
+      36             : 
+      37             :   /*//{ toSnakeCase() */
+      38        2501 :   static std::string toSnakeCase(const std::string& str_in) {
+      39             : 
+      40        2501 :     std::string str(1, tolower(str_in[0]));
+      41             : 
+      42       39307 :     for (auto it = str_in.begin() + 1; it != str_in.end(); ++it) {
+      43       36806 :       if (isupper(*it) && *(it - 1) != '_' && islower(*(it - 1))) {
+      44        2067 :         str += "_";
+      45             :       }
+      46       36806 :       str += *it;
+      47             :     }
+      48             : 
+      49        2501 :     std::transform(str.begin(), str.end(), str.begin(), ::tolower);
+      50             : 
+      51        2501 :     return str;
+      52             :   }
+      53             :   /*//}*/
+      54             : 
+      55             : /* toLowercase() //{ */
+      56             : 
+      57         432 : static std::string toLowercase(const std::string str_in) {
+      58         432 :   std::string str_out = str_in;
+      59         432 :   std::transform(str_out.begin(), str_out.end(), str_out.begin(), ::tolower);
+      60         432 :   return str_out;
+      61             : }
+      62             : 
+      63             : //}
+      64             : 
+      65             : /* toUppercase() //{ */
+      66             : 
+      67             : static std::string toUppercase(const std::string str_in) {
+      68             :   std::string str_out = str_in;
+      69             :   std::transform(str_out.begin(), str_out.end(), str_out.begin(), ::toupper);
+      70             :   return str_out;
+      71             : }
+      72             : 
+      73             : //}
+      74             : 
+      75             :   /*//{ stateCovToString() */
+      76             :   template <typename StateCov>
+      77             :   static std::string stateCovToString(const StateCov& sc) {
+      78             :     std::stringstream ss;
+      79             :     ss << "State:\n";
+      80             :     for (int i = 0; i < sc.x.rows(); i++) {
+      81             :       for (int j = 0; j < sc.x.cols(); j++) {
+      82             :         ss << sc.x(i, j) << " ";
+      83             :       }
+      84             :       ss << "\n";
+      85             :     }
+      86             :     ss << "Cov:\n";
+      87             :     for (int i = 0; i < sc.P.rows(); i++) {
+      88             :       for (int j = 0; j < sc.P.cols(); j++) {
+      89             :         ss << sc.P(i, j) << " ";
+      90             :       }
+      91             :       ss << "\n";
+      92             :     }
+      93             :     return ss.str();
+      94             :   }
+      95             :   /*//}*/
+      96             : 
+      97             :   /* //{ rotateVecByHdg() */
+      98      327333 :   static tf2::Vector3 rotateVecByHdg(const geometry_msgs::Vector3& vec_in, const double hdg_in) {
+      99             : 
+     100      327333 :     const tf2::Quaternion q_hdg = mrs_lib::AttitudeConverter(0, 0, 0).setHeading(hdg_in);
+     101             : 
+     102      321802 :     const tf2::Vector3 vec_tf2(vec_in.x, vec_in.y, vec_in.z);
+     103             : 
+     104      321349 :     const tf2::Vector3 vec_rotated = tf2::quatRotate(q_hdg, vec_tf2);
+     105             : 
+     106      640516 :     return vec_rotated;
+     107             :   }
+     108             :   //}
+     109             : 
+     110             :   /* noNans() //{ */
+     111     1260794 :   static bool noNans(const geometry_msgs::TransformStamped& tf) {
+     112             : 
+     113     3779434 :     return (std::isfinite(tf.transform.rotation.x) && std::isfinite(tf.transform.rotation.y) && std::isfinite(tf.transform.rotation.z) &&
+     114     5037560 :             std::isfinite(tf.transform.rotation.w) && std::isfinite(tf.transform.translation.x) && std::isfinite(tf.transform.translation.y) &&
+     115     2519329 :             std::isfinite(tf.transform.translation.z));
+     116             :   }
+     117             :   //}
+     118             : 
+     119             :   /* noNans() //{ */
+     120      405817 :   static bool noNans(const geometry_msgs::Quaternion& q) {
+     121             : 
+     122      405817 :     return (std::isfinite(q.x) && std::isfinite(q.y) && std::isfinite(q.z) && std::isfinite(q.w));
+     123             :   }
+     124             :   //}
+     125             : 
+     126             :   /* isZeroQuaternion() //{ */
+     127             :   static bool isZeroQuaternion(const geometry_msgs::Quaternion& q) {
+     128             : 
+     129             :     return (q.x == 0 && q.y == 0 && q.z == 0 && q.w == 0);
+     130             :   }
+     131             :   //}
+     132             : 
+     133             :   /* tf2FromPose() //{ */
+     134             : 
+     135     1140986 :   static tf2::Transform tf2FromPose(const geometry_msgs::Pose& pose_in) {
+     136             : 
+     137     1140986 :     tf2::Vector3 position(pose_in.position.x, pose_in.position.y, pose_in.position.z);
+     138             : 
+     139     1140363 :     tf2::Quaternion q;
+     140     1140561 :     tf2::fromMsg(pose_in.orientation, q);
+     141             : 
+     142     1140231 :     tf2::Transform tf_out(q, position);
+     143             : 
+     144     2275980 :     return tf_out;
+     145             :   }
+     146             : 
+     147             :   //}
+     148             : 
+     149             :   /* poseFromTf2() //{ */
+     150             : 
+     151      774793 :   static geometry_msgs::Pose poseFromTf2(const tf2::Transform& tf_in) {
+     152             : 
+     153      774793 :     geometry_msgs::Pose pose_out;
+     154      773069 :     pose_out.position.x = tf_in.getOrigin().getX();
+     155      774483 :     pose_out.position.y = tf_in.getOrigin().getY();
+     156      774081 :     pose_out.position.z = tf_in.getOrigin().getZ();
+     157             : 
+     158      775676 :     pose_out.orientation = tf2::toMsg(tf_in.getRotation());
+     159             : 
+     160      775600 :     return pose_out;
+     161             :   }
+     162             : 
+     163             :   //}
+     164             : 
+     165             :   /* msgFromTf2() //{ */
+     166      364522 :   static geometry_msgs::Transform msgFromTf2(const tf2::Transform& tf_in) {
+     167             : 
+     168      364522 :     geometry_msgs::Transform tf_out;
+     169      364522 :     tf_out.translation.x = tf_in.getOrigin().getX();
+     170      364522 :     tf_out.translation.y = tf_in.getOrigin().getY();
+     171      364522 :     tf_out.translation.z = tf_in.getOrigin().getZ();
+     172      364522 :     tf_out.rotation = tf2::toMsg(tf_in.getRotation());
+     173             : 
+     174      364522 :     return tf_out;
+     175             :   }
+     176             : 
+     177             :   //}
+     178             :   
+     179             :   /* tf2FromMsg() //{ */
+     180             :   static tf2::Transform tf2FromMsg(const geometry_msgs::Transform& tf_in) {
+     181             : 
+     182             :     tf2::Transform tf_out;
+     183             :     tf_out.setOrigin(tf2::Vector3(tf_in.translation.x, tf_in.translation.y, tf_in.translation.z));
+     184             :     tf_out.setRotation(tf2::Quaternion(tf_in.rotation.x, tf_in.rotation.y, tf_in.rotation.z, tf_in.rotation.w));
+     185             : 
+     186             :     return tf_out;
+     187             :   }
+     188             : 
+     189             :   //}
+     190             :  
+     191             :   /* pointToVector3() //{ */
+     192             : 
+     193      765175 :   static geometry_msgs::Vector3 pointToVector3(const geometry_msgs::Point& point_in) {
+     194             : 
+     195      765175 :     geometry_msgs::Vector3 vec_out;
+     196      764823 :     vec_out.x = point_in.x;
+     197      764823 :     vec_out.y = point_in.y;
+     198      764823 :     vec_out.z = point_in.z;
+     199             : 
+     200      764823 :     return vec_out;
+     201             :   }
+     202             : 
+     203             :   //}
+     204             : 
+     205             :   /*//{ rotateVector() */
+     206      381464 :   static geometry_msgs::Vector3 rotateVector(const geometry_msgs::Vector3& vec_in, const geometry_msgs::Quaternion& q_in) {
+     207             : 
+     208             :     try {
+     209      381464 :       Eigen::Matrix3d        R = mrs_lib::AttitudeConverter(q_in);
+     210      381455 :       Eigen::Vector3d        vec_in_eigen(vec_in.x, vec_in.y, vec_in.z);
+     211      381356 :       Eigen::Vector3d        vec_eigen_rotated = R * vec_in_eigen;
+     212      381325 :       geometry_msgs::Vector3 vec_out;
+     213      381100 :       vec_out.x = vec_eigen_rotated[0];
+     214      381007 :       vec_out.y = vec_eigen_rotated[1];
+     215      381159 :       vec_out.z = vec_eigen_rotated[2];
+     216      381218 :       return vec_out;
+     217             :     }
+     218           0 :     catch (...) {
+     219           0 :       ROS_ERROR_THROTTLE(1.0, "[Support::rotateVector()]: failed");
+     220           0 :       return vec_in;
+     221             :     }
+     222             :   }
+     223             :   /*//}*/
+     224             : 
+     225             :   /*//{ uavStateToOdom() */
+     226      380422 :   static nav_msgs::Odometry uavStateToOdom(const mrs_msgs::UavState& uav_state) {
+     227      380422 :     nav_msgs::Odometry odom;
+     228      380424 :     odom.header              = uav_state.header;
+     229      380411 :     odom.child_frame_id      = uav_state.child_frame_id;
+     230      380411 :     odom.pose.pose           = uav_state.pose;
+     231      380411 :     odom.twist.twist.angular = uav_state.velocity.angular;
+     232             : 
+     233      380411 :     tf2::Quaternion q;
+     234      380413 :     tf2::fromMsg(odom.pose.pose.orientation, q);
+     235      380400 :     odom.twist.twist.linear = Support::rotateVector(uav_state.velocity.linear, mrs_lib::AttitudeConverter(q.inverse()));
+     236             : 
+     237      760452 :     return odom;
+     238             :   }
+     239             :   /*//}*/
+     240             : 
+     241             :   /*//{ getPoseDiff() */
+     242           5 :   static geometry_msgs::Pose getPoseDiff(const geometry_msgs::Pose& p1, const geometry_msgs::Pose& p2) {
+     243             : 
+     244           5 :     tf2::Vector3 v1, v2;
+     245           5 :     tf2::fromMsg(p1.position, v1);
+     246           5 :     tf2::fromMsg(p2.position, v2);
+     247           5 :     const tf2::Vector3 v3 = v1 - v2;
+     248             : 
+     249           5 :     tf2::Quaternion q1, q2;
+     250           5 :     tf2::fromMsg(p1.orientation, q1);
+     251           5 :     tf2::fromMsg(p2.orientation, q2);
+     252           5 :     tf2::Quaternion q3 = q2 * q1.inverse();
+     253           5 :     q3.normalize();
+     254             : 
+     255           5 :     geometry_msgs::Pose pose_diff;
+     256           5 :     tf2::toMsg(v3, pose_diff.position);
+     257           5 :     pose_diff.orientation = tf2::toMsg(q3);
+     258             : 
+     259          10 :     return pose_diff;
+     260             :   }
+     261             :   /*//}*/
+     262             : 
+     263             :   /*//{ applyPoseDiff() */
+     264      171609 :   static geometry_msgs::Pose applyPoseDiff(const geometry_msgs::Pose& pose_in, const geometry_msgs::Pose& pose_diff) {
+     265             : 
+     266      171609 :     tf2::Vector3    pos_in;
+     267      171609 :     tf2::Quaternion q_in;
+     268      171609 :     tf2::fromMsg(pose_in.position, pos_in);
+     269      171609 :     tf2::fromMsg(pose_in.orientation, q_in);
+     270             : 
+     271      171609 :     tf2::Vector3    pos_diff;
+     272      171609 :     tf2::Quaternion q_diff;
+     273      171609 :     tf2::fromMsg(pose_diff.position, pos_diff);
+     274      171609 :     tf2::fromMsg(pose_diff.orientation, q_diff);
+     275             : 
+     276      171609 :     const tf2::Vector3    pos_out = tf2::quatRotate(q_diff.inverse(), (pos_in - pos_diff));
+     277      171609 :     const tf2::Quaternion q_out   = q_diff.inverse() * q_in;
+     278             : 
+     279      171609 :     geometry_msgs::Pose pose_out;
+     280      171609 :     tf2::toMsg(pos_out, pose_out.position);
+     281      171609 :     pose_out.orientation = tf2::toMsg(q_out);
+     282             : 
+     283      343218 :     return pose_out;
+     284             :   }
+     285             : 
+     286             :   //}
+     287             : 
+     288             :   /*//{ loadParamFile() */
+     289             :   static void loadParamFile(const std::string& file_path, const std::string& ns = "") {
+     290             :     std::string command = "rosparam load " + file_path + " " + ns;
+     291             :     int         result  = std::system(command.c_str());
+     292             :     if (result != 0) {
+     293             :       ROS_ERROR_STREAM("Could not set config file " << file_path << " to the parameter server.");
+     294             :     }
+     295             :   }
+     296             :   /*//}*/
+     297             : 
+     298             :   /*//{ isStringInVector() */
+     299         336 :   static bool isStringInVector(const std::string& value, const std::vector<std::string>& str_vec) {
+     300         336 :     return std::find(str_vec.begin(), str_vec.end(), value) != str_vec.end();
+     301             :   }
+     302             :   /*//}*/
+     303             : 
+     304             :   /*//{ frameIdToEstimatorName() */
+     305          10 :   static std::string frameIdToEstimatorName(const std::string& str_in) {
+     306          20 :     const std::string str_tmp = str_in.substr(str_in.find("/")+1, str_in.size());
+     307          20 :     return str_tmp.substr(0, str_tmp.find("_origin") );
+     308             :   }
+     309             :   /*//}*/
+     310             : 
+     311             : private:
+     312             :   Support() {
+     313             :   }
+     314             : };
+     315             : /*//}*/
+     316             : 
+     317             : }  // namespace estimation_manager
+     318             : 
+     319             : }  // namespace mrs_uav_managers
+     320             : 
+     321             : #endif  // ESTIMATION_MANAGER_SUPPORT_H
+
+
+
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mrs_uav_managers::StateEstimator::~StateEstimator()0
mrs_uav_managers::StateEstimator::StateEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)116
mrs_uav_managers::StateEstimator::~StateEstimator().2116
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mrs_uav_managers::StateEstimator::StateEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)116
mrs_uav_managers::StateEstimator::~StateEstimator()0
mrs_uav_managers::StateEstimator::~StateEstimator().2116
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Date:2024-08-07 22:18:19Functions:2366.7 %
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+
          Line data    Source code
+
+       1             : #ifndef MRS_UAV_MANAGERS_STATE_ESTIMATOR_H
+       2             : #define MRS_UAV_MANAGERS_STATE_ESTIMATOR_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <Eigen/Dense>
+       9             : 
+      10             : #include <nav_msgs/Odometry.h>
+      11             : 
+      12             : #include <mrs_msgs/UavState.h>
+      13             : #include <mrs_msgs/Float64ArrayStamped.h>
+      14             : #include <mrs_msgs/HwApiCapabilities.h>
+      15             : 
+      16             : #include <mrs_uav_managers/estimation_manager/estimator.h>
+      17             : 
+      18             : //}
+      19             : 
+      20             : namespace mrs_uav_managers
+      21             : {
+      22             : 
+      23             : namespace state
+      24             : {
+      25             : const char type[] = "STATE";
+      26             : }
+      27             : 
+      28             : using namespace estimation_manager;
+      29             : 
+      30             : class StateEstimator : public Estimator {
+      31             : 
+      32             : protected:
+      33             :   const std::string package_name_ = "mrs_uav_state_estimators";
+      34             : 
+      35             :   ros::NodeHandle nh_;
+      36             : 
+      37             :   mrs_msgs::UavState uav_state_;
+      38             :   mrs_msgs::UavState uav_state_init_;
+      39             :   mutable std::mutex mtx_uav_state_;
+      40             : 
+      41             :   nav_msgs::Odometry odom_;
+      42             :   mutable std::mutex mtx_odom_;
+      43             : 
+      44             :   nav_msgs::Odometry innovation_;
+      45             :   nav_msgs::Odometry innovation_init_;
+      46             :   mutable std::mutex mtx_innovation_;
+      47             : 
+      48             :   mrs_msgs::Float64ArrayStamped pose_covariance_, twist_covariance_;
+      49             :   mutable std::mutex            mtx_covariance_;
+      50             : 
+      51             :   bool is_override_frame_id_ = false;
+      52             : 
+      53             : protected:
+      54             :   mutable mrs_lib::PublisherHandler<mrs_msgs::UavState>               ph_uav_state_;
+      55             :   mutable mrs_lib::PublisherHandler<nav_msgs::Odometry>               ph_odom_;
+      56             :   mutable mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>    ph_pose_covariance_, ph_twist_covariance_;
+      57             :   mutable mrs_lib::PublisherHandler<nav_msgs::Odometry>               ph_innovation_;
+      58             :   mutable mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped> ph_attitude_;
+      59             : 
+      60             : public:
+      61         116 :   StateEstimator(const std::string &name, const std::string &frame_id, const std::string &package_name)
+      62         116 :       : Estimator(state::type, name, frame_id), package_name_(package_name) {
+      63         116 :   }
+      64             : 
+      65         116 :   virtual ~StateEstimator(void) {
+      66         116 :   }
+      67             : 
+      68             :   virtual bool setUavState(const mrs_msgs::UavState &uav_state) = 0;
+      69             : 
+      70             :   // implemented methods
+      71             :   std::optional<mrs_msgs::UavState>        getUavState();
+      72             :   nav_msgs::Odometry                       getInnovation() const;
+      73             :   std::vector<double>                      getPoseCovariance() const;
+      74             :   std::vector<double>                      getTwistCovariance() const;
+      75             :   void                                     publishUavState() const;
+      76             :   void                                     publishOdom() const;
+      77             :   void                                     publishCovariance() const;
+      78             :   void                                     publishInnovation() const;
+      79             :   std::optional<geometry_msgs::Quaternion> rotateQuaternionByHeading(const geometry_msgs::Quaternion &q, const double hdg) const;
+      80             :   bool                                     isCompatibleWithHwApi(const mrs_msgs::HwApiCapabilitiesConstPtr &hw_api_capabilities) const;
+      81             : };
+      82             : 
+      83             : }  // namespace mrs_uav_managers
+      84             : 
+      85             : #endif  // MRS_UAV_MANAGERS_STATE_ESTIMATOR_H
+
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+
          Line data    Source code
+
+       1             : #ifndef MRS_UAV_TRACKER_H
+       2             : #define MRS_UAV_TRACKER_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <mrs_uav_managers/control_manager/common_handlers.h>
+       9             : #include <mrs_uav_managers/control_manager/private_handlers.h>
+      10             : 
+      11             : #include <mrs_msgs/TrackerCommand.h>
+      12             : #include <mrs_msgs/TrackerStatus.h>
+      13             : #include <mrs_msgs/UavState.h>
+      14             : 
+      15             : #include <mrs_msgs/Float64Srv.h>
+      16             : #include <mrs_msgs/Float64SrvRequest.h>
+      17             : #include <mrs_msgs/Float64SrvResponse.h>
+      18             : 
+      19             : #include <mrs_msgs/Float64.h>
+      20             : 
+      21             : #include <mrs_msgs/ReferenceSrv.h>
+      22             : #include <mrs_msgs/ReferenceSrvRequest.h>
+      23             : #include <mrs_msgs/ReferenceSrvResponse.h>
+      24             : 
+      25             : #include <mrs_msgs/VelocityReferenceSrv.h>
+      26             : #include <mrs_msgs/VelocityReferenceSrvRequest.h>
+      27             : #include <mrs_msgs/VelocityReferenceSrvResponse.h>
+      28             : 
+      29             : #include <mrs_msgs/TrajectoryReferenceSrv.h>
+      30             : #include <mrs_msgs/TrajectoryReferenceSrvRequest.h>
+      31             : #include <mrs_msgs/TrajectoryReferenceSrvResponse.h>
+      32             : 
+      33             : #include <std_srvs/Trigger.h>
+      34             : #include <std_srvs/TriggerRequest.h>
+      35             : #include <std_srvs/TriggerResponse.h>
+      36             : 
+      37             : #include <std_srvs/SetBool.h>
+      38             : #include <std_srvs/SetBoolRequest.h>
+      39             : #include <std_srvs/SetBoolResponse.h>
+      40             : 
+      41             : #include <mrs_msgs/DynamicsConstraintsSrv.h>
+      42             : #include <mrs_msgs/DynamicsConstraintsSrvRequest.h>
+      43             : #include <mrs_msgs/DynamicsConstraintsSrvResponse.h>
+      44             : 
+      45             : #include <mrs_uav_managers/controller.h>
+      46             : 
+      47             : //}
+      48             : 
+      49             : namespace mrs_uav_managers
+      50             : {
+      51             : 
+      52             : class Tracker {
+      53             : 
+      54             : public:
+      55             :   /**
+      56             :    * @brief It is called once for every tracker. The runtime is not limited.
+      57             :    *
+      58             :    * @param nh the node handle of the ControlManager
+      59             :    * @param uav_name the UAV name (e.g., "uav1")
+      60             :    * @param common_handlers handlers shared between trackers and controllers
+      61             :    * @param private_handlers handlers provided individually to each tracker
+      62             :    *
+      63             :    * @return true if success
+      64             :    */
+      65             :   virtual bool initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      66             :                           std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers) = 0;
+      67             : 
+      68             :   /**
+      69             :    * @brief It is called before the trackers output will be required and used. Should not take much time (within miliseconds).
+      70             :    *
+      71             :    * @param last_tracker_cmd the last command produced by the last active tracker. Should be used as an initial condition to maintain a smooth reference.
+      72             :    *
+      73             :    * @return true if success and message
+      74             :    */
+      75             :   virtual std::tuple<bool, std::string> activate(const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd) = 0;
+      76             : 
+      77             :   /**
+      78             :    * @brief is called when this trackers output is no longer needed. However, it can be activated later.
+      79             :    */
+      80             :   virtual void deactivate(void) = 0;
+      81             : 
+      82             :   /**
+      83             :    * @brief It is called during every switch of reference frames of the UAV state estimate.
+      84             :    * The tracker should recalculate its internal states from old the frame to the new one.
+      85             :    *
+      86             :    * @param new_uav_state the new UavState which will come in the next update()
+      87             :    *
+      88             :    * @return a service response
+      89             :    */
+      90             :   virtual const std_srvs::TriggerResponse::ConstPtr switchOdometrySource(const mrs_msgs::UavState &new_uav_state) = 0;
+      91             : 
+      92             :   /**
+      93             :    * @brief Request for reseting the tracker's states given the UAV is static.
+      94             :    *
+      95             :    * @return true if success
+      96             :    */
+      97             :   virtual bool resetStatic(void) = 0;
+      98             : 
+      99             :   /**
+     100             :    * @brief The most important routine. It is called with every state estimator update and it should produce a new reference for the controllers.
+     101             :    *        The run time should be as short as possible (<= 1 ms).
+     102             :    *
+     103             :    * @param uav_state the latest UAV state estimate
+     104             :    * @param last_attitude_cmd the last controller's output command (may be useful)
+     105             :    *
+     106             :    * @return the new reference for the controllers
+     107             :    */
+     108             :   virtual std::optional<mrs_msgs::TrackerCommand> update(const mrs_msgs::UavState &uav_state, const Controller::ControlOutput &last_control_output) = 0;
+     109             : 
+     110             :   /**
+     111             :    * @brief A request for the tracker's status.
+     112             :    *
+     113             :    * @return the tracker's status
+     114             :    */
+     115             :   virtual const mrs_msgs::TrackerStatus getStatus() = 0;
+     116             : 
+     117             :   /**
+     118             :    * @brief Request for a flight to a given coordinates.
+     119             :    *
+     120             :    * @param cmd the reference
+     121             :    *
+     122             :    * @return a service response
+     123             :    */
+     124             :   virtual const mrs_msgs::ReferenceSrvResponse::ConstPtr setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd) = 0;
+     125             : 
+     126             :   /**
+     127             :    * @brief Request for desired velocity reference
+     128             :    *
+     129             :    * @param cmd the reference
+     130             :    *
+     131             :    * @return a service response
+     132             :    */
+     133             :   virtual const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd) = 0;
+     134             : 
+     135             :   /**
+     136             :    * @brief Request for a flight along a given trajectory
+     137             :    *
+     138             :    * @param cmd the reference trajectory
+     139             :    *
+     140             :    * @return a service response
+     141             :    */
+     142             :   virtual const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr setTrajectoryReference(const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) = 0;
+     143             : 
+     144             :   /**
+     145             :    * @brief Request for stopping the motion of the UAV.
+     146             :    *
+     147             :    * @param trigger service request
+     148             :    *
+     149             :    * @return a service response
+     150             :    */
+     151             :   virtual const std_srvs::TriggerResponse::ConstPtr hover(const std_srvs::TriggerRequest::ConstPtr &cmd) = 0;
+     152             : 
+     153             :   /**
+     154             :    * @brief Request to goto to the first trajectory coordinate.
+     155             :    *
+     156             :    * @param trigger service request
+     157             :    *
+     158             :    * @return a service response
+     159             :    */
+     160             :   virtual const std_srvs::TriggerResponse::ConstPtr gotoTrajectoryStart(const std_srvs::TriggerRequest::ConstPtr &cmd) = 0;
+     161             : 
+     162             :   /**
+     163             :    * @brief Request to start tracking of the pre-loaded trajectory
+     164             :    *
+     165             :    * @param trigger service request
+     166             :    *
+     167             :    * @return a service response
+     168             :    */
+     169             :   virtual const std_srvs::TriggerResponse::ConstPtr startTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd) = 0;
+     170             : 
+     171             :   /**
+     172             :    * @brief Request to stop tracking of the pre-loaded trajectory. The hover() routine will be engaged, thus it should be implemented by the tracker.
+     173             :    *
+     174             :    * @param trigger service request
+     175             :    *
+     176             :    * @return a service response
+     177             :    */
+     178             :   virtual const std_srvs::TriggerResponse::ConstPtr stopTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd) = 0;
+     179             : 
+     180             :   /**
+     181             :    * @brief Request to resume the previously stopped trajectory tracking.
+     182             :    *
+     183             :    * @param trigger service request
+     184             :    *
+     185             :    * @return a service response
+     186             :    */
+     187             :   virtual const std_srvs::TriggerResponse::ConstPtr resumeTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd) = 0;
+     188             : 
+     189             :   /**
+     190             :    * @brief Request for enabling/disabling callbacks.
+     191             :    *
+     192             :    * @param cmd service request
+     193             :    *
+     194             :    * @return a service response
+     195             :    */
+     196             :   virtual const std_srvs::SetBoolResponse::ConstPtr enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) = 0;
+     197             : 
+     198             :   /**
+     199             :    * @brief Request for setting new constraints.
+     200             :    *
+     201             :    * @param constraints to be set
+     202             :    *
+     203             :    * @return a service response
+     204             :    */
+     205             :   virtual const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &constraints) = 0;
+     206             : 
+     207         649 :   virtual ~Tracker() = default;
+     208             : };
+     209             : 
+     210             : }  // namespace mrs_uav_managers
+     211             : 
+     212             : #endif
+
+
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mrs_uav_managers::TfMappingOrigin::callbackMappingOdomAlt(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_managers::TfMappingOrigin::callbackMappingOdomLat(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_managers::TfMappingOrigin::callbackMappingOdomRot(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)0
mrs_uav_managers::TfMappingOrigin::TfMappingOrigin(ros::NodeHandle, std::shared_ptr<mrs_lib::ParamLoader>, std::shared_ptr<mrs_lib::TransformBroadcaster> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t>)0
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mrs_uav_managers::TfMappingOrigin::getPrintName[abi:cxx11]()0
mrs_uav_managers::TfMappingOrigin::callbackMappingOdomAlt(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_managers::TfMappingOrigin::callbackMappingOdomLat(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_managers::TfMappingOrigin::callbackMappingOdomRot(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)0
mrs_uav_managers::TfMappingOrigin::TfMappingOrigin(ros::NodeHandle, std::shared_ptr<mrs_lib::ParamLoader>, std::shared_ptr<mrs_lib::TransformBroadcaster> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t>)0
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+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef TF_MAPPING_ORIGIN_H
+       3             : #define TF_MAPPING_ORIGIN_H
+       4             : 
+       5             : #include <ros/ros.h>
+       6             : 
+       7             : #include <mrs_lib/param_loader.h>
+       8             : #include <mrs_lib/subscribe_handler.h>
+       9             : #include <mrs_lib/transform_broadcaster.h>
+      10             : #include <mrs_lib/attitude_converter.h>
+      11             : #include <mrs_lib/publisher_handler.h>
+      12             : 
+      13             : #include <nav_msgs/Odometry.h>
+      14             : #include <geometry_msgs/QuaternionStamped.h>
+      15             : #include <geometry_msgs/TransformStamped.h>
+      16             : 
+      17             : #include <mrs_uav_managers/estimation_manager/support.h>
+      18             : #include <mrs_uav_managers/estimation_manager/common_handlers.h>
+      19             : 
+      20             : namespace mrs_uav_managers
+      21             : {
+      22             : 
+      23             : /*//{ class TfMappingOrigin */
+      24             : class TfMappingOrigin {
+      25             : 
+      26             :   using Support = estimation_manager::Support;
+      27             : 
+      28             : public:
+      29             :   /*//{ constructor */
+      30           0 :   TfMappingOrigin(ros::NodeHandle nh, std::shared_ptr<mrs_lib::ParamLoader> param_loader, const std::shared_ptr<mrs_lib::TransformBroadcaster>& broadcaster,
+      31             :                   const std::shared_ptr<estimation_manager::CommonHandlers_t> ch)
+      32           0 :       : nh_(nh), broadcaster_(broadcaster), ch_(ch) {
+      33             : 
+      34           0 :     ROS_INFO("[%s]: initializing", getPrintName().c_str());
+      35             : 
+      36           0 :     const std::string yaml_prefix = "mrs_uav_managers/transform_manager/mapping_origin_tf/";
+      37             : 
+      38             :     /*//{ load mapping origin parameters */
+      39           0 :     param_loader->loadParam(yaml_prefix + "debug_prints", debug_prints_);
+      40           0 :     param_loader->loadParam(yaml_prefix + "lateral_topic", lateral_topic_);
+      41           0 :     param_loader->loadParam(yaml_prefix + "altitude_topic", altitude_topic_);
+      42           0 :     param_loader->loadParam(yaml_prefix + "orientation_topic", orientation_topic_);
+      43           0 :     param_loader->loadParam(yaml_prefix + "inverted", tf_inverted_);
+      44           0 :     param_loader->loadParam(yaml_prefix + "custom_frame_id/enabled", custom_frame_id_enabled_);
+      45             : 
+      46           0 :     if (custom_frame_id_enabled_) {
+      47           0 :       param_loader->loadParam(yaml_prefix + "custom_frame_id/frame_id", custom_frame_id_);
+      48             :     }
+      49             : 
+      50           0 :     if (!param_loader->loadedSuccessfully()) {
+      51           0 :       ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+      52           0 :       ros::shutdown();
+      53             :     }
+      54             : 
+      55             :     /*//}*/
+      56             : 
+      57             :     /*//{ initialize subscribers */
+      58           0 :     mrs_lib::SubscribeHandlerOptions shopts;
+      59           0 :     shopts.nh                 = nh_;
+      60           0 :     shopts.node_name          = getPrintName();
+      61           0 :     shopts.no_message_timeout = mrs_lib::no_timeout;
+      62           0 :     shopts.threadsafe         = true;
+      63           0 :     shopts.autostart          = true;
+      64           0 :     shopts.queue_size         = 10;
+      65           0 :     shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      66             : 
+      67             :     sh_mapping_odom_lat_ =
+      68           0 :         mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "/" + ch_->uav_name + "/" + lateral_topic_, &TfMappingOrigin::callbackMappingOdomLat, this);
+      69             : 
+      70           0 :     if (orientation_topic_ != lateral_topic_) {
+      71           0 :       sh_mapping_odom_rot_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, "/" + ch_->uav_name + "/" + orientation_topic_.c_str(),
+      72           0 :                                                                                          &TfMappingOrigin::callbackMappingOdomRot, this);
+      73             :     }
+      74             : 
+      75           0 :     if (altitude_topic_ != lateral_topic_) {
+      76           0 :       sh_mapping_odom_alt_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "/" + ch_->uav_name + "/" + altitude_topic_.c_str(),
+      77           0 :                                                                            &TfMappingOrigin::callbackMappingOdomAlt, this);
+      78             :     }
+      79             :     /*//}*/
+      80             : 
+      81           0 :     ph_map_delay_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "map_delay_out", 10);
+      82             : 
+      83           0 :     is_initialized_ = true;
+      84           0 :     ROS_INFO("[%s]: initialized", getPrintName().c_str());
+      85           0 :   }
+      86             :   /*//}*/
+      87             : 
+      88             :   /*//{ getName() */
+      89             :   std::string getName() {
+      90             :     return name_;
+      91             :   }
+      92             :   /*//}*/
+      93             : 
+      94             :   /*//{ getPrintName() */
+      95           0 :   std::string getPrintName() {
+      96           0 :     return ch_->nodelet_name + "/" + name_;
+      97             :   }
+      98             :   /*//}*/
+      99             : 
+     100             : private:
+     101             :   const std::string name_ = "TfMappingOrigin";
+     102             : 
+     103             :   ros::NodeHandle nh_;
+     104             : 
+     105             :   std::shared_ptr<mrs_lib::TransformBroadcaster> broadcaster_;
+     106             : 
+     107             :   std::shared_ptr<estimation_manager::CommonHandlers_t> ch_;
+     108             : 
+     109             :   std::atomic_bool is_initialized_ = false;
+     110             : 
+     111             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped> ph_map_delay_;
+     112             : 
+     113             :   bool        debug_prints_;
+     114             :   bool        tf_inverted_;
+     115             :   bool        custom_frame_id_enabled_;
+     116             :   std::string custom_frame_id_;
+     117             :   double      cache_duration_;
+     118             : 
+     119             :   std::string                                   lateral_topic_;
+     120             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_mapping_odom_lat_;
+     121             :   std::vector<nav_msgs::Odometry>               vec_mapping_odom_lat_;
+     122             :   std::atomic_bool                              got_mapping_odom_lat_ = false;
+     123             :   std::atomic<double>                           timestamp_lat_;
+     124             : 
+     125             :   /*//{ callbackMappingOdomLat() */
+     126             : 
+     127           0 :   void callbackMappingOdomLat(const nav_msgs::Odometry::ConstPtr msg) {
+     128             : 
+     129           0 :     if (!is_initialized_) {
+     130           0 :       return;
+     131             :     }
+     132             : 
+     133           0 :     timestamp_lat_ = msg->header.stamp.toSec();
+     134             : 
+     135           0 :     if (!got_mapping_odom_lat_) {
+     136           0 :       got_mapping_odom_lat_ = true;
+     137             :     }
+     138             : 
+     139           0 :     if (!got_mapping_odom_rot_ && orientation_topic_ == lateral_topic_) {
+     140           0 :       got_mapping_odom_rot_ = true;
+     141             :     }
+     142             : 
+     143           0 :     if (!got_mapping_odom_alt_ && altitude_topic_ == lateral_topic_) {
+     144           0 :       got_mapping_odom_alt_ = true;
+     145             :     }
+     146             : 
+     147           0 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TfMappingOrigin::callbackMappingOdomLat", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     148             : 
+     149           0 :     const double hdg_mapping_old = mrs_lib::AttitudeConverter(msg->pose.pose.orientation).getHeading();
+     150             : 
+     151             :     /* publish mapping origin tf //{ */
+     152             : 
+     153           0 :     bool clear_needed = false;
+     154             : 
+     155           0 :     if (got_mapping_odom_rot_ && got_mapping_odom_alt_) {
+     156           0 :       std::scoped_lock lock(mtx_mapping_odom_rot_);
+     157             : 
+     158             :       // Copy mapping odometry
+     159           0 :       nav_msgs::Odometry mapping_odom;
+     160           0 :       mapping_odom = *msg;
+     161             : 
+     162             :       // Find corresponding orientation
+     163           0 :       geometry_msgs::QuaternionStamped rot_tmp           = *sh_mapping_odom_rot_.getMsg();  // start with newest msg
+     164           0 :       ros::Time                        dbg_timestamp_rot = rot_tmp.header.stamp;
+     165           0 :       tf2::Quaternion                  tf2_rot;
+     166             : 
+     167           0 :       for (size_t i = 0; i < vec_mapping_odom_rot_.size(); i++) {
+     168           0 :         if (mapping_odom.header.stamp < vec_mapping_odom_rot_.at(i).header.stamp) {
+     169             : 
+     170             :           // Choose an orientation with closest timestamp
+     171           0 :           double time_diff      = std::fabs(vec_mapping_odom_rot_.at(i).header.stamp.toSec() - mapping_odom.header.stamp.toSec());
+     172           0 :           double time_diff_prev = std::numeric_limits<double>::max();
+     173           0 :           if (i > 0) {
+     174           0 :             time_diff_prev = std::fabs(vec_mapping_odom_rot_.at(i - 1).header.stamp.toSec() - mapping_odom.header.stamp.toSec());
+     175             :           }
+     176           0 :           if (time_diff_prev < time_diff && i > 0) {
+     177           0 :             i = i - 1;
+     178             :           }
+     179             : 
+     180             :           // Cache is too small if it is full and its oldest element is used
+     181           0 :           if (clear_needed && i == 0) {
+     182           0 :             ROS_WARN_THROTTLE(1.0, "[%s] Mapping orientation cache is too small.", getPrintName().c_str());
+     183             :           }
+     184           0 :           rot_tmp           = vec_mapping_odom_rot_.at(i);
+     185           0 :           dbg_timestamp_rot = vec_mapping_odom_rot_.at(i).header.stamp;
+     186           0 :           break;
+     187             :         }
+     188             :       }
+     189             : 
+     190           0 :       tf2_rot = mrs_lib::AttitudeConverter(rot_tmp.quaternion);
+     191             : 
+     192             :       // Obtain heading from orientation
+     193           0 :       double hdg = 0;
+     194             :       try {
+     195           0 :         hdg = mrs_lib::AttitudeConverter(rot_tmp.quaternion).getHeading();
+     196             :       }
+     197           0 :       catch (...) {
+     198           0 :         ROS_WARN("[%s]: failed to getHeading() from rot_tmp", getPrintName().c_str());
+     199             :       }
+     200             : 
+     201             :       // Build rotation matrix from difference between new heading and old heading
+     202           0 :       tf2::Matrix3x3 rot_mat = mrs_lib::AttitudeConverter(Eigen::AngleAxisd(hdg_mapping_old - hdg, Eigen::Vector3d::UnitZ()));
+     203             : 
+     204             :       // Transform the mavros orientation by the rotation matrix
+     205           0 :       geometry_msgs::Quaternion new_orientation = mrs_lib::AttitudeConverter(tf2::Transform(rot_mat) * tf2_rot);
+     206             : 
+     207             :       // Set new orientation
+     208           0 :       mapping_odom.pose.pose.orientation = new_orientation;
+     209             : 
+     210             : 
+     211             :       // Find corresponding local odom
+     212           0 :       double    odom_alt          = msg->pose.pose.position.z;  // start with newest msg
+     213           0 :       ros::Time dbg_timestamp_alt = msg->header.stamp;
+     214           0 :       for (size_t i = 0; i < vec_mapping_odom_alt_.size(); i++) {
+     215           0 :         if (mapping_odom.header.stamp < vec_mapping_odom_alt_.at(i).header.stamp) {
+     216             : 
+     217             :           // Choose orientation with closest timestamp
+     218           0 :           double time_diff      = std::fabs(vec_mapping_odom_alt_.at(i).header.stamp.toSec() - mapping_odom.header.stamp.toSec());
+     219           0 :           double time_diff_prev = std::numeric_limits<double>::max();
+     220           0 :           if (i > 0) {
+     221           0 :             time_diff_prev = std::fabs(vec_mapping_odom_alt_.at(i - 1).header.stamp.toSec() - mapping_odom.header.stamp.toSec());
+     222             :           }
+     223           0 :           if (time_diff_prev < time_diff && i > 0) {
+     224           0 :             i = i - 1;
+     225             :           }
+     226             :           // Cache is too small if it is full and its oldest element is used
+     227           0 :           if (clear_needed && i == 0) {
+     228           0 :             ROS_WARN_THROTTLE(1.0, "[%s] mapping orientation cache (for mapping tf) is too small.", getPrintName().c_str());
+     229             :           }
+     230           0 :           odom_alt          = vec_mapping_odom_alt_.at(i).pose.pose.position.z;
+     231           0 :           dbg_timestamp_alt = vec_mapping_odom_alt_.at(i).header.stamp;
+     232           0 :           break;
+     233             :         }
+     234             :       }
+     235             : 
+     236             :       // Set altitude
+     237           0 :       mapping_odom.pose.pose.position.z = odom_alt;
+     238             : 
+     239             :       // Get inverse transform
+     240           0 :       tf2::Transform      tf_mapping_inv   = Support::tf2FromPose(mapping_odom.pose.pose).inverse();
+     241           0 :       geometry_msgs::Pose pose_mapping_inv = Support::poseFromTf2(tf_mapping_inv);
+     242             : 
+     243           0 :       geometry_msgs::TransformStamped tf_mapping;
+     244           0 :       tf_mapping.header.stamp    = mapping_odom.header.stamp;
+     245           0 :       tf_mapping.header.frame_id = ch_->frames.ns_fcu;
+     246           0 :       if (custom_frame_id_enabled_) {
+     247           0 :         tf_mapping.child_frame_id = ch_->uav_name + "/" + custom_frame_id_;
+     248             :       } else {
+     249           0 :         tf_mapping.child_frame_id = mapping_odom.header.frame_id;
+     250             :       }
+     251           0 :       tf_mapping.transform.translation = Support::pointToVector3(pose_mapping_inv.position);
+     252           0 :       tf_mapping.transform.rotation    = pose_mapping_inv.orientation;
+     253             : 
+     254           0 :       if (Support::noNans(tf_mapping)) {
+     255             :         try {
+     256           0 :           broadcaster_->sendTransform(tf_mapping);
+     257             :         }
+     258           0 :         catch (...) {
+     259           0 :           ROS_ERROR("[%s]: Exception caught during publishing TF: %s - %s.", getPrintName().c_str(), tf_mapping.child_frame_id.c_str(),
+     260             :                     tf_mapping.header.frame_id.c_str());
+     261             :         }
+     262             :       } else {
+     263           0 :         ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_mapping.header.frame_id.c_str(),
+     264             :                           tf_mapping.child_frame_id.c_str());
+     265             :       }
+     266             : 
+     267             :       // debug timestamps: rot and alt timestamps should be as close as possible to lat_timestamp, the delay is the difference between current time and the time
+     268             :       // of acquisition of scan that was used to calculate the pose estimate
+     269           0 :       if (debug_prints_) {
+     270           0 :         ROS_INFO("[%s] lat timestamp: %.6f, rot stamp: %.6f (diff: %.6f),  alt stamp: %.6f (diff: %.6f), delay: %.6f", getPrintName().c_str(),
+     271             :                  mapping_odom.header.stamp.toSec(), dbg_timestamp_rot.toSec(), dbg_timestamp_rot.toSec() - mapping_odom.header.stamp.toSec(),
+     272             :                  dbg_timestamp_alt.toSec(), dbg_timestamp_alt.toSec() - mapping_odom.header.stamp.toSec(),
+     273             :                  ros::Time::now().toSec() - mapping_odom.header.stamp.toSec());
+     274             :       }
+     275             : 
+     276           0 :       mrs_msgs::Float64Stamped map_delay_msg;
+     277           0 :       map_delay_msg.header.stamp = ros::Time::now();
+     278           0 :       map_delay_msg.value        = ros::Time::now().toSec() - mapping_odom.header.stamp.toSec();
+     279           0 :       ph_map_delay_.publish(map_delay_msg);
+     280             :     }
+     281             : 
+     282             :     //}
+     283             :   }
+     284             :   /*//}*/
+     285             : 
+     286             :   std::string                                                 orientation_topic_;
+     287             :   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_mapping_odom_rot_;
+     288             :   std::vector<geometry_msgs::QuaternionStamped>               vec_mapping_odom_rot_;
+     289             :   std::mutex                                                  mtx_mapping_odom_rot_;
+     290             :   std::atomic_bool                                            got_mapping_odom_rot_ = false;
+     291             : 
+     292             :   /*//{ callbackMappingOdomRot() */
+     293           0 :   void callbackMappingOdomRot(const geometry_msgs::QuaternionStamped::ConstPtr msg) {
+     294             : 
+     295           0 :     if (!is_initialized_) {
+     296           0 :       return;
+     297             :     }
+     298             : 
+     299           0 :     if (!got_mapping_odom_lat_) {
+     300           0 :       return;
+     301             :     }
+     302             : 
+     303           0 :     std::scoped_lock lock(mtx_mapping_odom_rot_);
+     304             : 
+     305             :     // Add new data
+     306           0 :     vec_mapping_odom_rot_.push_back(*msg);
+     307             : 
+     308             :     // Delete old data
+     309           0 :     size_t index_delete = 0;
+     310           0 :     bool   clear_needed = false;
+     311           0 :     for (size_t i = 0; i < vec_mapping_odom_rot_.size(); i++) {
+     312           0 :       if (timestamp_lat_ - vec_mapping_odom_rot_.at(i).header.stamp.toSec() > cache_duration_) {
+     313           0 :         index_delete = i;
+     314           0 :         clear_needed = true;
+     315             :       } else {
+     316           0 :         break;
+     317             :       }
+     318             :     }
+     319           0 :     if (clear_needed) {
+     320           0 :       for (int i = (int)index_delete; i >= 0; i--) {
+     321           0 :         vec_mapping_odom_rot_.erase(vec_mapping_odom_rot_.begin() + i);
+     322             :       }
+     323           0 :       clear_needed = false;
+     324             :     }
+     325             : 
+     326           0 :     if (!got_mapping_odom_rot_) {
+     327           0 :       got_mapping_odom_rot_ = true;
+     328             :     }
+     329             : 
+     330           0 :     if (debug_prints_) {
+     331           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: mapping odom rot cache size: %lu", getPrintName().c_str(), vec_mapping_odom_rot_.size());
+     332             :     }
+     333             :   }
+     334             :   /*//}*/
+     335             : 
+     336             :   std::string                                   altitude_topic_;
+     337             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_mapping_odom_alt_;
+     338             :   std::vector<nav_msgs::Odometry>               vec_mapping_odom_alt_;
+     339             :   std::mutex                                    mtx_mapping_odom_alt_;
+     340             :   std::atomic_bool                              got_mapping_odom_alt_ = false;
+     341             : 
+     342             :   /*//{ callbackMappingOdomAlt() */
+     343           0 :   void callbackMappingOdomAlt(const nav_msgs::Odometry::ConstPtr msg) {
+     344             : 
+     345           0 :     if (!is_initialized_) {
+     346           0 :       return;
+     347             :     }
+     348             : 
+     349           0 :     if (!got_mapping_odom_lat_) {
+     350           0 :       return;
+     351             :     }
+     352             : 
+     353           0 :     std::scoped_lock lock(mtx_mapping_odom_alt_);
+     354             : 
+     355             :     // Add new data
+     356           0 :     vec_mapping_odom_alt_.push_back(*msg);
+     357             : 
+     358             :     // Delete old data
+     359           0 :     size_t index_delete = 0;
+     360           0 :     bool   clear_needed = false;
+     361           0 :     for (size_t i = 0; i < vec_mapping_odom_alt_.size(); i++) {
+     362           0 :       if (timestamp_lat_ - vec_mapping_odom_alt_.at(i).header.stamp.toSec() > cache_duration_) {
+     363           0 :         index_delete = i;
+     364           0 :         clear_needed = true;
+     365             :       } else {
+     366           0 :         break;
+     367             :       }
+     368             :     }
+     369           0 :     if (clear_needed) {
+     370           0 :       for (int i = (int)index_delete; i >= 0; i--) {
+     371           0 :         vec_mapping_odom_alt_.erase(vec_mapping_odom_alt_.begin() + i);
+     372             :       }
+     373           0 :       clear_needed = false;
+     374             :     }
+     375             : 
+     376           0 :     if (!got_mapping_odom_alt_) {
+     377           0 :       got_mapping_odom_alt_ = true;
+     378             :     }
+     379             : 
+     380           0 :     if (debug_prints_) {
+     381           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: mapping odom alt cache size: %lu", getPrintName().c_str(), vec_mapping_odom_alt_.size());
+     382             :     }
+     383             :   }
+     384             :   /*//}*/
+     385             : };
+     386             : /*//}*/
+     387             : 
+     388             : }  // namespace mrs_uav_managers
+     389             : 
+     390             : #endif
+
+
+
+ + + + +
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+ + + diff --git a/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.gcov.overview.html b/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.gcov.overview.html new file mode 100644 index 0000000000..8218f6ae36 --- /dev/null +++ b/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.gcov.overview.html @@ -0,0 +1,118 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/transform_manager/tf_mapping_origin.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.gcov.png b/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..e3d425e3e4319475911ce94a36b8a1ec26ea482f GIT binary patch literal 1536 zcmV+b2LJhqP)fFt&%}Y=;1N(Rt_>#|c)`|cl;5Az%*)9Km%cd5r zUFGeDo-=U20yZ*9J;hlZ%g6PN%&PDs(; zZQc_ql5}Li1&Wc7j2)Hi6v5(q4xMcKUGtTf7AM^CH`7`Hq6Oj%SYJ$l#Hs^eflJTm z6p`qXXZXg6UEq{=1lAoAtqYAy$_SbcWen$csNogxCj?gk&dhVSGAl{NP7wm29|q@Y zJs4C201!2gJu7X(j5MBlK)G+azz7s|2PmwkK%m&);SVZSo1!8DZ7cg4);@CJiEei| z@#X0H03yC>iXcB^isGE>I+Nt-zrYjN%B+1Rv4N zlHIWnIcxoG_QBZN1S=8k+u|La^#LJA-*Fo7%06O(&vKt-d2wQvr|baD(zTYWcZ@0& zP1W!{os`xbscoT+wK$x073aO#paFUR0W!q)WsE;mM%nOwSVkT#oz`@HFoZgGdiJF= z7Yv2+U}%3iS9nYnN!^h$cCCq?k^K=lkPbA+iVa1xc~1MdQV2#`S7!t7uGZCeW388E z#CoN>(6^^%oM_OURDjfKwBv1n6dPJ|uld@;H1_FdxxGX6cb)-=S)A0a$Y{1>js{mI zL)Gz4*s-1hyf*rvtm}qQ1dPNy&mvYQQ@^#7Xl5^5uId|p8ohg&dsTWvo$Go-Dzv0|7P7xJ!4NNnyJ3y7(SM_ z^0KpDSt+z2)$L?BzT?m5Z<6d&q;$uH%f1FiWfHNYEW+1yTb19^SF5b|`O^iyEt*yL zOSgNAo~ebsJDl*4Ct!cd^y71Oi?y($AuEu}=zl~RK57!!TQ?>6<6DMD6wPJ$KUdeh zxz?+zw!Nv{|5kO~AW2PUK)y{&|FoPEg2)(oe_G9(Z$1*qEu(GOW{kc?k!N763n#bLRnqN0) zx1>EhgkziLaw*D{3X&4MJaWlONLPEx0`s)C&V3E00k?sLLUCoJ=4s+YJYR$wu_qSU zaNhCJ(%yW;mV1N2g@;R@q?(7Thw2Z2Cmoh1B0tYGn@hh=eaE9kMmv7={(3|ccg5&V zlkK;X z!aARa46O0;V?gl)dc!TrW;}=UPO3YbiFpQqHxMJQGvMf)wA{LyfYvFOG2d3}jJvop z`5?wl2i-=$rVm$ajVH~;KD_ft5dnTUrBoF^bLBhSYoe!s9y~%vhu=$2EB?F=pslL2 z(tq&*mX1U%u*DJ{PNg)``koHp&pwy(?EoyS$ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/transform_manager/tf_source.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_managers/include/transform_manager - tf_source.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:19224080.0 %
Date:2024-08-07 22:18:19Functions:131492.9 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::TfSource::publishLocalTf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_uav_managers::TfSource::setIsUtmSource(bool)10
mrs_uav_managers::TfSource::getIsUtmSource()18
mrs_uav_managers::TfSource::getIsUtmBased()20
mrs_uav_managers::TfSource::setUtmOrigin(geometry_msgs::Point_<std::allocator<void> > const&)116
mrs_uav_managers::TfSource::setWorldOrigin(geometry_msgs::Point_<std::allocator<void> > const&)116
mrs_uav_managers::TfSource::TfSource(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::NodeHandle, std::shared_ptr<mrs_lib::ParamLoader>, std::shared_ptr<mrs_lib::TransformBroadcaster> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t>, bool)116
mrs_uav_managers::TfSource::getName[abi:cxx11]()947
mrs_uav_managers::TfSource::republishInFrame(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >&)155141
mrs_uav_managers::TfSource::publishTfFromOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)207501
mrs_uav_managers::TfSource::callbackTfSourceOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)207600
mrs_uav_managers::TfSource::publishTfFromAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)214291
mrs_uav_managers::TfSource::callbackTfSourceAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)214312
mrs_uav_managers::TfSource::getPrintName[abi:cxx11]()996024
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/include/transform_manager/tf_source.h.func.html b/mrs_uav_managers/include/transform_manager/tf_source.h.func.html new file mode 100644 index 0000000000..8c7710742a --- /dev/null +++ b/mrs_uav_managers/include/transform_manager/tf_source.h.func.html @@ -0,0 +1,136 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/transform_manager/tf_source.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/transform_manager - tf_source.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:19224080.0 %
Date:2024-08-07 22:18:19Functions:131492.9 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::TfSource::getPrintName[abi:cxx11]()996024
mrs_uav_managers::TfSource::setUtmOrigin(geometry_msgs::Point_<std::allocator<void> > const&)116
mrs_uav_managers::TfSource::getIsUtmBased()20
mrs_uav_managers::TfSource::getIsUtmSource()18
mrs_uav_managers::TfSource::publishLocalTf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_uav_managers::TfSource::setIsUtmSource(bool)10
mrs_uav_managers::TfSource::setWorldOrigin(geometry_msgs::Point_<std::allocator<void> > const&)116
mrs_uav_managers::TfSource::publishTfFromAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)214291
mrs_uav_managers::TfSource::republishInFrame(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >&)155141
mrs_uav_managers::TfSource::publishTfFromOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)207501
mrs_uav_managers::TfSource::callbackTfSourceAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)214312
mrs_uav_managers::TfSource::callbackTfSourceOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)207600
mrs_uav_managers::TfSource::getName[abi:cxx11]()947
mrs_uav_managers::TfSource::TfSource(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::NodeHandle, std::shared_ptr<mrs_lib::ParamLoader>, std::shared_ptr<mrs_lib::TransformBroadcaster> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t>, bool)116
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Current view:top level - mrs_uav_managers/include/transform_manager - tf_source.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:19224080.0 %
Date:2024-08-07 22:18:19Functions:131492.9 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef TF_SOURCE_H
+       3             : #define TF_SOURCE_H
+       4             : 
+       5             : #include <ros/ros.h>
+       6             : 
+       7             : #include <mrs_lib/param_loader.h>
+       8             : #include <mrs_lib/subscribe_handler.h>
+       9             : #include <mrs_lib/publisher_handler.h>
+      10             : #include <mrs_lib/attitude_converter.h>
+      11             : #include <mrs_lib/transformer.h>
+      12             : #include <mrs_lib/transform_broadcaster.h>
+      13             : #include <mrs_lib/gps_conversions.h>
+      14             : 
+      15             : #include <tf2_ros/transform_broadcaster.h>
+      16             : #include <tf2_ros/static_transform_broadcaster.h>
+      17             : 
+      18             : #include <geometry_msgs/TransformStamped.h>
+      19             : 
+      20             : #include <nav_msgs/Odometry.h>
+      21             : 
+      22             : #include <memory>
+      23             : #include <string>
+      24             : 
+      25             : #include <mrs_uav_managers/estimation_manager/support.h>
+      26             : #include <mrs_uav_managers/estimation_manager/common_handlers.h>
+      27             : 
+      28             : namespace mrs_uav_managers
+      29             : {
+      30             : 
+      31             : /*//{ class TfSource */
+      32             : class TfSource {
+      33             : 
+      34             :   using Support = estimation_manager::Support;
+      35             : 
+      36             : public:
+      37             :   /*//{ constructor */
+      38         116 :   TfSource(const std::string& name, ros::NodeHandle nh, std::shared_ptr<mrs_lib::ParamLoader> param_loader,
+      39             :            const std::shared_ptr<mrs_lib::TransformBroadcaster>& broadcaster, const std::shared_ptr<estimation_manager::CommonHandlers_t> ch,
+      40             :            const bool is_utm_source)
+      41         116 :       : name_(name), nh_(nh), broadcaster_(broadcaster), ch_(ch), is_utm_source_(is_utm_source) {
+      42             : 
+      43         116 :     ROS_INFO("[%s]: initializing", getPrintName().c_str());
+      44             : 
+      45         116 :     if (name != "dummy") {
+      46             : 
+      47             :       /*//{ load parameters */
+      48             : 
+      49         232 :       const std::string yaml_prefix = "mrs_uav_managers/transform_manager/";
+      50             : 
+      51         232 :       std::string odom_topic, attitude_topic, ns;
+      52             : 
+      53         116 :       param_loader->loadParam(yaml_prefix + getName() + "/odom_topic", odom_topic);
+      54         116 :       param_loader->loadParam(yaml_prefix + getName() + "/custom_frame_id/enabled", custom_frame_id_enabled_, false);
+      55         116 :       if (custom_frame_id_enabled_) {
+      56           0 :         param_loader->loadParam(yaml_prefix + getName() + "/custom_frame_id/frame_id", custom_frame_id_);
+      57             :       }
+      58         116 :       param_loader->loadParam(yaml_prefix + getName() + "/tf_from_attitude/enabled", tf_from_attitude_enabled_);
+      59         116 :       if (tf_from_attitude_enabled_) {
+      60         115 :         param_loader->loadParam(yaml_prefix + getName() + "/tf_from_attitude/attitude_topic", attitude_topic);
+      61             :       }
+      62         116 :       param_loader->loadParam(yaml_prefix + getName() + "/namespace", ns);
+      63         116 :       full_topic_odom_     = "/" + ch_->uav_name + "/" + ns + "/" + odom_topic;
+      64         116 :       full_topic_attitude_ = "/" + ch_->uav_name + "/" + ns + "/" + attitude_topic;
+      65         116 :       param_loader->loadParam(yaml_prefix + getName() + "/inverted", is_inverted_);
+      66         116 :       param_loader->loadParam(yaml_prefix + getName() + "/republish_in_frames", republish_in_frames_);
+      67             : 
+      68             :       /* coordinate frames origins //{ */
+      69         116 :       param_loader->loadParam(yaml_prefix + getName() + "/utm_based", is_utm_based_);
+      70             :       /* param_loader->loadParam(yaml_prefix + getName() + "/publish_local_tf", publish_local_tf_); */
+      71             : 
+      72             :       /*//{ utm source */
+      73         116 :       if (is_utm_based_) {
+      74         230 :         std::string utm_origin_parent_frame_id;
+      75         115 :         param_loader->loadParam(yaml_prefix + "utm_origin_tf/parent", utm_origin_parent_frame_id);
+      76         115 :         ns_utm_origin_parent_frame_id_ = ch_->uav_name + "/" + utm_origin_parent_frame_id;
+      77             : 
+      78         115 :         std::string utm_origin_child_frame_id;
+      79         115 :         param_loader->loadParam(yaml_prefix + "utm_origin_tf/child", utm_origin_child_frame_id);
+      80         115 :         ns_utm_origin_child_frame_id_ = ch_->uav_name + "/" + utm_origin_child_frame_id;
+      81             :       }
+      82             :       /*//}*/
+      83             : 
+      84             :       /*//{ world source */
+      85         116 :       if (is_utm_based_) {
+      86         230 :         std::string world_origin_parent_frame_id;
+      87         115 :         param_loader->loadParam(yaml_prefix + "world_origin_tf/parent", world_origin_parent_frame_id);
+      88         115 :         ns_world_origin_parent_frame_id_ = ch_->uav_name + "/" + world_origin_parent_frame_id;
+      89             : 
+      90         115 :         std::string world_origin_child_frame_id;
+      91         115 :         param_loader->loadParam(yaml_prefix + "world_origin_tf/child", world_origin_child_frame_id);
+      92         115 :         ns_world_origin_child_frame_id_ = ch_->uav_name + "/" + world_origin_child_frame_id;
+      93             :       }
+      94             :       /*//}*/
+      95             : 
+      96             :       //}
+      97             : 
+      98         116 :       if (!param_loader->loadedSuccessfully()) {
+      99           0 :         ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+     100           0 :         ros::shutdown();
+     101             :       }
+     102             : 
+     103             :       /*//}*/
+     104             : 
+     105             :       /*//{ initialize subscribers */
+     106         232 :       mrs_lib::SubscribeHandlerOptions shopts;
+     107         116 :       shopts.nh                 = nh_;
+     108         116 :       shopts.node_name          = getPrintName();
+     109         116 :       shopts.no_message_timeout = mrs_lib::no_timeout;
+     110         116 :       shopts.threadsafe         = true;
+     111         116 :       shopts.autostart          = true;
+     112         116 :       shopts.queue_size         = 10;
+     113         116 :       shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     114             : 
+     115         116 :       sh_tf_source_odom_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, full_topic_odom_, &TfSource::callbackTfSourceOdom, this);
+     116         116 :       if (tf_from_attitude_enabled_) {
+     117         115 :         sh_tf_source_att_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, full_topic_attitude_, &TfSource::callbackTfSourceAtt, this);
+     118             :       }
+     119             : 
+     120         116 :       if (is_utm_source_) {
+     121         107 :         sh_altitude_amsl_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude>(shopts, "altitude_amsl_in");
+     122             :       }
+     123             : 
+     124             :     }
+     125             :     /*//}*/
+     126             : 
+     127         206 :     for (auto frame_id : republish_in_frames_) {
+     128          90 :       republishers_.push_back(
+     129         180 :           std::make_pair(frame_id, mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh_, full_topic_odom_ + "/" + frame_id.substr(0, frame_id.find("_origin")))));
+     130             :     }
+     131         116 :     is_initialized_ = true;
+     132         116 :     ROS_INFO("[%s]: initialized", getPrintName().c_str());
+     133         116 :   }
+     134             :   /*//}*/
+     135             : 
+     136             :   /*//{ getName() */
+     137         947 :   std::string getName() {
+     138         947 :     return name_;
+     139             :   }
+     140             :   /*//}*/
+     141             : 
+     142             :   /*//{ getPrintName() */
+     143      996024 :   std::string getPrintName() {
+     144     1994295 :     return ch_->nodelet_name + "/" + name_;
+     145             :   }
+     146             :   /*//}*/
+     147             : 
+     148             :   /*//{ getIsUtmBased() */
+     149          20 :   bool getIsUtmBased() {
+     150          20 :     return is_utm_based_;
+     151             :   }
+     152             :   /*//}*/
+     153             : 
+     154             :   /*//{ getIsUtmSource() */
+     155          18 :   bool getIsUtmSource() {
+     156          18 :     return is_utm_source_;
+     157             :   }
+     158             :   /*//}*/
+     159             : 
+     160             :   /*//{ setIsUtmSource() */
+     161          10 :   void setIsUtmSource(const bool is_utm_source) {
+     162          10 :     if (is_utm_source) {
+     163           5 :       mrs_lib::SubscribeHandlerOptions shopts;
+     164           5 :       shopts.nh                 = nh_;
+     165           5 :       shopts.node_name          = getPrintName();
+     166           5 :       shopts.no_message_timeout = mrs_lib::no_timeout;
+     167           5 :       shopts.threadsafe         = true;
+     168           5 :       shopts.autostart          = true;
+     169           5 :       shopts.queue_size         = 10;
+     170           5 :       shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     171           5 :       sh_altitude_amsl_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude>(shopts, "altitude_amsl_in");
+     172             :     }
+     173          10 :     is_utm_source_ = is_utm_source;
+     174          10 :   }
+     175             :   /*//}*/
+     176             : 
+     177             :   /*//{ setUtmOrigin() */
+     178         116 :   void setUtmOrigin(const geometry_msgs::Point& pt) {
+     179             : 
+     180         116 :     if (is_utm_based_ && !is_utm_origin_set_) {
+     181         115 :       utm_origin_        = pt;
+     182         115 :       is_utm_origin_set_ = true;
+     183             :     }
+     184         116 :   }
+     185             :   /*//}*/
+     186             : 
+     187             :   /*//{ setWorldOrigin() */
+     188         116 :   void setWorldOrigin(const geometry_msgs::Point& pt) {
+     189             : 
+     190         116 :     if (is_utm_based_ && !is_world_origin_set_) {
+     191         115 :       world_origin_        = pt;
+     192         115 :       is_world_origin_set_ = true;
+     193             :     }
+     194         116 :   }
+     195             :   /*//}*/
+     196             : 
+     197             : private:
+     198             :   const std::string name_;
+     199             :   const std::string ns_fcu_frame_id_;
+     200             : 
+     201             :   ros::NodeHandle nh_;
+     202             : 
+     203             :   std::shared_ptr<mrs_lib::TransformBroadcaster> broadcaster_;
+     204             :   tf2_ros::StaticTransformBroadcaster            static_broadcaster_;
+     205             : 
+     206             :   std::shared_ptr<estimation_manager::CommonHandlers_t> ch_;
+     207             : 
+     208             :   bool is_inverted_;
+     209             : 
+     210             :   bool             is_utm_based_;
+     211             :   bool             publish_local_tf_ = false;
+     212             :   bool             publish_utm_tf_   = false;
+     213             :   bool             publish_world_tf_ = false;
+     214             :   std::atomic_bool is_utm_source_    = false;
+     215             :   std::string      ns_utm_origin_parent_frame_id_;
+     216             :   std::string      ns_utm_origin_child_frame_id_;
+     217             : 
+     218             :   bool                 is_utm_origin_set_ = false;
+     219             :   geometry_msgs::Point utm_origin_;
+     220             : 
+     221             :   std::string ns_world_origin_parent_frame_id_;
+     222             :   std::string ns_world_origin_child_frame_id_;
+     223             : 
+     224             :   bool                 is_world_origin_set_ = false;
+     225             :   geometry_msgs::Point world_origin_;
+     226             : 
+     227             :   std::string full_topic_odom_;
+     228             :   std::string full_topic_attitude_;
+     229             :   bool        tf_from_attitude_enabled_ = false;
+     230             : 
+     231             :   bool        custom_frame_id_enabled_;
+     232             :   std::string custom_frame_id_;
+     233             : 
+     234             :   std::atomic_bool is_initialized_               = false;
+     235             :   std::atomic_bool is_local_static_tf_published_ = false;
+     236             :   std::atomic_bool is_utm_static_tf_published_   = false;
+     237             :   std::atomic_bool is_world_static_tf_published_ = false;
+     238             : 
+     239             :   std::vector<std::string> republish_in_frames_;
+     240             : 
+     241             :   std::vector<std::pair<std::string, mrs_lib::PublisherHandler<nav_msgs::Odometry>>> republishers_;
+     242             : 
+     243             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry>               sh_tf_source_odom_;
+     244             :   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_tf_source_att_;
+     245             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude>          sh_altitude_amsl_;
+     246             :   nav_msgs::OdometryConstPtr                                  first_msg_;
+     247             :   bool                                                        got_first_msg_ = false;
+     248             : 
+     249             : 
+     250             :   /*//{ callbackTfSourceOdom()*/
+     251      207600 :   void callbackTfSourceOdom(const nav_msgs::Odometry::ConstPtr msg) {
+     252             : 
+     253      207600 :     if (!is_initialized_) {
+     254           0 :       return;
+     255             :     }
+     256             : 
+     257      622796 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::callbackTfSourceOdom", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     258             : 
+     259      207555 :     scope_timer.checkpoint("get msg");
+     260             : 
+     261      207608 :     if (!got_first_msg_) {
+     262         116 :       first_msg_     = msg;
+     263         116 :       got_first_msg_ = true;
+     264             :     }
+     265             : 
+     266      207608 :     publishTfFromOdom(msg);
+     267      207632 :     scope_timer.checkpoint("pub tf");
+     268             : 
+     269      207624 :     if (publish_local_tf_ && !is_local_static_tf_published_) {
+     270           0 :       publishLocalTf(msg->header.frame_id);
+     271           0 :       scope_timer.checkpoint("pub local tf");
+     272             :     }
+     273             : 
+     274             :     /* if (publish_utm_tf_ && is_utm_based_ && is_utm_origin_set_ && !is_utm_static_tf_published_) { */
+     275             :     /*   publishUtmTf(msg->header.frame_id); */
+     276             :     /*   scope_timer.checkpoint("pub utm tf"); */
+     277             :     /* } */
+     278             : 
+     279             :     /* if (publish_world_tf_ && is_utm_based_ && is_world_origin_set_ && !is_world_static_tf_published_) { */
+     280             :     /*   publishWorldTf(msg->header.frame_id); */
+     281             :     /*   scope_timer.checkpoint("pub world tf"); */
+     282             :     /* } */
+     283             : 
+     284      362765 :     for (auto republisher : republishers_) {
+     285      155141 :       republishInFrame(msg, ch_->uav_name + "/" + republisher.first, republisher.second);
+     286             :     }
+     287             :   }
+     288             :   /*//}*/
+     289             : 
+     290             :   /*//{ callbackTfSourceAtt()*/
+     291      214312 :   void callbackTfSourceAtt(const geometry_msgs::QuaternionStamped::ConstPtr msg) {
+     292             : 
+     293      214312 :     if (!is_initialized_) {
+     294           0 :       return;
+     295             :     }
+     296             : 
+     297      642960 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::callbackTfSourceAtt", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     298             : 
+     299      214303 :     scope_timer.checkpoint("get msg");
+     300      214317 :     publishTfFromAtt(msg);
+     301             :   }
+     302             :   /*//}*/
+     303             : 
+     304             :   /* publishTfFromOdom() //{*/
+     305      207501 :   void publishTfFromOdom(const nav_msgs::OdometryConstPtr& odom) {
+     306             : 
+     307      415122 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishTfFromOdom", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     308             : 
+     309      207605 :     const tf2::Transform      tf       = Support::tf2FromPose(odom->pose.pose);
+     310      207548 :     const tf2::Transform      tf_inv   = tf.inverse();
+     311      207533 :     const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     312             : 
+     313             :     /*//{ tf source origin */
+     314      207555 :     geometry_msgs::TransformStamped tf_msg;
+     315      207462 :     tf_msg.header.stamp         = odom->header.stamp;
+     316      207498 :     std::string origin_frame_id = custom_frame_id_enabled_ ? ch_->uav_name + "/" + custom_frame_id_ : odom->header.frame_id;
+     317      207560 :     if (is_inverted_) {
+     318             : 
+     319      207560 :       tf_msg.header.frame_id       = ch_->frames.ns_fcu;
+     320      207551 :       tf_msg.child_frame_id        = origin_frame_id;
+     321      207505 :       tf_msg.transform.translation = Support::pointToVector3(pose_inv.position);
+     322      207587 :       tf_msg.transform.rotation    = pose_inv.orientation;
+     323             : 
+     324             :     } else {
+     325           0 :       tf_msg.header.frame_id       = origin_frame_id;
+     326           0 :       tf_msg.child_frame_id        = ch_->frames.ns_fcu;
+     327           0 :       tf_msg.transform.translation = Support::pointToVector3(odom->pose.pose.position);
+     328           0 :       tf_msg.transform.rotation    = odom->pose.pose.orientation;
+     329             :     }
+     330             : 
+     331      207587 :     if (Support::noNans(tf_msg)) {
+     332             :       try {
+     333      207519 :         broadcaster_->sendTransform(tf_msg);
+     334             :       }
+     335           0 :       catch (...) {
+     336           0 :         ROS_ERROR("exception caught ");
+     337             :       }
+     338             : 
+     339      207630 :       if (tf_from_attitude_enabled_) {
+     340      206578 :         if (is_inverted_) {
+     341      206579 :           tf_msg.child_frame_id += "_att_only";
+     342             :         } else {
+     343           0 :           tf_msg.header.frame_id += "_att_only";
+     344             :         }
+     345             :         try {
+     346      206582 :           broadcaster_->sendTransform(tf_msg);
+     347             :         }
+     348           0 :         catch (...) {
+     349           0 :           ROS_ERROR("exception caught ");
+     350             :         }
+     351             :       }
+     352             :       /*//}*/
+     353             : 
+     354             :       /*//{ tf utm origin */
+     355             : 
+     356      207632 :       geometry_msgs::TransformStamped tf_utm_msg;
+     357      207631 :       if (is_utm_source_) {
+     358             :         
+     359      182261 :         if (!is_utm_origin_set_) {
+     360           0 :           ROS_INFO_THROTTLE(5.0, "[%s]: %s utm_origin initialization", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     361           0 :           return;
+     362             :         }
+     363             : 
+     364      182261 :         geometry_msgs::Pose pose_utm = odom->pose.pose;
+     365      182261 :         pose_utm.position.x += utm_origin_.x - first_msg_->pose.pose.position.x;
+     366      182261 :         pose_utm.position.y += utm_origin_.y - first_msg_->pose.pose.position.y;
+     367             : 
+     368      182261 :         if (sh_altitude_amsl_.hasMsg()) {
+     369      182255 :           pose_utm.position.z = sh_altitude_amsl_.getMsg()->amsl;
+     370             :         } else {
+     371           6 :           ROS_WARN_THROTTLE(5.0, "[%s]: AMSL altitude not available.", getPrintName().c_str());
+     372             :         }
+     373             : 
+     374      182261 :         tf_utm_msg.header.stamp    = odom->header.stamp;
+     375      182261 :         tf_utm_msg.header.frame_id = ns_utm_origin_parent_frame_id_;
+     376      182261 :         tf_utm_msg.child_frame_id  = ns_utm_origin_child_frame_id_;
+     377             : 
+     378      182261 :         tf2::Transform tf_utm;
+     379      182261 :         if (is_inverted_) {
+     380      182261 :           tf_utm = Support::tf2FromPose(pose_utm).inverse();
+     381             :         } else {
+     382           0 :           tf_utm = Support::tf2FromPose(pose_utm);
+     383             :         }
+     384      182261 :         tf_utm_msg.transform = Support::msgFromTf2(tf_utm);
+     385             : 
+     386             :         try {
+     387      182261 :           broadcaster_->sendTransform(tf_utm_msg);
+     388      182261 :           ROS_INFO_ONCE("[%s]: publishing utm_origin tf", getPrintName().c_str());
+     389             :         }
+     390           0 :         catch (...) {
+     391           0 :           ROS_ERROR("exception caught ");
+     392             :         }
+     393             :       }
+     394             :       /*//}*/
+     395             : 
+     396             :       /*//{ tf world origin */
+     397      207631 :       if (is_utm_source_) {
+     398      364521 :         geometry_msgs::TransformStamped tf_world_msg;
+     399      182261 :         tf_world_msg.header.stamp    = odom->header.stamp;
+     400      182261 :         tf_world_msg.header.frame_id = ns_world_origin_parent_frame_id_;
+     401      182261 :         tf_world_msg.child_frame_id  = ns_world_origin_child_frame_id_;
+     402             : 
+     403      182261 :         tf2::Transform tf_world;
+     404      182261 :         tf_world.setOrigin(tf2::Vector3(world_origin_.x, world_origin_.y, world_origin_.z));
+     405      182261 :         tf_world.setRotation(tf2::Quaternion(0, 0, 0, 1));
+     406             : 
+     407      182261 :         geometry_msgs::Pose pose_utm = odom->pose.pose;
+     408      182261 :         pose_utm.position.x += utm_origin_.x - first_msg_->pose.pose.position.x;
+     409      182261 :         pose_utm.position.y += utm_origin_.y - first_msg_->pose.pose.position.y;
+     410             : 
+     411      182261 :         tf2::Transform tf_utm;
+     412      182261 :         if (is_inverted_) {
+     413      182261 :           tf_utm = Support::tf2FromPose(pose_utm).inverse();
+     414             :         } else {
+     415           0 :           tf_utm = Support::tf2FromPose(pose_utm);
+     416             :         }
+     417             : 
+     418      182261 :         tf_world_msg.transform          = Support::msgFromTf2(tf_utm * tf_world);
+     419      182261 :         tf_world_msg.transform.rotation = pose_inv.orientation;
+     420             : 
+     421             :         try {
+     422      182261 :           broadcaster_->sendTransform(tf_world_msg);
+     423      182261 :           ROS_INFO_ONCE("[%s]: publishing world_origin tf", getPrintName().c_str());
+     424             :         }
+     425           0 :         catch (...) {
+     426           0 :           ROS_ERROR("exception caught ");
+     427             :         }
+     428             :       }
+     429             : 
+     430             :       /*//}*/
+     431             : 
+     432             :     } else {
+     433           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     434             :                         tf_msg.child_frame_id.c_str());
+     435             :     }
+     436      207636 :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s based on topic: %s", getPrintName().c_str(),
+     437             :                   tf_msg.header.frame_id.c_str(), tf_msg.child_frame_id.c_str(), full_topic_odom_.c_str());
+     438             :   }
+     439             :   /*//}*/
+     440             : 
+     441             :   /* publishTfFromAtt() //{*/
+     442      214291 :   void publishTfFromAtt(const geometry_msgs::QuaternionStampedConstPtr& msg) {
+     443             : 
+     444      642952 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishTfFromAtt", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     445             : 
+     446      428652 :     geometry_msgs::TransformStamped tf_msg;
+     447      214292 :     tf_msg.header.stamp = msg->header.stamp;
+     448             : 
+     449      214300 :     geometry_msgs::Pose pose;
+     450      214289 :     pose.position.x = 0.0;
+     451      214289 :     pose.position.y = 0.0;
+     452      214289 :     pose.position.z = 0.0;
+     453      214289 :     pose.orientation = msg->quaternion;
+     454      214311 :     if (is_inverted_) {
+     455             : 
+     456      214311 :       const tf2::Transform      tf       = Support::tf2FromPose(pose);
+     457      214306 :       const tf2::Transform      tf_inv   = tf.inverse();
+     458      214298 :       const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     459             : 
+     460      214297 :       tf_msg.header.frame_id       = ch_->frames.ns_fcu;
+     461      214294 :       tf_msg.child_frame_id        = msg->header.frame_id;
+     462      214294 :       tf_msg.transform.translation = Support::pointToVector3(pose_inv.position);
+     463      214312 :       tf_msg.transform.rotation    = pose_inv.orientation;
+     464             : 
+     465             :     } else {
+     466           0 :       tf_msg.header.frame_id       = msg->header.frame_id;
+     467           0 :       tf_msg.child_frame_id        = ch_->frames.ns_fcu;
+     468           0 :       tf_msg.transform.translation = Support::pointToVector3(pose.position);
+     469           0 :       tf_msg.transform.rotation    = pose.orientation;
+     470             :     }
+     471             : 
+     472      214312 :     if (Support::noNans(tf_msg)) {
+     473             :       try {
+     474      214296 :         scope_timer.checkpoint("before pub");
+     475      214290 :         broadcaster_->sendTransform(tf_msg);
+     476      214336 :         scope_timer.checkpoint("after pub");
+     477             :       }
+     478           0 :       catch (...) {
+     479           0 :         ROS_ERROR("exception caught ");
+     480             :       }
+     481             :     } else {
+     482           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     483             :                         tf_msg.child_frame_id.c_str());
+     484             :     }
+     485      214332 :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s based on topic: %s", getPrintName().c_str(),
+     486             :                   tf_msg.header.frame_id.c_str(), tf_msg.child_frame_id.c_str(), full_topic_attitude_.c_str());
+     487      214335 :   }
+     488             :   /*//}*/
+     489             : 
+     490             :   /* publishLocalTf() //{*/
+     491           0 :   void publishLocalTf(const std::string& frame_id) {
+     492             : 
+     493           0 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishLocalTf", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     494             : 
+     495           0 :     geometry_msgs::TransformStamped tf_msg;
+     496           0 :     tf_msg.header.stamp = ros::Time::now();
+     497             : 
+     498           0 :     tf_msg.header.frame_id       = frame_id;
+     499           0 :     tf_msg.child_frame_id        = frame_id.substr(0, frame_id.find("_origin")) + "_local_origin";
+     500           0 :     tf_msg.transform.translation = Support::pointToVector3(first_msg_->pose.pose.position);
+     501           0 :     tf_msg.transform.rotation    = first_msg_->pose.pose.orientation;
+     502             : 
+     503           0 :     if (Support::noNans(tf_msg)) {
+     504             :       try {
+     505           0 :         static_broadcaster_.sendTransform(tf_msg);
+     506             :       }
+     507           0 :       catch (...) {
+     508           0 :         ROS_ERROR("exception caught ");
+     509             :       }
+     510             :     } else {
+     511           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     512             :                         tf_msg.child_frame_id.c_str());
+     513             :     }
+     514           0 :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s based on first message of: %s", getPrintName().c_str(),
+     515             :                   tf_msg.header.frame_id.c_str(), tf_msg.child_frame_id.c_str(), full_topic_odom_.c_str());
+     516           0 :     is_local_static_tf_published_ = true;
+     517           0 :   }
+     518             :   /*//}*/
+     519             : 
+     520             :   /* publishUtmTf() //{*/
+     521             :   void publishUtmTf(const std::string& frame_id) {
+     522             : 
+     523             :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishUtmTf", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     524             : 
+     525             :     geometry_msgs::TransformStamped tf_msg;
+     526             :     tf_msg.header.stamp = ros::Time::now();
+     527             : 
+     528             :     tf_msg.header.frame_id         = frame_id;
+     529             :     tf_msg.child_frame_id          = frame_id.substr(0, frame_id.find("_origin")) + "_utm_origin";
+     530             :     tf_msg.transform.translation.x = -utm_origin_.x;  // minus because inverse tf tree
+     531             :     tf_msg.transform.translation.y = -utm_origin_.y;  // minus because inverse tf tree
+     532             :     tf_msg.transform.translation.z = -utm_origin_.z;  // minus because inverse tf tree
+     533             :     tf_msg.transform.rotation.x    = 0;
+     534             :     tf_msg.transform.rotation.y    = 0;
+     535             :     tf_msg.transform.rotation.z    = 0;
+     536             :     tf_msg.transform.rotation.w    = 1;
+     537             : 
+     538             :     if (Support::noNans(tf_msg)) {
+     539             :       try {
+     540             :         static_broadcaster_.sendTransform(tf_msg);
+     541             :       }
+     542             :       catch (...) {
+     543             :         ROS_ERROR("exception caught ");
+     544             :       }
+     545             :     } else {
+     546             :       ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     547             :                         tf_msg.child_frame_id.c_str());
+     548             :     }
+     549             :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s based on first message of: %s", getPrintName().c_str(),
+     550             :                   tf_msg.header.frame_id.c_str(), tf_msg.child_frame_id.c_str(), full_topic_odom_.c_str());
+     551             :     is_utm_static_tf_published_ = true;
+     552             :   }
+     553             :   /*//}*/
+     554             : 
+     555             :   /* publishWorldTf() //{*/
+     556             :   void publishWorldTf(const std::string& frame_id) {
+     557             : 
+     558             :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishWorldTf", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     559             : 
+     560             :     geometry_msgs::TransformStamped tf_msg;
+     561             :     tf_msg.header.stamp = ros::Time::now();
+     562             : 
+     563             :     tf_msg.header.frame_id         = frame_id;
+     564             :     tf_msg.child_frame_id          = frame_id.substr(0, frame_id.find("_origin")) + "_world_origin";
+     565             :     tf_msg.transform.translation.x = -(utm_origin_.x - world_origin_.x);  // minus because inverse tf tree
+     566             :     tf_msg.transform.translation.y = -(utm_origin_.y - world_origin_.y);  // minus because inverse tf tree
+     567             :     /* tf_msg.transform.translation.z = -(utm_origin_.z);                    // minus because inverse tf tree */
+     568             :     tf_msg.transform.translation.z = 0;
+     569             :     tf_msg.transform.rotation.x    = 0;
+     570             :     tf_msg.transform.rotation.y    = 0;
+     571             :     tf_msg.transform.rotation.z    = 0;
+     572             :     tf_msg.transform.rotation.w    = 1;
+     573             : 
+     574             :     if (Support::noNans(tf_msg)) {
+     575             :       try {
+     576             :         static_broadcaster_.sendTransform(tf_msg);
+     577             :       }
+     578             :       catch (...) {
+     579             :         ROS_ERROR("exception caught ");
+     580             :       }
+     581             :     } else {
+     582             :       ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     583             :                         tf_msg.child_frame_id.c_str());
+     584             :     }
+     585             :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s based on first message of: %s", getPrintName().c_str(),
+     586             :                   tf_msg.header.frame_id.c_str(), tf_msg.child_frame_id.c_str(), full_topic_odom_.c_str());
+     587             :     is_world_static_tf_published_ = true;
+     588             :   }
+     589             :   /*//}*/
+     590             : 
+     591             :   /* republishInFrame() //{*/
+     592      155141 :   void republishInFrame(const nav_msgs::OdometryConstPtr& msg, const std::string& frame_id, mrs_lib::PublisherHandler<nav_msgs::Odometry>& ph) {
+     593             : 
+     594      310282 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::republishInFrame", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     595             : 
+     596      155141 :     nav_msgs::Odometry msg_out = *msg;
+     597      155141 :     msg_out.header.frame_id    = frame_id;
+     598             : 
+     599      155141 :     geometry_msgs::PoseStamped pose;
+     600      155141 :     pose.header = msg->header;
+     601      155141 :     pose.pose   = msg->pose.pose;
+     602             : 
+     603      155141 :     auto res = ch_->transformer->transformSingle(pose, frame_id);
+     604      155141 :     if (res) {
+     605      143729 :       msg_out.pose.pose = res->pose;
+     606      143729 :       ph.publish(msg_out);
+     607             :     } else {
+     608       11412 :       ROS_ERROR_THROTTLE(1.0, "[%s]: Could not transform pose to %s. Not republishing odom in this frame.", getPrintName().c_str(), frame_id.c_str());
+     609       11412 :       return;
+     610             :     }
+     611             :   }
+     612             : 
+     613             :   /*//}*/
+     614             : };
+     615             : 
+     616             : /*//}*/
+     617             : 
+     618             : }  // namespace mrs_uav_managers
+     619             : 
+     620             : #endif
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/include/transform_manager/tf_source.h.gcov.overview.html b/mrs_uav_managers/include/transform_manager/tf_source.h.gcov.overview.html new file mode 100644 index 0000000000..bceb06a24c --- /dev/null +++ b/mrs_uav_managers/include/transform_manager/tf_source.h.gcov.overview.html @@ -0,0 +1,175 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/transform_manager/tf_source.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ Overview +
+ + diff --git a/mrs_uav_managers/include/transform_manager/tf_source.h.gcov.png b/mrs_uav_managers/include/transform_manager/tf_source.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..7604638ebcc89b62e79bee3c5a6ea0052bdbad6d GIT binary patch literal 2213 zcmV;W2wL}vP)4->0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vpb~b`I;%cFQ0osd;#Rs_ZmzAzr#XK7Ww<)p zu-LW+VBP`&M|QLxG?fM3>6vt|$*6_DxULm#2S(;0Q~qxVsHbRUKIpAwpps&+&8V@C zsx4M*1LQVXm#(!*y+CrwBf6ztqG^CZ3}SW-wypuAQ(#{-lsn(`eQ!_Nwk>`7W`WyX z(N6Fv_|Tz84asB7T%>SgeF6dZ@x9(w&+u`%V?EqpiZW1R!c_}QUF+P;4z4jwHskTj zM}3ugZmbEt%<(P;5ft;~V+d4D0hQ~N7P#|mUciZ|}dJ7wSa{oY6 z+{6Anp4)Sa-~H$IM8M({r=AO&)bpCb6?ZGr2;&@_amP3pMh`L!2m+&1$0bq$NPSxb z8c&gRWUlKf&{Gr^NSMbY3}8C~RSi*Gr47TacY(w%ZvjPh0MIqaqp-$&JC6+;=c@1Crn71&>S5XsK-#(ZB5TQB4A9gnUAQx zU6mz@cQ9LP3 zL)S>%L5h6jP+<6~1fHSTEDWLAM=YbrG27k)dw&!dP~?FDuK^Y*@{CRXQX#>3WjP8U zJ{7qPZ6UcgvZqrAnp!md9%>QWL_3D}{>+Iist zI@Z>e?6qRs)3UtoQMfWa8}%sf*mXQ2f6NliNweM`X%z{7a)vSP=O-N37C(UfUI=1o z4U|e|=WJOf><}q%v@|&69;&X+hb3V+Y5cVy49{aGj3CX`!hk~(Q1HY%ZWeBFIYX>| z(2l~loea@=MkY?@8TP=(G)CO-JX4xy0IW#yo%!$)4%C7kvBQw_OoWI5!T8ig= zxm^tFXKh7anudl#G4>D>IvYOxRx3>id;RgWx5uCh5`+gS|bdg$d;L4V9WHuue1oT zY5K@kG2Md;NS$-q^>CVPXC|af^%QvUX#6F84(U5{RVYqAzf_vKmY(9`fX`fq14z9+*V{$3u4jDAs(iejD%fYLI~DcyyCeY~}H@r?{kz3h=K4Qgs9BiQJRNjH{0q zA$$L1XeQPygk~I@|6FKRx65OAS1!eAC+#@5+^+`;vnm9> zBH>%k#S1_o7mtC3T>OtFrEl4~2Q&1mlG1p&aCK5T2g0N@o#K9FQks3VsVRF+fc)9w zFG+L%j}!Y_A43>b^ZIZPkE?tAdbRH#j8mv=4ea6Qp;x}7n9xNr(d7$)5+rsiR19@= zeGgHu0>t4FNxx;n2xoTBp>k#yC2JA}(Rj$fdo@bLu37FGpe|C}zd@?pHR|~3-D~q~ z_^zLiLF~8eW^Ul{J5Ajzd>?exJxx`1v1-1y0h-Z<#@Df&d&As}3DQ@~&91V$i(;ZH zzkHH(dUF2mKKfCp9M{*q n{GhdGeVbyi7ALI6rX}(Zy0g`)>!brh00000NkvXXu0mjfy~r*u literal 0 HcmV?d00001 diff --git a/mrs_uav_managers/src/constraint_manager.cpp.func-sort-c.html b/mrs_uav_managers/src/constraint_manager.cpp.func-sort-c.html new file mode 100644 index 0000000000..aca9f62631 --- /dev/null +++ b/mrs_uav_managers/src/constraint_manager.cpp.func-sort-c.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/constraint_manager.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src - constraint_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:19523284.1 %
Date:2024-08-07 22:18:19Functions:88100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::constraint_manager::ConstraintManager::callbackConstraintsOverride(mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> >&, mrs_msgs::ConstraintsOverrideResponse_<std::allocator<void> >&)1
mrs_uav_managers::constraint_manager::ConstraintManager::callbackSetConstraints(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)3
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_managers::constraint_manager::ConstraintManager::onInit()108
mrs_uav_managers::constraint_manager::ConstraintManager::setConstraints(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)111
mrs_uav_managers::constraint_manager::ConstraintManager::timerDiagnostics(ros::TimerEvent const&)2374
mrs_uav_managers::constraint_manager::ConstraintManager::stringInVector(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&)2914
mrs_uav_managers::constraint_manager::ConstraintManager::timerConstraintManagement(ros::TimerEvent const&)24240
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+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/constraint_manager.cpp.func.html b/mrs_uav_managers/src/constraint_manager.cpp.func.html new file mode 100644 index 0000000000..47506c0723 --- /dev/null +++ b/mrs_uav_managers/src/constraint_manager.cpp.func.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/constraint_manager.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src - constraint_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:19523284.1 %
Date:2024-08-07 22:18:19Functions:88100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_managers::constraint_manager::ConstraintManager::setConstraints(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)111
mrs_uav_managers::constraint_manager::ConstraintManager::stringInVector(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&)2914
mrs_uav_managers::constraint_manager::ConstraintManager::timerDiagnostics(ros::TimerEvent const&)2374
mrs_uav_managers::constraint_manager::ConstraintManager::callbackSetConstraints(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)3
mrs_uav_managers::constraint_manager::ConstraintManager::timerConstraintManagement(ros::TimerEvent const&)24240
mrs_uav_managers::constraint_manager::ConstraintManager::callbackConstraintsOverride(mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> >&, mrs_msgs::ConstraintsOverrideResponse_<std::allocator<void> >&)1
mrs_uav_managers::constraint_manager::ConstraintManager::onInit()108
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/constraint_manager.cpp.gcov.frameset.html b/mrs_uav_managers/src/constraint_manager.cpp.gcov.frameset.html new file mode 100644 index 0000000000..0360404b95 --- /dev/null +++ b/mrs_uav_managers/src/constraint_manager.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/constraint_manager.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/src/constraint_manager.cpp.gcov.html b/mrs_uav_managers/src/constraint_manager.cpp.gcov.html new file mode 100644 index 0000000000..bf91750634 --- /dev/null +++ b/mrs_uav_managers/src/constraint_manager.cpp.gcov.html @@ -0,0 +1,716 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/constraint_manager.cpp + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_managers/src - constraint_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:19523284.1 %
Date:2024-08-07 22:18:19Functions:88100.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <nodelet/nodelet.h>
+       5             : 
+       6             : #include <std_msgs/String.h>
+       7             : 
+       8             : #include <mrs_msgs/ConstraintManagerDiagnostics.h>
+       9             : #include <mrs_msgs/EstimationDiagnostics.h>
+      10             : #include <mrs_msgs/DynamicsConstraintsSrv.h>
+      11             : #include <mrs_msgs/DynamicsConstraintsSrvRequest.h>
+      12             : #include <mrs_msgs/String.h>
+      13             : #include <mrs_msgs/ConstraintsOverride.h>
+      14             : 
+      15             : #include <mrs_lib/profiler.h>
+      16             : #include <mrs_lib/scope_timer.h>
+      17             : #include <mrs_lib/param_loader.h>
+      18             : #include <mrs_lib/mutex.h>
+      19             : #include <mrs_lib/publisher_handler.h>
+      20             : #include <mrs_lib/service_client_handler.h>
+      21             : #include <mrs_lib/subscribe_handler.h>
+      22             : 
+      23             : #include <dynamic_reconfigure/ReconfigureRequest.h>
+      24             : #include <dynamic_reconfigure/Reconfigure.h>
+      25             : #include <dynamic_reconfigure/Config.h>
+      26             : 
+      27             : //}
+      28             : 
+      29             : namespace mrs_uav_managers
+      30             : {
+      31             : 
+      32             : namespace constraint_manager
+      33             : {
+      34             : 
+      35             : /* //{ class ConstraintManager */
+      36             : 
+      37             : class ConstraintManager : public nodelet::Nodelet {
+      38             : 
+      39             : public:
+      40             :   virtual void onInit();
+      41             : 
+      42             : private:
+      43             :   ros::NodeHandle nh_;
+      44             : 
+      45             :   std::atomic<bool> is_initialized_ = false;
+      46             : 
+      47             :   // | ----------------------- parameters ----------------------- |
+      48             : 
+      49             :   std::vector<std::string> _estimator_type_names_;
+      50             : 
+      51             :   std::vector<std::string>                                       _constraint_names_;
+      52             :   std::map<std::string, mrs_msgs::DynamicsConstraintsSrvRequest> _constraints_;
+      53             : 
+      54             :   std::map<std::string, std::vector<std::string>> _map_type_allowed_constraints_;
+      55             :   std::map<std::string, std::string>              _map_type_default_constraints_;
+      56             : 
+      57             :   // | --------------------- service clients -------------------- |
+      58             : 
+      59             :   mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv> sc_set_constraints_;
+      60             : 
+      61             :   // | ----------------------- subscribers ---------------------- |
+      62             : 
+      63             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics> sh_estimation_diag_;
+      64             : 
+      65             :   // | ------------- constraint management ------------- |
+      66             : 
+      67             :   bool setConstraints(std::string constraints_names);
+      68             : 
+      69             :   ros::ServiceServer service_server_set_constraints_;
+      70             :   bool               callbackSetConstraints(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+      71             : 
+      72             :   std::string last_estimator_name_;
+      73             :   std::mutex  mutex_last_estimator_name_;
+      74             : 
+      75             :   void       timerConstraintManagement(const ros::TimerEvent& event);
+      76             :   ros::Timer timer_constraint_management_;
+      77             :   double     _constraint_management_rate_;
+      78             : 
+      79             :   std::string current_constraints_;
+      80             :   std::mutex  mutex_current_constraints_;
+      81             : 
+      82             :   // | ------------------ constraints override ------------------ |
+      83             : 
+      84             :   ros::ServiceServer service_server_constraints_override_;
+      85             :   bool               callbackConstraintsOverride(mrs_msgs::ConstraintsOverride::Request& req, mrs_msgs::ConstraintsOverride::Response& res);
+      86             : 
+      87             :   std::atomic<bool>                    override_constraints_         = false;
+      88             :   std::atomic<bool>                    constraints_override_updated_ = false;
+      89             :   std::mutex                           mutex_constraints_override_;
+      90             :   mrs_msgs::ConstraintsOverrideRequest constraints_override_;
+      91             : 
+      92             :   // | ------------------ diagnostics publisher ----------------- |
+      93             : 
+      94             :   mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics> ph_diagnostics_;
+      95             : 
+      96             :   void       timerDiagnostics(const ros::TimerEvent& event);
+      97             :   ros::Timer timer_diagnostics_;
+      98             :   double     _diagnostics_rate_;
+      99             : 
+     100             :   // | ------------------------ profiler ------------------------ |
+     101             : 
+     102             :   mrs_lib::Profiler profiler_;
+     103             :   bool              _profiler_enabled_ = false;
+     104             : 
+     105             :   // | ------------------- scope timer logger ------------------- |
+     106             : 
+     107             :   bool                                       scope_timer_enabled_ = false;
+     108             :   std::shared_ptr<mrs_lib::ScopeTimerLogger> scope_timer_logger_;
+     109             : 
+     110             :   // | ------------------------- helpers ------------------------ |
+     111             : 
+     112             :   bool stringInVector(const std::string& value, const std::vector<std::string>& vector);
+     113             : };
+     114             : 
+     115             : //}
+     116             : 
+     117             : /* //{ onInit() */
+     118             : 
+     119         108 : void ConstraintManager::onInit() {
+     120             : 
+     121         108 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     122             : 
+     123         108 :   ros::Time::waitForValid();
+     124             : 
+     125         108 :   ROS_INFO("[ConstraintManager]: initializing");
+     126             : 
+     127             :   // | ------------------------- params ------------------------- |
+     128             : 
+     129         216 :   mrs_lib::ParamLoader param_loader(nh_, "ConstraintManager");
+     130             : 
+     131         216 :   std::string custom_config_path;
+     132         216 :   std::string platform_config_path;
+     133             : 
+     134         108 :   param_loader.loadParam("custom_config", custom_config_path);
+     135         108 :   param_loader.loadParam("platform_config", platform_config_path);
+     136             : 
+     137         108 :   if (custom_config_path != "") {
+     138         108 :     param_loader.addYamlFile(custom_config_path);
+     139             :   }
+     140             : 
+     141         108 :   if (platform_config_path != "") {
+     142         108 :     param_loader.addYamlFile(platform_config_path);
+     143             :   }
+     144             : 
+     145         108 :   param_loader.addYamlFileFromParam("private_config");
+     146         108 :   param_loader.addYamlFileFromParam("public_config");
+     147         108 :   param_loader.addYamlFileFromParam("public_constraints");
+     148             : 
+     149         216 :   const std::string yaml_prefix = "mrs_uav_managers/constraint_manager/";
+     150             : 
+     151             :   // params passed from the launch file are not prefixed
+     152         108 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     153             : 
+     154         108 :   param_loader.loadParam(yaml_prefix + "constraints", _constraint_names_);
+     155             : 
+     156         108 :   param_loader.loadParam(yaml_prefix + "estimator_types", _estimator_type_names_);
+     157             : 
+     158         108 :   param_loader.loadParam(yaml_prefix + "rate", _constraint_management_rate_);
+     159         108 :   param_loader.loadParam(yaml_prefix + "diagnostics_rate", _diagnostics_rate_);
+     160             : 
+     161         108 :   std::vector<std::string>::iterator it;
+     162             : 
+     163             :   // loading constraint names
+     164         432 :   for (it = _constraint_names_.begin(); it != _constraint_names_.end(); ++it) {
+     165             : 
+     166         324 :     ROS_INFO_STREAM("[ConstraintManager]: loading constraints '" << *it << "'");
+     167             : 
+     168         324 :     mrs_msgs::DynamicsConstraintsSrvRequest new_constraints;
+     169             : 
+     170         324 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/speed", new_constraints.constraints.horizontal_speed);
+     171         324 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/acceleration", new_constraints.constraints.horizontal_acceleration);
+     172         324 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/jerk", new_constraints.constraints.horizontal_jerk);
+     173         324 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/snap", new_constraints.constraints.horizontal_snap);
+     174             : 
+     175         324 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/speed", new_constraints.constraints.vertical_ascending_speed);
+     176         324 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/acceleration", new_constraints.constraints.vertical_ascending_acceleration);
+     177         324 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/jerk", new_constraints.constraints.vertical_ascending_jerk);
+     178         324 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/snap", new_constraints.constraints.vertical_ascending_snap);
+     179             : 
+     180         324 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/speed", new_constraints.constraints.vertical_descending_speed);
+     181         324 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/acceleration", new_constraints.constraints.vertical_descending_acceleration);
+     182         324 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/jerk", new_constraints.constraints.vertical_descending_jerk);
+     183         324 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/snap", new_constraints.constraints.vertical_descending_snap);
+     184             : 
+     185         324 :     param_loader.loadParam(yaml_prefix + *it + "/heading/speed", new_constraints.constraints.heading_speed);
+     186         324 :     param_loader.loadParam(yaml_prefix + *it + "/heading/acceleration", new_constraints.constraints.heading_acceleration);
+     187         324 :     param_loader.loadParam(yaml_prefix + *it + "/heading/jerk", new_constraints.constraints.heading_jerk);
+     188         324 :     param_loader.loadParam(yaml_prefix + *it + "/heading/snap", new_constraints.constraints.heading_snap);
+     189             : 
+     190         324 :     param_loader.loadParam(yaml_prefix + *it + "/angular_speed/roll", new_constraints.constraints.roll_rate);
+     191         324 :     param_loader.loadParam(yaml_prefix + *it + "/angular_speed/pitch", new_constraints.constraints.pitch_rate);
+     192         324 :     param_loader.loadParam(yaml_prefix + *it + "/angular_speed/yaw", new_constraints.constraints.yaw_rate);
+     193             : 
+     194             :     double tilt_deg;
+     195             : 
+     196         324 :     param_loader.loadParam(yaml_prefix + *it + "/tilt", tilt_deg);
+     197             : 
+     198         324 :     new_constraints.constraints.tilt = M_PI * (tilt_deg / 180.0);
+     199             : 
+     200         324 :     _constraints_.insert(std::pair<std::string, mrs_msgs::DynamicsConstraintsSrvRequest>(*it, new_constraints));
+     201             :   }
+     202             : 
+     203             :   // loading the allowed constraints lists
+     204         864 :   for (it = _estimator_type_names_.begin(); it != _estimator_type_names_.end(); ++it) {
+     205             : 
+     206         756 :     std::vector<std::string> temp_vector;
+     207         756 :     param_loader.loadParam(yaml_prefix + "allowed_constraints/" + *it, temp_vector);
+     208             : 
+     209         756 :     std::vector<std::string>::iterator it2;
+     210        2796 :     for (it2 = temp_vector.begin(); it2 != temp_vector.end(); ++it2) {
+     211        2040 :       if (!stringInVector(*it2, _constraint_names_)) {
+     212           0 :         ROS_ERROR("[ConstraintManager]: the element '%s' of %s/allowed_constraints is not a valid constraint!", it2->c_str(), it->c_str());
+     213           0 :         ros::shutdown();
+     214             :       }
+     215             :     }
+     216             : 
+     217         756 :     _map_type_allowed_constraints_.insert(std::pair<std::string, std::vector<std::string>>(*it, temp_vector));
+     218             :   }
+     219             : 
+     220             :   // loading the default constraints
+     221         864 :   for (it = _estimator_type_names_.begin(); it != _estimator_type_names_.end(); ++it) {
+     222             : 
+     223         756 :     std::string temp_str;
+     224         756 :     param_loader.loadParam(yaml_prefix + "default_constraints/" + *it, temp_str);
+     225             : 
+     226         756 :     if (!stringInVector(temp_str, _map_type_allowed_constraints_.at(*it))) {
+     227           0 :       ROS_ERROR("[ConstraintManager]: the element '%s' of %s/allowed_constraints is not a valid constraint!", temp_str.c_str(), it->c_str());
+     228           0 :       ros::shutdown();
+     229             :     }
+     230             : 
+     231         756 :     _map_type_default_constraints_.insert(std::pair<std::string, std::string>(*it, temp_str));
+     232             :   }
+     233             : 
+     234         108 :   ROS_INFO("[ConstraintManager]: done loading dynamic params");
+     235             : 
+     236         108 :   current_constraints_ = "";
+     237         108 :   last_estimator_name_ = "";
+     238             : 
+     239             :   // | ------------------------ services ------------------------ |
+     240             : 
+     241         108 :   service_server_set_constraints_ = nh_.advertiseService("set_constraints_in", &ConstraintManager::callbackSetConstraints, this);
+     242             : 
+     243         108 :   service_server_constraints_override_ = nh_.advertiseService("constraints_override_in", &ConstraintManager::callbackConstraintsOverride, this);
+     244             : 
+     245         108 :   sc_set_constraints_ = mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>(nh_, "set_constraints_out");
+     246             : 
+     247             :   // | ----------------------- subscribers ---------------------- |
+     248             : 
+     249         216 :   mrs_lib::SubscribeHandlerOptions shopts;
+     250         108 :   shopts.nh                 = nh_;
+     251         108 :   shopts.node_name          = "ConstraintManager";
+     252         108 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     253         108 :   shopts.threadsafe         = true;
+     254         108 :   shopts.autostart          = true;
+     255         108 :   shopts.queue_size         = 10;
+     256         108 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     257             : 
+     258         108 :   sh_estimation_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "estimation_diagnostics_in");
+     259             : 
+     260             :   // | ----------------------- publishers ----------------------- |
+     261             : 
+     262         108 :   ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics>(nh_, "diagnostics_out", 10);
+     263             : 
+     264             :   // | ------------------------- timers ------------------------- |
+     265             : 
+     266         108 :   timer_constraint_management_ = nh_.createTimer(ros::Rate(_constraint_management_rate_), &ConstraintManager::timerConstraintManagement, this);
+     267         108 :   timer_diagnostics_           = nh_.createTimer(ros::Rate(_diagnostics_rate_), &ConstraintManager::timerDiagnostics, this);
+     268             : 
+     269             :   // | ------------------------ profiler ------------------------ |
+     270             : 
+     271         108 :   profiler_ = mrs_lib::Profiler(nh_, "ConstraintManager", _profiler_enabled_);
+     272             : 
+     273             :   // | ------------------- scope timer logger ------------------- |
+     274             : 
+     275         108 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     276         324 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     277         108 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     278             : 
+     279             :   // | ----------------------- finish init ---------------------- |
+     280             : 
+     281         108 :   if (!param_loader.loadedSuccessfully()) {
+     282           0 :     ROS_ERROR("[ConstraintManager]: Could not load all parameters!");
+     283           0 :     ros::shutdown();
+     284             :   }
+     285             : 
+     286         108 :   is_initialized_ = true;
+     287             : 
+     288         108 :   ROS_INFO("[ConstraintManager]: initialized");
+     289             : 
+     290         108 :   ROS_DEBUG("[ConstraintManager]: debug output is enabled");
+     291         108 : }
+     292             : 
+     293             : //}
+     294             : 
+     295             : // --------------------------------------------------------------
+     296             : // |                           methods                          |
+     297             : // --------------------------------------------------------------
+     298             : 
+     299             : /* setConstraints() //{ */
+     300             : 
+     301         111 : bool ConstraintManager::setConstraints(std::string constraints_name) {
+     302             : 
+     303         111 :   std::map<std::string, mrs_msgs::DynamicsConstraintsSrvRequest>::iterator it;
+     304         111 :   it = _constraints_.find(constraints_name);
+     305             : 
+     306         111 :   if (it == _constraints_.end()) {
+     307           0 :     ROS_ERROR("[ConstraintManager]: could not setConstraints(), the constraint name '%s' is not on the list", constraints_name.c_str());
+     308           0 :     return false;
+     309             :   }
+     310             : 
+     311         222 :   mrs_msgs::DynamicsConstraintsSrv srv_call;
+     312             : 
+     313         111 :   srv_call.request = it->second;
+     314             : 
+     315         111 :   if (override_constraints_) {
+     316             : 
+     317           1 :     auto constraints_override = mrs_lib::get_mutexed(mutex_constraints_override_, constraints_override_);
+     318             : 
+     319           1 :     if (constraints_override.acceleration_horizontal > 0 &&
+     320           1 :         constraints_override.acceleration_horizontal <= srv_call.request.constraints.horizontal_acceleration) {
+     321           1 :       srv_call.request.constraints.horizontal_acceleration = constraints_override.acceleration_horizontal;
+     322             :     } else {
+     323           0 :       ROS_ERROR_THROTTLE(1.0, "[ConstraintManager]: required horizontal acceleration override is out of bounds");
+     324             :     }
+     325             : 
+     326           1 :     if (constraints_override.acceleration_vertical > 0 &&
+     327           1 :         constraints_override.acceleration_vertical <= srv_call.request.constraints.vertical_ascending_acceleration &&
+     328           1 :         constraints_override.acceleration_vertical <= srv_call.request.constraints.vertical_descending_acceleration) {
+     329           1 :       srv_call.request.constraints.vertical_ascending_acceleration  = constraints_override.acceleration_vertical;
+     330           1 :       srv_call.request.constraints.vertical_descending_acceleration = constraints_override.acceleration_vertical;
+     331             :     } else {
+     332           0 :       ROS_ERROR_THROTTLE(1.0, "[ConstraintManager]: required vertical acceleration override is out of bounds");
+     333             :     }
+     334             :   }
+     335             : 
+     336         111 :   bool res = sc_set_constraints_.call(srv_call);
+     337             : 
+     338         111 :   if (!res) {
+     339             : 
+     340           0 :     ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: the service for setting constraints has failed!");
+     341           0 :     return false;
+     342             : 
+     343             :   } else {
+     344             : 
+     345         111 :     if (srv_call.response.success) {
+     346             : 
+     347         111 :       mrs_lib::set_mutexed(mutex_current_constraints_, constraints_name, current_constraints_);
+     348         111 :       return true;
+     349             : 
+     350             :     } else {
+     351             : 
+     352           0 :       ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: set service for setting constraints returned: '%s'", srv_call.response.message.c_str());
+     353           0 :       return false;
+     354             :     }
+     355             :   }
+     356             : }
+     357             : 
+     358             : //}
+     359             : 
+     360             : // --------------------------------------------------------------
+     361             : // |                          callbacks                         |
+     362             : // --------------------------------------------------------------
+     363             : 
+     364             : // | -------------------- service callbacks ------------------- |
+     365             : 
+     366             : /* //{ callbackSetConstraints() */
+     367             : 
+     368           3 : bool ConstraintManager::callbackSetConstraints(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+     369             : 
+     370           3 :   if (!is_initialized_) {
+     371           0 :     return false;
+     372             :   }
+     373             : 
+     374           6 :   std::stringstream ss;
+     375             : 
+     376           3 :   if (!sh_estimation_diag_.hasMsg()) {
+     377             : 
+     378           0 :     ss << "missing odometry diagnostics";
+     379             : 
+     380           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ConstraintManager]: " << ss.str());
+     381             : 
+     382           0 :     res.message = ss.str();
+     383           0 :     res.success = false;
+     384           0 :     return true;
+     385             :   }
+     386             : 
+     387           6 :   auto estimation_diagnostics = sh_estimation_diag_.getMsg();
+     388             : 
+     389           3 :   if (!stringInVector(req.value, _constraint_names_)) {
+     390             : 
+     391           1 :     ss << "the constraints '" << req.value.c_str() << "' do not exist (in the ConstraintManager's config)";
+     392             : 
+     393           1 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ConstraintManager]: " << ss.str());
+     394             : 
+     395           1 :     res.message = ss.str();
+     396           1 :     res.success = false;
+     397           1 :     return true;
+     398             :   }
+     399             : 
+     400           2 :   if (!stringInVector(req.value, _map_type_allowed_constraints_.at(estimation_diagnostics->current_state_estimator))) {
+     401             : 
+     402           0 :     ss << "the constraints '" << req.value.c_str() << "' are not allowed given the current odometry type";
+     403             : 
+     404           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ConstraintManager]: " << ss.str());
+     405             : 
+     406           0 :     res.message = ss.str();
+     407           0 :     res.success = false;
+     408           0 :     return true;
+     409             :   }
+     410             : 
+     411           2 :   override_constraints_ = false;
+     412             : 
+     413             :   // try to set the constraints
+     414           2 :   if (!setConstraints(req.value)) {
+     415             : 
+     416           0 :     ss << "the ControlManager could not set the constraints";
+     417             : 
+     418           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ConstraintManager]: " << ss.str());
+     419             : 
+     420           0 :     res.message = ss.str();
+     421           0 :     res.success = false;
+     422           0 :     return true;
+     423             : 
+     424             :   } else {
+     425             : 
+     426           2 :     ss << "the constraints '" << req.value.c_str() << "' were set";
+     427             : 
+     428           2 :     ROS_INFO_STREAM_THROTTLE(1.0, "[ConstraintManager]: " << ss.str());
+     429             : 
+     430           2 :     res.message = ss.str();
+     431           2 :     res.success = true;
+     432           2 :     return true;
+     433             :   }
+     434             : }
+     435             : 
+     436             : //}
+     437             : 
+     438             : /* callackConstraintsOverride() //{ */
+     439             : 
+     440           1 : bool ConstraintManager::callbackConstraintsOverride(mrs_msgs::ConstraintsOverride::Request& req, mrs_msgs::ConstraintsOverride::Response& res) {
+     441             : 
+     442           1 :   if (!is_initialized_) {
+     443           0 :     return false;
+     444             :   }
+     445             : 
+     446             :   {
+     447           1 :     std::scoped_lock lock(mutex_constraints_override_);
+     448             : 
+     449           1 :     constraints_override_ = req;
+     450             :   }
+     451             : 
+     452           1 :   override_constraints_         = true;
+     453           1 :   constraints_override_updated_ = true;
+     454             : 
+     455           1 :   ROS_INFO_THROTTLE(0.1, "[ConstraintManager]: setting constraints override");
+     456             : 
+     457           1 :   res.message = "override set";
+     458           1 :   res.success = true;
+     459             : 
+     460           1 :   return true;
+     461             : }
+     462             : 
+     463             : //}
+     464             : 
+     465             : // --------------------------------------------------------------
+     466             : // |                           timers                           |
+     467             : // --------------------------------------------------------------
+     468             : 
+     469             : /* timerConstraintManagement() //{ */
+     470             : 
+     471       24240 : void ConstraintManager::timerConstraintManagement(const ros::TimerEvent& event) {
+     472             : 
+     473       24240 :   if (!is_initialized_) {
+     474        5588 :     return;
+     475             :   }
+     476             : 
+     477       48480 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerConstraintManagement", _constraint_management_rate_, 0.01, event);
+     478       48480 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ContraintManager::timerConstraintManagement", scope_timer_logger_, scope_timer_enabled_);
+     479             : 
+     480       24240 :   auto current_constraints = mrs_lib::get_mutexed(mutex_current_constraints_, current_constraints_);
+     481       24240 :   auto last_estimator_name = mrs_lib::get_mutexed(mutex_last_estimator_name_, last_estimator_name_);
+     482             : 
+     483       24240 :   if (!sh_estimation_diag_.hasMsg()) {
+     484        5588 :     return;
+     485             :   }
+     486             : 
+     487       18652 :   auto estimation_diagnostics = sh_estimation_diag_.getMsg();
+     488             : 
+     489             :   // | --- automatically set constraints when the state estimator changes -- |
+     490       18652 :   if (estimation_diagnostics->current_state_estimator != last_estimator_name_) {
+     491             : 
+     492         113 :     ROS_INFO_THROTTLE(1.0, "[ConstraintManager]: the state estimator has changed! %s -> %s", last_estimator_name_.c_str(),
+     493             :                       estimation_diagnostics->current_state_estimator.c_str());
+     494             : 
+     495         113 :     std::map<std::string, std::string>::iterator it;
+     496         113 :     it = _map_type_default_constraints_.find(estimation_diagnostics->current_state_estimator);
+     497             : 
+     498         113 :     if (it == _map_type_default_constraints_.end()) {
+     499             : 
+     500           0 :       ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: the state estimator type '%s' was not specified in the constraint_manager's config!",
+     501             :                         estimation_diagnostics->current_state_estimator.c_str());
+     502             : 
+     503             :     } else {
+     504             : 
+     505             :       // if the current constraints are within the allowed state estimator types, do nothing
+     506         113 :       if (stringInVector(current_constraints, _map_type_allowed_constraints_.at(estimation_diagnostics->current_state_estimator))) {
+     507             : 
+     508           5 :         last_estimator_name = estimation_diagnostics->current_state_estimator;
+     509             : 
+     510             :         // else, try to set the initial constraints
+     511             :       } else {
+     512             : 
+     513         108 :         ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: the current constraints '%s' are not within the allowed constraints for '%s'", current_constraints.c_str(),
+     514             :                           estimation_diagnostics->current_state_estimator.c_str());
+     515             : 
+     516         108 :         if (setConstraints(it->second)) {
+     517             : 
+     518         108 :           last_estimator_name = estimation_diagnostics->current_state_estimator;
+     519             : 
+     520         108 :           ROS_INFO_THROTTLE(1.0, "[ConstraintManager]: constraints set to initial: '%s'", it->second.c_str());
+     521             : 
+     522             :         } else {
+     523             : 
+     524           0 :           ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: could not set constraints!");
+     525             :         }
+     526             :       }
+     527             :     }
+     528             :   }
+     529             : 
+     530       18652 :   if (constraints_override_updated_) {
+     531             : 
+     532           1 :     std::map<std::string, std::string>::iterator it;
+     533           1 :     it = _map_type_default_constraints_.find(last_estimator_name_);
+     534             : 
+     535           1 :     ROS_INFO_THROTTLE(0.1, "[ConstraintManager]: re-setting constraints with user value override");
+     536             : 
+     537           1 :     if (setConstraints(it->second)) {
+     538           1 :       constraints_override_updated_ = false;
+     539             :     } else {
+     540           0 :       ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: could not re-set the constraints!");
+     541             :     }
+     542             :   }
+     543             : 
+     544       18652 :   mrs_lib::set_mutexed(mutex_last_estimator_name_, last_estimator_name, last_estimator_name_);
+     545             : }
+     546             : 
+     547             : //}
+     548             : 
+     549             : /* timerDiagnostics() //{ */
+     550             : 
+     551        2374 : void ConstraintManager::timerDiagnostics(const ros::TimerEvent& event) {
+     552             : 
+     553        2374 :   if (!is_initialized_) {
+     554         543 :     return;
+     555             :   }
+     556             : 
+     557        4748 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerDiagnostics", _diagnostics_rate_, 0.01, event);
+     558        4748 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ContraintManager::timerDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+     559             : 
+     560        2374 :   if (!sh_estimation_diag_.hasMsg()) {
+     561         540 :     ROS_WARN_THROTTLE(10.0, "[ConstraintManager]: can not do constraint management, missing estimation diagnostics!");
+     562         540 :     return;
+     563             :   }
+     564             : 
+     565        1834 :   auto estimation_diagnostics = sh_estimation_diag_.getMsg();
+     566             : 
+     567        1834 :   auto current_constraints = mrs_lib::get_mutexed(mutex_current_constraints_, current_constraints_);
+     568             : 
+     569        1834 :   if (current_constraints == "") {  // this could happend just before timerConstraintManagement() finishes
+     570           3 :     return;
+     571             :   }
+     572             : 
+     573        1831 :   mrs_msgs::ConstraintManagerDiagnostics diagnostics;
+     574             : 
+     575        1831 :   diagnostics.stamp        = ros::Time::now();
+     576        1831 :   diagnostics.current_name = current_constraints;
+     577        1831 :   diagnostics.loaded       = _constraint_names_;
+     578             : 
+     579             :   // get the available constraints
+     580             :   {
+     581        1831 :     std::map<std::string, std::vector<std::string>>::iterator it;
+     582        1831 :     it = _map_type_allowed_constraints_.find(estimation_diagnostics->current_state_estimator);
+     583             : 
+     584        1831 :     if (it == _map_type_allowed_constraints_.end()) {
+     585           0 :       ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: the state estimator '%s' was not specified in the constraint_manager's config!",
+     586             :                         estimation_diagnostics->current_state_estimator.c_str());
+     587             :     } else {
+     588        1831 :       diagnostics.available = it->second;
+     589             :     }
+     590             :   }
+     591             : 
+     592             :   // get the current constraint values
+     593             :   {
+     594        1831 :     std::map<std::string, mrs_msgs::DynamicsConstraintsSrvRequest>::iterator it;
+     595        1831 :     it = _constraints_.find(current_constraints);
+     596             : 
+     597        1831 :     if (it == _constraints_.end()) {
+     598           0 :       ROS_ERROR("[ConstraintManager]: current constraints '%s' not found in the constraint list!", current_constraints.c_str());
+     599           0 :       return;
+     600             :     }
+     601             : 
+     602        1831 :     diagnostics.current_values = it->second.constraints;
+     603             :   }
+     604             : 
+     605        1831 :   ph_diagnostics_.publish(diagnostics);
+     606             : }
+     607             : 
+     608             : //}
+     609             : 
+     610             : // --------------------------------------------------------------
+     611             : // |                          routines                          |
+     612             : // --------------------------------------------------------------
+     613             : 
+     614             : /* stringInVector() //{ */
+     615             : 
+     616        2914 : bool ConstraintManager::stringInVector(const std::string& value, const std::vector<std::string>& vector) {
+     617             : 
+     618        2914 :   if (std::find(vector.begin(), vector.end(), value) == vector.end()) {
+     619         109 :     return false;
+     620             :   } else {
+     621        2805 :     return true;
+     622             :   }
+     623             : }
+     624             : 
+     625             : //}
+     626             : 
+     627             : }  // namespace constraint_manager
+     628             : 
+     629             : }  // namespace mrs_uav_managers
+     630             : 
+     631             : #include <pluginlib/class_list_macros.h>
+     632         108 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::constraint_manager::ConstraintManager, nodelet::Nodelet)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/constraint_manager.cpp.gcov.overview.html b/mrs_uav_managers/src/constraint_manager.cpp.gcov.overview.html new file mode 100644 index 0000000000..38d8adfdaf --- /dev/null +++ b/mrs_uav_managers/src/constraint_manager.cpp.gcov.overview.html @@ -0,0 +1,178 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/constraint_manager.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_managers/src/constraint_manager.cpp.gcov.png b/mrs_uav_managers/src/constraint_manager.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..8665e49273d3bd913d1e1e1695b4808b41ea8464 GIT binary patch literal 2190 zcmV;92yyp`P)>5)BTY8BblC`-Z9K!!Xe{bN>uLlw|>SUz(xi-s1E) z4_E^UP>2+y95r)9jOskK*@rm8ML1)(YqHRq;|bP}9Fh3vIsOyidnJY^)QH3&=I{g| z!Mjcg$TBndz$c@5Y)YLXkHERZCu;UQk7(mc&d?LiatUd~C^@+q zI|N<4$wa8B z>SV?^hp@{P;mJEBL~~%m2vG7p6I7Z(TL$Dfdc=!?Hx(J;gftSln=_nDBUK(DqFP1* z5p5sXz5DdIT(MYg(7~@-2NY%w|1EvO5Ff$}Ac#o1jHv9D2(#v?N24%+p@_QViPbc& z&l6`JUl-24D>V#p+sp=sdC+5GJ|_q_Yd31xc0@R8gl&jP2knT2<6{3(`@*AS58A3( z>SP=%CFCgE6`tYO2_fYc3FT8Ktr@#JCre1qT?#)vIEb83VQXO73X?34<>I=5M|NaW zvvgKUh%r@e=6uD!Qh~^-5T~$`=kqKe{Jj*r{FUQ236l+DDA*B*c#U-<;yq2fWXrzdVaFj4!AQ_>EN6)8*aHKFhain*32!7*TM1!Y6dJ-|ma$@CjF8YM zc|6Owf#(!cjYlVLQctrUcQhA*&sUoW+bxsK0mcoPRM=-yaXZtxC-#|gr_pViNNVRP zlzfZ{)08&(W7E`req!!}(4yJ=-j@ty0wKzqfmU!8J3aUDg~xmUIbOeB@AM%ed{)Lm z_^uH|!tv*%Yzcsj`c00@@pzZxx)m=VL>lRKT(q5$-3{a1OyXrnz(@ zOo)LH{Z6VU(-2E&JtEuh$)~;~^oSR|y#QKTu_2TC7N_XD9P$ux*umr2hVL=RrRsPD z2HXcnsMuX^ie^aLMW5glppnNR=Uf+=0#dlmJ|hhTmjYm&tgqWFGp9>s?NXQiLiL*` zBAamu&1?U0AA~GLl+EmfvTR0^&O`w&(?X%bnWLcsydBZ{A_kSh2ca__o1SG?#T91g@cojl1;sfoctOvChxqx3|EF$DeNL<}dEFI9TC$u%K zq^Y0CA>Y~CSA2I**-WbkYp0@~toNZJO zd%|mD->|rDcy#B-B$`Facx$4GuNLClxJ{Q8XIyvpr>|`43O5F2TQMERRBNuEkQVZt zFlD4D6978ysdj}|wvm#mk_Y=DVTa+zA3-!BzTX^k6yY`E>#9|7ms4aXL1+;Sa0-}{ zw>ibJyM`mG<6YVS{UxCDG}QK-yTYpipb4Qri@Q3ELxk6e*ZcbIS1&g{TB_HzTYLMv zxCqbpF#&kBuWOizd;GU2)FJ+vb&VEv#m%JNbL_+Mo@XU9$i1g>aks^LLdWG@?hpU! zt{~;{p2CL>&0A_fw})nU) z^gB+@+?e~ngQXJo;%;Y@&wU8P-WdP{o^fXYc;u%^c)$w-f!F>kTHvt=PWg6I5Xz?( zw@5x|nZZ4PvkMr%=_6cVTjCSOt}!^%7cYX6VW@7*A5pY7{&y1_=V34`I6f45WDcjRl=$B&KOaERxMF ztWlk<$J#Jor)XuzUYuXolG^8FQ8@X>4&%n3RE!JueJzsQ$Ks{Td=*|Gih6eCu{6_M zY`srWdSmGGefT~FJ+k||zpUmObrq1QXW%2ECU}obJ^$A;bzxLR1#;2wHa@9V1%T{3Sp-3@>^my00Ib0L@AH%c1XzI z*UIzS`mQUL_*?ie(8sDcVR81>6lcOT^O5(E2|IgXWG;T&w=*YHm9b$#;j9go@~Rbi>WBR2bE2>AydIWcin zh7MnICS}uKVa3^S+U)SJoMRH!J^$(<@-k-^LWd*v^O%x}wazBH5oBTJKSg~oJ5v4u QtpET307*qoM6N<$g5-=RhyVZp literal 0 HcmV?d00001 diff --git a/mrs_uav_managers/src/control_manager/common/common.cpp.func-sort-c.html b/mrs_uav_managers/src/control_manager/common/common.cpp.func-sort-c.html new file mode 100644 index 0000000000..e768bd9a59 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/common/common.cpp.func-sort-c.html @@ -0,0 +1,204 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/common/common.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/control_manager/common - common.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23456741.3 %
Date:2024-08-07 22:18:19Functions:213167.7 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::control_manager::getHighestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)0
mrs_uav_managers::control_manager::validateOdometry(nav_msgs::Odometry_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> >&, double const&, double const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiPositionCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> >&, double const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_managers::control_manager::loadDetailedUavModelParams(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_uav_managers::control_manager::validateHwApiPositionCmd(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)534
mrs_uav_managers::control_manager::validateVelocityReference(mrs_msgs::VelocityReference_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)811
mrs_uav_managers::control_manager::validateHwApiAccelerationHdgRateCmd(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1025
mrs_uav_managers::control_manager::validateHwApiAccelerationHdgCmd(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1104
mrs_uav_managers::control_manager::validateHwApiVelocityHdgCmd(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1471
mrs_uav_managers::control_manager::idxInVector(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&)1677
mrs_uav_managers::control_manager::validateHwApiVelocityHdgRateCmd(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2410
mrs_uav_managers::control_manager::RCChannelToRange(double, double, double)3132
mrs_uav_managers::control_manager::validateHwApiActuatorCmd(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)3984
mrs_uav_managers::control_manager::validateHwApiControlGroupCmd(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)4042
mrs_uav_managers::control_manager::validateReference(mrs_msgs::Reference_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)10145
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> >&, double const&)14117
mrs_uav_managers::control_manager::initializeDefaultOutput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)14117
mrs_uav_managers::control_manager::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)14665
mrs_uav_managers::control_manager::validateHwApiAttitudeRateCmd(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)88109
mrs_uav_managers::control_manager::validateTrackerCommand(std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)101242
mrs_uav_managers::control_manager::validateControlOutput(mrs_uav_managers::Controller::ControlOutput const&, mrs_uav_managers::control_manager::ControlOutputModalities_t const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)110962
mrs_uav_managers::control_manager::validateHwApiAttitudeCmd(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)119241
mrs_uav_managers::control_manager::validateUavState(mrs_msgs::UavState_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)149846
mrs_uav_managers::control_manager::extractThrottle(mrs_uav_managers::Controller::ControlOutput const&)158688
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/control_manager/common/common.cpp.func.html b/mrs_uav_managers/src/control_manager/common/common.cpp.func.html new file mode 100644 index 0000000000..cc47851330 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/common/common.cpp.func.html @@ -0,0 +1,204 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/common/common.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/control_manager/common - common.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23456741.3 %
Date:2024-08-07 22:18:19Functions:213167.7 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::control_manager::idxInVector(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&)1677
mrs_uav_managers::control_manager::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)14665
mrs_uav_managers::control_manager::extractThrottle(mrs_uav_managers::Controller::ControlOutput const&)158688
mrs_uav_managers::control_manager::getHighestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)0
mrs_uav_managers::control_manager::RCChannelToRange(double, double, double)3132
mrs_uav_managers::control_manager::validateOdometry(nav_msgs::Odometry_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_uav_managers::control_manager::validateUavState(mrs_msgs::UavState_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)149846
mrs_uav_managers::control_manager::validateReference(mrs_msgs::Reference_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)10145
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> >&, double const&, double const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiPositionCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> >&, double const&)14117
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> >&, double const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_managers::control_manager::validateControlOutput(mrs_uav_managers::Controller::ControlOutput const&, mrs_uav_managers::control_manager::ControlOutputModalities_t const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)110962
mrs_uav_managers::control_manager::validateTrackerCommand(std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)101242
mrs_uav_managers::control_manager::initializeDefaultOutput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)14117
mrs_uav_managers::control_manager::validateHwApiActuatorCmd(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)3984
mrs_uav_managers::control_manager::validateHwApiAttitudeCmd(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)119241
mrs_uav_managers::control_manager::validateHwApiPositionCmd(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)534
mrs_uav_managers::control_manager::validateVelocityReference(mrs_msgs::VelocityReference_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)811
mrs_uav_managers::control_manager::loadDetailedUavModelParams(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_uav_managers::control_manager::validateHwApiVelocityHdgCmd(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1471
mrs_uav_managers::control_manager::validateHwApiAttitudeRateCmd(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)88109
mrs_uav_managers::control_manager::validateHwApiControlGroupCmd(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)4042
mrs_uav_managers::control_manager::validateHwApiAccelerationHdgCmd(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1104
mrs_uav_managers::control_manager::validateHwApiVelocityHdgRateCmd(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2410
mrs_uav_managers::control_manager::validateHwApiAccelerationHdgRateCmd(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1025
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/control_manager/common/common.cpp.gcov.frameset.html b/mrs_uav_managers/src/control_manager/common/common.cpp.gcov.frameset.html new file mode 100644 index 0000000000..41b7eb37bb --- /dev/null +++ b/mrs_uav_managers/src/control_manager/common/common.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/common/common.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/src/control_manager/common/common.cpp.gcov.html b/mrs_uav_managers/src/control_manager/common/common.cpp.gcov.html new file mode 100644 index 0000000000..f2a99f71ea --- /dev/null +++ b/mrs_uav_managers/src/control_manager/common/common.cpp.gcov.html @@ -0,0 +1,1312 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/common/common.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/control_manager/common - common.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23456741.3 %
Date:2024-08-07 22:18:19Functions:213167.7 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #include <mrs_uav_managers/control_manager/common.h>
+       2             : 
+       3             : namespace mrs_uav_managers
+       4             : {
+       5             : 
+       6             : namespace control_manager
+       7             : {
+       8             : 
+       9             : /* idxInVector() //{ */
+      10             : 
+      11        1677 : std::optional<unsigned int> idxInVector(const std::string& str, const std::vector<std::string>& vec) {
+      12             : 
+      13        4755 :   for (unsigned int i = 0; i < vec.size(); i++) {
+      14        4751 :     if (str == vec[i]) {
+      15        1673 :       return {i};
+      16             :     }
+      17             :   }
+      18             : 
+      19           4 :   return {};
+      20             : }
+      21             : 
+      22             : //}
+      23             : 
+      24             : /* validateTrackerCommand() //{ */
+      25             : 
+      26      101242 : bool validateTrackerCommand(const std::optional<mrs_msgs::TrackerCommand>& msg, const std::string& node_name, const std::string& var_name) {
+      27             : 
+      28      101242 :   if (!msg) {
+      29           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: the optional variable '%s' is not set!!!", node_name.c_str(), var_name.c_str());
+      30           0 :     return false;
+      31             :   }
+      32             : 
+      33             :   // check positions
+      34             : 
+      35      101242 :   if (!std::isfinite(msg->position.x)) {
+      36           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s->position.x'!!!", node_name.c_str(), var_name.c_str());
+      37           0 :     return false;
+      38             :   }
+      39             : 
+      40      101242 :   if (!std::isfinite(msg->position.y)) {
+      41           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s->position.y'!!!", node_name.c_str(), var_name.c_str());
+      42           0 :     return false;
+      43             :   }
+      44             : 
+      45      101242 :   if (!std::isfinite(msg->position.z)) {
+      46           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s->position.z'!!!", node_name.c_str(), var_name.c_str());
+      47           0 :     return false;
+      48             :   }
+      49             : 
+      50             :   // check velocities
+      51             : 
+      52      101242 :   if (!std::isfinite(msg->velocity.x)) {
+      53           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s->velocity.x'!!!", node_name.c_str(), var_name.c_str());
+      54           0 :     return false;
+      55             :   }
+      56             : 
+      57      101242 :   if (!std::isfinite(msg->velocity.y)) {
+      58           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s->velocity.y'!!!", node_name.c_str(), var_name.c_str());
+      59           0 :     return false;
+      60             :   }
+      61             : 
+      62      101242 :   if (!std::isfinite(msg->velocity.z)) {
+      63           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s->velocity.z'!!!", node_name.c_str(), var_name.c_str());
+      64           0 :     return false;
+      65             :   }
+      66             : 
+      67             :   // check accelerations
+      68             : 
+      69      101242 :   if (!std::isfinite(msg->acceleration.x)) {
+      70           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s->acceleration.x'!!!", node_name.c_str(), var_name.c_str());
+      71           0 :     return false;
+      72             :   }
+      73             : 
+      74      101242 :   if (!std::isfinite(msg->acceleration.y)) {
+      75           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s->acceleration.y'!!!", node_name.c_str(), var_name.c_str());
+      76           0 :     return false;
+      77             :   }
+      78             : 
+      79      101242 :   if (!std::isfinite(msg->acceleration.z)) {
+      80           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s->acceleration.z'!!!", node_name.c_str(), var_name.c_str());
+      81           0 :     return false;
+      82             :   }
+      83             : 
+      84             :   // check jerk
+      85             : 
+      86      101242 :   if (!std::isfinite(msg->jerk.x)) {
+      87           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s->jerk.x'!!!", node_name.c_str(), var_name.c_str());
+      88           0 :     return false;
+      89             :   }
+      90             : 
+      91      101242 :   if (!std::isfinite(msg->jerk.y)) {
+      92           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s->jerk.y'!!!", node_name.c_str(), var_name.c_str());
+      93           0 :     return false;
+      94             :   }
+      95             : 
+      96      101242 :   if (!std::isfinite(msg->jerk.z)) {
+      97           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s->jerk.z'!!!", node_name.c_str(), var_name.c_str());
+      98           0 :     return false;
+      99             :   }
+     100             : 
+     101             :   // check snap
+     102             : 
+     103      101242 :   if (!std::isfinite(msg->snap.x)) {
+     104           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s->snap.x'!!!", node_name.c_str(), var_name.c_str());
+     105           0 :     return false;
+     106             :   }
+     107             : 
+     108      101242 :   if (!std::isfinite(msg->snap.y)) {
+     109           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s->snap.y'!!!", node_name.c_str(), var_name.c_str());
+     110           0 :     return false;
+     111             :   }
+     112             : 
+     113      101242 :   if (!std::isfinite(msg->snap.z)) {
+     114           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s->snap.z'!!!", node_name.c_str(), var_name.c_str());
+     115           0 :     return false;
+     116             :   }
+     117             : 
+     118             :   // check attitude rate
+     119             : 
+     120      101242 :   if (!std::isfinite(msg->attitude_rate.x)) {
+     121           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s->attitude_rate.x'!!!", node_name.c_str(), var_name.c_str());
+     122           0 :     return false;
+     123             :   }
+     124             : 
+     125      101242 :   if (!std::isfinite(msg->attitude_rate.y)) {
+     126           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s->attitude_rate.y'!!!", node_name.c_str(), var_name.c_str());
+     127           0 :     return false;
+     128             :   }
+     129             : 
+     130      101242 :   if (!std::isfinite(msg->attitude_rate.z)) {
+     131           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s->attitude_rate.z'!!!", node_name.c_str(), var_name.c_str());
+     132           0 :     return false;
+     133             :   }
+     134             : 
+     135             :   // check heading
+     136             : 
+     137      101242 :   if (!std::isfinite(msg->heading)) {
+     138           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s->heading'!!!", node_name.c_str(), var_name.c_str());
+     139           0 :     return false;
+     140             :   }
+     141             : 
+     142      101242 :   if (!std::isfinite(msg->heading_rate)) {
+     143           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s->heading_rate'!!!", node_name.c_str(), var_name.c_str());
+     144           0 :     return false;
+     145             :   }
+     146             : 
+     147      101242 :   if (!std::isfinite(msg->heading_acceleration)) {
+     148           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s->heading_acceleration'!!!", node_name.c_str(), var_name.c_str());
+     149           0 :     return false;
+     150             :   }
+     151             : 
+     152      101242 :   if (!std::isfinite(msg->heading_jerk)) {
+     153           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s->heading_jerk'!!!", node_name.c_str(), var_name.c_str());
+     154           0 :     return false;
+     155             :   }
+     156             : 
+     157             :   // check throttle
+     158             : 
+     159      101242 :   if (!std::isfinite(msg->throttle)) {
+     160           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s->throttle'!!!", node_name.c_str(), var_name.c_str());
+     161           0 :     return false;
+     162             :   }
+     163             : 
+     164      101242 :   return true;
+     165             : }
+     166             : 
+     167             : //}
+     168             : 
+     169             : /* validateOdometry() //{ */
+     170             : 
+     171           0 : bool validateOdometry(const nav_msgs::Odometry& msg, const std::string& node_name, const std::string& var_name) {
+     172             : 
+     173             :   // check position
+     174             : 
+     175           0 :   if (!std::isfinite(msg.pose.pose.position.x)) {
+     176           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pose.pose.position.x'!!!", node_name.c_str(), var_name.c_str());
+     177           0 :     return false;
+     178             :   }
+     179             : 
+     180           0 :   if (!std::isfinite(msg.pose.pose.position.y)) {
+     181           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pose.pose.position.y'!!!", node_name.c_str(), var_name.c_str());
+     182           0 :     return false;
+     183             :   }
+     184             : 
+     185           0 :   if (!std::isfinite(msg.pose.pose.position.z)) {
+     186           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pose.pose.position.z'!!!", node_name.c_str(), var_name.c_str());
+     187           0 :     return false;
+     188             :   }
+     189             : 
+     190             :   // check orientation
+     191             : 
+     192           0 :   if (!std::isfinite(msg.pose.pose.orientation.x)) {
+     193           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pose.pose.orientation.x'!!!", node_name.c_str(), var_name.c_str());
+     194           0 :     return false;
+     195             :   }
+     196             : 
+     197           0 :   if (!std::isfinite(msg.pose.pose.orientation.y)) {
+     198           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pose.pose.orientation.y'!!!", node_name.c_str(), var_name.c_str());
+     199           0 :     return false;
+     200             :   }
+     201             : 
+     202           0 :   if (!std::isfinite(msg.pose.pose.orientation.z)) {
+     203           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pose.pose.orientation.z'!!!", node_name.c_str(), var_name.c_str());
+     204           0 :     return false;
+     205             :   }
+     206             : 
+     207           0 :   if (!std::isfinite(msg.pose.pose.orientation.w)) {
+     208           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pose.pose.orientation.w'!!!", node_name.c_str(), var_name.c_str());
+     209           0 :     return false;
+     210             :   }
+     211             : 
+     212             :   // check velocity
+     213             : 
+     214           0 :   if (!std::isfinite(msg.twist.twist.linear.x)) {
+     215           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.twist.twist.linear.x'!!!", node_name.c_str(), var_name.c_str());
+     216           0 :     return false;
+     217             :   }
+     218             : 
+     219           0 :   if (!std::isfinite(msg.twist.twist.linear.y)) {
+     220           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.twist.twist.linear.y'!!!", node_name.c_str(), var_name.c_str());
+     221           0 :     return false;
+     222             :   }
+     223             : 
+     224           0 :   if (!std::isfinite(msg.twist.twist.linear.z)) {
+     225           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.twist.twist.linear.z'!!!", node_name.c_str(), var_name.c_str());
+     226           0 :     return false;
+     227             :   }
+     228             : 
+     229           0 :   return true;
+     230             : }
+     231             : 
+     232             : //}
+     233             : 
+     234             : /* validateVelocityReference() //{ */
+     235             : 
+     236         811 : bool validateVelocityReference(const mrs_msgs::VelocityReference& msg, const std::string& node_name, const std::string& var_name) {
+     237             : 
+     238             :   // check velocity
+     239             : 
+     240         811 :   if (!std::isfinite(msg.velocity.x)) {
+     241           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.x'!!!", node_name.c_str(), var_name.c_str());
+     242           0 :     return false;
+     243             :   }
+     244             : 
+     245         811 :   if (!std::isfinite(msg.velocity.y)) {
+     246           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.y'!!!", node_name.c_str(), var_name.c_str());
+     247           0 :     return false;
+     248             :   }
+     249             : 
+     250         811 :   if (!std::isfinite(msg.velocity.z)) {
+     251           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.z'!!!", node_name.c_str(), var_name.c_str());
+     252           0 :     return false;
+     253             :   }
+     254             : 
+     255         811 :   if (!std::isfinite(msg.altitude)) {
+     256           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.altitude'!!!", node_name.c_str(), var_name.c_str());
+     257           0 :     return false;
+     258             :   }
+     259             : 
+     260         811 :   if (!std::isfinite(msg.heading)) {
+     261           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading'!!!", node_name.c_str(), var_name.c_str());
+     262           0 :     return false;
+     263             :   }
+     264             : 
+     265         811 :   if (!std::isfinite(msg.heading_rate)) {
+     266           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading_rate'!!!", node_name.c_str(), var_name.c_str());
+     267           0 :     return false;
+     268             :   }
+     269             : 
+     270         811 :   return true;
+     271             : }
+     272             : 
+     273             : //}
+     274             : 
+     275             : /* validateReference() //{ */
+     276             : 
+     277       10145 : bool validateReference(const mrs_msgs::Reference& msg, const std::string& node_name, const std::string& var_name) {
+     278             : 
+     279             :   // check position
+     280             : 
+     281       10145 :   if (!std::isfinite(msg.position.x)) {
+     282           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.position.x'!!!", node_name.c_str(), var_name.c_str());
+     283           0 :     return false;
+     284             :   }
+     285             : 
+     286       10145 :   if (!std::isfinite(msg.position.y)) {
+     287           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.position.y'!!!", node_name.c_str(), var_name.c_str());
+     288           0 :     return false;
+     289             :   }
+     290             : 
+     291       10145 :   if (!std::isfinite(msg.position.z)) {
+     292           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.position.z'!!!", node_name.c_str(), var_name.c_str());
+     293           0 :     return false;
+     294             :   }
+     295             : 
+     296             :   // check heading
+     297             : 
+     298       10145 :   if (!std::isfinite(msg.heading)) {
+     299           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading'!!!", node_name.c_str(), var_name.c_str());
+     300           0 :     return false;
+     301             :   }
+     302             : 
+     303       10145 :   return true;
+     304             : }
+     305             : 
+     306             : //}
+     307             : 
+     308             : /* validateUavState() //{ */
+     309             : 
+     310      149846 : bool validateUavState(const mrs_msgs::UavState& msg, const std::string& node_name, const std::string& var_name) {
+     311             : 
+     312             :   // check position
+     313             : 
+     314      149846 :   if (!std::isfinite(msg.pose.position.x)) {
+     315           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pose.position.x'!!!", node_name.c_str(), var_name.c_str());
+     316           0 :     return false;
+     317             :   }
+     318             : 
+     319      149846 :   if (!std::isfinite(msg.pose.position.y)) {
+     320           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pose.position.y'!!!", node_name.c_str(), var_name.c_str());
+     321           0 :     return false;
+     322             :   }
+     323             : 
+     324      149846 :   if (!std::isfinite(msg.pose.position.z)) {
+     325           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pose.position.z'!!!", node_name.c_str(), var_name.c_str());
+     326           0 :     return false;
+     327             :   }
+     328             : 
+     329             :   // check orientation
+     330             : 
+     331      149846 :   if (!std::isfinite(msg.pose.orientation.x)) {
+     332           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pose.orientation.x'!!!", node_name.c_str(), var_name.c_str());
+     333           0 :     return false;
+     334             :   }
+     335             : 
+     336      149846 :   if (!std::isfinite(msg.pose.orientation.y)) {
+     337           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pose.orientation.y'!!!", node_name.c_str(), var_name.c_str());
+     338           0 :     return false;
+     339             :   }
+     340             : 
+     341      149846 :   if (!std::isfinite(msg.pose.orientation.z)) {
+     342           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pose.orientation.z'!!!", node_name.c_str(), var_name.c_str());
+     343           0 :     return false;
+     344             :   }
+     345             : 
+     346      149846 :   if (!std::isfinite(msg.pose.orientation.w)) {
+     347           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pose.orientation.w'!!!", node_name.c_str(), var_name.c_str());
+     348           0 :     return false;
+     349             :   }
+     350             : 
+     351             :   // check linear velocity
+     352             : 
+     353      149846 :   if (!std::isfinite(msg.velocity.linear.x)) {
+     354           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.linear.x'!!!", node_name.c_str(), var_name.c_str());
+     355           0 :     return false;
+     356             :   }
+     357             : 
+     358      149846 :   if (!std::isfinite(msg.velocity.linear.y)) {
+     359           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.linear.y'!!!", node_name.c_str(), var_name.c_str());
+     360           0 :     return false;
+     361             :   }
+     362             : 
+     363      149846 :   if (!std::isfinite(msg.velocity.linear.z)) {
+     364           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.linear.z'!!!", node_name.c_str(), var_name.c_str());
+     365           0 :     return false;
+     366             :   }
+     367             : 
+     368             :   // check angular velocity
+     369             : 
+     370      149846 :   if (!std::isfinite(msg.velocity.angular.x)) {
+     371           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.angular.x'!!!", node_name.c_str(), var_name.c_str());
+     372           0 :     return false;
+     373             :   }
+     374             : 
+     375      149846 :   if (!std::isfinite(msg.velocity.angular.y)) {
+     376           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.angular.y'!!!", node_name.c_str(), var_name.c_str());
+     377           0 :     return false;
+     378             :   }
+     379             : 
+     380      149846 :   if (!std::isfinite(msg.velocity.angular.z)) {
+     381           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.angular.z'!!!", node_name.c_str(), var_name.c_str());
+     382           0 :     return false;
+     383             :   }
+     384             : 
+     385             :   // check linear acceleration
+     386             : 
+     387      149846 :   if (!std::isfinite(msg.acceleration.linear.x)) {
+     388           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.linear.x'!!!", node_name.c_str(), var_name.c_str());
+     389           0 :     return false;
+     390             :   }
+     391             : 
+     392      149846 :   if (!std::isfinite(msg.acceleration.linear.y)) {
+     393           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.linear.y'!!!", node_name.c_str(), var_name.c_str());
+     394           0 :     return false;
+     395             :   }
+     396             : 
+     397      149846 :   if (!std::isfinite(msg.acceleration.linear.z)) {
+     398           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.linear.z'!!!", node_name.c_str(), var_name.c_str());
+     399           0 :     return false;
+     400             :   }
+     401             : 
+     402             :   // check angular acceleration
+     403             : 
+     404      149846 :   if (!std::isfinite(msg.acceleration.angular.x)) {
+     405           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.angular.x'!!!", node_name.c_str(), var_name.c_str());
+     406           0 :     return false;
+     407             :   }
+     408             : 
+     409      149846 :   if (!std::isfinite(msg.acceleration.angular.y)) {
+     410           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.angular.y'!!!", node_name.c_str(), var_name.c_str());
+     411           0 :     return false;
+     412             :   }
+     413             : 
+     414      149846 :   if (!std::isfinite(msg.acceleration.angular.z)) {
+     415           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.angular.z'!!!", node_name.c_str(), var_name.c_str());
+     416           0 :     return false;
+     417             :   }
+     418             : 
+     419             :   // check acceleration angular disturbance
+     420             : 
+     421      149846 :   if (!std::isfinite(msg.acceleration_disturbance.angular.x)) {
+     422           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration_disturbance.angular.x'!!!", node_name.c_str(), var_name.c_str());
+     423           0 :     return false;
+     424             :   }
+     425             : 
+     426      149846 :   if (!std::isfinite(msg.acceleration_disturbance.angular.y)) {
+     427           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration_disturbance.angular.y'!!!", node_name.c_str(), var_name.c_str());
+     428           0 :     return false;
+     429             :   }
+     430             : 
+     431      149846 :   if (!std::isfinite(msg.acceleration_disturbance.angular.z)) {
+     432           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration_disturbance.angular.z'!!!", node_name.c_str(), var_name.c_str());
+     433           0 :     return false;
+     434             :   }
+     435             : 
+     436             :   // check acceleration linear disturbance
+     437             : 
+     438      149846 :   if (!std::isfinite(msg.acceleration_disturbance.linear.x)) {
+     439           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration_disturbance.linear.x'!!!", node_name.c_str(), var_name.c_str());
+     440           0 :     return false;
+     441             :   }
+     442             : 
+     443      149846 :   if (!std::isfinite(msg.acceleration_disturbance.linear.y)) {
+     444           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration_disturbance.linear.y'!!!", node_name.c_str(), var_name.c_str());
+     445           0 :     return false;
+     446             :   }
+     447             : 
+     448      149846 :   if (!std::isfinite(msg.acceleration_disturbance.linear.z)) {
+     449           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration_disturbance.linear.z'!!!", node_name.c_str(), var_name.c_str());
+     450           0 :     return false;
+     451             :   }
+     452             : 
+     453      149846 :   return true;
+     454             : }
+     455             : 
+     456             : //}
+     457             : 
+     458             : /* RCChannelToRange() //{ */
+     459             : 
+     460        3132 : double RCChannelToRange(double rc_value, double range, double deadband) {
+     461             : 
+     462        3132 :   double tmp_neg1_to_1 = (rc_value - 0.5) * 2.0;
+     463             : 
+     464        3132 :   if (tmp_neg1_to_1 > 1.0) {
+     465           0 :     tmp_neg1_to_1 = 1.0;
+     466        3132 :   } else if (tmp_neg1_to_1 < -1.0) {
+     467           0 :     tmp_neg1_to_1 = -1.0;
+     468             :   }
+     469             : 
+     470             :   // check the deadband
+     471        3132 :   if (tmp_neg1_to_1 < deadband && tmp_neg1_to_1 > -deadband) {
+     472        2415 :     return 0.0;
+     473             :   }
+     474             : 
+     475         717 :   if (tmp_neg1_to_1 > 0) {
+     476             : 
+     477         456 :     double tmp = (tmp_neg1_to_1 - deadband) / (1.0 - deadband);
+     478             : 
+     479         456 :     return range * tmp;
+     480             : 
+     481             :   } else {
+     482             : 
+     483         261 :     double tmp = (-tmp_neg1_to_1 - deadband) / (1.0 - deadband);
+     484             : 
+     485         261 :     return -range * tmp;
+     486             :   }
+     487             : 
+     488             :   return 0.0;
+     489             : }
+     490             : 
+     491             : //}
+     492             : 
+     493             : /* loadDetailedUavModelParams() //{ */
+     494             : 
+     495         108 : std::optional<DetailedModelParams_t> loadDetailedUavModelParams(ros::NodeHandle& nh, const std::string& node_name, const std::string& platform_config,
+     496             :                                                                 const std::string& custom_config) {
+     497             : 
+     498         216 :   mrs_lib::ParamLoader param_loader(nh, node_name);
+     499             : 
+     500         108 :   if (custom_config != "") {
+     501         108 :     param_loader.addYamlFile(custom_config);
+     502             :   }
+     503             : 
+     504         108 :   if (platform_config != "") {
+     505         108 :     param_loader.addYamlFile(platform_config);
+     506             :   }
+     507             : 
+     508             :   double mass;
+     509             :   double arm_length;
+     510             :   double body_height;
+     511             :   double force_constant;
+     512             :   double torque_constant;
+     513             :   double prop_radius;
+     514             :   double rpm_min;
+     515             :   double rpm_max;
+     516             : 
+     517         108 :   bool detailed_loaded = true;
+     518             : 
+     519         108 :   detailed_loaded *= param_loader.loadParam("uav_mass", mass, 0.0);
+     520             : 
+     521         108 :   detailed_loaded *= param_loader.loadParam("model_params/arm_length", arm_length, 0.0);
+     522         108 :   detailed_loaded *= param_loader.loadParam("model_params/body_height", body_height, 0.0);
+     523             : 
+     524         108 :   detailed_loaded *= param_loader.loadParam("model_params/propulsion/force_constant", force_constant, 0.0);
+     525         108 :   detailed_loaded *= param_loader.loadParam("model_params/propulsion/torque_constant", torque_constant, 0.0);
+     526         108 :   detailed_loaded *= param_loader.loadParam("model_params/propulsion/prop_radius", prop_radius, 0.0);
+     527         108 :   detailed_loaded *= param_loader.loadParam("model_params/propulsion/rpm/min", rpm_min, 0.0);
+     528         108 :   detailed_loaded *= param_loader.loadParam("model_params/propulsion/rpm/max", rpm_max, 0.0);
+     529             : 
+     530         216 :   Eigen::MatrixXd allocation_matrix;
+     531             : 
+     532         108 :   detailed_loaded *= param_loader.loadMatrixDynamic("model_params/propulsion/allocation_matrix", allocation_matrix, Eigen::Matrix4d::Identity(), 4, -1);
+     533             : 
+     534         108 :   if (!detailed_loaded) {
+     535           0 :     ROS_WARN(
+     536             :         "[%s]: detailed UAV model params not loaded, missing some parameters. This will not permit operations when ACTUATORS or CONTROL_GROUP control "
+     537             :         "outputs would be possible.",
+     538             :         node_name.c_str());
+     539           0 :     return {};
+     540             :   } else {
+     541         108 :     ROS_INFO("[%s]: detailed UAV model params successfully loaded.", node_name.c_str());
+     542             :   }
+     543             : 
+     544         108 :   int n_motors = allocation_matrix.cols();
+     545             : 
+     546         216 :   DetailedModelParams_t model_params;
+     547             : 
+     548         108 :   model_params.arm_length  = arm_length;
+     549         108 :   model_params.body_height = body_height;
+     550         108 :   model_params.prop_radius = prop_radius;
+     551             : 
+     552         108 :   Eigen::Matrix3d inertia_matrix;
+     553             : 
+     554         108 :   bool inertia_loaded = param_loader.loadMatrixStatic("model_params/inertia_matrix", inertia_matrix, Eigen::Matrix3d::Identity());
+     555             : 
+     556         108 :   if (inertia_loaded) {
+     557             : 
+     558           0 :     model_params.inertia = inertia_matrix;
+     559           0 :     ROS_INFO("[%s]: inertia matrix loaded from config file:", node_name.c_str());
+     560           0 :     ROS_INFO_STREAM(model_params.inertia);
+     561             : 
+     562             :   } else {
+     563             : 
+     564         108 :     ROS_INFO("[%s]: inertia matrix missing in the config file, computing it from the other params.", node_name.c_str());
+     565             : 
+     566             :     // create the inertia matrix
+     567         108 :     model_params.inertia       = Eigen::Matrix3d::Zero();
+     568         108 :     model_params.inertia(0, 0) = mass * (3.0 * arm_length * arm_length + body_height * body_height) / 12.0;
+     569         108 :     model_params.inertia(1, 1) = mass * (3.0 * arm_length * arm_length + body_height * body_height) / 12.0;
+     570         108 :     model_params.inertia(2, 2) = (mass * arm_length * arm_length) / 2.0;
+     571             : 
+     572         108 :     ROS_INFO("[%s]: inertia computed form parameters:", node_name.c_str());
+     573         108 :     ROS_INFO_STREAM(model_params.inertia);
+     574             :   }
+     575             : 
+     576             :   // create the force-torque allocation matrix
+     577         108 :   model_params.force_torque_mixer = allocation_matrix;
+     578         108 :   model_params.force_torque_mixer.row(0) *= arm_length * force_constant;
+     579         108 :   model_params.force_torque_mixer.row(1) *= arm_length * force_constant;
+     580         108 :   model_params.force_torque_mixer.row(2) *= torque_constant * (3.0 * prop_radius) * force_constant;
+     581         108 :   model_params.force_torque_mixer.row(3) *= force_constant;
+     582             : 
+     583             :   // | ------- create the control group allocation matrix ------- |
+     584             : 
+     585             :   // pseudoinverse of the force-torque matrix (maximum norm)
+     586             :   Eigen::MatrixXd alloc_tmp =
+     587         216 :       model_params.force_torque_mixer.transpose() * (model_params.force_torque_mixer * model_params.force_torque_mixer.transpose()).inverse();
+     588             : 
+     589             :   // | ------------- normalize the allocation matrix ------------ |
+     590             :   // this will make it match the PX4 control group mixing
+     591             : 
+     592             :   // the first two columns (roll, pitch)
+     593         546 :   for (int i = 0; i < n_motors; i++) {
+     594         438 :     alloc_tmp.block(i, 0, 1, 2).normalize();
+     595             :   }
+     596             : 
+     597             :   // the 3rd column (yaw)
+     598         546 :   for (int i = 0; i < n_motors; i++) {
+     599         438 :     if (alloc_tmp(i, 2) > 1e-2) {
+     600         219 :       alloc_tmp(i, 2) = 1.0;
+     601         219 :     } else if (alloc_tmp(i, 2) < -1e-2) {
+     602         219 :       alloc_tmp(i, 2) = -1.0;
+     603             :     } else {
+     604           0 :       alloc_tmp(i, 2) = 0.0;
+     605             :     }
+     606             :   }
+     607             : 
+     608             :   // the 4th column (throttle)
+     609         546 :   for (int i = 0; i < n_motors; i++) {
+     610         438 :     alloc_tmp(i, 3) = 1.0;
+     611             :   }
+     612             : 
+     613         108 :   model_params.control_group_mixer = alloc_tmp;
+     614             : 
+     615         108 :   return model_params;
+     616             : }
+     617             : 
+     618             : //}
+     619             : 
+     620             : /* getLowestOutput() //{ */
+     621             : 
+     622       14665 : CONTROL_OUTPUT getLowestOuput(const ControlOutputModalities_t& outputs) {
+     623             : 
+     624       14665 :   if (outputs.actuators) {
+     625          16 :     return ACTUATORS_CMD;
+     626             :   }
+     627             : 
+     628       14649 :   if (outputs.control_group) {
+     629          16 :     return CONTROL_GROUP;
+     630             :   }
+     631             : 
+     632       14633 :   if (outputs.attitude_rate) {
+     633       14527 :     return ATTITUDE_RATE;
+     634             :   }
+     635             : 
+     636         106 :   if (outputs.attitude) {
+     637          16 :     return ATTITUDE;
+     638             :   }
+     639             : 
+     640          90 :   if (outputs.acceleration_hdg_rate) {
+     641          10 :     return ACCELERATION_HDG_RATE;
+     642             :   }
+     643             : 
+     644          80 :   if (outputs.acceleration_hdg) {
+     645          10 :     return ACCELERATION_HDG;
+     646             :   }
+     647             : 
+     648          70 :   if (outputs.velocity_hdg_rate) {
+     649          40 :     return VELOCITY_HDG_RATE;
+     650             :   }
+     651             : 
+     652          30 :   if (outputs.velocity_hdg) {
+     653          20 :     return VELOCITY_HDG;
+     654             :   }
+     655             : 
+     656          10 :   return POSITION;
+     657             : }
+     658             : 
+     659             : //}
+     660             : 
+     661             : /* getHighestOutput() //{ */
+     662             : 
+     663           0 : CONTROL_OUTPUT getHighestOuput(const ControlOutputModalities_t& outputs) {
+     664             : 
+     665           0 :   if (outputs.position) {
+     666           0 :     return POSITION;
+     667             :   }
+     668             : 
+     669           0 :   if (outputs.velocity_hdg) {
+     670           0 :     return VELOCITY_HDG;
+     671             :   }
+     672             : 
+     673           0 :   if (outputs.velocity_hdg_rate) {
+     674           0 :     return VELOCITY_HDG_RATE;
+     675             :   }
+     676             : 
+     677           0 :   if (outputs.acceleration_hdg) {
+     678           0 :     return ACCELERATION_HDG;
+     679             :   }
+     680             : 
+     681           0 :   if (outputs.acceleration_hdg_rate) {
+     682           0 :     return ACCELERATION_HDG_RATE;
+     683             :   }
+     684             : 
+     685           0 :   if (outputs.attitude) {
+     686           0 :     return ATTITUDE;
+     687             :   }
+     688             : 
+     689           0 :   if (outputs.attitude_rate) {
+     690           0 :     return ATTITUDE_RATE;
+     691             :   }
+     692             : 
+     693           0 :   if (outputs.control_group) {
+     694           0 :     return CONTROL_GROUP;
+     695             :   }
+     696             : 
+     697           0 :   return ACTUATORS_CMD;
+     698             : }
+     699             : 
+     700             : //}
+     701             : 
+     702             : // | -------- extraction of throttle out of hw api cmds ------- |
+     703             : 
+     704             : /* extractThrottle() //{ */
+     705             : 
+     706      158688 : std::optional<double> extractThrottle(const Controller::ControlOutput& control_output) {
+     707             : 
+     708      158688 :   if (!control_output.control_output) {
+     709       22523 :     return {};
+     710             :   }
+     711             : 
+     712      272330 :   return std::visit(HwApiCmdExtractThrottleVisitor(), control_output.control_output.value());
+     713             : }
+     714             : 
+     715             : //}
+     716             : 
+     717             : // | -------------- validation of HW api commands ------------- |
+     718             : 
+     719             : /* validateControlOutput() //{ */
+     720             : 
+     721      110962 : bool validateControlOutput(const Controller::ControlOutput& control_output, const ControlOutputModalities_t& output_modalities, const std::string& node_name,
+     722             :                            const std::string& var_name) {
+     723             : 
+     724      110962 :   if (!control_output.control_output) {
+     725           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: the optional variable '%s' is not set!!!", node_name.c_str(), var_name.c_str());
+     726           0 :     return false;
+     727             :   }
+     728             : 
+     729      110962 :   std::variant<ControlOutputModalities_t> output_modalities_var{output_modalities};
+     730      221924 :   std::variant<std::string>               node_name_var{node_name};
+     731      110962 :   std::variant<std::string>               var_name_var{var_name};
+     732             : 
+     733      110962 :   return std::visit(HwApiValidateVisitor(), control_output.control_output.value(), output_modalities_var, node_name_var, var_name_var);
+     734             : }
+     735             : 
+     736             : //}
+     737             : 
+     738             : /* validateHwApiActuatorCmd() //{ */
+     739             : 
+     740        3984 : bool validateHwApiActuatorCmd(const mrs_msgs::HwApiActuatorCmd& msg, const std::string& node_name, const std::string& var_name) {
+     741             : 
+     742       19920 :   for (size_t i = 0; i < msg.motors.size(); i++) {
+     743       15936 :     if (!std::isfinite(msg.motors[i])) {
+     744           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.motors[%d]'!!!", node_name.c_str(), var_name.c_str(), int(i));
+     745           0 :       return false;
+     746             :     }
+     747             :   }
+     748             : 
+     749        3984 :   return true;
+     750             : }
+     751             : 
+     752             : //}
+     753             : 
+     754             : /* validateHwApiControlGroupCmd() //{ */
+     755             : 
+     756        4042 : bool validateHwApiControlGroupCmd(const mrs_msgs::HwApiControlGroupCmd& msg, const std::string& node_name, const std::string& var_name) {
+     757             : 
+     758        4042 :   if (!std::isfinite(msg.roll)) {
+     759           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.roll'!!!", node_name.c_str(), var_name.c_str());
+     760           0 :     return false;
+     761             :   }
+     762             : 
+     763        4042 :   if (!std::isfinite(msg.pitch)) {
+     764           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pitch'!!!", node_name.c_str(), var_name.c_str());
+     765           0 :     return false;
+     766             :   }
+     767             : 
+     768        4042 :   if (!std::isfinite(msg.yaw)) {
+     769           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.yaw'!!!", node_name.c_str(), var_name.c_str());
+     770           0 :     return false;
+     771             :   }
+     772             : 
+     773        4042 :   if (!std::isfinite(msg.throttle)) {
+     774           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.throttle'!!!", node_name.c_str(), var_name.c_str());
+     775           0 :     return false;
+     776             :   }
+     777             : 
+     778        4042 :   return true;
+     779             : }
+     780             : 
+     781             : //}
+     782             : 
+     783             : /* validateHwApiAttitudeCmd() //{ */
+     784             : 
+     785      119241 : bool validateHwApiAttitudeCmd(const mrs_msgs::HwApiAttitudeCmd& msg, const std::string& node_name, const std::string& var_name) {
+     786             : 
+     787             :   // check the orientation
+     788             : 
+     789      119241 :   if (!std::isfinite(msg.orientation.x)) {
+     790           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.orientation.x'!!!", node_name.c_str(), var_name.c_str());
+     791           0 :     return false;
+     792             :   }
+     793             : 
+     794      119241 :   if (!std::isfinite(msg.orientation.y)) {
+     795           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.orientation.y'!!!", node_name.c_str(), var_name.c_str());
+     796           0 :     return false;
+     797             :   }
+     798             : 
+     799      119241 :   if (!std::isfinite(msg.orientation.z)) {
+     800           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.orientation.z'!!!", node_name.c_str(), var_name.c_str());
+     801           0 :     return false;
+     802             :   }
+     803             : 
+     804      119241 :   if (!std::isfinite(msg.orientation.w)) {
+     805           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.orientation.w'!!!", node_name.c_str(), var_name.c_str());
+     806           0 :     return false;
+     807             :   }
+     808             : 
+     809             :   // check the throttle
+     810             : 
+     811      119241 :   if (!std::isfinite(msg.throttle)) {
+     812           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.throttle'!!!", node_name.c_str(), var_name.c_str());
+     813           0 :     return false;
+     814             :   }
+     815             : 
+     816      119241 :   return true;
+     817             : }
+     818             : 
+     819             : //}
+     820             : 
+     821             : /* validateHwApiAttitudeRateCmd() //{ */
+     822             : 
+     823       88109 : bool validateHwApiAttitudeRateCmd(const mrs_msgs::HwApiAttitudeRateCmd& msg, const std::string& node_name, const std::string& var_name) {
+     824             : 
+     825             :   // check the body rate
+     826             : 
+     827       88109 :   if (!std::isfinite(msg.body_rate.x)) {
+     828           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.body_rate.x'!!!", node_name.c_str(), var_name.c_str());
+     829           0 :     return false;
+     830             :   }
+     831             : 
+     832       88109 :   if (!std::isfinite(msg.body_rate.y)) {
+     833           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.body_rate.y'!!!", node_name.c_str(), var_name.c_str());
+     834           0 :     return false;
+     835             :   }
+     836             : 
+     837       88109 :   if (!std::isfinite(msg.body_rate.z)) {
+     838           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.body_rate.z'!!!", node_name.c_str(), var_name.c_str());
+     839           0 :     return false;
+     840             :   }
+     841             : 
+     842             :   // check the throttle
+     843             : 
+     844       88109 :   if (!std::isfinite(msg.throttle)) {
+     845           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.throttle'!!!", node_name.c_str(), var_name.c_str());
+     846           0 :     return false;
+     847             :   }
+     848             : 
+     849       88109 :   return true;
+     850             : }
+     851             : 
+     852             : //}
+     853             : 
+     854             : /* validateHwApiAccelerationHdgRateCmd() //{ */
+     855             : 
+     856        1025 : bool validateHwApiAccelerationHdgRateCmd(const mrs_msgs::HwApiAccelerationHdgRateCmd& msg, const std::string& node_name, const std::string& var_name) {
+     857             : 
+     858             :   // | ----------------- check the acceleration ----------------- |
+     859             : 
+     860        1025 :   if (!std::isfinite(msg.acceleration.x)) {
+     861           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.x'!!!", node_name.c_str(), var_name.c_str());
+     862           0 :     return false;
+     863             :   }
+     864             : 
+     865        1025 :   if (!std::isfinite(msg.acceleration.y)) {
+     866           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.y'!!!", node_name.c_str(), var_name.c_str());
+     867           0 :     return false;
+     868             :   }
+     869             : 
+     870        1025 :   if (!std::isfinite(msg.acceleration.z)) {
+     871           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.z'!!!", node_name.c_str(), var_name.c_str());
+     872           0 :     return false;
+     873             :   }
+     874             : 
+     875             :   // check the heading rate
+     876             : 
+     877        1025 :   if (!std::isfinite(msg.heading_rate)) {
+     878           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading_rate'!!!", node_name.c_str(), var_name.c_str());
+     879           0 :     return false;
+     880             :   }
+     881             : 
+     882        1025 :   return true;
+     883             : }
+     884             : 
+     885             : //}
+     886             : 
+     887             : /* validateHwApiAccelerationHdgCmd() //{ */
+     888             : 
+     889        1104 : bool validateHwApiAccelerationHdgCmd(const mrs_msgs::HwApiAccelerationHdgCmd& msg, const std::string& node_name, const std::string& var_name) {
+     890             : 
+     891             :   // | ----------------- check the acceleration ----------------- |
+     892             : 
+     893        1104 :   if (!std::isfinite(msg.acceleration.x)) {
+     894           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.x'!!!", node_name.c_str(), var_name.c_str());
+     895           0 :     return false;
+     896             :   }
+     897             : 
+     898        1104 :   if (!std::isfinite(msg.acceleration.y)) {
+     899           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.y'!!!", node_name.c_str(), var_name.c_str());
+     900           0 :     return false;
+     901             :   }
+     902             : 
+     903        1104 :   if (!std::isfinite(msg.acceleration.z)) {
+     904           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.z'!!!", node_name.c_str(), var_name.c_str());
+     905           0 :     return false;
+     906             :   }
+     907             : 
+     908             :   // check the heading
+     909             : 
+     910        1104 :   if (!std::isfinite(msg.heading)) {
+     911           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading'!!!", node_name.c_str(), var_name.c_str());
+     912           0 :     return false;
+     913             :   }
+     914             : 
+     915        1104 :   return true;
+     916             : }
+     917             : 
+     918             : //}
+     919             : 
+     920             : /* validateHwApiVelocityHdgRateCmd() //{ */
+     921             : 
+     922        2410 : bool validateHwApiVelocityHdgRateCmd(const mrs_msgs::HwApiVelocityHdgRateCmd& msg, const std::string& node_name, const std::string& var_name) {
+     923             : 
+     924             :   // | ----------------- check the velocity ----------------- |
+     925             : 
+     926        2410 :   if (!std::isfinite(msg.velocity.x)) {
+     927           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.x'!!!", node_name.c_str(), var_name.c_str());
+     928           0 :     return false;
+     929             :   }
+     930             : 
+     931        2410 :   if (!std::isfinite(msg.velocity.y)) {
+     932           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.y'!!!", node_name.c_str(), var_name.c_str());
+     933           0 :     return false;
+     934             :   }
+     935             : 
+     936        2410 :   if (!std::isfinite(msg.velocity.z)) {
+     937           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.z'!!!", node_name.c_str(), var_name.c_str());
+     938           0 :     return false;
+     939             :   }
+     940             : 
+     941             :   // check the heading rate
+     942             : 
+     943        2410 :   if (!std::isfinite(msg.heading_rate)) {
+     944           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading_rate'!!!", node_name.c_str(), var_name.c_str());
+     945           0 :     return false;
+     946             :   }
+     947             : 
+     948        2410 :   return true;
+     949             : }
+     950             : 
+     951             : //}
+     952             : 
+     953             : /* validateHwApiVelocityHdgCmd() //{ */
+     954             : 
+     955        1471 : bool validateHwApiVelocityHdgCmd(const mrs_msgs::HwApiVelocityHdgCmd& msg, const std::string& node_name, const std::string& var_name) {
+     956             : 
+     957             :   // | ----------------- check the velocity ----------------- |
+     958             : 
+     959        1471 :   if (!std::isfinite(msg.velocity.x)) {
+     960           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.x'!!!", node_name.c_str(), var_name.c_str());
+     961           0 :     return false;
+     962             :   }
+     963             : 
+     964        1471 :   if (!std::isfinite(msg.velocity.y)) {
+     965           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.y'!!!", node_name.c_str(), var_name.c_str());
+     966           0 :     return false;
+     967             :   }
+     968             : 
+     969        1471 :   if (!std::isfinite(msg.velocity.z)) {
+     970           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.z'!!!", node_name.c_str(), var_name.c_str());
+     971           0 :     return false;
+     972             :   }
+     973             : 
+     974             :   // check the heading
+     975             : 
+     976        1471 :   if (!std::isfinite(msg.heading)) {
+     977           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading'!!!", node_name.c_str(), var_name.c_str());
+     978           0 :     return false;
+     979             :   }
+     980             : 
+     981        1471 :   return true;
+     982             : }
+     983             : 
+     984             : //}
+     985             : 
+     986             : /* validateHwApiPositionHdgCmd() //{ */
+     987             : 
+     988         534 : bool validateHwApiPositionCmd(const mrs_msgs::HwApiPositionCmd& msg, const std::string& node_name, const std::string& var_name) {
+     989             : 
+     990             :   // | ----------------- check the position ----------------- |
+     991             : 
+     992         534 :   if (!std::isfinite(msg.position.x)) {
+     993           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.position.x'!!!", node_name.c_str(), var_name.c_str());
+     994           0 :     return false;
+     995             :   }
+     996             : 
+     997         534 :   if (!std::isfinite(msg.position.y)) {
+     998           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.position.y'!!!", node_name.c_str(), var_name.c_str());
+     999           0 :     return false;
+    1000             :   }
+    1001             : 
+    1002         534 :   if (!std::isfinite(msg.position.z)) {
+    1003           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.position.z'!!!", node_name.c_str(), var_name.c_str());
+    1004           0 :     return false;
+    1005             :   }
+    1006             : 
+    1007             :   // check the heading
+    1008             : 
+    1009         534 :   if (!std::isfinite(msg.heading)) {
+    1010           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading'!!!", node_name.c_str(), var_name.c_str());
+    1011           0 :     return false;
+    1012             :   }
+    1013             : 
+    1014         534 :   return true;
+    1015             : }
+    1016             : 
+    1017             : //}
+    1018             : 
+    1019             : // | ------------ initialization of HW api commands ----------- |
+    1020             : 
+    1021             : /* initializeDefaultOutput() //{ */
+    1022             : 
+    1023       14117 : Controller::HwApiOutputVariant initializeDefaultOutput(const ControlOutputModalities_t& possible_outputs, const mrs_msgs::UavState& uav_state,
+    1024             :                                                        const double& min_throttle, const double& n_motors) {
+    1025             : 
+    1026       14117 :   CONTROL_OUTPUT lowest_output = getLowestOuput(possible_outputs);
+    1027             : 
+    1028       14117 :   Controller::HwApiOutputVariant output;
+    1029             : 
+    1030       14117 :   switch (lowest_output) {
+    1031           0 :     case ACTUATORS_CMD: {
+    1032           0 :       output = mrs_msgs::HwApiActuatorCmd();
+    1033           0 :       break;
+    1034             :     }
+    1035           0 :     case CONTROL_GROUP: {
+    1036           0 :       output = mrs_msgs::HwApiControlGroupCmd();
+    1037           0 :       break;
+    1038             :     }
+    1039       14117 :     case ATTITUDE_RATE: {
+    1040       14117 :       output = mrs_msgs::HwApiAttitudeRateCmd();
+    1041       14117 :       break;
+    1042             :     }
+    1043           0 :     case ATTITUDE: {
+    1044           0 :       output = mrs_msgs::HwApiAttitudeCmd();
+    1045           0 :       break;
+    1046             :     }
+    1047           0 :     case ACCELERATION_HDG_RATE: {
+    1048           0 :       output = mrs_msgs::HwApiAccelerationHdgRateCmd();
+    1049           0 :       break;
+    1050             :     }
+    1051           0 :     case ACCELERATION_HDG: {
+    1052           0 :       output = mrs_msgs::HwApiAccelerationHdgCmd();
+    1053           0 :       break;
+    1054             :     }
+    1055           0 :     case VELOCITY_HDG_RATE: {
+    1056           0 :       output = mrs_msgs::HwApiVelocityHdgRateCmd();
+    1057           0 :       break;
+    1058             :     }
+    1059           0 :     case VELOCITY_HDG: {
+    1060           0 :       output = mrs_msgs::HwApiVelocityHdgCmd();
+    1061           0 :       break;
+    1062             :     }
+    1063           0 :     case POSITION: {
+    1064           0 :       output = mrs_msgs::HwApiPositionCmd();
+    1065           0 :       break;
+    1066             :     }
+    1067             :   }
+    1068             : 
+    1069       28234 :   std::variant<mrs_msgs::UavState> uav_state_var{uav_state};
+    1070       14117 :   std::variant<double>             min_throttle_var{min_throttle};
+    1071       14117 :   std::variant<double>             n_motors_var{n_motors};
+    1072             : 
+    1073       14117 :   std::visit(HwApiInitializeVisitor(), output, uav_state_var, min_throttle_var, n_motors_var);
+    1074             : 
+    1075       28234 :   return output;
+    1076             : }
+    1077             : 
+    1078             : //}
+    1079             : 
+    1080             : /* initializeHwApiCmd(mrs_msgs::HwApiActuatorCmd& msg) //{ */
+    1081             : 
+    1082           0 : void initializeHwApiCmd(mrs_msgs::HwApiActuatorCmd& msg, const double& min_throttle, const double& n_motors) {
+    1083             : 
+    1084           0 :   msg.stamp = ros::Time::now();
+    1085             : 
+    1086           0 :   for (int i = 0; i < n_motors; i++) {
+    1087           0 :     msg.motors.push_back(min_throttle);
+    1088             :   }
+    1089           0 : }
+    1090             : 
+    1091             : //}
+    1092             : 
+    1093             : /* initializeHwApiCmd(mrs_msgs::HwApiControlGroupCmd& msg) //{ */
+    1094             : 
+    1095           0 : void initializeHwApiCmd(mrs_msgs::HwApiControlGroupCmd& msg, const double& min_throttle) {
+    1096             : 
+    1097           0 :   msg.stamp = ros::Time::now();
+    1098             : 
+    1099           0 :   msg.roll     = 0;
+    1100           0 :   msg.pitch    = 0;
+    1101           0 :   msg.yaw      = 0;
+    1102           0 :   msg.throttle = min_throttle;
+    1103           0 : }
+    1104             : 
+    1105             : //}
+    1106             : 
+    1107             : /* initializeHwApiCmd(mrs_msgs::HwApiAttitudeRateCmd& msg) //{ */
+    1108             : 
+    1109       14117 : void initializeHwApiCmd(mrs_msgs::HwApiAttitudeRateCmd& msg, const double& min_throttle) {
+    1110             : 
+    1111       14117 :   msg.stamp = ros::Time::now();
+    1112             : 
+    1113       14117 :   msg.body_rate.x = 0;
+    1114       14117 :   msg.body_rate.y = 0;
+    1115       14117 :   msg.body_rate.z = 0;
+    1116       14117 :   msg.throttle    = min_throttle;
+    1117       14117 : }
+    1118             : 
+    1119             : //}
+    1120             : 
+    1121             : /* initializeHwApiCmd(mrs_msgs::HwApiAttitudeCmd& msg) //{ */
+    1122             : 
+    1123           0 : void initializeHwApiCmd(mrs_msgs::HwApiAttitudeCmd& msg, const mrs_msgs::UavState& uav_state, const double& min_throttle) {
+    1124             : 
+    1125           0 :   msg.stamp = ros::Time::now();
+    1126             : 
+    1127           0 :   msg.orientation = uav_state.pose.orientation;
+    1128           0 :   msg.throttle    = min_throttle;
+    1129           0 : }
+    1130             : 
+    1131             : //}
+    1132             : 
+    1133             : /* initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgRateCmd& msg) //{ */
+    1134             : 
+    1135           0 : void initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgRateCmd& msg, const mrs_msgs::UavState& uav_state) {
+    1136             : 
+    1137           0 :   msg.header.frame_id = uav_state.header.frame_id;
+    1138           0 :   msg.header.stamp    = ros::Time::now();
+    1139             : 
+    1140           0 :   msg.acceleration.x = 0;
+    1141           0 :   msg.acceleration.y = 0;
+    1142           0 :   msg.acceleration.z = 0;
+    1143           0 :   msg.heading_rate   = 0;
+    1144           0 : }
+    1145             : 
+    1146             : //}
+    1147             : 
+    1148             : /* initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgCmd& msg) //{ */
+    1149             : 
+    1150           0 : void initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgCmd& msg, const mrs_msgs::UavState& uav_state) {
+    1151             : 
+    1152           0 :   msg.header.frame_id = uav_state.header.frame_id;
+    1153           0 :   msg.header.stamp    = ros::Time::now();
+    1154             : 
+    1155           0 :   msg.acceleration.x = 0;
+    1156           0 :   msg.acceleration.y = 0;
+    1157           0 :   msg.acceleration.z = 0;
+    1158             : 
+    1159             :   try {
+    1160           0 :     msg.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1161             :   }
+    1162           0 :   catch (std::runtime_error& exrun) {
+    1163           0 :     msg.heading = 0;
+    1164             :   }
+    1165           0 : }
+    1166             : 
+    1167             : //}
+    1168             : 
+    1169             : /* initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgRateCmd& msg) //{ */
+    1170             : 
+    1171           0 : void initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgRateCmd& msg, const mrs_msgs::UavState& uav_state) {
+    1172             : 
+    1173           0 :   msg.header.frame_id = uav_state.header.frame_id;
+    1174           0 :   msg.header.stamp    = ros::Time::now();
+    1175             : 
+    1176           0 :   msg.velocity.x   = 0;
+    1177           0 :   msg.velocity.y   = 0;
+    1178           0 :   msg.velocity.z   = 0;
+    1179           0 :   msg.heading_rate = 0;
+    1180           0 : }
+    1181             : 
+    1182             : //}
+    1183             : 
+    1184             : /* initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgCmd& msg) //{ */
+    1185             : 
+    1186           0 : void initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgCmd& msg, const mrs_msgs::UavState& uav_state) {
+    1187             : 
+    1188           0 :   msg.header.frame_id = uav_state.header.frame_id;
+    1189           0 :   msg.header.stamp    = ros::Time::now();
+    1190             : 
+    1191           0 :   msg.velocity.x = 0;
+    1192           0 :   msg.velocity.y = 0;
+    1193           0 :   msg.velocity.z = 0;
+    1194             : 
+    1195             :   try {
+    1196           0 :     msg.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1197             :   }
+    1198           0 :   catch (std::runtime_error& exrun) {
+    1199           0 :     msg.heading = 0;
+    1200             :   }
+    1201           0 : }
+    1202             : 
+    1203             : //}
+    1204             : 
+    1205             : /* initializeHwApiCmd(mrs_msgs::HwApiPositionCmd& msg) //{ */
+    1206             : 
+    1207           0 : void initializeHwApiCmd(mrs_msgs::HwApiPositionCmd& msg, const mrs_msgs::UavState& uav_state) {
+    1208             : 
+    1209           0 :   msg.header.frame_id = uav_state.header.frame_id;
+    1210           0 :   msg.header.stamp    = ros::Time::now();
+    1211             : 
+    1212           0 :   msg.position.x = uav_state.pose.position.x;
+    1213           0 :   msg.position.y = uav_state.pose.position.y;
+    1214           0 :   msg.position.z = uav_state.pose.position.z;
+    1215             : 
+    1216             :   try {
+    1217           0 :     msg.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1218             :   }
+    1219           0 :   catch (std::runtime_error& exrun) {
+    1220           0 :     msg.heading = 0;
+    1221             :   }
+    1222           0 : }
+    1223             : 
+    1224             : //}
+    1225             : 
+    1226             : }  // namespace control_manager
+    1227             : 
+    1228             : }  // namespace mrs_uav_managers
+
+
+
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Generated by: LCOV version 1.14
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::control_manager::ControlManager::parachuteSrv()0
mrs_uav_managers::control_manager::ControlManager::loadConfigFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)0
mrs_uav_managers::control_manager::ControlManager::timerPirouette(ros::TimerEvent const&)0
mrs_uav_managers::control_manager::ControlManager::callbackGetMinZ(mrs_msgs::GetFloat64Request_<std::allocator<void> >&, mrs_msgs::GetFloat64Response_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackSetMinZ(mrs_msgs::Float64StampedSrvRequest_<std::allocator<void> >&, mrs_msgs::Float64StampedSrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::deployParachute[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::callbackJoystick(boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const>)0
mrs_uav_managers::control_manager::ControlManager::callbackOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_managers::control_manager::ControlManager::callbackParachute(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackPirouette(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackUseJoystick(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackEnableBumper(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackUseSafetyArea(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackTrackerResetStatic(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::isPathToPointInSafetyArea2d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)0
mrs_uav_managers::control_manager::ControlManager::callbackHover(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::callbackGotoFcu(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::timeoutUavState(double const&)1
mrs_uav_managers::control_manager::ControlManager::callbackTransformPose(mrs_msgs::TransformPoseSrvRequest_<std::allocator<void> >&, mrs_msgs::TransformPoseSrvResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::callbackReferenceTopic(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const>)1
mrs_uav_managers::control_manager::ControlManager::stopTrajectoryTracking[abi:cxx11]()1
mrs_uav_managers::control_manager::ControlManager::callbackTransformVector3(mrs_msgs::TransformVector3SrvRequest_<std::allocator<void> >&, mrs_msgs::TransformVector3SrvResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::resumeTrajectoryTracking[abi:cxx11]()1
mrs_uav_managers::control_manager::ControlManager::callbackTransformReference(mrs_msgs::TransformReferenceSrvRequest_<std::allocator<void> >&, mrs_msgs::TransformReferenceSrvResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::callbackStopTrajectoryTracking(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::callbackResumeTrajectoryTracking(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::hover[abi:cxx11]()1
mrs_uav_managers::control_manager::ControlManager::callbackEland(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::callbackEHover(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::gotoTrajectoryStart[abi:cxx11]()2
mrs_uav_managers::control_manager::ControlManager::callbackGotoAltitude(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::startTrajectoryTracking[abi:cxx11]()2
mrs_uav_managers::control_manager::ControlManager::callbackReferenceService(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::callbackGotoTrajectoryStart(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::callbackValidateReferenceList(mrs_msgs::ValidateReferenceListRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceListResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::callbackStartTrajectoryTracking(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::callbackTrajectoryReferenceTopic(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const>)2
mrs_uav_managers::control_manager::ControlManager::callbackSetHeadingRelative(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)3
mrs_uav_managers::control_manager::ControlManager::callbackFailsafe(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)4
mrs_uav_managers::control_manager::ControlManager::callbackSetHeading(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)4
mrs_uav_managers::control_manager::ControlManager::callbackValidateReference(mrs_msgs::ValidateReferenceRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceResponse_<std::allocator<void> >&)4
mrs_uav_managers::control_manager::ControlManager::callbackTrajectoryReferenceService(mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> >&, mrs_msgs::TrajectoryReferenceSrvResponse_<std::allocator<void> >&)4
mrs_uav_managers::control_manager::ControlManager::ehover[abi:cxx11]()4
mrs_uav_managers::control_manager::ControlManager::setTrajectoryReference[abi:cxx11](mrs_msgs::TrajectoryReference_<std::allocator<void> >)6
mrs_uav_managers::control_manager::ControlManager::callbackArm(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)7
mrs_uav_managers::control_manager::ControlManager::callbackFailsafeEscalating(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)7
mrs_uav_managers::control_manager::ControlManager::getNextEscFailsafeState()8
mrs_uav_managers::control_manager::ControlManager::eland[abi:cxx11]()8
mrs_uav_managers::control_manager::ControlManager::elandSrv()8
mrs_uav_managers::control_manager::ControlManager::failsafe[abi:cxx11]()8
mrs_uav_managers::control_manager::ControlManager::changeLandingState(mrs_uav_managers::control_manager::LandingStates_t)12
mrs_uav_managers::control_manager::ControlManager::odometryCallbacksSrv(bool)16
mrs_uav_managers::control_manager::ControlManager::isOffboard()18
mrs_uav_managers::control_manager::ControlManager::arming[abi:cxx11](bool)18
mrs_uav_managers::control_manager::ControlManager::callbackGotoRelative(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)25
mrs_uav_managers::control_manager::ControlManager::callbackGoto(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)27
mrs_uav_managers::control_manager::ControlManager::setReference[abi:cxx11](mrs_msgs::ReferenceStamped_<std::allocator<void> >)65
mrs_uav_managers::control_manager::ControlManager::callbackVelocityReferenceTopic(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const>)94
mrs_uav_managers::control_manager::ControlManager::callbackEmergencyReference(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)101
mrs_uav_managers::control_manager::ControlManager::setCallbacks(bool)102
mrs_uav_managers::control_manager::ControlManager::callbackEnableCallbacks(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)102
mrs_uav_managers::control_manager::ControlManager::bumperGetSectorId(double const&, double const&, double const&)104
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_managers::control_manager::ControlManager::initialize()108
mrs_uav_managers::control_manager::ControlManager::preinitialize()108
mrs_uav_managers::control_manager::ControlManager::setConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)108
mrs_uav_managers::control_manager::ControlManager::onInit()108
mrs_uav_managers::control_manager::ControlManager::callbackToggleOutput(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)109
mrs_uav_managers::control_manager::ControlManager::callbackSetConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> >&, mrs_msgs::DynamicsConstraintsSrvResponse_<std::allocator<void> >&)111
mrs_uav_managers::control_manager::ControlManager::toggleOutput(bool const&)130
mrs_uav_managers::control_manager::ControlManager::escalatingFailsafe[abi:cxx11]()147
mrs_uav_managers::control_manager::ControlManager::timerHwApiCapabilities(ros::TimerEvent const&)178
mrs_uav_managers::control_manager::ControlManager::callbackSwitchTracker(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)212
mrs_uav_managers::control_manager::ControlManager::callbackSwitchController(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)213
mrs_uav_managers::control_manager::ControlManager::initializeControlOutput()226
mrs_uav_managers::control_manager::ControlManager::switchTracker(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)244
mrs_uav_managers::control_manager::ControlManager::switchController(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)247
mrs_uav_managers::control_manager::ControlManager::bumperPushFromObstacle()276
mrs_uav_managers::control_manager::ControlManager::ungripSrv()366
mrs_uav_managers::control_manager::ControlManager::setConstraintsToTrackers(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)379
mrs_uav_managers::control_manager::ControlManager::setConstraintsToControllers(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)428
mrs_uav_managers::control_manager::ControlManager::timerEland(ros::TimerEvent const&)496
mrs_uav_managers::control_manager::ControllerParams::ControllerParams(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, double, double, double, bool)540
mrs_uav_managers::control_manager::ControlManager::getMass()556
mrs_uav_managers::control_manager::TrackerParams::TrackerParams(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool)649
mrs_uav_managers::control_manager::ControlManager::callbackVelocityReferenceService(mrs_msgs::VelocityReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::VelocityReferenceStampedSrvResponse_<std::allocator<void> >&)717
mrs_uav_managers::control_manager::ControlManager::setVelocityReference[abi:cxx11](mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)811
mrs_uav_managers::control_manager::ControlManager::velocityReferenceToReference(mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)811
mrs_uav_managers::control_manager::ControlManager::isPathToPointInSafetyArea3d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)881
mrs_uav_managers::control_manager::ControlManager::isPointInSafetyArea3d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)1848
mrs_uav_managers::control_manager::ControlManager::timerBumper(ros::TimerEvent const&)2437
mrs_uav_managers::control_manager::ControlManager::callbackValidateReference2d(mrs_msgs::ValidateReferenceRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceResponse_<std::allocator<void> >&)9378
mrs_uav_managers::control_manager::ControlManager::isPointInSafetyArea2d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)9487
mrs_uav_managers::control_manager::ControlManager::timerFailsafe(ros::TimerEvent const&)9720
mrs_uav_managers::control_manager::ControlManager::getMaxZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)13549
mrs_uav_managers::control_manager::ControlManager::getMinZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)13552
mrs_uav_managers::control_manager::ControlManager::timerStatus(ros::TimerEvent const&)18995
mrs_uav_managers::control_manager::ControlManager::publishDiagnostics()19103
mrs_uav_managers::control_manager::ControlManager::isFlyingNormally()19385
mrs_uav_managers::control_manager::ControlManager::callbackRC(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>)24835
mrs_uav_managers::control_manager::ControlManager::timerJoystick(ros::TimerEvent const&)66834
mrs_uav_managers::control_manager::ControlManager::callbackGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)77599
mrs_uav_managers::control_manager::ControlManager::enforceControllersConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)138128
mrs_uav_managers::control_manager::ControlManager::updateTrackers()138752
mrs_uav_managers::control_manager::ControlManager::asyncControl()147970
mrs_uav_managers::control_manager::ControlManager::updateControllers(mrs_msgs::UavState_<std::allocator<void> > const&)148472
mrs_uav_managers::control_manager::ControlManager::publishControlReferenceOdom(std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, mrs_uav_managers::Controller::ControlOutput const&)148472
mrs_uav_managers::control_manager::ControlManager::publish()148472
mrs_uav_managers::control_manager::ControlManager::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)172664
mrs_uav_managers::control_manager::ControlManager::timerSafety(ros::TimerEvent const&)344390
mrs_uav_managers::control_manager::ControlManager::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)443998
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/control_manager/control_manager.cpp.func.html b/mrs_uav_managers/src/control_manager/control_manager.cpp.func.html new file mode 100644 index 0000000000..01a3b267a5 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/control_manager.cpp.func.html @@ -0,0 +1,524 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/control_manager.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/control_manager - control_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:2553367169.5 %
Date:2024-08-07 22:18:19Functions:9611186.5 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_managers::control_manager::TrackerParams::TrackerParams(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool)649
mrs_uav_managers::control_manager::ControlManager::callbackRC(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>)24835
mrs_uav_managers::control_manager::ControlManager::initialize()108
mrs_uav_managers::control_manager::ControlManager::isOffboard()18
mrs_uav_managers::control_manager::ControlManager::timerEland(ros::TimerEvent const&)496
mrs_uav_managers::control_manager::ControlManager::callbackArm(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)7
mrs_uav_managers::control_manager::ControlManager::timerBumper(ros::TimerEvent const&)2437
mrs_uav_managers::control_manager::ControlManager::timerSafety(ros::TimerEvent const&)344390
mrs_uav_managers::control_manager::ControlManager::timerStatus(ros::TimerEvent const&)18995
mrs_uav_managers::control_manager::ControlManager::asyncControl()147970
mrs_uav_managers::control_manager::ControlManager::callbackGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)77599
mrs_uav_managers::control_manager::ControlManager::callbackGoto(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)27
mrs_uav_managers::control_manager::ControlManager::parachuteSrv()0
mrs_uav_managers::control_manager::ControlManager::setCallbacks(bool)102
mrs_uav_managers::control_manager::ControlManager::setReference[abi:cxx11](mrs_msgs::ReferenceStamped_<std::allocator<void> >)65
mrs_uav_managers::control_manager::ControlManager::toggleOutput(bool const&)130
mrs_uav_managers::control_manager::ControlManager::callbackEland(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::callbackHover(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::preinitialize()108
mrs_uav_managers::control_manager::ControlManager::switchTracker(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)244
mrs_uav_managers::control_manager::ControlManager::timerFailsafe(ros::TimerEvent const&)9720
mrs_uav_managers::control_manager::ControlManager::timerJoystick(ros::TimerEvent const&)66834
mrs_uav_managers::control_manager::ControlManager::callbackEHover(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::loadConfigFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)0
mrs_uav_managers::control_manager::ControlManager::setConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)108
mrs_uav_managers::control_manager::ControlManager::timerPirouette(ros::TimerEvent const&)0
mrs_uav_managers::control_manager::ControlManager::updateTrackers()138752
mrs_uav_managers::control_manager::ControlManager::callbackGetMinZ(mrs_msgs::GetFloat64Request_<std::allocator<void> >&, mrs_msgs::GetFloat64Response_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackGotoFcu(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::callbackSetMinZ(mrs_msgs::Float64StampedSrvRequest_<std::allocator<void> >&, mrs_msgs::Float64StampedSrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::deployParachute[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::timeoutUavState(double const&)1
mrs_uav_managers::control_manager::ControlManager::callbackFailsafe(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)4
mrs_uav_managers::control_manager::ControlManager::callbackJoystick(boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const>)0
mrs_uav_managers::control_manager::ControlManager::callbackOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_managers::control_manager::ControlManager::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)172664
mrs_uav_managers::control_manager::ControlManager::isFlyingNormally()19385
mrs_uav_managers::control_manager::ControlManager::switchController(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)247
mrs_uav_managers::control_manager::ControlManager::bumperGetSectorId(double const&, double const&, double const&)104
mrs_uav_managers::control_manager::ControlManager::callbackParachute(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackPirouette(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::updateControllers(mrs_msgs::UavState_<std::allocator<void> > const&)148472
mrs_uav_managers::control_manager::ControlManager::callbackSetHeading(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)4
mrs_uav_managers::control_manager::ControlManager::changeLandingState(mrs_uav_managers::control_manager::LandingStates_t)12
mrs_uav_managers::control_manager::ControlManager::escalatingFailsafe[abi:cxx11]()147
mrs_uav_managers::control_manager::ControlManager::publishDiagnostics()19103
mrs_uav_managers::control_manager::ControlManager::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)443998
mrs_uav_managers::control_manager::ControlManager::callbackUseJoystick(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::gotoTrajectoryStart[abi:cxx11]()2
mrs_uav_managers::control_manager::ControlManager::callbackEnableBumper(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackGotoAltitude(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::callbackGotoRelative(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)25
mrs_uav_managers::control_manager::ControlManager::callbackToggleOutput(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)109
mrs_uav_managers::control_manager::ControlManager::odometryCallbacksSrv(bool)16
mrs_uav_managers::control_manager::ControlManager::setVelocityReference[abi:cxx11](mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)811
mrs_uav_managers::control_manager::ControlManager::callbackSwitchTracker(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)212
mrs_uav_managers::control_manager::ControlManager::callbackTransformPose(mrs_msgs::TransformPoseSrvRequest_<std::allocator<void> >&, mrs_msgs::TransformPoseSrvResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::callbackUseSafetyArea(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::isPointInSafetyArea2d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)9487
mrs_uav_managers::control_manager::ControlManager::isPointInSafetyArea3d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)1848
mrs_uav_managers::control_manager::ControlManager::bumperPushFromObstacle()276
mrs_uav_managers::control_manager::ControlManager::callbackReferenceTopic(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const>)1
mrs_uav_managers::control_manager::ControlManager::callbackSetConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> >&, mrs_msgs::DynamicsConstraintsSrvResponse_<std::allocator<void> >&)111
mrs_uav_managers::control_manager::ControlManager::setTrajectoryReference[abi:cxx11](mrs_msgs::TrajectoryReference_<std::allocator<void> >)6
mrs_uav_managers::control_manager::ControlManager::stopTrajectoryTracking[abi:cxx11]()1
mrs_uav_managers::control_manager::ControlManager::timerHwApiCapabilities(ros::TimerEvent const&)178
mrs_uav_managers::control_manager::ControlManager::callbackEnableCallbacks(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)102
mrs_uav_managers::control_manager::ControlManager::getNextEscFailsafeState()8
mrs_uav_managers::control_manager::ControlManager::initializeControlOutput()226
mrs_uav_managers::control_manager::ControlManager::startTrajectoryTracking[abi:cxx11]()2
mrs_uav_managers::control_manager::ControlManager::callbackReferenceService(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::callbackSwitchController(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)213
mrs_uav_managers::control_manager::ControlManager::callbackTransformVector3(mrs_msgs::TransformVector3SrvRequest_<std::allocator<void> >&, mrs_msgs::TransformVector3SrvResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::resumeTrajectoryTracking[abi:cxx11]()1
mrs_uav_managers::control_manager::ControlManager::setConstraintsToTrackers(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)379
mrs_uav_managers::control_manager::ControlManager::callbackValidateReference(mrs_msgs::ValidateReferenceRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceResponse_<std::allocator<void> >&)4
mrs_uav_managers::control_manager::ControlManager::callbackEmergencyReference(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)101
mrs_uav_managers::control_manager::ControlManager::callbackFailsafeEscalating(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)7
mrs_uav_managers::control_manager::ControlManager::callbackSetHeadingRelative(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)3
mrs_uav_managers::control_manager::ControlManager::callbackTrackerResetStatic(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackTransformReference(mrs_msgs::TransformReferenceSrvRequest_<std::allocator<void> >&, mrs_msgs::TransformReferenceSrvResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::callbackGotoTrajectoryStart(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::callbackValidateReference2d(mrs_msgs::ValidateReferenceRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceResponse_<std::allocator<void> >&)9378
mrs_uav_managers::control_manager::ControlManager::isPathToPointInSafetyArea2d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)0
mrs_uav_managers::control_manager::ControlManager::isPathToPointInSafetyArea3d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)881
mrs_uav_managers::control_manager::ControlManager::publishControlReferenceOdom(std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, mrs_uav_managers::Controller::ControlOutput const&)148472
mrs_uav_managers::control_manager::ControlManager::setConstraintsToControllers(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)428
mrs_uav_managers::control_manager::ControlManager::velocityReferenceToReference(mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)811
mrs_uav_managers::control_manager::ControlManager::callbackValidateReferenceList(mrs_msgs::ValidateReferenceListRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceListResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::enforceControllersConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)138128
mrs_uav_managers::control_manager::ControlManager::callbackStopTrajectoryTracking(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::callbackVelocityReferenceTopic(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const>)94
mrs_uav_managers::control_manager::ControlManager::callbackStartTrajectoryTracking(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::callbackResumeTrajectoryTracking(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::callbackTrajectoryReferenceTopic(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const>)2
mrs_uav_managers::control_manager::ControlManager::callbackVelocityReferenceService(mrs_msgs::VelocityReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::VelocityReferenceStampedSrvResponse_<std::allocator<void> >&)717
mrs_uav_managers::control_manager::ControlManager::callbackTrajectoryReferenceService(mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> >&, mrs_msgs::TrajectoryReferenceSrvResponse_<std::allocator<void> >&)4
mrs_uav_managers::control_manager::ControlManager::eland[abi:cxx11]()8
mrs_uav_managers::control_manager::ControlManager::hover[abi:cxx11]()1
mrs_uav_managers::control_manager::ControlManager::arming[abi:cxx11](bool)18
mrs_uav_managers::control_manager::ControlManager::ehover[abi:cxx11]()4
mrs_uav_managers::control_manager::ControlManager::onInit()108
mrs_uav_managers::control_manager::ControlManager::getMass()556
mrs_uav_managers::control_manager::ControlManager::getMaxZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)13549
mrs_uav_managers::control_manager::ControlManager::getMinZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)13552
mrs_uav_managers::control_manager::ControlManager::publish()148472
mrs_uav_managers::control_manager::ControlManager::elandSrv()8
mrs_uav_managers::control_manager::ControlManager::failsafe[abi:cxx11]()8
mrs_uav_managers::control_manager::ControlManager::ungripSrv()366
mrs_uav_managers::control_manager::ControllerParams::ControllerParams(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, double, double, double, bool)540
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/control_manager/control_manager.cpp.gcov.frameset.html b/mrs_uav_managers/src/control_manager/control_manager.cpp.gcov.frameset.html new file mode 100644 index 0000000000..34fe5178be --- /dev/null +++ b/mrs_uav_managers/src/control_manager/control_manager.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/control_manager.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/src/control_manager/control_manager.cpp.gcov.html b/mrs_uav_managers/src/control_manager/control_manager.cpp.gcov.html new file mode 100644 index 0000000000..ce304a5991 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/control_manager.cpp.gcov.html @@ -0,0 +1,8941 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/control_manager.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/control_manager - control_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:2553367169.5 %
Date:2024-08-07 22:18:19Functions:9611186.5 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : #include <nodelet/nodelet.h>
+       6             : 
+       7             : #include <mrs_uav_managers/control_manager/common.h>
+       8             : #include <control_manager/output_publisher.h>
+       9             : 
+      10             : #include <mrs_uav_managers/controller.h>
+      11             : #include <mrs_uav_managers/tracker.h>
+      12             : 
+      13             : #include <mrs_msgs/String.h>
+      14             : #include <mrs_msgs/Float64Stamped.h>
+      15             : #include <mrs_msgs/Float64StampedSrv.h>
+      16             : #include <mrs_msgs/ObstacleSectors.h>
+      17             : #include <mrs_msgs/BoolStamped.h>
+      18             : #include <mrs_msgs/ControlManagerDiagnostics.h>
+      19             : #include <mrs_msgs/DynamicsConstraints.h>
+      20             : #include <mrs_msgs/ControlError.h>
+      21             : #include <mrs_msgs/GetFloat64.h>
+      22             : #include <mrs_msgs/ValidateReference.h>
+      23             : #include <mrs_msgs/ValidateReferenceList.h>
+      24             : #include <mrs_msgs/TrackerCommand.h>
+      25             : #include <mrs_msgs/EstimatorInput.h>
+      26             : 
+      27             : #include <geometry_msgs/Point32.h>
+      28             : #include <geometry_msgs/TwistStamped.h>
+      29             : #include <geometry_msgs/PoseArray.h>
+      30             : #include <geometry_msgs/Vector3Stamped.h>
+      31             : 
+      32             : #include <nav_msgs/Odometry.h>
+      33             : 
+      34             : #include <sensor_msgs/Joy.h>
+      35             : #include <sensor_msgs/NavSatFix.h>
+      36             : 
+      37             : #include <mrs_lib/safety_zone/safety_zone.h>
+      38             : #include <mrs_lib/profiler.h>
+      39             : #include <mrs_lib/param_loader.h>
+      40             : #include <mrs_lib/utils.h>
+      41             : #include <mrs_lib/mutex.h>
+      42             : #include <mrs_lib/transformer.h>
+      43             : #include <mrs_lib/geometry/misc.h>
+      44             : #include <mrs_lib/geometry/cyclic.h>
+      45             : #include <mrs_lib/attitude_converter.h>
+      46             : #include <mrs_lib/subscribe_handler.h>
+      47             : #include <mrs_lib/msg_extractor.h>
+      48             : #include <mrs_lib/quadratic_throttle_model.h>
+      49             : #include <mrs_lib/publisher_handler.h>
+      50             : #include <mrs_lib/service_client_handler.h>
+      51             : 
+      52             : #include <mrs_msgs/HwApiCapabilities.h>
+      53             : #include <mrs_msgs/HwApiStatus.h>
+      54             : #include <mrs_msgs/HwApiRcChannels.h>
+      55             : 
+      56             : #include <mrs_msgs/HwApiActuatorCmd.h>
+      57             : #include <mrs_msgs/HwApiControlGroupCmd.h>
+      58             : #include <mrs_msgs/HwApiAttitudeRateCmd.h>
+      59             : #include <mrs_msgs/HwApiAttitudeCmd.h>
+      60             : #include <mrs_msgs/HwApiAccelerationHdgRateCmd.h>
+      61             : #include <mrs_msgs/HwApiAccelerationHdgCmd.h>
+      62             : #include <mrs_msgs/HwApiVelocityHdgRateCmd.h>
+      63             : #include <mrs_msgs/HwApiVelocityHdgCmd.h>
+      64             : #include <mrs_msgs/HwApiPositionCmd.h>
+      65             : 
+      66             : #include <std_msgs/Float64.h>
+      67             : 
+      68             : #include <future>
+      69             : 
+      70             : #include <pluginlib/class_loader.h>
+      71             : 
+      72             : #include <nodelet/loader.h>
+      73             : 
+      74             : #include <eigen3/Eigen/Eigen>
+      75             : 
+      76             : #include <visualization_msgs/Marker.h>
+      77             : #include <visualization_msgs/MarkerArray.h>
+      78             : 
+      79             : #include <mrs_msgs/Reference.h>
+      80             : #include <mrs_msgs/ReferenceStamped.h>
+      81             : #include <mrs_msgs/ReferenceList.h>
+      82             : #include <mrs_msgs/TrajectoryReference.h>
+      83             : 
+      84             : #include <mrs_msgs/ReferenceStampedSrv.h>
+      85             : #include <mrs_msgs/ReferenceStampedSrvRequest.h>
+      86             : #include <mrs_msgs/ReferenceStampedSrvResponse.h>
+      87             : 
+      88             : #include <mrs_msgs/VelocityReferenceStampedSrv.h>
+      89             : #include <mrs_msgs/VelocityReferenceStampedSrvRequest.h>
+      90             : #include <mrs_msgs/VelocityReferenceStampedSrvResponse.h>
+      91             : 
+      92             : #include <mrs_msgs/TransformReferenceSrv.h>
+      93             : #include <mrs_msgs/TransformReferenceSrvRequest.h>
+      94             : #include <mrs_msgs/TransformReferenceSrvResponse.h>
+      95             : 
+      96             : #include <mrs_msgs/TransformPoseSrv.h>
+      97             : #include <mrs_msgs/TransformPoseSrvRequest.h>
+      98             : #include <mrs_msgs/TransformPoseSrvResponse.h>
+      99             : 
+     100             : #include <mrs_msgs/TransformVector3Srv.h>
+     101             : #include <mrs_msgs/TransformVector3SrvRequest.h>
+     102             : #include <mrs_msgs/TransformVector3SrvResponse.h>
+     103             : 
+     104             : #include <mrs_msgs/Float64StampedSrv.h>
+     105             : #include <mrs_msgs/Float64StampedSrvRequest.h>
+     106             : #include <mrs_msgs/Float64StampedSrvResponse.h>
+     107             : 
+     108             : #include <mrs_msgs/Vec4.h>
+     109             : #include <mrs_msgs/Vec4Request.h>
+     110             : #include <mrs_msgs/Vec4Response.h>
+     111             : 
+     112             : #include <mrs_msgs/Vec1.h>
+     113             : #include <mrs_msgs/Vec1Request.h>
+     114             : #include <mrs_msgs/Vec1Response.h>
+     115             : 
+     116             : //}
+     117             : 
+     118             : /* defines //{ */
+     119             : 
+     120             : #define TAU 2 * M_PI
+     121             : #define REF_X 0
+     122             : #define REF_Y 1
+     123             : #define REF_Z 2
+     124             : #define REF_HEADING 3
+     125             : #define ELAND_STR "eland"
+     126             : #define EHOVER_STR "ehover"
+     127             : #define ESCALATING_FAILSAFE_STR "escalating_failsafe"
+     128             : #define FAILSAFE_STR "failsafe"
+     129             : #define INPUT_UAV_STATE 0
+     130             : #define INPUT_ODOMETRY 1
+     131             : #define RC_DEADBAND 0.2
+     132             : 
+     133             : //}
+     134             : 
+     135             : /* using //{ */
+     136             : 
+     137             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+     138             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+     139             : 
+     140             : using radians  = mrs_lib::geometry::radians;
+     141             : using sradians = mrs_lib::geometry::sradians;
+     142             : 
+     143             : //}
+     144             : 
+     145             : namespace mrs_uav_managers
+     146             : {
+     147             : 
+     148             : namespace control_manager
+     149             : {
+     150             : 
+     151             : /* //{ class ControlManager */
+     152             : 
+     153             : // state machine
+     154             : typedef enum
+     155             : {
+     156             : 
+     157             :   IDLE_STATE,
+     158             :   LANDING_STATE,
+     159             : 
+     160             : } LandingStates_t;
+     161             : 
+     162             : const char* state_names[2] = {"IDLING", "LANDING"};
+     163             : 
+     164             : // state machine
+     165             : typedef enum
+     166             : {
+     167             : 
+     168             :   FCU_FRAME,
+     169             :   RELATIVE_FRAME,
+     170             :   ABSOLUTE_FRAME
+     171             : 
+     172             : } ReferenceFrameType_t;
+     173             : 
+     174             : // state machine
+     175             : typedef enum
+     176             : {
+     177             : 
+     178             :   ESC_NONE_STATE     = 0,
+     179             :   ESC_EHOVER_STATE   = 1,
+     180             :   ESC_ELAND_STATE    = 2,
+     181             :   ESC_FAILSAFE_STATE = 3,
+     182             :   ESC_FINISHED_STATE = 4,
+     183             : 
+     184             : } EscalatingFailsafeStates_t;
+     185             : 
+     186             : /* class ControllerParams() //{ */
+     187             : 
+     188             : class ControllerParams {
+     189             : 
+     190             : public:
+     191             :   ControllerParams(std::string address, std::string name_space, double eland_threshold, double failsafe_threshold, double odometry_innovation_threshold,
+     192             :                    bool human_switchable);
+     193             : 
+     194             : public:
+     195             :   double      failsafe_threshold;
+     196             :   double      eland_threshold;
+     197             :   double      odometry_innovation_threshold;
+     198             :   std::string address;
+     199             :   std::string name_space;
+     200             :   bool        human_switchable;
+     201             : };
+     202             : 
+     203         540 : ControllerParams::ControllerParams(std::string address, std::string name_space, double eland_threshold, double failsafe_threshold,
+     204         540 :                                    double odometry_innovation_threshold, bool human_switchable) {
+     205             : 
+     206         540 :   this->eland_threshold               = eland_threshold;
+     207         540 :   this->odometry_innovation_threshold = odometry_innovation_threshold;
+     208         540 :   this->failsafe_threshold            = failsafe_threshold;
+     209         540 :   this->address                       = address;
+     210         540 :   this->name_space                    = name_space;
+     211         540 :   this->human_switchable              = human_switchable;
+     212         540 : }
+     213             : 
+     214             : //}
+     215             : 
+     216             : /* class TrackerParams() //{ */
+     217             : 
+     218             : class TrackerParams {
+     219             : 
+     220             : public:
+     221             :   TrackerParams(std::string address, std::string name_space, bool human_switchable);
+     222             : 
+     223             : public:
+     224             :   std::string address;
+     225             :   std::string name_space;
+     226             :   bool        human_switchable;
+     227             : };
+     228             : 
+     229         649 : TrackerParams::TrackerParams(std::string address, std::string name_space, bool human_switchable) {
+     230             : 
+     231         649 :   this->address          = address;
+     232         649 :   this->name_space       = name_space;
+     233         649 :   this->human_switchable = human_switchable;
+     234         649 : }
+     235             : 
+     236             : //}
+     237             : 
+     238             : class ControlManager : public nodelet::Nodelet {
+     239             : 
+     240             : public:
+     241             :   virtual void onInit();
+     242             : 
+     243             : private:
+     244             :   ros::NodeHandle   nh_;
+     245             :   std::atomic<bool> is_initialized_ = false;
+     246             :   std::string       _uav_name_;
+     247             :   std::string       _body_frame_;
+     248             : 
+     249             :   std::string _custom_config_;
+     250             :   std::string _platform_config_;
+     251             :   std::string _world_config_;
+     252             :   std::string _network_config_;
+     253             : 
+     254             :   // | --------------- dynamic loading of trackers -------------- |
+     255             : 
+     256             :   std::unique_ptr<pluginlib::ClassLoader<mrs_uav_managers::Tracker>> tracker_loader_;  // pluginlib loader of dynamically loaded trackers
+     257             :   std::vector<std::string>                                           _tracker_names_;  // list of tracker names
+     258             :   std::map<std::string, TrackerParams>                               trackers_;        // map between tracker names and tracker param
+     259             :   std::vector<boost::shared_ptr<mrs_uav_managers::Tracker>>          tracker_list_;    // list of trackers, routines are callable from this
+     260             :   std::mutex                                                         mutex_tracker_list_;
+     261             : 
+     262             :   // | ------------- dynamic loading of controllers ------------- |
+     263             : 
+     264             :   std::unique_ptr<pluginlib::ClassLoader<mrs_uav_managers::Controller>> controller_loader_;  // pluginlib loader of dynamically loaded controllers
+     265             :   std::vector<std::string>                                              _controller_names_;  // list of controller names
+     266             :   std::map<std::string, ControllerParams>                               controllers_;        // map between controller names and controller params
+     267             :   std::vector<boost::shared_ptr<mrs_uav_managers::Controller>>          controller_list_;    // list of controllers, routines are callable from this
+     268             :   std::mutex                                                            mutex_controller_list_;
+     269             : 
+     270             :   // | ------------------------- HW API ------------------------- |
+     271             : 
+     272             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities> sh_hw_api_capabilities_;
+     273             : 
+     274             :   OutputPublisher control_output_publisher_;
+     275             : 
+     276             :   ControlOutputModalities_t _hw_api_inputs_;
+     277             : 
+     278             :   double desired_uav_state_rate_ = 100.0;
+     279             : 
+     280             :   // this timer will check till we already got the hardware api diagnostics
+     281             :   // then it will trigger the initialization of the controllers and finish
+     282             :   // the initialization of the ControlManager
+     283             :   ros::Timer timer_hw_api_capabilities_;
+     284             :   void       timerHwApiCapabilities(const ros::TimerEvent& event);
+     285             : 
+     286             :   void preinitialize(void);
+     287             :   void initialize(void);
+     288             : 
+     289             :   // | ------------ tracker and controller switching ------------ |
+     290             : 
+     291             :   std::tuple<bool, std::string> switchController(const std::string& controller_name);
+     292             :   std::tuple<bool, std::string> switchTracker(const std::string& tracker_name);
+     293             : 
+     294             :   // the time of last switching of a tracker or a controller
+     295             :   ros::Time  controller_tracker_switch_time_;
+     296             :   std::mutex mutex_controller_tracker_switch_time_;
+     297             : 
+     298             :   // | -------------------- the transformer  -------------------- |
+     299             : 
+     300             :   std::shared_ptr<mrs_lib::Transformer> transformer_;
+     301             : 
+     302             :   // | ------------------- scope timer logger ------------------- |
+     303             : 
+     304             :   bool                                       scope_timer_enabled_ = false;
+     305             :   std::shared_ptr<mrs_lib::ScopeTimerLogger> scope_timer_logger_;
+     306             : 
+     307             :   // | --------------------- general params --------------------- |
+     308             : 
+     309             :   // defines the type of state input: odometry or uav_state mesasge types
+     310             :   int _state_input_;
+     311             : 
+     312             :   // names of important trackers
+     313             :   std::string _null_tracker_name_;     // null tracker is active when UAV is not in the air
+     314             :   std::string _ehover_tracker_name_;   // ehover tracker is used for emergency hovering
+     315             :   std::string _landoff_tracker_name_;  // landoff is used for landing and takeoff
+     316             : 
+     317             :   // names of important controllers
+     318             :   std::string _failsafe_controller_name_;  // controller used for feed-forward failsafe
+     319             :   std::string _eland_controller_name_;     // controller used for emergancy landing
+     320             : 
+     321             :   // joystick control
+     322             :   bool        _joystick_enabled_ = false;
+     323             :   int         _joystick_mode_;
+     324             :   std::string _joystick_tracker_name_;
+     325             :   std::string _joystick_controller_name_;
+     326             :   std::string _joystick_fallback_tracker_name_;
+     327             :   std::string _joystick_fallback_controller_name_;
+     328             : 
+     329             :   // should disarm after emergancy landing?
+     330             :   bool _eland_disarm_enabled_ = false;
+     331             : 
+     332             :   // enabling the emergency handoff -> will disable eland and failsafe
+     333             :   bool _rc_emergency_handoff_ = false;
+     334             : 
+     335             :   // what throttle should be output when null tracker is active?
+     336             :   double _min_throttle_null_tracker_ = 0.0;
+     337             : 
+     338             :   // rates of all the timers
+     339             :   double _status_timer_rate_   = 0;
+     340             :   double _safety_timer_rate_   = 0;
+     341             :   double _elanding_timer_rate_ = 0;
+     342             :   double _failsafe_timer_rate_ = 0;
+     343             :   double _bumper_timer_rate_   = 0;
+     344             : 
+     345             :   bool _snap_trajectory_to_safety_area_ = false;
+     346             : 
+     347             :   // | -------------- uav_state/odometry subscriber ------------- |
+     348             : 
+     349             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_odometry_;
+     350             :   mrs_lib::SubscribeHandler<mrs_msgs::UavState> sh_uav_state_;
+     351             : 
+     352             :   mrs_msgs::UavState uav_state_;
+     353             :   mrs_msgs::UavState previous_uav_state_;
+     354             :   bool               got_uav_state_               = false;
+     355             :   double             _uav_state_max_missing_time_ = 0;  // how long should we tolerate missing state estimate?
+     356             :   double             uav_roll_                    = 0;
+     357             :   double             uav_pitch_                   = 0;
+     358             :   double             uav_yaw_                     = 0;
+     359             :   double             uav_heading_                 = 0;
+     360             :   std::mutex         mutex_uav_state_;
+     361             : 
+     362             :   // odometry hiccup detection
+     363             :   double uav_state_avg_dt_        = 1;
+     364             :   double uav_state_hiccup_factor_ = 1;
+     365             :   int    uav_state_count_         = 0;
+     366             : 
+     367             :   mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix> sh_gnss_;
+     368             : 
+     369             :   // | -------------- safety area max z subscriber -------------- |
+     370             : 
+     371             :   mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped> sh_max_z_;
+     372             : 
+     373             :   // | ------------- odometry innovation subscriber ------------- |
+     374             : 
+     375             :   // odometry innovation is published by the odometry node
+     376             :   // it is used to issue eland if the estimator's input is too wonky
+     377             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_odometry_innovation_;
+     378             : 
+     379             :   // | --------------------- common handlers -------------------- |
+     380             : 
+     381             :   // contains handlers that are shared with trackers and controllers
+     382             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers_;
+     383             : 
+     384             :   // | --------------- tracker and controller IDs --------------- |
+     385             : 
+     386             :   // keeping track of currently active controllers and trackers
+     387             :   unsigned int active_tracker_idx_    = 0;
+     388             :   unsigned int active_controller_idx_ = 0;
+     389             : 
+     390             :   // indeces of some notable trackers
+     391             :   unsigned int _ehover_tracker_idx_               = 0;
+     392             :   unsigned int _landoff_tracker_idx_              = 0;
+     393             :   unsigned int _joystick_tracker_idx_             = 0;
+     394             :   unsigned int _joystick_controller_idx_          = 0;
+     395             :   unsigned int _failsafe_controller_idx_          = 0;
+     396             :   unsigned int _joystick_fallback_controller_idx_ = 0;
+     397             :   unsigned int _joystick_fallback_tracker_idx_    = 0;
+     398             :   unsigned int _null_tracker_idx_                 = 0;
+     399             :   unsigned int _eland_controller_idx_             = 0;
+     400             : 
+     401             :   // | -------------- enabling the output publisher ------------- |
+     402             : 
+     403             :   void              toggleOutput(const bool& input);
+     404             :   std::atomic<bool> output_enabled_ = false;
+     405             : 
+     406             :   // | ----------------------- publishers ----------------------- |
+     407             : 
+     408             :   mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics>     ph_controller_diagnostics_;
+     409             :   mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand>            ph_tracker_cmd_;
+     410             :   mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput>            ph_mrs_odom_input_;
+     411             :   mrs_lib::PublisherHandler<nav_msgs::Odometry>                  ph_control_reference_odom_;
+     412             :   mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics> ph_diagnostics_;
+     413             :   mrs_lib::PublisherHandler<std_msgs::Empty>                     ph_offboard_on_;
+     414             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>            ph_tilt_error_;
+     415             :   mrs_lib::PublisherHandler<std_msgs::Float64>                   ph_mass_estimate_;
+     416             :   mrs_lib::PublisherHandler<std_msgs::Float64>                   ph_mass_nominal_;
+     417             :   mrs_lib::PublisherHandler<std_msgs::Float64>                   ph_throttle_;
+     418             :   mrs_lib::PublisherHandler<std_msgs::Float64>                   ph_thrust_;
+     419             :   mrs_lib::PublisherHandler<mrs_msgs::ControlError>              ph_control_error_;
+     420             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>     ph_safety_area_markers_;
+     421             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>     ph_safety_area_coordinates_markers_;
+     422             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>     ph_disturbances_markers_;
+     423             :   mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints>       ph_current_constraints_;
+     424             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>            ph_heading_;
+     425             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>            ph_speed_;
+     426             : 
+     427             :   // | --------------------- service servers -------------------- |
+     428             : 
+     429             :   ros::ServiceServer service_server_switch_tracker_;
+     430             :   ros::ServiceServer service_server_switch_controller_;
+     431             :   ros::ServiceServer service_server_reset_tracker_;
+     432             :   ros::ServiceServer service_server_hover_;
+     433             :   ros::ServiceServer service_server_ehover_;
+     434             :   ros::ServiceServer service_server_failsafe_;
+     435             :   ros::ServiceServer service_server_failsafe_escalating_;
+     436             :   ros::ServiceServer service_server_toggle_output_;
+     437             :   ros::ServiceServer service_server_arm_;
+     438             :   ros::ServiceServer service_server_enable_callbacks_;
+     439             :   ros::ServiceServer service_server_set_constraints_;
+     440             :   ros::ServiceServer service_server_use_joystick_;
+     441             :   ros::ServiceServer service_server_use_safety_area_;
+     442             :   ros::ServiceServer service_server_emergency_reference_;
+     443             :   ros::ServiceServer service_server_pirouette_;
+     444             :   ros::ServiceServer service_server_eland_;
+     445             :   ros::ServiceServer service_server_parachute_;
+     446             :   ros::ServiceServer service_server_set_min_z_;
+     447             : 
+     448             :   // human callbable services for references
+     449             :   ros::ServiceServer service_server_goto_;
+     450             :   ros::ServiceServer service_server_goto_fcu_;
+     451             :   ros::ServiceServer service_server_goto_relative_;
+     452             :   ros::ServiceServer service_server_goto_altitude_;
+     453             :   ros::ServiceServer service_server_set_heading_;
+     454             :   ros::ServiceServer service_server_set_heading_relative_;
+     455             : 
+     456             :   // the reference service and subscriber
+     457             :   ros::ServiceServer                                    service_server_reference_;
+     458             :   mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped> sh_reference_;
+     459             : 
+     460             :   // the velocity reference service and subscriber
+     461             :   ros::ServiceServer                                            service_server_velocity_reference_;
+     462             :   mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped> sh_velocity_reference_;
+     463             : 
+     464             :   // trajectory tracking
+     465             :   ros::ServiceServer                                       service_server_trajectory_reference_;
+     466             :   mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference> sh_trajectory_reference_;
+     467             :   ros::ServiceServer                                       service_server_start_trajectory_tracking_;
+     468             :   ros::ServiceServer                                       service_server_stop_trajectory_tracking_;
+     469             :   ros::ServiceServer                                       service_server_resume_trajectory_tracking_;
+     470             :   ros::ServiceServer                                       service_server_goto_trajectory_start_;
+     471             : 
+     472             :   // transform service servers
+     473             :   ros::ServiceServer service_server_transform_reference_;
+     474             :   ros::ServiceServer service_server_transform_pose_;
+     475             :   ros::ServiceServer service_server_transform_vector3_;
+     476             : 
+     477             :   // safety area services
+     478             :   ros::ServiceServer service_server_validate_reference_;
+     479             :   ros::ServiceServer service_server_validate_reference_2d_;
+     480             :   ros::ServiceServer service_server_validate_reference_list_;
+     481             : 
+     482             :   // bumper service servers
+     483             :   ros::ServiceServer service_server_bumper_enabler_;
+     484             :   ros::ServiceServer service_server_bumper_repulsion_enabler_;
+     485             : 
+     486             :   // service clients
+     487             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool> sch_arming_;
+     488             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_eland_;
+     489             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_shutdown_;
+     490             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool> sch_set_odometry_callbacks_;
+     491             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_parachute_;
+     492             : 
+     493             :   // safety area min z servers
+     494             :   ros::ServiceServer service_server_get_min_z_;
+     495             : 
+     496             :   // | --------- trackers' and controllers' last results -------- |
+     497             : 
+     498             :   // the last result of an active tracker
+     499             :   std::optional<mrs_msgs::TrackerCommand> last_tracker_cmd_;
+     500             :   std::mutex                              mutex_last_tracker_cmd_;
+     501             : 
+     502             :   // the last result of an active controller
+     503             :   Controller::ControlOutput last_control_output_;
+     504             :   std::mutex                mutex_last_control_output_;
+     505             : 
+     506             :   // | -------------- HW API diagnostics subscriber ------------- |
+     507             : 
+     508             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus> sh_hw_api_status_;
+     509             : 
+     510             :   bool offboard_mode_          = false;
+     511             :   bool offboard_mode_was_true_ = false;  // if it was ever true
+     512             :   bool armed_                  = false;
+     513             : 
+     514             :   // | -------------------- throttle and mass ------------------- |
+     515             : 
+     516             :   // throttle mass estimation during eland
+     517             :   double    throttle_mass_estimate_   = 0;
+     518             :   bool      throttle_under_threshold_ = false;
+     519             :   ros::Time throttle_mass_estimate_first_time_;
+     520             : 
+     521             :   // | ---------------------- safety params --------------------- |
+     522             : 
+     523             :   // failsafe when tilt error is too large
+     524             :   bool   _tilt_error_disarm_enabled_;
+     525             :   double _tilt_error_disarm_timeout_;
+     526             :   double _tilt_error_disarm_threshold_;
+     527             : 
+     528             :   ros::Time tilt_error_disarm_time_;
+     529             :   bool      tilt_error_disarm_over_thr_ = false;
+     530             : 
+     531             :   // elanding when tilt error is too large
+     532             :   bool   _tilt_limit_eland_enabled_;
+     533             :   double _tilt_limit_eland_ = 0;  // [rad]
+     534             : 
+     535             :   // disarming when tilt error is too large
+     536             :   bool   _tilt_limit_disarm_enabled_;
+     537             :   double _tilt_limit_disarm_ = 0;  // [rad]
+     538             : 
+     539             :   // elanding when yaw error is too large
+     540             :   bool   _yaw_error_eland_enabled_;
+     541             :   double _yaw_error_eland_ = 0;  // [rad]
+     542             : 
+     543             :   // keeping track of control errors
+     544             :   std::optional<double> tilt_error_ = 0;
+     545             :   std::optional<double> yaw_error_  = 0;
+     546             :   std::mutex            mutex_attitude_error_;
+     547             : 
+     548             :   std::optional<Eigen::Vector3d> position_error_;
+     549             :   std::mutex                     mutex_position_error_;
+     550             : 
+     551             :   // control error for triggering failsafe, eland, etc.
+     552             :   // this filled with the current controllers failsafe threshold
+     553             :   double _failsafe_threshold_                = 0;  // control error for triggering failsafe
+     554             :   double _eland_threshold_                   = 0;  // control error for triggering eland
+     555             :   bool   _odometry_innovation_check_enabled_ = false;
+     556             :   double _odometry_innovation_threshold_     = 0;  // innovation size for triggering eland
+     557             : 
+     558             :   bool callbacks_enabled_ = true;
+     559             : 
+     560             :   // | ------------------------ parachute ----------------------- |
+     561             : 
+     562             :   bool _parachute_enabled_ = false;
+     563             : 
+     564             :   std::tuple<bool, std::string> deployParachute(void);
+     565             :   bool                          parachuteSrv(void);
+     566             : 
+     567             :   // | ----------------------- safety area ---------------------- |
+     568             : 
+     569             :   // safety area
+     570             :   std::unique_ptr<mrs_lib::SafetyZone> safety_zone_;
+     571             : 
+     572             :   std::atomic<bool> use_safety_area_ = false;
+     573             : 
+     574             :   std::string _safety_area_horizontal_frame_;
+     575             :   std::string _safety_area_vertical_frame_;
+     576             : 
+     577             :   std::atomic<double> _safety_area_min_z_ = 0;
+     578             : 
+     579             :   double _safety_area_max_z_ = 0;
+     580             : 
+     581             :   // safety area routines
+     582             :   // those are passed to trackers using the common_handlers object
+     583             :   bool   isPointInSafetyArea2d(const mrs_msgs::ReferenceStamped& point);
+     584             :   bool   isPointInSafetyArea3d(const mrs_msgs::ReferenceStamped& point);
+     585             :   bool   isPathToPointInSafetyArea2d(const mrs_msgs::ReferenceStamped& from, const mrs_msgs::ReferenceStamped& to);
+     586             :   bool   isPathToPointInSafetyArea3d(const mrs_msgs::ReferenceStamped& from, const mrs_msgs::ReferenceStamped& to);
+     587             :   double getMinZ(const std::string& frame_id);
+     588             :   double getMaxZ(const std::string& frame_id);
+     589             : 
+     590             :   // | ------------------------ callbacks ----------------------- |
+     591             : 
+     592             :   // topic callbacks
+     593             :   void callbackOdometry(const nav_msgs::Odometry::ConstPtr msg);
+     594             :   void callbackUavState(const mrs_msgs::UavState::ConstPtr msg);
+     595             :   void callbackHwApiStatus(const mrs_msgs::HwApiStatus::ConstPtr msg);
+     596             :   void callbackGNSS(const sensor_msgs::NavSatFix::ConstPtr msg);
+     597             :   void callbackRC(const mrs_msgs::HwApiRcChannels::ConstPtr msg);
+     598             : 
+     599             :   // topic timeouts
+     600             :   void timeoutUavState(const double& missing_for);
+     601             : 
+     602             :   // switching controller and tracker services
+     603             :   bool callbackSwitchTracker(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+     604             :   bool callbackSwitchController(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+     605             :   bool callbackTrackerResetStatic(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     606             : 
+     607             :   // reference callbacks
+     608             :   void callbackReferenceTopic(const mrs_msgs::ReferenceStamped::ConstPtr msg);
+     609             :   void callbackVelocityReferenceTopic(const mrs_msgs::VelocityReferenceStamped::ConstPtr msg);
+     610             :   void callbackTrajectoryReferenceTopic(const mrs_msgs::TrajectoryReference::ConstPtr msg);
+     611             :   bool callbackGoto(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res);
+     612             :   bool callbackGotoFcu(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res);
+     613             :   bool callbackGotoRelative(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res);
+     614             :   bool callbackGotoAltitude(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res);
+     615             :   bool callbackSetHeading(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res);
+     616             :   bool callbackSetHeadingRelative(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res);
+     617             :   bool callbackReferenceService(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res);
+     618             :   bool callbackVelocityReferenceService(mrs_msgs::VelocityReferenceStampedSrv::Request& req, mrs_msgs::VelocityReferenceStampedSrv::Response& res);
+     619             :   bool callbackTrajectoryReferenceService(mrs_msgs::TrajectoryReferenceSrv::Request& req, mrs_msgs::TrajectoryReferenceSrv::Response& res);
+     620             :   bool callbackEmergencyReference(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res);
+     621             : 
+     622             :   // safety callbacks
+     623             :   bool callbackHover(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     624             :   bool callbackStartTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     625             :   bool callbackStopTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     626             :   bool callbackResumeTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     627             :   bool callbackGotoTrajectoryStart([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     628             :   bool callbackEHover(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     629             :   bool callbackFailsafe(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     630             :   bool callbackFailsafeEscalating(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     631             :   bool callbackEland(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     632             :   bool callbackParachute([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     633             :   bool callbackSetMinZ(mrs_msgs::Float64StampedSrv::Request& req, mrs_msgs::Float64StampedSrv::Response& res);
+     634             :   bool callbackToggleOutput(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     635             :   bool callbackArm(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     636             :   bool callbackEnableCallbacks(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     637             :   bool callbackEnableBumper(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     638             :   bool callbackUseSafetyArea(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     639             : 
+     640             :   bool callbackGetMinZ(mrs_msgs::GetFloat64::Request& req, mrs_msgs::GetFloat64::Response& res);
+     641             : 
+     642             :   bool callbackValidateReference(mrs_msgs::ValidateReference::Request& req, mrs_msgs::ValidateReference::Response& res);
+     643             :   bool callbackValidateReference2d(mrs_msgs::ValidateReference::Request& req, mrs_msgs::ValidateReference::Response& res);
+     644             :   bool callbackValidateReferenceList(mrs_msgs::ValidateReferenceList::Request& req, mrs_msgs::ValidateReferenceList::Response& res);
+     645             : 
+     646             :   // transformation callbacks
+     647             :   bool callbackTransformReference(mrs_msgs::TransformReferenceSrv::Request& req, mrs_msgs::TransformReferenceSrv::Response& res);
+     648             :   bool callbackTransformPose(mrs_msgs::TransformPoseSrv::Request& req, mrs_msgs::TransformPoseSrv::Response& res);
+     649             :   bool callbackTransformVector3(mrs_msgs::TransformVector3Srv::Request& req, mrs_msgs::TransformVector3Srv::Response& res);
+     650             : 
+     651             :   // | ----------------------- constraints ---------------------- |
+     652             : 
+     653             :   // sets constraints to all trackers
+     654             :   bool callbackSetConstraints(mrs_msgs::DynamicsConstraintsSrv::Request& req, mrs_msgs::DynamicsConstraintsSrv::Response& res);
+     655             : 
+     656             :   // constraints management
+     657             :   bool              got_constraints_ = false;
+     658             :   std::mutex        mutex_constraints_;
+     659             :   void              setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints);
+     660             :   void              setConstraintsToTrackers(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints);
+     661             :   void              setConstraintsToControllers(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints);
+     662             :   std::atomic<bool> constraints_being_enforced_ = false;
+     663             : 
+     664             :   std::optional<mrs_msgs::DynamicsConstraintsSrvRequest> enforceControllersConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints);
+     665             : 
+     666             :   mrs_msgs::DynamicsConstraintsSrvRequest current_constraints_;
+     667             :   mrs_msgs::DynamicsConstraintsSrvRequest sanitized_constraints_;
+     668             : 
+     669             :   // | ------------------ emergency triggered? ------------------ |
+     670             : 
+     671             :   std::atomic<bool> failsafe_triggered_ = false;
+     672             :   std::atomic<bool> eland_triggered_    = false;
+     673             : 
+     674             :   // | ------------------------- timers ------------------------- |
+     675             : 
+     676             :   // timer for regular status publishing
+     677             :   ros::Timer timer_status_;
+     678             :   void       timerStatus(const ros::TimerEvent& event);
+     679             : 
+     680             :   // timer for issuing the failsafe landing
+     681             :   ros::Timer timer_failsafe_;
+     682             :   void       timerFailsafe(const ros::TimerEvent& event);
+     683             : 
+     684             :   // oneshot timer for running controllers and trackers
+     685             :   void              asyncControl(void);
+     686             :   std::atomic<bool> running_async_control_ = false;
+     687             :   std::future<void> async_control_result_;
+     688             : 
+     689             :   // timer for issuing emergancy landing
+     690             :   ros::Timer timer_eland_;
+     691             :   void       timerEland(const ros::TimerEvent& event);
+     692             : 
+     693             :   // timer for regular checking of controller errors
+     694             :   ros::Timer        timer_safety_;
+     695             :   void              timerSafety(const ros::TimerEvent& event);
+     696             :   std::atomic<bool> running_safety_timer_        = false;
+     697             :   std::atomic<bool> odometry_switch_in_progress_ = false;
+     698             : 
+     699             :   // timer for issuing the pirouette
+     700             :   ros::Timer timer_pirouette_;
+     701             :   void       timerPirouette(const ros::TimerEvent& event);
+     702             : 
+     703             :   // | --------------------- obstacle bumper -------------------- |
+     704             : 
+     705             :   // bumper timer
+     706             :   ros::Timer timer_bumper_;
+     707             :   void       timerBumper(const ros::TimerEvent& event);
+     708             : 
+     709             :   // bumper subscriber
+     710             :   mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors> sh_bumper_;
+     711             : 
+     712             :   bool        _bumper_switch_tracker_    = false;
+     713             :   bool        _bumper_switch_controller_ = false;
+     714             :   std::string _bumper_tracker_name_;
+     715             :   std::string _bumper_controller_name_;
+     716             :   std::string bumper_previous_tracker_;
+     717             :   std::string bumper_previous_controller_;
+     718             : 
+     719             :   std::atomic<bool> bumper_enabled_   = false;
+     720             :   std::atomic<bool> bumper_repulsing_ = false;
+     721             : 
+     722             :   bool _bumper_horizontal_derive_from_dynamics_;
+     723             :   bool _bumper_vertical_derive_from_dynamics_;
+     724             : 
+     725             :   double _bumper_horizontal_distance_ = 0;
+     726             :   double _bumper_vertical_distance_   = 0;
+     727             : 
+     728             :   double _bumper_horizontal_overshoot_ = 0;
+     729             :   double _bumper_vertical_overshoot_   = 0;
+     730             : 
+     731             :   int  bumperGetSectorId(const double& x, const double& y, const double& z);
+     732             :   void bumperPushFromObstacle(void);
+     733             : 
+     734             :   // | --------------- safety checks and failsafes -------------- |
+     735             : 
+     736             :   // escalating failsafe (eland -> failsafe -> disarm)
+     737             :   bool                       _service_escalating_failsafe_enabled_ = false;
+     738             :   bool                       _rc_escalating_failsafe_enabled_      = false;
+     739             :   double                     _escalating_failsafe_timeout_         = 0;
+     740             :   ros::Time                  escalating_failsafe_time_;
+     741             :   bool                       _escalating_failsafe_ehover_   = false;
+     742             :   bool                       _escalating_failsafe_eland_    = false;
+     743             :   bool                       _escalating_failsafe_failsafe_ = false;
+     744             :   double                     _rc_escalating_failsafe_threshold_;
+     745             :   int                        _rc_escalating_failsafe_channel_  = 0;
+     746             :   bool                       rc_escalating_failsafe_triggered_ = false;
+     747             :   EscalatingFailsafeStates_t state_escalating_failsafe_        = ESC_NONE_STATE;
+     748             : 
+     749             :   std::string _tracker_error_action_;
+     750             : 
+     751             :   // emergancy landing state machine
+     752             :   LandingStates_t current_state_landing_  = IDLE_STATE;
+     753             :   LandingStates_t previous_state_landing_ = IDLE_STATE;
+     754             :   std::mutex      mutex_landing_state_machine_;
+     755             :   void            changeLandingState(LandingStates_t new_state);
+     756             :   double          _uav_mass_ = 0;
+     757             :   double          _elanding_cutoff_mass_factor_;
+     758             :   double          _elanding_cutoff_timeout_;
+     759             :   double          landing_uav_mass_ = 0;
+     760             : 
+     761             :   // initial body disturbance loaded from params
+     762             :   double _initial_body_disturbance_x_ = 0;
+     763             :   double _initial_body_disturbance_y_ = 0;
+     764             : 
+     765             :   // profiling
+     766             :   mrs_lib::Profiler profiler_;
+     767             :   bool              _profiler_enabled_ = false;
+     768             : 
+     769             :   // diagnostics publishing
+     770             :   void       publishDiagnostics(void);
+     771             :   std::mutex mutex_diagnostics_;
+     772             : 
+     773             :   void                                             ungripSrv(void);
+     774             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_ungrip_;
+     775             : 
+     776             :   bool isFlyingNormally(void);
+     777             : 
+     778             :   // | ------------------------ pirouette ----------------------- |
+     779             : 
+     780             :   bool       _pirouette_enabled_ = false;
+     781             :   double     _pirouette_speed_;
+     782             :   double     _pirouette_timer_rate_;
+     783             :   std::mutex mutex_pirouette_;
+     784             :   double     pirouette_initial_heading_;
+     785             :   double     pirouette_iterator_;
+     786             :   bool       callbackPirouette(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     787             : 
+     788             :   // | -------------------- joystick control -------------------- |
+     789             : 
+     790             :   mrs_lib::SubscribeHandler<sensor_msgs::Joy> sh_joystick_;
+     791             : 
+     792             :   void callbackJoystick(const sensor_msgs::Joy::ConstPtr msg);
+     793             :   bool callbackUseJoystick([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     794             : 
+     795             :   // joystick buttons mappings
+     796             :   int _channel_A_, _channel_B_, _channel_X_, _channel_Y_, _channel_start_, _channel_back_, _channel_LT_, _channel_RT_, _channel_L_joy_, _channel_R_joy_;
+     797             : 
+     798             :   // channel numbers and channel multipliers
+     799             :   int    _channel_pitch_, _channel_roll_, _channel_heading_, _channel_throttle_;
+     800             :   double _channel_mult_pitch_, _channel_mult_roll_, _channel_mult_heading_, _channel_mult_throttle_;
+     801             : 
+     802             :   ros::Timer timer_joystick_;
+     803             :   void       timerJoystick(const ros::TimerEvent& event);
+     804             :   double     _joystick_timer_rate_ = 0;
+     805             : 
+     806             :   double _joystick_carrot_distance_ = 0;
+     807             : 
+     808             :   ros::Time joystick_start_press_time_;
+     809             :   bool      joystick_start_pressed_ = false;
+     810             : 
+     811             :   ros::Time joystick_back_press_time_;
+     812             :   bool      joystick_back_pressed_ = false;
+     813             :   bool      joystick_goto_enabled_ = false;
+     814             : 
+     815             :   bool      joystick_failsafe_pressed_ = false;
+     816             :   ros::Time joystick_failsafe_press_time_;
+     817             : 
+     818             :   bool      joystick_eland_pressed_ = false;
+     819             :   ros::Time joystick_eland_press_time_;
+     820             : 
+     821             :   // | ------------------- RC joystick control ------------------ |
+     822             : 
+     823             :   // listening to the RC channels as told by pixhawk
+     824             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels> sh_hw_api_rc_;
+     825             : 
+     826             :   // the RC channel mapping of the main 4 control signals
+     827             :   double _rc_channel_pitch_, _rc_channel_roll_, _rc_channel_heading_, _rc_channel_throttle_;
+     828             : 
+     829             :   bool              _rc_goto_enabled_               = false;
+     830             :   std::atomic<bool> rc_goto_active_                 = false;
+     831             :   double            rc_joystick_channel_last_value_ = 0.5;
+     832             :   bool              rc_joystick_channel_was_low_    = false;
+     833             :   int               _rc_joystick_channel_           = 0;
+     834             : 
+     835             :   double _rc_horizontal_speed_ = 0;
+     836             :   double _rc_vertical_speed_   = 0;
+     837             :   double _rc_heading_rate_     = 0;
+     838             : 
+     839             :   // | ------------------- trajectory loading ------------------- |
+     840             : 
+     841             :   mrs_lib::PublisherHandler<geometry_msgs::PoseArray>        pub_debug_original_trajectory_poses_;
+     842             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray> pub_debug_original_trajectory_markers_;
+     843             : 
+     844             :   // | --------------------- other routines --------------------- |
+     845             : 
+     846             :   // this is called to update the trackers and to receive position control command from the active one
+     847             :   void updateTrackers(void);
+     848             : 
+     849             :   // this is called to update the controllers and to receive attitude control command from the active one
+     850             :   void updateControllers(const mrs_msgs::UavState& uav_state);
+     851             : 
+     852             :   // sets the reference to the active tracker
+     853             :   std::tuple<bool, std::string> setReference(const mrs_msgs::ReferenceStamped reference_in);
+     854             : 
+     855             :   // sets the velocity reference to the active tracker
+     856             :   std::tuple<bool, std::string> setVelocityReference(const mrs_msgs::VelocityReferenceStamped& reference_in);
+     857             : 
+     858             :   // sets the reference trajectory to the active tracker
+     859             :   std::tuple<bool, std::string, bool, std::vector<std::string>, std::vector<bool>, std::vector<std::string>> setTrajectoryReference(
+     860             :       const mrs_msgs::TrajectoryReference trajectory_in);
+     861             : 
+     862             :   // publishes
+     863             :   void publish(void);
+     864             : 
+     865             :   bool loadConfigFile(const std::string& file_path, const std::string ns);
+     866             : 
+     867             :   double getMass(void);
+     868             : 
+     869             :   // publishes rviz-visualizable control reference
+     870             :   void publishControlReferenceOdom(const std::optional<mrs_msgs::TrackerCommand>& tracker_command, const Controller::ControlOutput& control_output);
+     871             : 
+     872             :   void initializeControlOutput(void);
+     873             : 
+     874             :   // tell the mrs_odometry to disable its callbacks
+     875             :   void odometryCallbacksSrv(const bool input);
+     876             : 
+     877             :   mrs_msgs::ReferenceStamped velocityReferenceToReference(const mrs_msgs::VelocityReferenceStamped& vel_reference);
+     878             : 
+     879             :   void                          setCallbacks(bool in);
+     880             :   bool                          isOffboard(void);
+     881             :   bool                          elandSrv(void);
+     882             :   std::tuple<bool, std::string> arming(const bool input);
+     883             : 
+     884             :   // safety functions impl
+     885             :   std::tuple<bool, std::string> ehover(void);
+     886             :   std::tuple<bool, std::string> hover(void);
+     887             :   std::tuple<bool, std::string> startTrajectoryTracking(void);
+     888             :   std::tuple<bool, std::string> stopTrajectoryTracking(void);
+     889             :   std::tuple<bool, std::string> resumeTrajectoryTracking(void);
+     890             :   std::tuple<bool, std::string> gotoTrajectoryStart(void);
+     891             :   std::tuple<bool, std::string> eland(void);
+     892             :   std::tuple<bool, std::string> failsafe(void);
+     893             :   std::tuple<bool, std::string> escalatingFailsafe(void);
+     894             : 
+     895             :   EscalatingFailsafeStates_t getNextEscFailsafeState(void);
+     896             : };
+     897             : 
+     898             : //}
+     899             : 
+     900             : /* //{ onInit() */
+     901             : 
+     902         108 : void ControlManager::onInit() {
+     903         108 :   preinitialize();
+     904         108 : }
+     905             : 
+     906             : //}
+     907             : 
+     908             : /* preinitialize() //{ */
+     909             : 
+     910         108 : void ControlManager::preinitialize(void) {
+     911             : 
+     912         108 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     913             : 
+     914         108 :   ros::Time::waitForValid();
+     915             : 
+     916         108 :   mrs_lib::SubscribeHandlerOptions shopts;
+     917         108 :   shopts.nh                 = nh_;
+     918         108 :   shopts.node_name          = "ControlManager";
+     919         108 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     920         108 :   shopts.threadsafe         = true;
+     921         108 :   shopts.autostart          = true;
+     922         108 :   shopts.queue_size         = 10;
+     923         108 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     924             : 
+     925         108 :   sh_hw_api_capabilities_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>(shopts, "hw_api_capabilities_in");
+     926             : 
+     927         108 :   timer_hw_api_capabilities_ = nh_.createTimer(ros::Rate(1.0), &ControlManager::timerHwApiCapabilities, this);
+     928         108 : }
+     929             : 
+     930             : //}
+     931             : 
+     932             : /* initialize() //{ */
+     933             : 
+     934         108 : void ControlManager::initialize(void) {
+     935             : 
+     936         108 :   joystick_start_press_time_      = ros::Time(0);
+     937         108 :   joystick_failsafe_press_time_   = ros::Time(0);
+     938         108 :   joystick_eland_press_time_      = ros::Time(0);
+     939         108 :   escalating_failsafe_time_       = ros::Time(0);
+     940         108 :   controller_tracker_switch_time_ = ros::Time(0);
+     941             : 
+     942         108 :   ROS_INFO("[ControlManager]: initializing");
+     943             : 
+     944             :   // --------------------------------------------------------------
+     945             :   // |         common handler for trackers and controllers        |
+     946             :   // --------------------------------------------------------------
+     947             : 
+     948         108 :   common_handlers_ = std::make_shared<mrs_uav_managers::control_manager::CommonHandlers_t>();
+     949             : 
+     950             :   // --------------------------------------------------------------
+     951             :   // |                           params                           |
+     952             :   // --------------------------------------------------------------
+     953             : 
+     954         216 :   mrs_lib::ParamLoader param_loader(nh_, "ControlManager");
+     955             : 
+     956         108 :   param_loader.loadParam("custom_config", _custom_config_);
+     957         108 :   param_loader.loadParam("platform_config", _platform_config_);
+     958         108 :   param_loader.loadParam("world_config", _world_config_);
+     959         108 :   param_loader.loadParam("network_config", _network_config_);
+     960             : 
+     961         108 :   if (_custom_config_ != "") {
+     962         108 :     param_loader.addYamlFile(_custom_config_);
+     963             :   }
+     964             : 
+     965         108 :   if (_platform_config_ != "") {
+     966         108 :     param_loader.addYamlFile(_platform_config_);
+     967             :   }
+     968             : 
+     969         108 :   if (_world_config_ != "") {
+     970         108 :     param_loader.addYamlFile(_world_config_);
+     971             :   }
+     972             : 
+     973         108 :   if (_network_config_ != "") {
+     974         108 :     param_loader.addYamlFile(_network_config_);
+     975             :   }
+     976             : 
+     977         108 :   param_loader.addYamlFileFromParam("private_config");
+     978         108 :   param_loader.addYamlFileFromParam("public_config");
+     979         108 :   param_loader.addYamlFileFromParam("private_trackers");
+     980         108 :   param_loader.addYamlFileFromParam("private_controllers");
+     981         108 :   param_loader.addYamlFileFromParam("public_controllers");
+     982             : 
+     983             :   // params passed from the launch file are not prefixed
+     984         108 :   param_loader.loadParam("uav_name", _uav_name_);
+     985         108 :   param_loader.loadParam("body_frame", _body_frame_);
+     986         108 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     987         108 :   param_loader.loadParam("uav_mass", _uav_mass_);
+     988         108 :   param_loader.loadParam("body_disturbance_x", _initial_body_disturbance_x_);
+     989         108 :   param_loader.loadParam("body_disturbance_y", _initial_body_disturbance_y_);
+     990         108 :   param_loader.loadParam("g", common_handlers_->g);
+     991             : 
+     992             :   // motor params are also not prefixed, since they are common to more nodes
+     993         108 :   param_loader.loadParam("motor_params/a", common_handlers_->throttle_model.A);
+     994         108 :   param_loader.loadParam("motor_params/b", common_handlers_->throttle_model.B);
+     995         108 :   param_loader.loadParam("motor_params/n_motors", common_handlers_->throttle_model.n_motors);
+     996             : 
+     997             :   // | ----------------------- safety area ---------------------- |
+     998             : 
+     999             :   bool use_safety_area;
+    1000         108 :   param_loader.loadParam("safety_area/enabled", use_safety_area);
+    1001         108 :   use_safety_area_ = use_safety_area;
+    1002             : 
+    1003         108 :   param_loader.loadParam("safety_area/horizontal/frame_name", _safety_area_horizontal_frame_);
+    1004             : 
+    1005         108 :   param_loader.loadParam("safety_area/vertical/frame_name", _safety_area_vertical_frame_);
+    1006         108 :   param_loader.loadParam("safety_area/vertical/max_z", _safety_area_max_z_);
+    1007             : 
+    1008             :   {
+    1009             :     double temp;
+    1010         108 :     param_loader.loadParam("safety_area/vertical/min_z", temp);
+    1011             : 
+    1012         108 :     _safety_area_min_z_ = temp;
+    1013             :   }
+    1014             : 
+    1015         108 :   if (use_safety_area_) {
+    1016             : 
+    1017         258 :     Eigen::MatrixXd border_points = param_loader.loadMatrixDynamic2("safety_area/horizontal/points", -1, 2);
+    1018             : 
+    1019             :     try {
+    1020             : 
+    1021         172 :       std::vector<Eigen::MatrixXd> polygon_obstacle_points;
+    1022          86 :       std::vector<Eigen::MatrixXd> point_obstacle_points;
+    1023             : 
+    1024          86 :       safety_zone_ = std::make_unique<mrs_lib::SafetyZone>(border_points);
+    1025             :     }
+    1026             : 
+    1027           0 :     catch (mrs_lib::SafetyZone::BorderError& e) {
+    1028           0 :       ROS_ERROR("[ControlManager]: SafetyArea: wrong configruation for the safety zone border polygon");
+    1029           0 :       ros::shutdown();
+    1030             :     }
+    1031           0 :     catch (...) {
+    1032           0 :       ROS_ERROR("[ControlManager]: SafetyArea: unhandled exception!");
+    1033           0 :       ros::shutdown();
+    1034             :     }
+    1035             : 
+    1036          86 :     ROS_INFO("[ControlManager]: safety area initialized");
+    1037             :   }
+    1038             : 
+    1039         108 :   param_loader.setPrefix("mrs_uav_managers/control_manager/");
+    1040             : 
+    1041         108 :   param_loader.loadParam("state_input", _state_input_);
+    1042             : 
+    1043         108 :   if (!(_state_input_ == INPUT_UAV_STATE || _state_input_ == INPUT_ODOMETRY)) {
+    1044           0 :     ROS_ERROR("[ControlManager]: the state_input parameter has to be in {0, 1}");
+    1045           0 :     ros::shutdown();
+    1046             :   }
+    1047             : 
+    1048         108 :   param_loader.loadParam("safety/min_throttle_null_tracker", _min_throttle_null_tracker_);
+    1049         108 :   param_loader.loadParam("safety/ehover_tracker", _ehover_tracker_name_);
+    1050         108 :   param_loader.loadParam("safety/failsafe_controller", _failsafe_controller_name_);
+    1051             : 
+    1052         108 :   param_loader.loadParam("safety/eland/controller", _eland_controller_name_);
+    1053         108 :   param_loader.loadParam("safety/eland/cutoff_mass_factor", _elanding_cutoff_mass_factor_);
+    1054         108 :   param_loader.loadParam("safety/eland/cutoff_timeout", _elanding_cutoff_timeout_);
+    1055         108 :   param_loader.loadParam("safety/eland/timer_rate", _elanding_timer_rate_);
+    1056         108 :   param_loader.loadParam("safety/eland/disarm", _eland_disarm_enabled_);
+    1057             : 
+    1058         108 :   param_loader.loadParam("safety/escalating_failsafe/service/enabled", _service_escalating_failsafe_enabled_);
+    1059         108 :   param_loader.loadParam("safety/escalating_failsafe/rc/enabled", _rc_escalating_failsafe_enabled_);
+    1060         108 :   param_loader.loadParam("safety/escalating_failsafe/rc/channel_number", _rc_escalating_failsafe_channel_);
+    1061         108 :   param_loader.loadParam("safety/escalating_failsafe/rc/threshold", _rc_escalating_failsafe_threshold_);
+    1062         108 :   param_loader.loadParam("safety/escalating_failsafe/timeout", _escalating_failsafe_timeout_);
+    1063         108 :   param_loader.loadParam("safety/escalating_failsafe/ehover", _escalating_failsafe_ehover_);
+    1064         108 :   param_loader.loadParam("safety/escalating_failsafe/eland", _escalating_failsafe_eland_);
+    1065         108 :   param_loader.loadParam("safety/escalating_failsafe/failsafe", _escalating_failsafe_failsafe_);
+    1066             : 
+    1067         108 :   param_loader.loadParam("safety/tilt_limit/eland/enabled", _tilt_limit_eland_enabled_);
+    1068         108 :   param_loader.loadParam("safety/tilt_limit/eland/limit", _tilt_limit_eland_);
+    1069             : 
+    1070         108 :   _tilt_limit_eland_ = M_PI * (_tilt_limit_eland_ / 180.0);
+    1071             : 
+    1072         108 :   if (_tilt_limit_eland_enabled_ && fabs(_tilt_limit_eland_) < 1e-3) {
+    1073           0 :     ROS_ERROR("[ControlManager]: safety/tilt_limit/eland/enabled = 'TRUE' but the limit is too low");
+    1074           0 :     ros::shutdown();
+    1075             :   }
+    1076             : 
+    1077         108 :   param_loader.loadParam("safety/tilt_limit/disarm/enabled", _tilt_limit_disarm_enabled_);
+    1078         108 :   param_loader.loadParam("safety/tilt_limit/disarm/limit", _tilt_limit_disarm_);
+    1079             : 
+    1080         108 :   _tilt_limit_disarm_ = M_PI * (_tilt_limit_disarm_ / 180.0);
+    1081             : 
+    1082         108 :   if (_tilt_limit_disarm_enabled_ && fabs(_tilt_limit_disarm_) < 1e-3) {
+    1083           0 :     ROS_ERROR("[ControlManager]: safety/tilt_limit/disarm/enabled = 'TRUE' but the limit is too low");
+    1084           0 :     ros::shutdown();
+    1085             :   }
+    1086             : 
+    1087         108 :   param_loader.loadParam("safety/yaw_error_eland/enabled", _yaw_error_eland_enabled_);
+    1088         108 :   param_loader.loadParam("safety/yaw_error_eland/limit", _yaw_error_eland_);
+    1089             : 
+    1090         108 :   _yaw_error_eland_ = M_PI * (_yaw_error_eland_ / 180.0);
+    1091             : 
+    1092         108 :   if (_yaw_error_eland_enabled_ && fabs(_yaw_error_eland_) < 1e-3) {
+    1093           0 :     ROS_ERROR("[ControlManager]: safety/yaw_error_eland/enabled = 'TRUE' but the limit is too low");
+    1094           0 :     ros::shutdown();
+    1095             :   }
+    1096             : 
+    1097         108 :   param_loader.loadParam("status_timer_rate", _status_timer_rate_);
+    1098         108 :   param_loader.loadParam("safety/safety_timer_rate", _safety_timer_rate_);
+    1099         108 :   param_loader.loadParam("safety/failsafe_timer_rate", _failsafe_timer_rate_);
+    1100         108 :   param_loader.loadParam("safety/rc_emergency_handoff/enabled", _rc_emergency_handoff_);
+    1101             : 
+    1102         108 :   param_loader.loadParam("safety/odometry_max_missing_time", _uav_state_max_missing_time_);
+    1103         108 :   param_loader.loadParam("safety/odometry_innovation_eland/enabled", _odometry_innovation_check_enabled_);
+    1104             : 
+    1105         108 :   param_loader.loadParam("safety/tilt_error_disarm/enabled", _tilt_error_disarm_enabled_);
+    1106         108 :   param_loader.loadParam("safety/tilt_error_disarm/timeout", _tilt_error_disarm_timeout_);
+    1107         108 :   param_loader.loadParam("safety/tilt_error_disarm/error_threshold", _tilt_error_disarm_threshold_);
+    1108             : 
+    1109         108 :   _tilt_error_disarm_threshold_ = M_PI * (_tilt_error_disarm_threshold_ / 180.0);
+    1110             : 
+    1111         108 :   if (_tilt_error_disarm_enabled_ && fabs(_tilt_error_disarm_threshold_) < 1e-3) {
+    1112           0 :     ROS_ERROR("[ControlManager]: safety/tilt_error_disarm/enabled = 'TRUE' but the limit is too low");
+    1113           0 :     ros::shutdown();
+    1114             :   }
+    1115             : 
+    1116             :   // default constraints
+    1117             : 
+    1118         108 :   param_loader.loadParam("default_constraints/horizontal/speed", current_constraints_.constraints.horizontal_speed);
+    1119         108 :   param_loader.loadParam("default_constraints/horizontal/acceleration", current_constraints_.constraints.horizontal_acceleration);
+    1120         108 :   param_loader.loadParam("default_constraints/horizontal/jerk", current_constraints_.constraints.horizontal_jerk);
+    1121         108 :   param_loader.loadParam("default_constraints/horizontal/snap", current_constraints_.constraints.horizontal_snap);
+    1122             : 
+    1123         108 :   param_loader.loadParam("default_constraints/vertical/ascending/speed", current_constraints_.constraints.vertical_ascending_speed);
+    1124         108 :   param_loader.loadParam("default_constraints/vertical/ascending/acceleration", current_constraints_.constraints.vertical_ascending_acceleration);
+    1125         108 :   param_loader.loadParam("default_constraints/vertical/ascending/jerk", current_constraints_.constraints.vertical_ascending_jerk);
+    1126         108 :   param_loader.loadParam("default_constraints/vertical/ascending/snap", current_constraints_.constraints.vertical_ascending_snap);
+    1127             : 
+    1128         108 :   param_loader.loadParam("default_constraints/vertical/descending/speed", current_constraints_.constraints.vertical_descending_speed);
+    1129         108 :   param_loader.loadParam("default_constraints/vertical/descending/acceleration", current_constraints_.constraints.vertical_descending_acceleration);
+    1130         108 :   param_loader.loadParam("default_constraints/vertical/descending/jerk", current_constraints_.constraints.vertical_descending_jerk);
+    1131         108 :   param_loader.loadParam("default_constraints/vertical/descending/snap", current_constraints_.constraints.vertical_descending_snap);
+    1132             : 
+    1133         108 :   param_loader.loadParam("default_constraints/heading/speed", current_constraints_.constraints.heading_speed);
+    1134         108 :   param_loader.loadParam("default_constraints/heading/acceleration", current_constraints_.constraints.heading_acceleration);
+    1135         108 :   param_loader.loadParam("default_constraints/heading/jerk", current_constraints_.constraints.heading_jerk);
+    1136         108 :   param_loader.loadParam("default_constraints/heading/snap", current_constraints_.constraints.heading_snap);
+    1137             : 
+    1138         108 :   param_loader.loadParam("default_constraints/angular_speed/roll", current_constraints_.constraints.roll_rate);
+    1139         108 :   param_loader.loadParam("default_constraints/angular_speed/pitch", current_constraints_.constraints.pitch_rate);
+    1140         108 :   param_loader.loadParam("default_constraints/angular_speed/yaw", current_constraints_.constraints.yaw_rate);
+    1141             : 
+    1142         108 :   param_loader.loadParam("default_constraints/tilt", current_constraints_.constraints.tilt);
+    1143             : 
+    1144         108 :   current_constraints_.constraints.tilt = M_PI * (current_constraints_.constraints.tilt / 180.0);
+    1145             : 
+    1146             :   // joystick
+    1147             : 
+    1148         108 :   param_loader.loadParam("joystick/enabled", _joystick_enabled_);
+    1149         108 :   param_loader.loadParam("joystick/mode", _joystick_mode_);
+    1150         108 :   param_loader.loadParam("joystick/carrot_distance", _joystick_carrot_distance_);
+    1151         108 :   param_loader.loadParam("joystick/joystick_timer_rate", _joystick_timer_rate_);
+    1152         108 :   param_loader.loadParam("joystick/attitude_control/tracker", _joystick_tracker_name_);
+    1153         108 :   param_loader.loadParam("joystick/attitude_control/controller", _joystick_controller_name_);
+    1154         108 :   param_loader.loadParam("joystick/attitude_control/fallback/tracker", _joystick_fallback_tracker_name_);
+    1155         108 :   param_loader.loadParam("joystick/attitude_control/fallback/controller", _joystick_fallback_controller_name_);
+    1156             : 
+    1157         108 :   param_loader.loadParam("joystick/channels/A", _channel_A_);
+    1158         108 :   param_loader.loadParam("joystick/channels/B", _channel_B_);
+    1159         108 :   param_loader.loadParam("joystick/channels/X", _channel_X_);
+    1160         108 :   param_loader.loadParam("joystick/channels/Y", _channel_Y_);
+    1161         108 :   param_loader.loadParam("joystick/channels/start", _channel_start_);
+    1162         108 :   param_loader.loadParam("joystick/channels/back", _channel_back_);
+    1163         108 :   param_loader.loadParam("joystick/channels/LT", _channel_LT_);
+    1164         108 :   param_loader.loadParam("joystick/channels/RT", _channel_RT_);
+    1165         108 :   param_loader.loadParam("joystick/channels/L_joy", _channel_L_joy_);
+    1166         108 :   param_loader.loadParam("joystick/channels/R_joy", _channel_R_joy_);
+    1167             : 
+    1168             :   // load channels
+    1169         108 :   param_loader.loadParam("joystick/channels/pitch", _channel_pitch_);
+    1170         108 :   param_loader.loadParam("joystick/channels/roll", _channel_roll_);
+    1171         108 :   param_loader.loadParam("joystick/channels/heading", _channel_heading_);
+    1172         108 :   param_loader.loadParam("joystick/channels/throttle", _channel_throttle_);
+    1173             : 
+    1174             :   // load channel multipliers
+    1175         108 :   param_loader.loadParam("joystick/channel_multipliers/pitch", _channel_mult_pitch_);
+    1176         108 :   param_loader.loadParam("joystick/channel_multipliers/roll", _channel_mult_roll_);
+    1177         108 :   param_loader.loadParam("joystick/channel_multipliers/heading", _channel_mult_heading_);
+    1178         108 :   param_loader.loadParam("joystick/channel_multipliers/throttle", _channel_mult_throttle_);
+    1179             : 
+    1180             :   bool bumper_enabled;
+    1181         108 :   param_loader.loadParam("obstacle_bumper/enabled", bumper_enabled);
+    1182         108 :   bumper_enabled_ = bumper_enabled;
+    1183             : 
+    1184         108 :   param_loader.loadParam("obstacle_bumper/switch_tracker", _bumper_switch_tracker_);
+    1185         108 :   param_loader.loadParam("obstacle_bumper/switch_controller", _bumper_switch_controller_);
+    1186         108 :   param_loader.loadParam("obstacle_bumper/tracker", _bumper_tracker_name_);
+    1187         108 :   param_loader.loadParam("obstacle_bumper/controller", _bumper_controller_name_);
+    1188         108 :   param_loader.loadParam("obstacle_bumper/timer_rate", _bumper_timer_rate_);
+    1189             : 
+    1190         108 :   param_loader.loadParam("obstacle_bumper/horizontal/min_distance_to_obstacle", _bumper_horizontal_distance_);
+    1191         108 :   param_loader.loadParam("obstacle_bumper/horizontal/derived_from_dynamics", _bumper_horizontal_derive_from_dynamics_);
+    1192             : 
+    1193         108 :   param_loader.loadParam("obstacle_bumper/vertical/min_distance_to_obstacle", _bumper_vertical_distance_);
+    1194         108 :   param_loader.loadParam("obstacle_bumper/vertical/derived_from_dynamics", _bumper_vertical_derive_from_dynamics_);
+    1195             : 
+    1196         108 :   param_loader.loadParam("obstacle_bumper/horizontal/overshoot", _bumper_horizontal_overshoot_);
+    1197         108 :   param_loader.loadParam("obstacle_bumper/vertical/overshoot", _bumper_vertical_overshoot_);
+    1198             : 
+    1199         108 :   param_loader.loadParam("safety/tracker_error_action", _tracker_error_action_);
+    1200             : 
+    1201         108 :   param_loader.loadParam("trajectory_tracking/snap_to_safety_area", _snap_trajectory_to_safety_area_);
+    1202             : 
+    1203             :   // check the values of tracker error action
+    1204         108 :   if (_tracker_error_action_ != ELAND_STR && _tracker_error_action_ != EHOVER_STR) {
+    1205           0 :     ROS_ERROR("[ControlManager]: the tracker_error_action parameter (%s) is not correct, requires {%s, %s}", _tracker_error_action_.c_str(), ELAND_STR,
+    1206             :               EHOVER_STR);
+    1207           0 :     ros::shutdown();
+    1208             :   }
+    1209             : 
+    1210         108 :   param_loader.loadParam("rc_joystick/enabled", _rc_goto_enabled_);
+    1211         108 :   param_loader.loadParam("rc_joystick/channel_number", _rc_joystick_channel_);
+    1212         108 :   param_loader.loadParam("rc_joystick/horizontal_speed", _rc_horizontal_speed_);
+    1213         108 :   param_loader.loadParam("rc_joystick/vertical_speed", _rc_vertical_speed_);
+    1214         108 :   param_loader.loadParam("rc_joystick/heading_rate", _rc_heading_rate_);
+    1215             : 
+    1216         108 :   param_loader.loadParam("rc_joystick/channels/pitch", _rc_channel_pitch_);
+    1217         108 :   param_loader.loadParam("rc_joystick/channels/roll", _rc_channel_roll_);
+    1218         108 :   param_loader.loadParam("rc_joystick/channels/heading", _rc_channel_heading_);
+    1219         108 :   param_loader.loadParam("rc_joystick/channels/throttle", _rc_channel_throttle_);
+    1220             : 
+    1221         108 :   param_loader.loadParam("pirouette/speed", _pirouette_speed_);
+    1222         108 :   param_loader.loadParam("pirouette/timer_rate", _pirouette_timer_rate_);
+    1223             : 
+    1224         108 :   param_loader.loadParam("safety/parachute/enabled", _parachute_enabled_);
+    1225             : 
+    1226             :   // --------------------------------------------------------------
+    1227             :   // |             initialize the last control output             |
+    1228             :   // --------------------------------------------------------------
+    1229             : 
+    1230         108 :   initializeControlOutput();
+    1231             : 
+    1232             :   // | --------------------- tf transformer --------------------- |
+    1233             : 
+    1234         108 :   transformer_ = std::make_shared<mrs_lib::Transformer>(nh_, "ControlManager");
+    1235         108 :   transformer_->setDefaultPrefix(_uav_name_);
+    1236         108 :   transformer_->retryLookupNewest(true);
+    1237             : 
+    1238             :   // | ------------------- scope timer logger ------------------- |
+    1239             : 
+    1240         108 :   param_loader.loadParam("scope_timer/enabled", scope_timer_enabled_);
+    1241         324 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+    1242         108 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+    1243             : 
+    1244             :   // bind transformer to trackers and controllers for use
+    1245         108 :   common_handlers_->transformer = transformer_;
+    1246             : 
+    1247             :   // bind scope timer to trackers and controllers for use
+    1248         108 :   common_handlers_->scope_timer.enabled = scope_timer_enabled_;
+    1249         108 :   common_handlers_->scope_timer.logger  = scope_timer_logger_;
+    1250             : 
+    1251         108 :   common_handlers_->safety_area.use_safety_area       = use_safety_area_;
+    1252         108 :   common_handlers_->safety_area.isPointInSafetyArea2d = boost::bind(&ControlManager::isPointInSafetyArea2d, this, _1);
+    1253         108 :   common_handlers_->safety_area.isPointInSafetyArea3d = boost::bind(&ControlManager::isPointInSafetyArea3d, this, _1);
+    1254         108 :   common_handlers_->safety_area.getMinZ               = boost::bind(&ControlManager::getMinZ, this, _1);
+    1255         108 :   common_handlers_->safety_area.getMaxZ               = boost::bind(&ControlManager::getMaxZ, this, _1);
+    1256             : 
+    1257         108 :   common_handlers_->getMass = boost::bind(&ControlManager::getMass, this);
+    1258             : 
+    1259         108 :   common_handlers_->detailed_model_params = loadDetailedUavModelParams(nh_, "ControlManager", _platform_config_, _custom_config_);
+    1260             : 
+    1261         108 :   common_handlers_->control_output_modalities = _hw_api_inputs_;
+    1262             : 
+    1263         108 :   common_handlers_->uav_name = _uav_name_;
+    1264             : 
+    1265         108 :   common_handlers_->parent_nh = nh_;
+    1266             : 
+    1267             :   // --------------------------------------------------------------
+    1268             :   // |                        load trackers                       |
+    1269             :   // --------------------------------------------------------------
+    1270             : 
+    1271         216 :   std::vector<std::string> custom_trackers;
+    1272             : 
+    1273         108 :   param_loader.loadParam("mrs_trackers", _tracker_names_);
+    1274         108 :   param_loader.loadParam("trackers", custom_trackers);
+    1275             : 
+    1276         108 :   if (!custom_trackers.empty()) {
+    1277           1 :     _tracker_names_.insert(_tracker_names_.end(), custom_trackers.begin(), custom_trackers.end());
+    1278             :   }
+    1279             : 
+    1280         108 :   param_loader.loadParam("null_tracker", _null_tracker_name_);
+    1281         108 :   param_loader.loadParam("landing_takeoff_tracker", _landoff_tracker_name_);
+    1282             : 
+    1283         108 :   tracker_loader_ = std::make_unique<pluginlib::ClassLoader<mrs_uav_managers::Tracker>>("mrs_uav_managers", "mrs_uav_managers::Tracker");
+    1284             : 
+    1285         757 :   for (int i = 0; i < int(_tracker_names_.size()); i++) {
+    1286             : 
+    1287        1298 :     std::string tracker_name = _tracker_names_.at(i);
+    1288             : 
+    1289             :     // load the controller parameters
+    1290        1298 :     std::string address;
+    1291        1298 :     std::string name_space;
+    1292             :     bool        human_switchable;
+    1293             : 
+    1294         649 :     param_loader.loadParam(tracker_name + "/address", address);
+    1295         649 :     param_loader.loadParam(tracker_name + "/namespace", name_space);
+    1296         649 :     param_loader.loadParam(tracker_name + "/human_switchable", human_switchable, false);
+    1297             : 
+    1298        1947 :     TrackerParams new_tracker(address, name_space, human_switchable);
+    1299         649 :     trackers_.insert(std::pair<std::string, TrackerParams>(tracker_name, new_tracker));
+    1300             : 
+    1301             :     try {
+    1302         649 :       ROS_INFO("[ControlManager]: loading the tracker '%s'", new_tracker.address.c_str());
+    1303         649 :       tracker_list_.push_back(tracker_loader_->createInstance(new_tracker.address.c_str()));
+    1304             :     }
+    1305           0 :     catch (pluginlib::CreateClassException& ex1) {
+    1306           0 :       ROS_ERROR("[ControlManager]: CreateClassException for the tracker '%s'", new_tracker.address.c_str());
+    1307           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex1.what());
+    1308           0 :       ros::shutdown();
+    1309             :     }
+    1310           0 :     catch (pluginlib::PluginlibException& ex) {
+    1311           0 :       ROS_ERROR("[ControlManager]: PluginlibException for the tracker '%s'", new_tracker.address.c_str());
+    1312           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex.what());
+    1313           0 :       ros::shutdown();
+    1314             :     }
+    1315             :   }
+    1316             : 
+    1317         108 :   ROS_INFO("[ControlManager]: trackers were loaded");
+    1318             : 
+    1319         757 :   for (int i = 0; i < int(tracker_list_.size()); i++) {
+    1320             : 
+    1321         649 :     std::map<std::string, TrackerParams>::iterator it;
+    1322         649 :     it = trackers_.find(_tracker_names_.at(i));
+    1323             : 
+    1324             :     // create private handlers
+    1325             :     std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers =
+    1326        1298 :         std::make_shared<mrs_uav_managers::control_manager::PrivateHandlers_t>();
+    1327             : 
+    1328         649 :     private_handlers->loadConfigFile = boost::bind(&ControlManager::loadConfigFile, this, _1, it->second.name_space);
+    1329         649 :     private_handlers->name_space     = it->second.name_space;
+    1330         649 :     private_handlers->runtime_name   = _tracker_names_.at(i);
+    1331         649 :     private_handlers->param_loader   = std::make_unique<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, it->second.name_space), _tracker_names_.at(i));
+    1332             : 
+    1333         649 :     if (_custom_config_ != "") {
+    1334         649 :       private_handlers->param_loader->addYamlFile(_custom_config_);
+    1335             :     }
+    1336             : 
+    1337         649 :     if (_platform_config_ != "") {
+    1338         649 :       private_handlers->param_loader->addYamlFile(_platform_config_);
+    1339             :     }
+    1340             : 
+    1341         649 :     if (_world_config_ != "") {
+    1342         649 :       private_handlers->param_loader->addYamlFile(_world_config_);
+    1343             :     }
+    1344             : 
+    1345         649 :     if (_network_config_ != "") {
+    1346         649 :       private_handlers->param_loader->addYamlFile(_network_config_);
+    1347             :     }
+    1348             : 
+    1349         649 :     bool success = false;
+    1350             : 
+    1351             :     try {
+    1352         649 :       ROS_INFO("[ControlManager]: initializing the tracker '%s'", it->second.address.c_str());
+    1353         649 :       success = tracker_list_.at(i)->initialize(ros::NodeHandle(nh_, it->second.name_space), common_handlers_, private_handlers);
+    1354             :     }
+    1355           0 :     catch (std::runtime_error& ex) {
+    1356           0 :       ROS_ERROR("[ControlManager]: exception caught during tracker initialization: '%s'", ex.what());
+    1357             :     }
+    1358             : 
+    1359         649 :     if (!success) {
+    1360           0 :       ROS_ERROR("[ControlManager]: failed to initialize the tracker '%s'", it->second.address.c_str());
+    1361           0 :       ros::shutdown();
+    1362             :     }
+    1363             :   }
+    1364             : 
+    1365         108 :   ROS_INFO("[ControlManager]: trackers were initialized");
+    1366             : 
+    1367             :   // --------------------------------------------------------------
+    1368             :   // |           check the existance of selected trackers         |
+    1369             :   // --------------------------------------------------------------
+    1370             : 
+    1371             :   // | ------ check for the existance of the hover tracker ------ |
+    1372             : 
+    1373             :   // check if the hover_tracker is within the loaded trackers
+    1374             :   {
+    1375         108 :     auto idx = idxInVector(_ehover_tracker_name_, _tracker_names_);
+    1376             : 
+    1377         108 :     if (idx) {
+    1378         108 :       _ehover_tracker_idx_ = idx.value();
+    1379             :     } else {
+    1380           0 :       ROS_ERROR("[ControlManager]: the safety/hover_tracker (%s) is not within the loaded trackers", _ehover_tracker_name_.c_str());
+    1381           0 :       ros::shutdown();
+    1382             :     }
+    1383             :   }
+    1384             : 
+    1385             :   // | ----- check for the existence of the landoff tracker ----- |
+    1386             : 
+    1387             :   {
+    1388         108 :     auto idx = idxInVector(_landoff_tracker_name_, _tracker_names_);
+    1389             : 
+    1390         108 :     if (idx) {
+    1391         108 :       _landoff_tracker_idx_ = idx.value();
+    1392             :     } else {
+    1393           0 :       ROS_ERROR("[ControlManager]: the landoff tracker (%s) is not within the loaded trackers", _landoff_tracker_name_.c_str());
+    1394           0 :       ros::shutdown();
+    1395             :     }
+    1396             :   }
+    1397             : 
+    1398             :   // | ------- check for the existence of the null tracker ------ |
+    1399             : 
+    1400             :   {
+    1401         108 :     auto idx = idxInVector(_null_tracker_name_, _tracker_names_);
+    1402             : 
+    1403         108 :     if (idx) {
+    1404         108 :       _null_tracker_idx_ = idx.value();
+    1405             :     } else {
+    1406           0 :       ROS_ERROR("[ControlManager]: the null tracker (%s) is not within the loaded trackers", _null_tracker_name_.c_str());
+    1407           0 :       ros::shutdown();
+    1408             :     }
+    1409             :   }
+    1410             : 
+    1411             :   // --------------------------------------------------------------
+    1412             :   // |         check existance of trackers for joystick           |
+    1413             :   // --------------------------------------------------------------
+    1414             : 
+    1415         108 :   if (_joystick_enabled_) {
+    1416             : 
+    1417         108 :     auto idx = idxInVector(_joystick_tracker_name_, _tracker_names_);
+    1418             : 
+    1419         108 :     if (idx) {
+    1420         108 :       _joystick_tracker_idx_ = idx.value();
+    1421             :     } else {
+    1422           0 :       ROS_ERROR("[ControlManager]: the joystick tracker (%s) is not within the loaded trackers", _joystick_tracker_name_.c_str());
+    1423           0 :       ros::shutdown();
+    1424             :     }
+    1425             :   }
+    1426             : 
+    1427         108 :   if (_bumper_switch_tracker_) {
+    1428             : 
+    1429         108 :     auto idx = idxInVector(_bumper_tracker_name_, _tracker_names_);
+    1430             : 
+    1431         108 :     if (!idx) {
+    1432           0 :       ROS_ERROR("[ControlManager]: the bumper tracker (%s) is not within the loaded trackers", _bumper_tracker_name_.c_str());
+    1433           0 :       ros::shutdown();
+    1434             :     }
+    1435             :   }
+    1436             : 
+    1437             :   {
+    1438         108 :     auto idx = idxInVector(_joystick_fallback_tracker_name_, _tracker_names_);
+    1439             : 
+    1440         108 :     if (idx) {
+    1441         108 :       _joystick_fallback_tracker_idx_ = idx.value();
+    1442             :     } else {
+    1443           0 :       ROS_ERROR("[ControlManager]: the joystick fallback tracker (%s) is not within the loaded trackers", _joystick_fallback_tracker_name_.c_str());
+    1444           0 :       ros::shutdown();
+    1445             :     }
+    1446             :   }
+    1447             : 
+    1448             :   // --------------------------------------------------------------
+    1449             :   // |                    load the controllers                    |
+    1450             :   // --------------------------------------------------------------
+    1451             : 
+    1452         216 :   std::vector<std::string> custom_controllers;
+    1453             : 
+    1454         108 :   param_loader.loadParam("mrs_controllers", _controller_names_);
+    1455         108 :   param_loader.loadParam("controllers", custom_controllers);
+    1456             : 
+    1457         108 :   if (!custom_controllers.empty()) {
+    1458           0 :     _controller_names_.insert(_controller_names_.end(), custom_controllers.begin(), custom_controllers.end());
+    1459             :   }
+    1460             : 
+    1461         108 :   controller_loader_ = std::make_unique<pluginlib::ClassLoader<mrs_uav_managers::Controller>>("mrs_uav_managers", "mrs_uav_managers::Controller");
+    1462             : 
+    1463             :   // for each controller in the list
+    1464         648 :   for (int i = 0; i < int(_controller_names_.size()); i++) {
+    1465             : 
+    1466        1080 :     std::string controller_name = _controller_names_.at(i);
+    1467             : 
+    1468             :     // load the controller parameters
+    1469        1080 :     std::string address;
+    1470        1080 :     std::string name_space;
+    1471             :     double      eland_threshold, failsafe_threshold, odometry_innovation_threshold;
+    1472             :     bool        human_switchable;
+    1473         540 :     param_loader.loadParam(controller_name + "/address", address);
+    1474         540 :     param_loader.loadParam(controller_name + "/namespace", name_space);
+    1475         540 :     param_loader.loadParam(controller_name + "/eland_threshold", eland_threshold);
+    1476         540 :     param_loader.loadParam(controller_name + "/failsafe_threshold", failsafe_threshold);
+    1477         540 :     param_loader.loadParam(controller_name + "/odometry_innovation_threshold", odometry_innovation_threshold);
+    1478         540 :     param_loader.loadParam(controller_name + "/human_switchable", human_switchable, false);
+    1479             : 
+    1480             :     // check if the controller can output some of the required outputs
+    1481             :     {
+    1482             : 
+    1483         540 :       ControlOutputModalities_t outputs;
+    1484         540 :       param_loader.loadParam(controller_name + "/outputs/actuators", outputs.actuators, false);
+    1485         540 :       param_loader.loadParam(controller_name + "/outputs/control_group", outputs.control_group, false);
+    1486         540 :       param_loader.loadParam(controller_name + "/outputs/attitude_rate", outputs.attitude_rate, false);
+    1487         540 :       param_loader.loadParam(controller_name + "/outputs/attitude", outputs.attitude, false);
+    1488         540 :       param_loader.loadParam(controller_name + "/outputs/acceleration_hdg_rate", outputs.acceleration_hdg_rate, false);
+    1489         540 :       param_loader.loadParam(controller_name + "/outputs/acceleration_hdg", outputs.acceleration_hdg, false);
+    1490         540 :       param_loader.loadParam(controller_name + "/outputs/velocity_hdg_rate", outputs.velocity_hdg_rate, false);
+    1491         540 :       param_loader.loadParam(controller_name + "/outputs/velocity_hdg", outputs.velocity_hdg, false);
+    1492         540 :       param_loader.loadParam(controller_name + "/outputs/position", outputs.position, false);
+    1493             : 
+    1494         540 :       bool meets_actuators             = (_hw_api_inputs_.actuators && outputs.actuators);
+    1495         540 :       bool meets_control_group         = (_hw_api_inputs_.control_group && outputs.control_group);
+    1496         540 :       bool meets_attitude_rate         = (_hw_api_inputs_.attitude_rate && outputs.attitude_rate);
+    1497         540 :       bool meets_attitude              = (_hw_api_inputs_.attitude && outputs.attitude);
+    1498         540 :       bool meets_acceleration_hdg_rate = (_hw_api_inputs_.acceleration_hdg_rate && outputs.acceleration_hdg_rate);
+    1499         540 :       bool meets_acceleration_hdg      = (_hw_api_inputs_.acceleration_hdg && outputs.acceleration_hdg);
+    1500         540 :       bool meets_velocity_hdg_rate     = (_hw_api_inputs_.velocity_hdg_rate && outputs.velocity_hdg_rate);
+    1501         540 :       bool meets_velocity_hdg          = (_hw_api_inputs_.velocity_hdg && outputs.velocity_hdg);
+    1502         540 :       bool meets_position              = (_hw_api_inputs_.position && outputs.position);
+    1503             : 
+    1504         525 :       bool meets_requirements = meets_actuators || meets_control_group || meets_attitude_rate || meets_attitude || meets_acceleration_hdg_rate ||
+    1505        1065 :                                 meets_acceleration_hdg || meets_velocity_hdg_rate || meets_velocity_hdg || meets_position;
+    1506             : 
+    1507         540 :       if (!meets_requirements) {
+    1508             : 
+    1509           0 :         ROS_ERROR("[ControlManager]: the controller '%s' does not meet the control output requirements, which are some of the following",
+    1510             :                   controller_name.c_str());
+    1511             : 
+    1512           0 :         if (_hw_api_inputs_.actuators) {
+    1513           0 :           ROS_ERROR("[ControlManager]: - actuators");
+    1514             :         }
+    1515             : 
+    1516           0 :         if (_hw_api_inputs_.control_group) {
+    1517           0 :           ROS_ERROR("[ControlManager]: - control group");
+    1518             :         }
+    1519             : 
+    1520           0 :         if (_hw_api_inputs_.attitude_rate) {
+    1521           0 :           ROS_ERROR("[ControlManager]: - attitude rate");
+    1522             :         }
+    1523             : 
+    1524           0 :         if (_hw_api_inputs_.attitude) {
+    1525           0 :           ROS_ERROR("[ControlManager]: - attitude");
+    1526             :         }
+    1527             : 
+    1528           0 :         if (_hw_api_inputs_.acceleration_hdg_rate) {
+    1529           0 :           ROS_ERROR("[ControlManager]: - acceleration+hdg rate");
+    1530             :         }
+    1531             : 
+    1532           0 :         if (_hw_api_inputs_.acceleration_hdg) {
+    1533           0 :           ROS_ERROR("[ControlManager]: - acceleration+hdg");
+    1534             :         }
+    1535             : 
+    1536           0 :         if (_hw_api_inputs_.velocity_hdg_rate) {
+    1537           0 :           ROS_ERROR("[ControlManager]: - velocity+hdg rate");
+    1538             :         }
+    1539             : 
+    1540           0 :         if (_hw_api_inputs_.velocity_hdg) {
+    1541           0 :           ROS_ERROR("[ControlManager]: - velocity+hdg");
+    1542             :         }
+    1543             : 
+    1544           0 :         if (_hw_api_inputs_.position) {
+    1545           0 :           ROS_ERROR("[ControlManager]: - position");
+    1546             :         }
+    1547             : 
+    1548           0 :         ros::shutdown();
+    1549             :       }
+    1550             : 
+    1551         540 :       if ((_hw_api_inputs_.actuators || _hw_api_inputs_.control_group) && !common_handlers_->detailed_model_params) {
+    1552           0 :         ROS_ERROR(
+    1553             :             "[ControlManager]: the HW API supports 'actuators' or 'control_group' input, but the 'detailed uav model params' were not loaded sucessfully");
+    1554           0 :         ros::shutdown();
+    1555             :       }
+    1556             :     }
+    1557             : 
+    1558             :     // | --- alter the timer rates based on the hw capabilities --- |
+    1559             : 
+    1560         540 :     CONTROL_OUTPUT lowest_output = getLowestOuput(_hw_api_inputs_);
+    1561             : 
+    1562         540 :     if (lowest_output == ACTUATORS_CMD || lowest_output == CONTROL_GROUP) {
+    1563          30 :       _safety_timer_rate_     = 200.0;
+    1564          30 :       desired_uav_state_rate_ = 250.0;
+    1565         510 :     } else if (lowest_output == ATTITUDE_RATE || lowest_output == ATTITUDE) {
+    1566         420 :       _safety_timer_rate_     = 100.0;
+    1567         420 :       desired_uav_state_rate_ = 100.0;
+    1568          90 :     } else if (lowest_output == ACCELERATION_HDG_RATE || lowest_output == ACCELERATION_HDG) {
+    1569          20 :       _safety_timer_rate_     = 30.0;
+    1570          20 :       _status_timer_rate_     = 1.0;
+    1571          20 :       desired_uav_state_rate_ = 40.0;
+    1572             : 
+    1573          20 :       if (_uav_state_max_missing_time_ < 0.2) {
+    1574           4 :         _uav_state_max_missing_time_ = 0.2;
+    1575             :       }
+    1576          70 :     } else if (lowest_output >= VELOCITY_HDG_RATE) {
+    1577          70 :       _safety_timer_rate_     = 20.0;
+    1578          70 :       _status_timer_rate_     = 1.0;
+    1579          70 :       desired_uav_state_rate_ = 20.0;
+    1580             : 
+    1581          70 :       if (_uav_state_max_missing_time_ < 1.0) {
+    1582          14 :         _uav_state_max_missing_time_ = 1.0;
+    1583             :       }
+    1584             :     }
+    1585             : 
+    1586         540 :     if (eland_threshold == 0) {
+    1587         109 :       eland_threshold = 1e6;
+    1588             :     }
+    1589             : 
+    1590         540 :     if (failsafe_threshold == 0) {
+    1591         109 :       failsafe_threshold = 1e6;
+    1592             :     }
+    1593             : 
+    1594         540 :     if (odometry_innovation_threshold == 0) {
+    1595         110 :       odometry_innovation_threshold = 1e6;
+    1596             :     }
+    1597             : 
+    1598        1620 :     ControllerParams new_controller(address, name_space, eland_threshold, failsafe_threshold, odometry_innovation_threshold, human_switchable);
+    1599         540 :     controllers_.insert(std::pair<std::string, ControllerParams>(controller_name, new_controller));
+    1600             : 
+    1601             :     try {
+    1602         540 :       ROS_INFO("[ControlManager]: loading the controller '%s'", new_controller.address.c_str());
+    1603         540 :       controller_list_.push_back(controller_loader_->createInstance(new_controller.address.c_str()));
+    1604             :     }
+    1605           0 :     catch (pluginlib::CreateClassException& ex1) {
+    1606           0 :       ROS_ERROR("[ControlManager]: CreateClassException for the controller '%s'", new_controller.address.c_str());
+    1607           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex1.what());
+    1608           0 :       ros::shutdown();
+    1609             :     }
+    1610           0 :     catch (pluginlib::PluginlibException& ex) {
+    1611           0 :       ROS_ERROR("[ControlManager]: PluginlibException for the controller '%s'", new_controller.address.c_str());
+    1612           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex.what());
+    1613           0 :       ros::shutdown();
+    1614             :     }
+    1615             :   }
+    1616             : 
+    1617         108 :   ROS_INFO("[ControlManager]: controllers were loaded");
+    1618             : 
+    1619         648 :   for (int i = 0; i < int(controller_list_.size()); i++) {
+    1620             : 
+    1621         540 :     std::map<std::string, ControllerParams>::iterator it;
+    1622         540 :     it = controllers_.find(_controller_names_.at(i));
+    1623             : 
+    1624             :     // create private handlers
+    1625             :     std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers =
+    1626        1080 :         std::make_shared<mrs_uav_managers::control_manager::PrivateHandlers_t>();
+    1627             : 
+    1628         540 :     private_handlers->loadConfigFile = boost::bind(&ControlManager::loadConfigFile, this, _1, it->second.name_space);
+    1629         540 :     private_handlers->name_space     = it->second.name_space;
+    1630         540 :     private_handlers->runtime_name   = _controller_names_.at(i);
+    1631         540 :     private_handlers->param_loader   = std::make_unique<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, it->second.name_space), _controller_names_.at(i));
+    1632             : 
+    1633         540 :     if (_custom_config_ != "") {
+    1634         540 :       private_handlers->param_loader->addYamlFile(_custom_config_);
+    1635             :     }
+    1636             : 
+    1637         540 :     if (_platform_config_ != "") {
+    1638         540 :       private_handlers->param_loader->addYamlFile(_platform_config_);
+    1639             :     }
+    1640             : 
+    1641         540 :     if (_world_config_ != "") {
+    1642         540 :       private_handlers->param_loader->addYamlFile(_world_config_);
+    1643             :     }
+    1644             : 
+    1645         540 :     if (_network_config_ != "") {
+    1646         540 :       private_handlers->param_loader->addYamlFile(_network_config_);
+    1647             :     }
+    1648             : 
+    1649         540 :     bool success = false;
+    1650             : 
+    1651             :     try {
+    1652             : 
+    1653         540 :       ROS_INFO("[ControlManager]: initializing the controller '%s'", it->second.address.c_str());
+    1654         540 :       success = controller_list_.at(i)->initialize(ros::NodeHandle(nh_, it->second.name_space), common_handlers_, private_handlers);
+    1655             :     }
+    1656           0 :     catch (std::runtime_error& ex) {
+    1657           0 :       ROS_ERROR("[ControlManager]: exception caught during controller initialization: '%s'", ex.what());
+    1658             :     }
+    1659             : 
+    1660         540 :     if (!success) {
+    1661           0 :       ROS_ERROR("[ControlManager]: failed to initialize the controller '%s'", it->second.address.c_str());
+    1662           0 :       ros::shutdown();
+    1663             :     }
+    1664             :   }
+    1665             : 
+    1666         108 :   ROS_INFO("[ControlManager]: controllers were initialized");
+    1667             : 
+    1668             :   {
+    1669         108 :     auto idx = idxInVector(_failsafe_controller_name_, _controller_names_);
+    1670             : 
+    1671         108 :     if (idx) {
+    1672         108 :       _failsafe_controller_idx_ = idx.value();
+    1673             :     } else {
+    1674           0 :       ROS_ERROR("[ControlManager]: the failsafe controller (%s) is not within the loaded controllers", _failsafe_controller_name_.c_str());
+    1675           0 :       ros::shutdown();
+    1676             :     }
+    1677             :   }
+    1678             : 
+    1679             :   {
+    1680         108 :     auto idx = idxInVector(_eland_controller_name_, _controller_names_);
+    1681             : 
+    1682         108 :     if (idx) {
+    1683         108 :       _eland_controller_idx_ = idx.value();
+    1684             :     } else {
+    1685           0 :       ROS_ERROR("[ControlManager]: the eland controller (%s) is not within the loaded controllers", _eland_controller_name_.c_str());
+    1686           0 :       ros::shutdown();
+    1687             :     }
+    1688             :   }
+    1689             : 
+    1690             :   {
+    1691         108 :     auto idx = idxInVector(_joystick_controller_name_, _controller_names_);
+    1692             : 
+    1693         108 :     if (idx) {
+    1694         108 :       _joystick_controller_idx_ = idx.value();
+    1695             :     } else {
+    1696           0 :       ROS_ERROR("[ControlManager]: the joystick controller (%s) is not within the loaded controllers", _joystick_controller_name_.c_str());
+    1697           0 :       ros::shutdown();
+    1698             :     }
+    1699             :   }
+    1700             : 
+    1701         108 :   if (_bumper_switch_controller_) {
+    1702             : 
+    1703         108 :     auto idx = idxInVector(_bumper_controller_name_, _controller_names_);
+    1704             : 
+    1705         108 :     if (!idx) {
+    1706           0 :       ROS_ERROR("[ControlManager]: the bumper controller (%s) is not within the loaded controllers", _bumper_controller_name_.c_str());
+    1707           0 :       ros::shutdown();
+    1708             :     }
+    1709             :   }
+    1710             : 
+    1711             :   {
+    1712         108 :     auto idx = idxInVector(_joystick_fallback_controller_name_, _controller_names_);
+    1713             : 
+    1714         108 :     if (idx) {
+    1715         108 :       _joystick_fallback_controller_idx_ = idx.value();
+    1716             :     } else {
+    1717           0 :       ROS_ERROR("[ControlManager]: the joystick fallback controller (%s) is not within the loaded controllers", _joystick_fallback_controller_name_.c_str());
+    1718           0 :       ros::shutdown();
+    1719             :     }
+    1720             :   }
+    1721             : 
+    1722             :   // --------------------------------------------------------------
+    1723             :   // |                  activate the NullTracker                  |
+    1724             :   // --------------------------------------------------------------
+    1725             : 
+    1726         108 :   ROS_INFO("[ControlManager]: activating the null tracker");
+    1727             : 
+    1728         108 :   tracker_list_.at(_null_tracker_idx_)->activate(last_tracker_cmd_);
+    1729         108 :   active_tracker_idx_ = _null_tracker_idx_;
+    1730             : 
+    1731             :   // --------------------------------------------------------------
+    1732             :   // |    activate the eland controller as the first controller   |
+    1733             :   // --------------------------------------------------------------
+    1734             : 
+    1735         108 :   ROS_INFO("[ControlManager]: activating the the eland controller (%s) as the first controller", _controller_names_.at(_eland_controller_idx_).c_str());
+    1736             : 
+    1737         108 :   controller_list_.at(_eland_controller_idx_)->activate(last_control_output_);
+    1738         108 :   active_controller_idx_ = _eland_controller_idx_;
+    1739             : 
+    1740             :   // update the time
+    1741             :   {
+    1742         216 :     std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    1743             : 
+    1744         108 :     controller_tracker_switch_time_ = ros::Time::now();
+    1745             :   }
+    1746             : 
+    1747         108 :   output_enabled_ = false;
+    1748             : 
+    1749             :   // | --------------- set the default constraints -------------- |
+    1750             : 
+    1751         108 :   sanitized_constraints_ = current_constraints_;
+    1752         108 :   setConstraints(current_constraints_);
+    1753             : 
+    1754             :   // | ------------------------ profiler ------------------------ |
+    1755             : 
+    1756         108 :   profiler_ = mrs_lib::Profiler(nh_, "ControlManager", _profiler_enabled_);
+    1757             : 
+    1758             :   // | ----------------------- publishers ----------------------- |
+    1759             : 
+    1760         108 :   control_output_publisher_ = OutputPublisher(nh_);
+    1761             : 
+    1762         108 :   ph_controller_diagnostics_             = mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics>(nh_, "controller_diagnostics_out", 1);
+    1763         108 :   ph_tracker_cmd_                        = mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand>(nh_, "tracker_cmd_out", 1);
+    1764         108 :   ph_mrs_odom_input_                     = mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput>(nh_, "estimator_input_out", 1);
+    1765         108 :   ph_control_reference_odom_             = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh_, "control_reference_out", 1);
+    1766         108 :   ph_diagnostics_                        = mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics>(nh_, "diagnostics_out", 1);
+    1767         108 :   ph_offboard_on_                        = mrs_lib::PublisherHandler<std_msgs::Empty>(nh_, "offboard_on_out", 1);
+    1768         108 :   ph_tilt_error_                         = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "tilt_error_out", 1);
+    1769         108 :   ph_mass_estimate_                      = mrs_lib::PublisherHandler<std_msgs::Float64>(nh_, "mass_estimate_out", 1, false, 10.0);
+    1770         108 :   ph_mass_nominal_                       = mrs_lib::PublisherHandler<std_msgs::Float64>(nh_, "mass_nominal_out", 1, true);
+    1771         108 :   ph_throttle_                           = mrs_lib::PublisherHandler<std_msgs::Float64>(nh_, "throttle_out", 1, false, 10.0);
+    1772         108 :   ph_thrust_                             = mrs_lib::PublisherHandler<std_msgs::Float64>(nh_, "thrust_out", 1, false, 100.0);
+    1773         108 :   ph_control_error_                      = mrs_lib::PublisherHandler<mrs_msgs::ControlError>(nh_, "control_error_out", 1);
+    1774         108 :   ph_safety_area_markers_                = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "safety_area_markers_out", 1, true, 1.0);
+    1775         108 :   ph_safety_area_coordinates_markers_    = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "safety_area_coordinates_markers_out", 1, true, 1.0);
+    1776         108 :   ph_disturbances_markers_               = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "disturbances_markers_out", 1, false, 10.0);
+    1777         108 :   ph_current_constraints_                = mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints>(nh_, "current_constraints_out", 1);
+    1778         108 :   ph_heading_                            = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "heading_out", 1);
+    1779         108 :   ph_speed_                              = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "speed_out", 1, false, 10.0);
+    1780         108 :   pub_debug_original_trajectory_poses_   = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "trajectory_original/poses_out", 1, true);
+    1781         108 :   pub_debug_original_trajectory_markers_ = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "trajectory_original/markers_out", 1, true);
+    1782             : 
+    1783             :   // | ------------------ publish nominal mass ------------------ |
+    1784             : 
+    1785             :   {
+    1786         108 :     std_msgs::Float64 nominal_mass;
+    1787             : 
+    1788         108 :     nominal_mass.data = _uav_mass_;
+    1789             : 
+    1790         108 :     ph_mass_nominal_.publish(nominal_mass);
+    1791             :   }
+    1792             : 
+    1793             :   // | ----------------------- subscribers ---------------------- |
+    1794             : 
+    1795         216 :   mrs_lib::SubscribeHandlerOptions shopts;
+    1796         108 :   shopts.nh                 = nh_;
+    1797         108 :   shopts.node_name          = "ControlManager";
+    1798         108 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+    1799         108 :   shopts.threadsafe         = true;
+    1800         108 :   shopts.autostart          = true;
+    1801         108 :   shopts.queue_size         = 10;
+    1802         108 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+    1803             : 
+    1804         108 :   if (_state_input_ == INPUT_UAV_STATE) {
+    1805         108 :     sh_uav_state_ = mrs_lib::SubscribeHandler<mrs_msgs::UavState>(shopts, "uav_state_in", &ControlManager::callbackUavState, this);
+    1806           0 :   } else if (_state_input_ == INPUT_ODOMETRY) {
+    1807           0 :     sh_odometry_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "odometry_in", &ControlManager::callbackOdometry, this);
+    1808             :   }
+    1809             : 
+    1810         108 :   if (_odometry_innovation_check_enabled_) {
+    1811         108 :     sh_odometry_innovation_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "odometry_innovation_in");
+    1812             :   }
+    1813             : 
+    1814         108 :   sh_bumper_    = mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors>(shopts, "bumper_sectors_in");
+    1815         108 :   sh_max_z_     = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "max_z_in");
+    1816         108 :   sh_joystick_  = mrs_lib::SubscribeHandler<sensor_msgs::Joy>(shopts, "joystick_in", &ControlManager::callbackJoystick, this);
+    1817         108 :   sh_gnss_      = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, "gnss_in", &ControlManager::callbackGNSS, this);
+    1818         108 :   sh_hw_api_rc_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels>(shopts, "hw_api_rc_in", &ControlManager::callbackRC, this);
+    1819             : 
+    1820         108 :   sh_hw_api_status_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>(shopts, "hw_api_status_in", &ControlManager::callbackHwApiStatus, this);
+    1821             : 
+    1822             :   // | -------------------- general services -------------------- |
+    1823             : 
+    1824         108 :   service_server_switch_tracker_             = nh_.advertiseService("switch_tracker_in", &ControlManager::callbackSwitchTracker, this);
+    1825         108 :   service_server_switch_controller_          = nh_.advertiseService("switch_controller_in", &ControlManager::callbackSwitchController, this);
+    1826         108 :   service_server_reset_tracker_              = nh_.advertiseService("tracker_reset_static_in", &ControlManager::callbackTrackerResetStatic, this);
+    1827         108 :   service_server_hover_                      = nh_.advertiseService("hover_in", &ControlManager::callbackHover, this);
+    1828         108 :   service_server_ehover_                     = nh_.advertiseService("ehover_in", &ControlManager::callbackEHover, this);
+    1829         108 :   service_server_failsafe_                   = nh_.advertiseService("failsafe_in", &ControlManager::callbackFailsafe, this);
+    1830         108 :   service_server_failsafe_escalating_        = nh_.advertiseService("failsafe_escalating_in", &ControlManager::callbackFailsafeEscalating, this);
+    1831         108 :   service_server_toggle_output_              = nh_.advertiseService("toggle_output_in", &ControlManager::callbackToggleOutput, this);
+    1832         108 :   service_server_arm_                        = nh_.advertiseService("arm_in", &ControlManager::callbackArm, this);
+    1833         108 :   service_server_enable_callbacks_           = nh_.advertiseService("enable_callbacks_in", &ControlManager::callbackEnableCallbacks, this);
+    1834         108 :   service_server_set_constraints_            = nh_.advertiseService("set_constraints_in", &ControlManager::callbackSetConstraints, this);
+    1835         108 :   service_server_use_joystick_               = nh_.advertiseService("use_joystick_in", &ControlManager::callbackUseJoystick, this);
+    1836         108 :   service_server_use_safety_area_            = nh_.advertiseService("use_safety_area_in", &ControlManager::callbackUseSafetyArea, this);
+    1837         108 :   service_server_eland_                      = nh_.advertiseService("eland_in", &ControlManager::callbackEland, this);
+    1838         108 :   service_server_parachute_                  = nh_.advertiseService("parachute_in", &ControlManager::callbackParachute, this);
+    1839         108 :   service_server_set_min_z_                  = nh_.advertiseService("set_min_z_in", &ControlManager::callbackSetMinZ, this);
+    1840         108 :   service_server_transform_reference_        = nh_.advertiseService("transform_reference_in", &ControlManager::callbackTransformReference, this);
+    1841         108 :   service_server_transform_pose_             = nh_.advertiseService("transform_pose_in", &ControlManager::callbackTransformPose, this);
+    1842         108 :   service_server_transform_vector3_          = nh_.advertiseService("transform_vector3_in", &ControlManager::callbackTransformVector3, this);
+    1843         108 :   service_server_bumper_enabler_             = nh_.advertiseService("bumper_in", &ControlManager::callbackEnableBumper, this);
+    1844         108 :   service_server_get_min_z_                  = nh_.advertiseService("get_min_z_in", &ControlManager::callbackGetMinZ, this);
+    1845         108 :   service_server_validate_reference_         = nh_.advertiseService("validate_reference_in", &ControlManager::callbackValidateReference, this);
+    1846         108 :   service_server_validate_reference_2d_      = nh_.advertiseService("validate_reference_2d_in", &ControlManager::callbackValidateReference2d, this);
+    1847         108 :   service_server_validate_reference_list_    = nh_.advertiseService("validate_reference_list_in", &ControlManager::callbackValidateReferenceList, this);
+    1848         108 :   service_server_start_trajectory_tracking_  = nh_.advertiseService("start_trajectory_tracking_in", &ControlManager::callbackStartTrajectoryTracking, this);
+    1849         108 :   service_server_stop_trajectory_tracking_   = nh_.advertiseService("stop_trajectory_tracking_in", &ControlManager::callbackStopTrajectoryTracking, this);
+    1850         108 :   service_server_resume_trajectory_tracking_ = nh_.advertiseService("resume_trajectory_tracking_in", &ControlManager::callbackResumeTrajectoryTracking, this);
+    1851         108 :   service_server_goto_trajectory_start_      = nh_.advertiseService("goto_trajectory_start_in", &ControlManager::callbackGotoTrajectoryStart, this);
+    1852             : 
+    1853         108 :   sch_arming_                 = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "hw_api_arming_out");
+    1854         108 :   sch_eland_                  = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "eland_out");
+    1855         108 :   sch_shutdown_               = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "shutdown_out");
+    1856         108 :   sch_set_odometry_callbacks_ = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "set_odometry_callbacks_out");
+    1857         108 :   sch_ungrip_                 = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "ungrip_out");
+    1858         108 :   sch_parachute_              = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "parachute_out");
+    1859             : 
+    1860             :   // | ---------------- setpoint command services --------------- |
+    1861             : 
+    1862             :   // human callable
+    1863         108 :   service_server_goto_                 = nh_.advertiseService("goto_in", &ControlManager::callbackGoto, this);
+    1864         108 :   service_server_goto_fcu_             = nh_.advertiseService("goto_fcu_in", &ControlManager::callbackGotoFcu, this);
+    1865         108 :   service_server_goto_relative_        = nh_.advertiseService("goto_relative_in", &ControlManager::callbackGotoRelative, this);
+    1866         108 :   service_server_goto_altitude_        = nh_.advertiseService("goto_altitude_in", &ControlManager::callbackGotoAltitude, this);
+    1867         108 :   service_server_set_heading_          = nh_.advertiseService("set_heading_in", &ControlManager::callbackSetHeading, this);
+    1868         108 :   service_server_set_heading_relative_ = nh_.advertiseService("set_heading_relative_in", &ControlManager::callbackSetHeadingRelative, this);
+    1869             : 
+    1870         108 :   service_server_reference_ = nh_.advertiseService("reference_in", &ControlManager::callbackReferenceService, this);
+    1871         108 :   sh_reference_             = mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped>(shopts, "reference_in", &ControlManager::callbackReferenceTopic, this);
+    1872             : 
+    1873         108 :   service_server_velocity_reference_ = nh_.advertiseService("velocity_reference_in", &ControlManager::callbackVelocityReferenceService, this);
+    1874             :   sh_velocity_reference_ =
+    1875         108 :       mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped>(shopts, "velocity_reference_in", &ControlManager::callbackVelocityReferenceTopic, this);
+    1876             : 
+    1877         108 :   service_server_trajectory_reference_ = nh_.advertiseService("trajectory_reference_in", &ControlManager::callbackTrajectoryReferenceService, this);
+    1878             :   sh_trajectory_reference_ =
+    1879         108 :       mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference>(shopts, "trajectory_reference_in", &ControlManager::callbackTrajectoryReferenceTopic, this);
+    1880             : 
+    1881             :   // | --------------------- other services --------------------- |
+    1882             : 
+    1883         108 :   service_server_emergency_reference_ = nh_.advertiseService("emergency_reference_in", &ControlManager::callbackEmergencyReference, this);
+    1884         108 :   service_server_pirouette_           = nh_.advertiseService("pirouette_in", &ControlManager::callbackPirouette, this);
+    1885             : 
+    1886             :   // | ------------------------- timers ------------------------- |
+    1887             : 
+    1888         108 :   timer_status_    = nh_.createTimer(ros::Rate(_status_timer_rate_), &ControlManager::timerStatus, this);
+    1889         108 :   timer_safety_    = nh_.createTimer(ros::Rate(_safety_timer_rate_), &ControlManager::timerSafety, this);
+    1890         108 :   timer_bumper_    = nh_.createTimer(ros::Rate(1.0), &ControlManager::timerBumper, this);
+    1891         108 :   timer_eland_     = nh_.createTimer(ros::Rate(_elanding_timer_rate_), &ControlManager::timerEland, this, false, false);
+    1892         108 :   timer_failsafe_  = nh_.createTimer(ros::Rate(_failsafe_timer_rate_), &ControlManager::timerFailsafe, this, false, false);
+    1893         108 :   timer_pirouette_ = nh_.createTimer(ros::Rate(_pirouette_timer_rate_), &ControlManager::timerPirouette, this, false, false);
+    1894         108 :   timer_joystick_  = nh_.createTimer(ros::Rate(_joystick_timer_rate_), &ControlManager::timerJoystick, this);
+    1895             : 
+    1896             :   // | ----------------------- finish init ---------------------- |
+    1897             : 
+    1898         108 :   if (!param_loader.loadedSuccessfully()) {
+    1899           0 :     ROS_ERROR("[ControlManager]: could not load all parameters!");
+    1900           0 :     ros::shutdown();
+    1901             :   }
+    1902             : 
+    1903         108 :   is_initialized_ = true;
+    1904             : 
+    1905         108 :   ROS_INFO("[ControlManager]: initialized");
+    1906         108 : }
+    1907             : 
+    1908             : //}
+    1909             : 
+    1910             : // --------------------------------------------------------------
+    1911             : // |                           timers                           |
+    1912             : // --------------------------------------------------------------
+    1913             : 
+    1914             : /* timerHwApiCapabilities() //{ */
+    1915             : 
+    1916         178 : void ControlManager::timerHwApiCapabilities(const ros::TimerEvent& event) {
+    1917             : 
+    1918         356 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerHwApiCapabilities", _status_timer_rate_, 1.0, event);
+    1919         356 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerHwApiCapabilities", scope_timer_logger_, scope_timer_enabled_);
+    1920             : 
+    1921         178 :   if (!sh_hw_api_capabilities_.hasMsg()) {
+    1922          70 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: waiting for HW API capabilities");
+    1923          70 :     return;
+    1924             :   }
+    1925             : 
+    1926         216 :   auto hw_ap_capabilities = sh_hw_api_capabilities_.getMsg();
+    1927             : 
+    1928         108 :   ROS_INFO("[ControlManager]: got HW API capabilities, the possible control modes are:");
+    1929             : 
+    1930         108 :   if (hw_ap_capabilities->accepts_actuator_cmd) {
+    1931           3 :     ROS_INFO("[ControlManager]: - actuator command");
+    1932           3 :     _hw_api_inputs_.actuators = true;
+    1933             :   }
+    1934             : 
+    1935         108 :   if (hw_ap_capabilities->accepts_control_group_cmd) {
+    1936           3 :     ROS_INFO("[ControlManager]: - control group command");
+    1937           3 :     _hw_api_inputs_.control_group = true;
+    1938             :   }
+    1939             : 
+    1940         108 :   if (hw_ap_capabilities->accepts_attitude_rate_cmd) {
+    1941          81 :     ROS_INFO("[ControlManager]: - attitude rate command");
+    1942          81 :     _hw_api_inputs_.attitude_rate = true;
+    1943             :   }
+    1944             : 
+    1945         108 :   if (hw_ap_capabilities->accepts_attitude_cmd) {
+    1946          79 :     ROS_INFO("[ControlManager]: - attitude command");
+    1947          79 :     _hw_api_inputs_.attitude = true;
+    1948             :   }
+    1949             : 
+    1950         108 :   if (hw_ap_capabilities->accepts_acceleration_hdg_rate_cmd) {
+    1951           2 :     ROS_INFO("[ControlManager]: - acceleration+hdg rate command");
+    1952           2 :     _hw_api_inputs_.acceleration_hdg_rate = true;
+    1953             :   }
+    1954             : 
+    1955         108 :   if (hw_ap_capabilities->accepts_acceleration_hdg_cmd) {
+    1956           2 :     ROS_INFO("[ControlManager]: - acceleration+hdg command");
+    1957           2 :     _hw_api_inputs_.acceleration_hdg = true;
+    1958             :   }
+    1959             : 
+    1960         108 :   if (hw_ap_capabilities->accepts_velocity_hdg_rate_cmd) {
+    1961           8 :     ROS_INFO("[ControlManager]: - velocityhdg rate command");
+    1962           8 :     _hw_api_inputs_.velocity_hdg_rate = true;
+    1963             :   }
+    1964             : 
+    1965         108 :   if (hw_ap_capabilities->accepts_velocity_hdg_cmd) {
+    1966           4 :     ROS_INFO("[ControlManager]: - velocityhdg command");
+    1967           4 :     _hw_api_inputs_.velocity_hdg = true;
+    1968             :   }
+    1969             : 
+    1970         108 :   if (hw_ap_capabilities->accepts_position_cmd) {
+    1971           2 :     ROS_INFO("[ControlManager]: - position command");
+    1972           2 :     _hw_api_inputs_.position = true;
+    1973             :   }
+    1974             : 
+    1975         108 :   initialize();
+    1976             : 
+    1977         108 :   timer_hw_api_capabilities_.stop();
+    1978             : }
+    1979             : 
+    1980             : //}
+    1981             : 
+    1982             : /* //{ timerStatus() */
+    1983             : 
+    1984       18995 : void ControlManager::timerStatus(const ros::TimerEvent& event) {
+    1985             : 
+    1986       18995 :   if (!is_initialized_) {
+    1987           0 :     return;
+    1988             :   }
+    1989             : 
+    1990       56985 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerStatus", _status_timer_rate_, 0.1, event);
+    1991       56985 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerStatus", scope_timer_logger_, scope_timer_enabled_);
+    1992             : 
+    1993             :   // copy member variables
+    1994       37990 :   auto uav_state             = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1995       37990 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    1996       18995 :   auto yaw_error             = mrs_lib::get_mutexed(mutex_attitude_error_, yaw_error_);
+    1997       18995 :   auto position_error        = mrs_lib::get_mutexed(mutex_position_error_, position_error_);
+    1998       18995 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    1999       18995 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    2000             : 
+    2001             :   double uav_x, uav_y, uav_z;
+    2002       18995 :   uav_x = uav_state.pose.position.x;
+    2003       18995 :   uav_y = uav_state.pose.position.y;
+    2004       18995 :   uav_z = uav_state.pose.position.z;
+    2005             : 
+    2006             :   // --------------------------------------------------------------
+    2007             :   // |                      print the status                      |
+    2008             :   // --------------------------------------------------------------
+    2009             : 
+    2010             :   {
+    2011       37990 :     std::string controller = _controller_names_.at(active_controller_idx);
+    2012       37990 :     std::string tracker    = _tracker_names_.at(active_tracker_idx);
+    2013       18995 :     double      mass       = last_control_output.diagnostics.total_mass;
+    2014       18995 :     double      bx_b       = last_control_output.diagnostics.disturbance_bx_b;
+    2015       18995 :     double      by_b       = last_control_output.diagnostics.disturbance_by_b;
+    2016       18995 :     double      wx_w       = last_control_output.diagnostics.disturbance_wx_w;
+    2017       18995 :     double      wy_w       = last_control_output.diagnostics.disturbance_wy_w;
+    2018             : 
+    2019       18995 :     ROS_INFO_THROTTLE(5.0, "[ControlManager]: tracker: '%s', controller: '%s', mass: '%.2f kg', disturbances: body [%.2f, %.2f] N, world [%.2f, %.2f] N",
+    2020             :                       tracker.c_str(), controller.c_str(), mass, bx_b, by_b, wx_w, wy_w);
+    2021             :   }
+    2022             : 
+    2023             :   // --------------------------------------------------------------
+    2024             :   // |                   publish the diagnostics                  |
+    2025             :   // --------------------------------------------------------------
+    2026             : 
+    2027       18995 :   publishDiagnostics();
+    2028             : 
+    2029             :   // --------------------------------------------------------------
+    2030             :   // |                publish if the offboard is on               |
+    2031             :   // --------------------------------------------------------------
+    2032             : 
+    2033       18995 :   if (offboard_mode_) {
+    2034             : 
+    2035       12943 :     std_msgs::Empty offboard_on_out;
+    2036             : 
+    2037       12943 :     ph_offboard_on_.publish(offboard_on_out);
+    2038             :   }
+    2039             : 
+    2040             :   // --------------------------------------------------------------
+    2041             :   // |                   publish the tilt error                   |
+    2042             :   // --------------------------------------------------------------
+    2043             :   {
+    2044       37990 :     std::scoped_lock lock(mutex_attitude_error_);
+    2045             : 
+    2046       18995 :     if (tilt_error_) {
+    2047             : 
+    2048       37990 :       mrs_msgs::Float64Stamped tilt_error_out;
+    2049       18995 :       tilt_error_out.header.stamp    = ros::Time::now();
+    2050       18995 :       tilt_error_out.header.frame_id = uav_state.header.frame_id;
+    2051       18995 :       tilt_error_out.value           = (180.0 / M_PI) * tilt_error_.value();
+    2052             : 
+    2053       18995 :       ph_tilt_error_.publish(tilt_error_out);
+    2054             :     }
+    2055             :   }
+    2056             : 
+    2057             :   // --------------------------------------------------------------
+    2058             :   // |                  publish the control error                 |
+    2059             :   // --------------------------------------------------------------
+    2060             : 
+    2061       18995 :   if (position_error) {
+    2062             : 
+    2063       11861 :     Eigen::Vector3d pos_error_value = position_error.value();
+    2064             : 
+    2065       23722 :     mrs_msgs::ControlError msg_out;
+    2066             : 
+    2067       11861 :     msg_out.header.stamp    = ros::Time::now();
+    2068       11861 :     msg_out.header.frame_id = uav_state.header.frame_id;
+    2069             : 
+    2070       11861 :     msg_out.position_errors.x    = pos_error_value(0);
+    2071       11861 :     msg_out.position_errors.y    = pos_error_value(1);
+    2072       11861 :     msg_out.position_errors.z    = pos_error_value(2);
+    2073       11861 :     msg_out.total_position_error = pos_error_value.norm();
+    2074             : 
+    2075       11861 :     if (yaw_error_) {
+    2076       11861 :       msg_out.yaw_error = yaw_error.value();
+    2077             :     }
+    2078             : 
+    2079       11861 :     std::map<std::string, ControllerParams>::iterator it;
+    2080             : 
+    2081       11861 :     it = controllers_.find(_controller_names_.at(active_controller_idx));
+    2082             : 
+    2083       11861 :     msg_out.position_eland_threshold    = it->second.eland_threshold;
+    2084       11861 :     msg_out.position_failsafe_threshold = it->second.failsafe_threshold;
+    2085             : 
+    2086       11861 :     ph_control_error_.publish(msg_out);
+    2087             :   }
+    2088             : 
+    2089             :   // --------------------------------------------------------------
+    2090             :   // |                  publish the mass estimate                 |
+    2091             :   // --------------------------------------------------------------
+    2092             : 
+    2093       18995 :   if (last_control_output.diagnostics.mass_estimator) {
+    2094             : 
+    2095       10530 :     std_msgs::Float64 mass_estimate_out;
+    2096       10530 :     mass_estimate_out.data = _uav_mass_ + last_control_output.diagnostics.mass_difference;
+    2097             : 
+    2098       10530 :     ph_mass_estimate_.publish(mass_estimate_out);
+    2099             :   }
+    2100             : 
+    2101             :   // --------------------------------------------------------------
+    2102             :   // |                 publish the current heading                |
+    2103             :   // --------------------------------------------------------------
+    2104             : 
+    2105       18995 :   if (_state_input_ == INPUT_UAV_STATE && sh_uav_state_.hasMsg()) {
+    2106             : 
+    2107             :     try {
+    2108             : 
+    2109             :       double heading;
+    2110             : 
+    2111       15954 :       heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    2112             : 
+    2113       31908 :       mrs_msgs::Float64Stamped heading_out;
+    2114       15954 :       heading_out.header = uav_state.header;
+    2115       15954 :       heading_out.value  = heading;
+    2116             : 
+    2117       15954 :       ph_heading_.publish(heading_out);
+    2118             :     }
+    2119           0 :     catch (...) {
+    2120           0 :       ROS_ERROR_THROTTLE(1.0, "exception caught, could not transform heading");
+    2121             :     }
+    2122             :   }
+    2123             : 
+    2124             :   // --------------------------------------------------------------
+    2125             :   // |                  publish the current speed                 |
+    2126             :   // --------------------------------------------------------------
+    2127             : 
+    2128       18995 :   if (_state_input_ == INPUT_UAV_STATE && sh_uav_state_.hasMsg()) {
+    2129             : 
+    2130       15954 :     double speed = sqrt(pow(uav_state.velocity.linear.x, 2) + pow(uav_state.velocity.linear.y, 2) + pow(uav_state.velocity.linear.z, 2));
+    2131             : 
+    2132       31908 :     mrs_msgs::Float64Stamped speed_out;
+    2133       15954 :     speed_out.header = uav_state.header;
+    2134       15954 :     speed_out.value  = speed;
+    2135             : 
+    2136       15954 :     ph_speed_.publish(speed_out);
+    2137             :   }
+    2138             : 
+    2139             :   // --------------------------------------------------------------
+    2140             :   // |               publish the safety area markers              |
+    2141             :   // --------------------------------------------------------------
+    2142             : 
+    2143       18995 :   if (use_safety_area_) {
+    2144             : 
+    2145       30238 :     mrs_msgs::ReferenceStamped temp_ref;
+    2146       15119 :     temp_ref.header.frame_id = _safety_area_horizontal_frame_;
+    2147             : 
+    2148       30238 :     geometry_msgs::TransformStamped tf;
+    2149             : 
+    2150       45357 :     auto ret = transformer_->getTransform(_safety_area_horizontal_frame_, "local_origin", ros::Time(0));
+    2151             : 
+    2152       15119 :     if (ret) {
+    2153             : 
+    2154       12437 :       ROS_INFO_ONCE("[ControlManager]: got TFs, publishing safety area markers");
+    2155             : 
+    2156       24874 :       visualization_msgs::MarkerArray safety_area_marker_array;
+    2157       24874 :       visualization_msgs::MarkerArray safety_area_coordinates_marker_array;
+    2158             : 
+    2159       24874 :       mrs_lib::Polygon border = safety_zone_->getBorder();
+    2160             : 
+    2161       24874 :       std::vector<geometry_msgs::Point> border_points_bot_original = border.getPointMessageVector(getMinZ(_safety_area_horizontal_frame_));
+    2162       24874 :       std::vector<geometry_msgs::Point> border_points_top_original = border.getPointMessageVector(getMaxZ(_safety_area_horizontal_frame_));
+    2163             : 
+    2164       24874 :       std::vector<geometry_msgs::Point> border_points_bot_transformed = border_points_bot_original;
+    2165       24874 :       std::vector<geometry_msgs::Point> border_points_top_transformed = border_points_bot_original;
+    2166             : 
+    2167             :       // if we fail in transforming the area at some point
+    2168             :       // do not publish it at all
+    2169       12437 :       bool tf_success = true;
+    2170             : 
+    2171       24874 :       geometry_msgs::TransformStamped tf = ret.value();
+    2172             : 
+    2173             :       /* transform area points to local origin //{ */
+    2174             : 
+    2175             :       // transform border bottom points to local origin
+    2176       62185 :       for (size_t i = 0; i < border_points_bot_original.size(); i++) {
+    2177             : 
+    2178       49748 :         temp_ref.header.frame_id      = _safety_area_horizontal_frame_;
+    2179       49748 :         temp_ref.header.stamp         = ros::Time(0);
+    2180       49748 :         temp_ref.reference.position.x = border_points_bot_original.at(i).x;
+    2181       49748 :         temp_ref.reference.position.y = border_points_bot_original.at(i).y;
+    2182       49748 :         temp_ref.reference.position.z = border_points_bot_original.at(i).z;
+    2183             : 
+    2184       99496 :         if (auto ret = transformer_->transform(temp_ref, tf)) {
+    2185             : 
+    2186       49748 :           temp_ref = ret.value();
+    2187             : 
+    2188       49748 :           border_points_bot_transformed.at(i).x = temp_ref.reference.position.x;
+    2189       49748 :           border_points_bot_transformed.at(i).y = temp_ref.reference.position.y;
+    2190       49748 :           border_points_bot_transformed.at(i).z = temp_ref.reference.position.z;
+    2191             : 
+    2192             :         } else {
+    2193           0 :           tf_success = false;
+    2194             :         }
+    2195             :       }
+    2196             : 
+    2197             :       // transform border top points to local origin
+    2198       62185 :       for (size_t i = 0; i < border_points_top_original.size(); i++) {
+    2199             : 
+    2200       49748 :         temp_ref.header.frame_id      = _safety_area_horizontal_frame_;
+    2201       49748 :         temp_ref.header.stamp         = ros::Time(0);
+    2202       49748 :         temp_ref.reference.position.x = border_points_top_original.at(i).x;
+    2203       49748 :         temp_ref.reference.position.y = border_points_top_original.at(i).y;
+    2204       49748 :         temp_ref.reference.position.z = border_points_top_original.at(i).z;
+    2205             : 
+    2206       99496 :         if (auto ret = transformer_->transform(temp_ref, tf)) {
+    2207             : 
+    2208       49748 :           temp_ref = ret.value();
+    2209             : 
+    2210       49748 :           border_points_top_transformed.at(i).x = temp_ref.reference.position.x;
+    2211       49748 :           border_points_top_transformed.at(i).y = temp_ref.reference.position.y;
+    2212       49748 :           border_points_top_transformed.at(i).z = temp_ref.reference.position.z;
+    2213             : 
+    2214             :         } else {
+    2215           0 :           tf_success = false;
+    2216             :         }
+    2217             :       }
+    2218             : 
+    2219             :       //}
+    2220             : 
+    2221       24874 :       visualization_msgs::Marker safety_area_marker;
+    2222             : 
+    2223       12437 :       safety_area_marker.header.frame_id = _uav_name_ + "/local_origin";
+    2224       12437 :       safety_area_marker.type            = visualization_msgs::Marker::LINE_LIST;
+    2225       12437 :       safety_area_marker.color.a         = 0.15;
+    2226       12437 :       safety_area_marker.scale.x         = 0.2;
+    2227       12437 :       safety_area_marker.color.r         = 1;
+    2228       12437 :       safety_area_marker.color.g         = 0;
+    2229       12437 :       safety_area_marker.color.b         = 0;
+    2230             : 
+    2231       12437 :       safety_area_marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2232             : 
+    2233       24874 :       visualization_msgs::Marker safety_area_coordinates_marker;
+    2234             : 
+    2235       12437 :       safety_area_coordinates_marker.header.frame_id = _uav_name_ + "/local_origin";
+    2236       12437 :       safety_area_coordinates_marker.type            = visualization_msgs::Marker::TEXT_VIEW_FACING;
+    2237       12437 :       safety_area_coordinates_marker.color.a         = 1;
+    2238       12437 :       safety_area_coordinates_marker.scale.z         = 1.0;
+    2239       12437 :       safety_area_coordinates_marker.color.r         = 0;
+    2240       12437 :       safety_area_coordinates_marker.color.g         = 0;
+    2241       12437 :       safety_area_coordinates_marker.color.b         = 0;
+    2242             : 
+    2243       12437 :       safety_area_coordinates_marker.id = 0;
+    2244             : 
+    2245       12437 :       safety_area_coordinates_marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2246             : 
+    2247             :       /* adding safety area points //{ */
+    2248             : 
+    2249             :       // bottom border
+    2250       62185 :       for (size_t i = 0; i < border_points_bot_transformed.size(); i++) {
+    2251             : 
+    2252       49748 :         safety_area_marker.points.push_back(border_points_bot_transformed.at(i));
+    2253       49748 :         safety_area_marker.points.push_back(border_points_bot_transformed.at((i + 1) % border_points_bot_transformed.size()));
+    2254             : 
+    2255       99496 :         std::stringstream ss;
+    2256             : 
+    2257       49748 :         if (_safety_area_horizontal_frame_ == "latlon_origin") {
+    2258           0 :           ss << "idx: " << i << std::endl
+    2259           0 :              << std::setprecision(6) << std::fixed << "lat: " << border_points_bot_original.at(i).x << std::endl
+    2260           0 :              << "lon: " << border_points_bot_original.at(i).y;
+    2261             :         } else {
+    2262       49748 :           ss << "idx: " << i << std::endl
+    2263       49748 :              << std::setprecision(1) << std::fixed << "x: " << border_points_bot_original.at(i).x << std::endl
+    2264       49748 :              << "y: " << border_points_bot_original.at(i).y;
+    2265             :         }
+    2266             : 
+    2267       49748 :         safety_area_coordinates_marker.color.r = 0;
+    2268       49748 :         safety_area_coordinates_marker.color.g = 0;
+    2269       49748 :         safety_area_coordinates_marker.color.b = 0;
+    2270             : 
+    2271       49748 :         safety_area_coordinates_marker.pose.position = border_points_bot_transformed.at(i);
+    2272       49748 :         safety_area_coordinates_marker.text          = ss.str();
+    2273       49748 :         safety_area_coordinates_marker.id++;
+    2274             : 
+    2275       49748 :         safety_area_coordinates_marker_array.markers.push_back(safety_area_coordinates_marker);
+    2276             :       }
+    2277             : 
+    2278             :       // top border + top/bot edges
+    2279       62185 :       for (size_t i = 0; i < border_points_top_transformed.size(); i++) {
+    2280             : 
+    2281       49748 :         safety_area_marker.points.push_back(border_points_top_transformed.at(i));
+    2282       49748 :         safety_area_marker.points.push_back(border_points_top_transformed.at((i + 1) % border_points_top_transformed.size()));
+    2283             : 
+    2284       49748 :         safety_area_marker.points.push_back(border_points_bot_transformed.at(i));
+    2285       49748 :         safety_area_marker.points.push_back(border_points_top_transformed.at(i));
+    2286             : 
+    2287       99496 :         std::stringstream ss;
+    2288             : 
+    2289       49748 :         if (_safety_area_horizontal_frame_ == "latlon_origin") {
+    2290           0 :           ss << "idx: " << i << std::endl
+    2291           0 :              << std::setprecision(6) << std::fixed << "lat: " << border_points_bot_original.at(i).x << std::endl
+    2292           0 :              << "lon: " << border_points_bot_original.at(i).y;
+    2293             :         } else {
+    2294       49748 :           ss << "idx: " << i << std::endl
+    2295       49748 :              << std::setprecision(1) << std::fixed << "x: " << border_points_bot_original.at(i).x << std::endl
+    2296       49748 :              << "y: " << border_points_bot_original.at(i).y;
+    2297             :         }
+    2298             : 
+    2299       49748 :         safety_area_coordinates_marker.color.r = 1;
+    2300       49748 :         safety_area_coordinates_marker.color.g = 1;
+    2301       49748 :         safety_area_coordinates_marker.color.b = 1;
+    2302             : 
+    2303       49748 :         safety_area_coordinates_marker.pose.position = border_points_top_transformed.at(i);
+    2304       49748 :         safety_area_coordinates_marker.text          = ss.str();
+    2305       49748 :         safety_area_coordinates_marker.id++;
+    2306             : 
+    2307       49748 :         safety_area_coordinates_marker_array.markers.push_back(safety_area_coordinates_marker);
+    2308             :       }
+    2309             : 
+    2310             :       //}
+    2311             : 
+    2312       12437 :       if (tf_success) {
+    2313             : 
+    2314       12437 :         safety_area_marker_array.markers.push_back(safety_area_marker);
+    2315             : 
+    2316       12437 :         ph_safety_area_markers_.publish(safety_area_marker_array);
+    2317             : 
+    2318       12437 :         ph_safety_area_coordinates_markers_.publish(safety_area_coordinates_marker_array);
+    2319             :       }
+    2320             : 
+    2321             :     } else {
+    2322        2682 :       ROS_WARN_ONCE("[ControlManager]: missing TFs, can not publish safety area markers");
+    2323             :     }
+    2324             :   }
+    2325             : 
+    2326             :   // --------------------------------------------------------------
+    2327             :   // |              publish the disturbances markers              |
+    2328             :   // --------------------------------------------------------------
+    2329             : 
+    2330       18995 :   if (last_control_output.diagnostics.disturbance_estimator && got_uav_state_) {
+    2331             : 
+    2332       21168 :     visualization_msgs::MarkerArray msg_out;
+    2333             : 
+    2334       10584 :     double id = 0;
+    2335             : 
+    2336       10584 :     double multiplier = 1.0;
+    2337             : 
+    2338       10584 :     Eigen::Quaterniond quat_eigen = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+    2339             : 
+    2340       10584 :     Eigen::Vector3d      vec3d;
+    2341       10584 :     geometry_msgs::Point point;
+    2342             : 
+    2343             :     /* world disturbance //{ */
+    2344             :     {
+    2345             : 
+    2346       21168 :       visualization_msgs::Marker marker;
+    2347             : 
+    2348       10584 :       marker.header.frame_id = uav_state.header.frame_id;
+    2349       10584 :       marker.header.stamp    = ros::Time::now();
+    2350       10584 :       marker.ns              = "control_manager";
+    2351       10584 :       marker.id              = id++;
+    2352       10584 :       marker.type            = visualization_msgs::Marker::ARROW;
+    2353       10584 :       marker.action          = visualization_msgs::Marker::ADD;
+    2354             : 
+    2355             :       /* position //{ */
+    2356             : 
+    2357       10584 :       marker.pose.position.x = 0.0;
+    2358       10584 :       marker.pose.position.y = 0.0;
+    2359       10584 :       marker.pose.position.z = 0.0;
+    2360             : 
+    2361             :       //}
+    2362             : 
+    2363             :       /* orientation //{ */
+    2364             : 
+    2365       10584 :       marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2366             : 
+    2367             :       //}
+    2368             : 
+    2369             :       /* origin //{ */
+    2370       10584 :       point.x = uav_x;
+    2371       10584 :       point.y = uav_y;
+    2372       10584 :       point.z = uav_z;
+    2373             : 
+    2374       10584 :       marker.points.push_back(point);
+    2375             : 
+    2376             :       //}
+    2377             : 
+    2378             :       /* tip //{ */
+    2379             : 
+    2380       10584 :       point.x = uav_x + multiplier * last_control_output.diagnostics.disturbance_wx_w;
+    2381       10584 :       point.y = uav_y + multiplier * last_control_output.diagnostics.disturbance_wy_w;
+    2382       10584 :       point.z = uav_z;
+    2383             : 
+    2384       10584 :       marker.points.push_back(point);
+    2385             : 
+    2386             :       //}
+    2387             : 
+    2388       10584 :       marker.scale.x = 0.05;
+    2389       10584 :       marker.scale.y = 0.05;
+    2390       10584 :       marker.scale.z = 0.05;
+    2391             : 
+    2392       10584 :       marker.color.a = 0.5;
+    2393       10584 :       marker.color.r = 1.0;
+    2394       10584 :       marker.color.g = 0.0;
+    2395       10584 :       marker.color.b = 0.0;
+    2396             : 
+    2397       10584 :       marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+    2398             : 
+    2399       10584 :       msg_out.markers.push_back(marker);
+    2400             :     }
+    2401             : 
+    2402             :     //}
+    2403             : 
+    2404             :     /* body disturbance //{ */
+    2405             :     {
+    2406             : 
+    2407       21168 :       visualization_msgs::Marker marker;
+    2408             : 
+    2409       10584 :       marker.header.frame_id = uav_state.header.frame_id;
+    2410       10584 :       marker.header.stamp    = ros::Time::now();
+    2411       10584 :       marker.ns              = "control_manager";
+    2412       10584 :       marker.id              = id++;
+    2413       10584 :       marker.type            = visualization_msgs::Marker::ARROW;
+    2414       10584 :       marker.action          = visualization_msgs::Marker::ADD;
+    2415             : 
+    2416             :       /* position //{ */
+    2417             : 
+    2418       10584 :       marker.pose.position.x = 0.0;
+    2419       10584 :       marker.pose.position.y = 0.0;
+    2420       10584 :       marker.pose.position.z = 0.0;
+    2421             : 
+    2422             :       //}
+    2423             : 
+    2424             :       /* orientation //{ */
+    2425             : 
+    2426       10584 :       marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2427             : 
+    2428             :       //}
+    2429             : 
+    2430             :       /* origin //{ */
+    2431             : 
+    2432       10584 :       point.x = uav_x;
+    2433       10584 :       point.y = uav_y;
+    2434       10584 :       point.z = uav_z;
+    2435             : 
+    2436       10584 :       marker.points.push_back(point);
+    2437             : 
+    2438             :       //}
+    2439             : 
+    2440             :       /* tip //{ */
+    2441             : 
+    2442       10584 :       vec3d << multiplier * last_control_output.diagnostics.disturbance_bx_b, multiplier * last_control_output.diagnostics.disturbance_by_b, 0;
+    2443       10584 :       vec3d = quat_eigen * vec3d;
+    2444             : 
+    2445       10584 :       point.x = uav_x + vec3d(0);
+    2446       10584 :       point.y = uav_y + vec3d(1);
+    2447       10584 :       point.z = uav_z + vec3d(2);
+    2448             : 
+    2449       10584 :       marker.points.push_back(point);
+    2450             : 
+    2451             :       //}
+    2452             : 
+    2453       10584 :       marker.scale.x = 0.05;
+    2454       10584 :       marker.scale.y = 0.05;
+    2455       10584 :       marker.scale.z = 0.05;
+    2456             : 
+    2457       10584 :       marker.color.a = 0.5;
+    2458       10584 :       marker.color.r = 0.0;
+    2459       10584 :       marker.color.g = 1.0;
+    2460       10584 :       marker.color.b = 0.0;
+    2461             : 
+    2462       10584 :       marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+    2463             : 
+    2464       10584 :       msg_out.markers.push_back(marker);
+    2465             :     }
+    2466             : 
+    2467             :     //}
+    2468             : 
+    2469       10584 :     ph_disturbances_markers_.publish(msg_out);
+    2470             :   }
+    2471             : 
+    2472             :   // --------------------------------------------------------------
+    2473             :   // |               publish the current constraints              |
+    2474             :   // --------------------------------------------------------------
+    2475             : 
+    2476       18995 :   if (got_constraints_) {
+    2477             : 
+    2478       15868 :     auto sanitized_constraints = mrs_lib::get_mutexed(mutex_constraints_, sanitized_constraints_);
+    2479             : 
+    2480       15868 :     mrs_msgs::DynamicsConstraints constraints = sanitized_constraints.constraints;
+    2481             : 
+    2482       15868 :     ph_current_constraints_.publish(constraints);
+    2483             :   }
+    2484             : }
+    2485             : 
+    2486             : //}
+    2487             : 
+    2488             : /* //{ timerSafety() */
+    2489             : 
+    2490      344390 : void ControlManager::timerSafety(const ros::TimerEvent& event) {
+    2491             : 
+    2492      344390 :   mrs_lib::AtomicScopeFlag unset_running(running_safety_timer_);
+    2493             : 
+    2494      344392 :   if (!is_initialized_) {
+    2495           0 :     return;
+    2496             :   }
+    2497             : 
+    2498      688784 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerSafety", _safety_timer_rate_, 0.05, event);
+    2499      688784 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerSafety", scope_timer_logger_, scope_timer_enabled_);
+    2500             : 
+    2501             :   // copy member variables
+    2502      344392 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    2503      344392 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    2504      344392 :   auto [uav_state, uav_yaw]  = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_, uav_yaw_);
+    2505      344392 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    2506      344392 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    2507             : 
+    2508      655178 :   if (!got_uav_state_ || (_state_input_ == INPUT_UAV_STATE && _odometry_innovation_check_enabled_ && !sh_odometry_innovation_.hasMsg()) ||
+    2509      310786 :       active_tracker_idx == _null_tracker_idx_) {
+    2510      113171 :     return;
+    2511             :   }
+    2512             : 
+    2513      231221 :   if (odometry_switch_in_progress_) {
+    2514           6 :     ROS_WARN("[ControlManager]: timerSafety tried to run while odometry switch in progress");
+    2515           5 :     return;
+    2516             :   }
+    2517             : 
+    2518             :   // | ------------------------ timeouts ------------------------ |
+    2519             : 
+    2520      231215 :   if (_state_input_ == INPUT_UAV_STATE && sh_uav_state_.hasMsg()) {
+    2521      231216 :     double missing_for = (ros::Time::now() - sh_uav_state_.lastMsgTime()).toSec();
+    2522             : 
+    2523      231216 :     if (missing_for > _uav_state_max_missing_time_) {
+    2524           1 :       timeoutUavState(missing_for);
+    2525             :     }
+    2526             :   }
+    2527             : 
+    2528      231215 :   if (_state_input_ == INPUT_ODOMETRY && sh_odometry_.hasMsg()) {
+    2529           0 :     double missing_for = (ros::Time::now() - sh_odometry_.lastMsgTime()).toSec();
+    2530             : 
+    2531           0 :     if (missing_for > _uav_state_max_missing_time_) {
+    2532           0 :       timeoutUavState(missing_for);
+    2533             :     }
+    2534             :   }
+    2535             : 
+    2536             :   // | -------------- eland and failsafe thresholds ------------- |
+    2537             : 
+    2538      231215 :   std::map<std::string, ControllerParams>::iterator it;
+    2539      231216 :   it = controllers_.find(_controller_names_.at(active_controller_idx));
+    2540             : 
+    2541      231216 :   _eland_threshold_               = it->second.eland_threshold;
+    2542      231216 :   _failsafe_threshold_            = it->second.failsafe_threshold;
+    2543      231216 :   _odometry_innovation_threshold_ = it->second.odometry_innovation_threshold;
+    2544             : 
+    2545             :   // | --------- calculate control errors and tilt angle -------- |
+    2546             : 
+    2547             :   // This means that the timerFailsafe only does its work when Controllers and Trackers produce valid output.
+    2548             :   // Cases when the commands are not valid should be handle in updateControllers() and updateTrackers() methods.
+    2549      231216 :   if (!last_tracker_cmd || !last_control_output.control_output) {
+    2550         208 :     return;
+    2551             :   }
+    2552             : 
+    2553             :   {
+    2554      231008 :     std::scoped_lock lock(mutex_attitude_error_);
+    2555             : 
+    2556      231008 :     tilt_error_ = 0;
+    2557      231008 :     yaw_error_  = 0;
+    2558             :   }
+    2559             : 
+    2560             :   {
+    2561      231008 :     Eigen::Vector3d position_error = Eigen::Vector3d::Zero();
+    2562             : 
+    2563      231008 :     bool position_error_set = false;
+    2564             : 
+    2565      231008 :     if (last_tracker_cmd->use_position_horizontal && !std::holds_alternative<mrs_msgs::HwApiPositionCmd>(last_control_output.control_output.value())) {
+    2566             : 
+    2567      229933 :       position_error(0) = last_tracker_cmd->position.x - uav_state.pose.position.x;
+    2568      229932 :       position_error(1) = last_tracker_cmd->position.y - uav_state.pose.position.y;
+    2569             : 
+    2570      229933 :       position_error_set = true;
+    2571             :     }
+    2572             : 
+    2573      231007 :     if (last_tracker_cmd->use_position_vertical && !std::holds_alternative<mrs_msgs::HwApiPositionCmd>(last_control_output.control_output.value())) {
+    2574             : 
+    2575      229933 :       position_error(2) = last_tracker_cmd->position.z - uav_state.pose.position.z;
+    2576             : 
+    2577      229934 :       position_error_set = true;
+    2578             :     }
+    2579             : 
+    2580      231009 :     if (position_error_set) {
+    2581             : 
+    2582      229934 :       mrs_lib::set_mutexed(mutex_position_error_, {position_error}, position_error_);
+    2583             :     }
+    2584             :   }
+    2585             : 
+    2586             :   // rotate the drone's z axis
+    2587      231009 :   tf2::Transform uav_state_transform = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+    2588      231008 :   tf2::Vector3   uav_z_in_world      = uav_state_transform * tf2::Vector3(0, 0, 1);
+    2589             : 
+    2590             :   // calculate the angle between the drone's z axis and the world's z axis
+    2591      231008 :   double tilt_angle = acos(uav_z_in_world.dot(tf2::Vector3(0, 0, 1)));
+    2592             : 
+    2593             :   // | ------------ calculate the tilt and yaw error ------------ |
+    2594             : 
+    2595             :   // | --------------------- the tilt error --------------------- |
+    2596             : 
+    2597      231008 :   if (last_control_output.desired_orientation) {
+    2598             : 
+    2599             :     // calculate the desired drone's z axis in the world frame
+    2600      204768 :     tf2::Transform attitude_cmd_transform = mrs_lib::AttitudeConverter(last_control_output.desired_orientation.value());
+    2601      204766 :     tf2::Vector3   uav_z_in_world_desired = attitude_cmd_transform * tf2::Vector3(0, 0, 1);
+    2602             : 
+    2603             :     {
+    2604      204767 :       std::scoped_lock lock(mutex_attitude_error_);
+    2605             : 
+    2606             :       // calculate the angle between the drone's z axis and the world's z axis
+    2607      204768 :       tilt_error_ = acos(uav_z_in_world.dot(uav_z_in_world_desired));
+    2608             : 
+    2609             :       // calculate the yaw error
+    2610      204768 :       double cmd_yaw = mrs_lib::AttitudeConverter(last_control_output.desired_orientation.value()).getYaw();
+    2611      204768 :       yaw_error_     = fabs(radians::diff(cmd_yaw, uav_yaw));
+    2612             :     }
+    2613             :   }
+    2614             : 
+    2615      231008 :   auto position_error          = mrs_lib::get_mutexed(mutex_position_error_, position_error_);
+    2616      231008 :   auto [tilt_error, yaw_error] = mrs_lib::get_mutexed(mutex_attitude_error_, tilt_error_, yaw_error_);
+    2617             : 
+    2618             :   // --------------------------------------------------------------
+    2619             :   // |   activate the failsafe controller in case of large error  |
+    2620             :   // --------------------------------------------------------------
+    2621             : 
+    2622      231008 :   if (position_error) {
+    2623             : 
+    2624      229934 :     if (position_error->norm() > _failsafe_threshold_ && !failsafe_triggered_) {
+    2625             : 
+    2626          15 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2627             : 
+    2628          15 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2629             : 
+    2630           1 :         if (!failsafe_triggered_) {
+    2631             : 
+    2632           1 :           ROS_ERROR("[ControlManager]: activating failsafe land: control_error=%.2f/%.2f m (x: %.2f, y: %.2f, z: %.2f)", position_error->norm(),
+    2633             :                     _failsafe_threshold_, position_error.value()(0), position_error.value()(1), position_error.value()(2));
+    2634             : 
+    2635           1 :           failsafe();
+    2636             :         }
+    2637             :       }
+    2638             :     }
+    2639             :   }
+    2640             : 
+    2641             :   // --------------------------------------------------------------
+    2642             :   // |     activate emergency land in case of large innovation    |
+    2643             :   // --------------------------------------------------------------
+    2644             : 
+    2645      231007 :   if (_odometry_innovation_check_enabled_) {
+    2646             : 
+    2647      231009 :     std::optional<nav_msgs::Odometry::ConstPtr> innovation;
+    2648             : 
+    2649      231008 :     if (sh_odometry_innovation_.hasMsg()) {
+    2650      231008 :       innovation = {sh_odometry_innovation_.getMsg()};
+    2651             :     } else {
+    2652           0 :       ROS_WARN_THROTTLE(1.0, "[ControlManager]: missing estimator innnovation but the innovation check is enabled!");
+    2653             :     }
+    2654             : 
+    2655      231008 :     if (innovation) {
+    2656             : 
+    2657      231008 :       auto [x, y, z] = mrs_lib::getPosition(innovation.value());
+    2658             : 
+    2659      231007 :       double heading = 0;
+    2660             :       try {
+    2661      231007 :         heading = mrs_lib::getHeading(innovation.value());
+    2662             :       }
+    2663           0 :       catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+    2664           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception caught: '%s'", e.what());
+    2665             :       }
+    2666             : 
+    2667      231008 :       double last_innovation = mrs_lib::geometry::dist(vec3_t(x, y, z), vec3_t(0, 0, 0));
+    2668             : 
+    2669      231007 :       if (last_innovation > _odometry_innovation_threshold_ || radians::diff(heading, 0) > M_PI_2) {
+    2670             : 
+    2671           2 :         auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2672             : 
+    2673           2 :         if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2674             : 
+    2675           1 :           if (!failsafe_triggered_ && !eland_triggered_) {
+    2676             : 
+    2677           1 :             ROS_ERROR("[ControlManager]: activating emergency land: odometry innovation too large: %.2f/%.2f (x: %.2f, y: %.2f, z: %.2f, heading: %.2f)",
+    2678             :                       last_innovation, _odometry_innovation_threshold_, x, y, z, heading);
+    2679             : 
+    2680           1 :             eland();
+    2681             :           }
+    2682             :         }
+    2683             :       }
+    2684             :     }
+    2685             :   }
+    2686             : 
+    2687             :   // --------------------------------------------------------------
+    2688             :   // |   activate emergency land in case of medium control error  |
+    2689             :   // --------------------------------------------------------------
+    2690             : 
+    2691             :   // | ------------------- tilt control error ------------------- |
+    2692             : 
+    2693      231007 :   if (_tilt_limit_eland_enabled_ && tilt_angle > _tilt_limit_eland_) {
+    2694             : 
+    2695           0 :     auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2696             : 
+    2697           0 :     if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2698             : 
+    2699           0 :       if (!failsafe_triggered_ && !eland_triggered_) {
+    2700             : 
+    2701           0 :         ROS_ERROR("[ControlManager]: activating emergency land: tilt angle too large (%.2f/%.2f deg)", (180.0 / M_PI) * tilt_angle,
+    2702             :                   (180.0 / M_PI) * _tilt_limit_eland_);
+    2703             : 
+    2704           0 :         eland();
+    2705             :       }
+    2706             :     }
+    2707             :   }
+    2708             : 
+    2709             :   // | ----------------- position control error ----------------- |
+    2710             : 
+    2711      231007 :   if (position_error) {
+    2712             : 
+    2713      229933 :     double error_size = position_error->norm();
+    2714             : 
+    2715      229933 :     if (error_size > _eland_threshold_ / 2.0) {
+    2716             : 
+    2717        1106 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2718             : 
+    2719        1106 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2720             : 
+    2721         896 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2722             : 
+    2723         362 :           ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: releasing payload due to large position error");
+    2724             : 
+    2725         362 :           ungripSrv();
+    2726             :         }
+    2727             :       }
+    2728             :     }
+    2729             : 
+    2730      229933 :     if (error_size > _eland_threshold_) {
+    2731             : 
+    2732         227 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2733             : 
+    2734         227 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2735             : 
+    2736          44 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2737             : 
+    2738           3 :           ROS_ERROR("[ControlManager]: activating emergency land: position error %.2f/%.2f m (error x: %.2f, y: %.2f, z: %.2f)", error_size, _eland_threshold_,
+    2739             :                     position_error.value()(0), position_error.value()(1), position_error.value()(2));
+    2740             : 
+    2741           3 :           eland();
+    2742             :         }
+    2743             :       }
+    2744             :     }
+    2745             :   }
+    2746             : 
+    2747             :   // | -------------------- yaw control error ------------------- |
+    2748             :   // do not have to mutex the yaw_error_ here since I am filling it in this function
+    2749             : 
+    2750      231007 :   if (_yaw_error_eland_enabled_ && yaw_error) {
+    2751             : 
+    2752      231007 :     if (yaw_error.value() > (_yaw_error_eland_ / 2.0)) {
+    2753             : 
+    2754           0 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2755             : 
+    2756           0 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2757             : 
+    2758           0 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2759             : 
+    2760           0 :           ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: releasing payload: yaw error %.2f/%.2f deg", (180.0 / M_PI) * yaw_error.value(),
+    2761             :                              (180.0 / M_PI) * _yaw_error_eland_ / 2.0);
+    2762             : 
+    2763           0 :           ungripSrv();
+    2764             :         }
+    2765             :       }
+    2766             :     }
+    2767             : 
+    2768      231005 :     if (yaw_error.value() > _yaw_error_eland_) {
+    2769             : 
+    2770           0 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2771             : 
+    2772           0 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2773             : 
+    2774           0 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2775             : 
+    2776           0 :           ROS_ERROR("[ControlManager]: activating emergency land: yaw error %.2f/%.2f deg", (180.0 / M_PI) * yaw_error.value(),
+    2777             :                     (180.0 / M_PI) * _yaw_error_eland_);
+    2778             : 
+    2779           0 :           eland();
+    2780             :         }
+    2781             :       }
+    2782             :     }
+    2783             :   }
+    2784             : 
+    2785             :   // --------------------------------------------------------------
+    2786             :   // |      disarm the drone when the tilt exceeds the limit      |
+    2787             :   // --------------------------------------------------------------
+    2788      231004 :   if (_tilt_limit_disarm_enabled_ && tilt_angle > _tilt_limit_disarm_) {
+    2789             : 
+    2790           0 :     ROS_ERROR("[ControlManager]: tilt angle too large, disarming: tilt angle=%.2f/%.2f deg", (180.0 / M_PI) * tilt_angle, (180.0 / M_PI) * _tilt_limit_disarm_);
+    2791             : 
+    2792           0 :     arming(false);
+    2793             :   }
+    2794             : 
+    2795             :   // --------------------------------------------------------------
+    2796             :   // |     disarm the drone when tilt error exceeds the limit     |
+    2797             :   // --------------------------------------------------------------
+    2798             : 
+    2799      231004 :   if (_tilt_error_disarm_enabled_ && tilt_error) {
+    2800             : 
+    2801      231005 :     auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2802             : 
+    2803             :     // the time from the last controller/tracker switch
+    2804             :     // fyi: we should not
+    2805      231008 :     double time_from_ctrl_tracker_switch = (ros::Time::now() - controller_tracker_switch_time).toSec();
+    2806             : 
+    2807             :     // if the tile error is over the threshold
+    2808             :     // && we are not ramping up during takeoff
+    2809      231008 :     if (fabs(tilt_error.value()) > _tilt_error_disarm_threshold_ && !last_control_output.diagnostics.ramping_up) {
+    2810             : 
+    2811             :       // only account for the error if some time passed from the last tracker/controller switch
+    2812           0 :       if (time_from_ctrl_tracker_switch > 1.0) {
+    2813             : 
+    2814             :         // if the threshold was not exceeded before
+    2815           0 :         if (!tilt_error_disarm_over_thr_) {
+    2816             : 
+    2817           0 :           tilt_error_disarm_over_thr_ = true;
+    2818           0 :           tilt_error_disarm_time_     = ros::Time::now();
+    2819             : 
+    2820           0 :           ROS_WARN("[ControlManager]: tilt error exceeded threshold (%.2f/%.2f deg)", (180.0 / M_PI) * tilt_error.value(),
+    2821             :                    (180.0 / M_PI) * _tilt_error_disarm_threshold_);
+    2822             : 
+    2823             :           // if it was exceeded before, just keep it
+    2824             :         } else {
+    2825             : 
+    2826           0 :           ROS_WARN_THROTTLE(0.1, "[ControlManager]: tilt error (%.2f deg) over threshold for %.2f s", (180.0 / M_PI) * tilt_error.value(),
+    2827             :                             (ros::Time::now() - tilt_error_disarm_time_).toSec());
+    2828             :         }
+    2829             : 
+    2830             :         // if the tile error is bad, but the controller just switched,
+    2831             :         // don't think its bad anymore
+    2832             :       } else {
+    2833             : 
+    2834           0 :         tilt_error_disarm_over_thr_ = false;
+    2835           0 :         tilt_error_disarm_time_     = ros::Time::now();
+    2836             :       }
+    2837             : 
+    2838             :       // if the tilt error is fine
+    2839             :     } else {
+    2840             : 
+    2841             :       // make it fine
+    2842      231008 :       tilt_error_disarm_over_thr_ = false;
+    2843      231008 :       tilt_error_disarm_time_     = ros::Time::now();
+    2844             :     }
+    2845             : 
+    2846             :     // calculate the time over the threshold
+    2847      231008 :     double tot = (ros::Time::now() - tilt_error_disarm_time_).toSec();
+    2848             : 
+    2849             :     // if the tot exceeds the limit (and if we are actually over the threshold)
+    2850      231008 :     if (tilt_error_disarm_over_thr_ && (tot > _tilt_error_disarm_timeout_)) {
+    2851             : 
+    2852           0 :       bool is_flying = offboard_mode_ && active_tracker_idx != _null_tracker_idx_;
+    2853             : 
+    2854             :       // only when flying and not in failsafe
+    2855           0 :       if (is_flying) {
+    2856             : 
+    2857           0 :         ROS_ERROR("[ControlManager]: tilt error too large for %.2f s, disarming", tot);
+    2858             : 
+    2859           0 :         toggleOutput(false);
+    2860           0 :         arming(false);
+    2861             :       }
+    2862             :     }
+    2863             :   }
+    2864             : 
+    2865             :   // | --------- dropping out of OFFBOARD in mid flight --------- |
+    2866             : 
+    2867             :   // if we are not in offboard and the drone is in mid air (NullTracker is not active)
+    2868      231008 :   if (offboard_mode_was_true_ && !offboard_mode_ && active_tracker_idx != _null_tracker_idx_) {
+    2869             : 
+    2870           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: we fell out of OFFBOARD in mid air, disabling output");
+    2871             : 
+    2872           0 :     toggleOutput(false);
+    2873             :   }
+    2874             : }  // namespace control_manager
+    2875             : 
+    2876             : //}
+    2877             : 
+    2878             : /* //{ timerEland() */
+    2879             : 
+    2880         496 : void ControlManager::timerEland(const ros::TimerEvent& event) {
+    2881             : 
+    2882         496 :   if (!is_initialized_) {
+    2883         128 :     return;
+    2884             :   }
+    2885             : 
+    2886         992 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerEland", _elanding_timer_rate_, 0.01, event);
+    2887         992 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerEland", scope_timer_logger_, scope_timer_enabled_);
+    2888             : 
+    2889             :   // copy member variables
+    2890         496 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    2891             : 
+    2892         496 :   if (!last_control_output.control_output) {
+    2893           0 :     return;
+    2894             :   }
+    2895             : 
+    2896         496 :   auto throttle = extractThrottle(last_control_output);
+    2897             : 
+    2898         496 :   if (!throttle) {
+    2899         128 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: TODO: implement landing detection mechanism for the current control modality");
+    2900         128 :     return;
+    2901             :   }
+    2902             : 
+    2903         368 :   if (current_state_landing_ == IDLE_STATE) {
+    2904             : 
+    2905           0 :     return;
+    2906             : 
+    2907         368 :   } else if (current_state_landing_ == LANDING_STATE) {
+    2908             : 
+    2909             :     // --------------------------------------------------------------
+    2910             :     // |                            TODO                            |
+    2911             :     // This section needs work. The throttle landing detection      |
+    2912             :     // mechanism should be extracted and other mechanisms, such     |
+    2913             :     // as velocity-based detection should be used for high          |
+    2914             :     // modalities                                                   |
+    2915             :     // --------------------------------------------------------------
+    2916             : 
+    2917         368 :     if (!last_control_output.control_output) {
+    2918           0 :       ROS_WARN_THROTTLE(1.0, "[ControlManager]: timerEland: last_control_output has not been initialized, returning");
+    2919           0 :       ROS_WARN_THROTTLE(1.0, "[ControlManager]: tip: the RC eland is probably triggered");
+    2920           0 :       return;
+    2921             :     }
+    2922             : 
+    2923             :     // recalculate the mass based on the throttle
+    2924         368 :     throttle_mass_estimate_ = mrs_lib::quadratic_throttle_model::throttleToForce(common_handlers_->throttle_model, throttle.value()) / common_handlers_->g;
+    2925         368 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: landing: initial mass: %.2f throttle_mass_estimate: %.2f", landing_uav_mass_, throttle_mass_estimate_);
+    2926             : 
+    2927             :     // condition for automatic motor turn off
+    2928         368 :     if (((throttle_mass_estimate_ < _elanding_cutoff_mass_factor_ * landing_uav_mass_) || throttle < 0.01)) {
+    2929          88 :       if (!throttle_under_threshold_) {
+    2930             : 
+    2931           4 :         throttle_mass_estimate_first_time_ = ros::Time::now();
+    2932           4 :         throttle_under_threshold_          = true;
+    2933             :       }
+    2934             : 
+    2935          88 :       ROS_INFO_THROTTLE(0.1, "[ControlManager]: throttle is under cutoff factor for %.2f s", (ros::Time::now() - throttle_mass_estimate_first_time_).toSec());
+    2936             : 
+    2937             :     } else {
+    2938         280 :       throttle_mass_estimate_first_time_ = ros::Time::now();
+    2939         280 :       throttle_under_threshold_          = false;
+    2940             :     }
+    2941             : 
+    2942         368 :     if (throttle_under_threshold_ && ((ros::Time::now() - throttle_mass_estimate_first_time_).toSec() > _elanding_cutoff_timeout_)) {
+    2943             :       // enable callbacks? ... NO
+    2944             : 
+    2945           4 :       ROS_INFO("[ControlManager]: reached cutoff throttle, disabling output");
+    2946           4 :       toggleOutput(false);
+    2947             : 
+    2948             :       // disarm the drone
+    2949           4 :       if (_eland_disarm_enabled_) {
+    2950             : 
+    2951           4 :         ROS_INFO("[ControlManager]: calling for disarm");
+    2952           4 :         arming(false);
+    2953             :       }
+    2954             : 
+    2955           4 :       changeLandingState(IDLE_STATE);
+    2956             : 
+    2957           4 :       ROS_WARN("[ControlManager]: emergency landing finished");
+    2958             : 
+    2959           4 :       ROS_DEBUG("[ControlManager]: stopping eland timer");
+    2960           4 :       timer_eland_.stop();
+    2961           4 :       ROS_DEBUG("[ControlManager]: eland timer stopped");
+    2962             : 
+    2963             :       // we should NOT set eland_triggered_=true
+    2964             :     }
+    2965             :   }
+    2966             : }
+    2967             : 
+    2968             : //}
+    2969             : 
+    2970             : /* //{ timerFailsafe() */
+    2971             : 
+    2972        9720 : void ControlManager::timerFailsafe(const ros::TimerEvent& event) {
+    2973             : 
+    2974        9720 :   if (!is_initialized_) {
+    2975           0 :     return;
+    2976             :   }
+    2977             : 
+    2978        9720 :   ROS_INFO_ONCE("[ControlManager]: timerFailsafe() spinning");
+    2979             : 
+    2980       19440 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerFailsafe", _failsafe_timer_rate_, 0.01, event);
+    2981       19440 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerFailsafe", scope_timer_logger_, scope_timer_enabled_);
+    2982             : 
+    2983             :   // copy member variables
+    2984        9720 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    2985             : 
+    2986        9720 :   updateControllers(uav_state);
+    2987             : 
+    2988        9720 :   publish();
+    2989             : 
+    2990        9720 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    2991             : 
+    2992        9720 :   if (!last_control_output.control_output) {
+    2993           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: timerFailsafe: the control output produced by the failsafe controller is empty!");
+    2994           0 :     return;
+    2995             :   }
+    2996             : 
+    2997        9720 :   auto throttle = extractThrottle(last_control_output);
+    2998             : 
+    2999        9720 :   if (!throttle) {
+    3000           0 :     ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: FailsafeTimer: could not extract throttle out of the last control output");
+    3001           0 :     return;
+    3002             :   }
+    3003             : 
+    3004             :   // --------------------------------------------------------------
+    3005             :   // |                            TODO                            |
+    3006             :   // This section needs work. The throttle landing detection      |
+    3007             :   // mechanism should be extracted and other mechanisms, such     |
+    3008             :   // as velocity-based detection should be used for high          |
+    3009             :   // modalities                                                   |
+    3010             :   // --------------------------------------------------------------
+    3011             : 
+    3012        9720 :   double throttle_mass_estimate_ = mrs_lib::quadratic_throttle_model::throttleToForce(common_handlers_->throttle_model, throttle.value()) / common_handlers_->g;
+    3013        9720 :   ROS_INFO_THROTTLE(1.0, "[ControlManager]: failsafe: initial mass: %.2f throttle_mass_estimate: %.2f", landing_uav_mass_, throttle_mass_estimate_);
+    3014             : 
+    3015             :   // condition for automatic motor turn off
+    3016        9720 :   if (((throttle_mass_estimate_ < _elanding_cutoff_mass_factor_ * landing_uav_mass_))) {
+    3017             : 
+    3018        1414 :     if (!throttle_under_threshold_) {
+    3019             : 
+    3020           7 :       throttle_mass_estimate_first_time_ = ros::Time::now();
+    3021           7 :       throttle_under_threshold_          = true;
+    3022             :     }
+    3023             : 
+    3024        1414 :     ROS_INFO_THROTTLE(0.1, "[ControlManager]: throttle is under cutoff factor for %.2f s", (ros::Time::now() - throttle_mass_estimate_first_time_).toSec());
+    3025             : 
+    3026             :   } else {
+    3027             : 
+    3028        8306 :     throttle_mass_estimate_first_time_ = ros::Time::now();
+    3029        8306 :     throttle_under_threshold_          = false;
+    3030             :   }
+    3031             : 
+    3032             :   // condition for automatic motor turn off
+    3033        9720 :   if (throttle_under_threshold_ && ((ros::Time::now() - throttle_mass_estimate_first_time_).toSec() > _elanding_cutoff_timeout_)) {
+    3034             : 
+    3035           7 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: detecting zero throttle, disarming");
+    3036             : 
+    3037           7 :     arming(false);
+    3038             :   }
+    3039             : }
+    3040             : 
+    3041             : //}
+    3042             : 
+    3043             : /* //{ timerJoystick() */
+    3044             : 
+    3045       66834 : void ControlManager::timerJoystick(const ros::TimerEvent& event) {
+    3046             : 
+    3047       66834 :   if (!is_initialized_) {
+    3048           0 :     return;
+    3049             :   }
+    3050             : 
+    3051      200502 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerJoystick", _status_timer_rate_, 0.05, event);
+    3052      200502 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerJoystick", scope_timer_logger_, scope_timer_enabled_);
+    3053             : 
+    3054      133668 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    3055             : 
+    3056             :   // if start was pressed and held for > 3.0 s
+    3057       66834 :   if (joystick_start_pressed_ && joystick_start_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_start_press_time_).toSec() > 3.0) {
+    3058             : 
+    3059           0 :     joystick_start_press_time_ = ros::Time(0);
+    3060             : 
+    3061           0 :     ROS_INFO("[ControlManager]: transitioning to joystick control: activating '%s' and '%s'", _joystick_tracker_name_.c_str(),
+    3062             :              _joystick_controller_name_.c_str());
+    3063             : 
+    3064           0 :     joystick_start_pressed_ = false;
+    3065             : 
+    3066           0 :     switchTracker(_joystick_tracker_name_);
+    3067           0 :     switchController(_joystick_controller_name_);
+    3068             :   }
+    3069             : 
+    3070             :   // if RT+LT were pressed and held for > 0.1 s
+    3071       66834 :   if (joystick_failsafe_pressed_ && joystick_failsafe_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_failsafe_press_time_).toSec() > 0.1) {
+    3072             : 
+    3073           0 :     joystick_failsafe_press_time_ = ros::Time(0);
+    3074             : 
+    3075           0 :     ROS_INFO("[ControlManager]: activating failsafe by joystick");
+    3076             : 
+    3077           0 :     joystick_failsafe_pressed_ = false;
+    3078             : 
+    3079           0 :     failsafe();
+    3080             :   }
+    3081             : 
+    3082             :   // if joypads were pressed and held for > 0.1 s
+    3083       66834 :   if (joystick_eland_pressed_ && joystick_eland_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_eland_press_time_).toSec() > 0.1) {
+    3084             : 
+    3085           0 :     joystick_eland_press_time_ = ros::Time(0);
+    3086             : 
+    3087           0 :     ROS_INFO("[ControlManager]: activating eland by joystick");
+    3088             : 
+    3089           0 :     joystick_failsafe_pressed_ = false;
+    3090             : 
+    3091           0 :     eland();
+    3092             :   }
+    3093             : 
+    3094             :   // if back was pressed and held for > 0.1 s
+    3095       66834 :   if (joystick_back_pressed_ && joystick_back_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_back_press_time_).toSec() > 0.1) {
+    3096             : 
+    3097           0 :     joystick_back_press_time_ = ros::Time(0);
+    3098             : 
+    3099             :     // activate/deactivate the joystick goto functionality
+    3100           0 :     joystick_goto_enabled_ = !joystick_goto_enabled_;
+    3101             : 
+    3102           0 :     ROS_INFO("[ControlManager]: joystick control %s", joystick_goto_enabled_ ? "activated" : "deactivated");
+    3103             :   }
+    3104             : 
+    3105             :   // if the GOTO functionality is enabled...
+    3106       66834 :   if (joystick_goto_enabled_ && sh_joystick_.hasMsg()) {
+    3107             : 
+    3108           0 :     auto joystick_data = sh_joystick_.getMsg();
+    3109             : 
+    3110             :     // create the reference
+    3111             : 
+    3112           0 :     mrs_msgs::Vec4::Request request;
+    3113             : 
+    3114           0 :     if (fabs(joystick_data->axes.at(_channel_pitch_)) >= 0.05 || fabs(joystick_data->axes.at(_channel_roll_)) >= 0.05 ||
+    3115           0 :         fabs(joystick_data->axes.at(_channel_heading_)) >= 0.05 || fabs(joystick_data->axes.at(_channel_throttle_)) >= 0.05) {
+    3116             : 
+    3117           0 :       if (_joystick_mode_ == 0) {
+    3118             : 
+    3119           0 :         request.goal.at(REF_X)       = _channel_mult_pitch_ * joystick_data->axes.at(_channel_pitch_) * _joystick_carrot_distance_;
+    3120           0 :         request.goal.at(REF_Y)       = _channel_mult_roll_ * joystick_data->axes.at(_channel_roll_) * _joystick_carrot_distance_;
+    3121           0 :         request.goal.at(REF_Z)       = _channel_mult_throttle_ * joystick_data->axes.at(_channel_throttle_);
+    3122           0 :         request.goal.at(REF_HEADING) = _channel_mult_heading_ * joystick_data->axes.at(_channel_heading_);
+    3123             : 
+    3124           0 :         mrs_msgs::Vec4::Response response;
+    3125             : 
+    3126           0 :         callbackGotoFcu(request, response);
+    3127             : 
+    3128           0 :       } else if (_joystick_mode_ == 1) {
+    3129             : 
+    3130           0 :         mrs_msgs::TrajectoryReference trajectory;
+    3131             : 
+    3132           0 :         double dt = 0.2;
+    3133             : 
+    3134           0 :         trajectory.fly_now         = true;
+    3135           0 :         trajectory.header.frame_id = "fcu_untilted";
+    3136           0 :         trajectory.use_heading     = true;
+    3137           0 :         trajectory.dt              = dt;
+    3138             : 
+    3139           0 :         mrs_msgs::Reference point;
+    3140           0 :         point.position.x = 0;
+    3141           0 :         point.position.y = 0;
+    3142           0 :         point.position.z = 0;
+    3143           0 :         point.heading    = 0;
+    3144             : 
+    3145           0 :         trajectory.points.push_back(point);
+    3146             : 
+    3147           0 :         double speed = 1.0;
+    3148             : 
+    3149           0 :         for (int i = 0; i < 50; i++) {
+    3150             : 
+    3151           0 :           point.position.x += _channel_mult_pitch_ * joystick_data->axes.at(_channel_pitch_) * (speed * dt);
+    3152           0 :           point.position.y += _channel_mult_roll_ * joystick_data->axes.at(_channel_roll_) * (speed * dt);
+    3153           0 :           point.position.z += _channel_mult_throttle_ * joystick_data->axes.at(_channel_throttle_) * (speed * dt);
+    3154           0 :           point.heading = _channel_mult_heading_ * joystick_data->axes.at(_channel_heading_);
+    3155             : 
+    3156           0 :           trajectory.points.push_back(point);
+    3157             :         }
+    3158             : 
+    3159           0 :         setTrajectoryReference(trajectory);
+    3160             :       }
+    3161             :     }
+    3162             :   }
+    3163             : 
+    3164       66834 :   if (rc_goto_active_ && last_tracker_cmd && sh_hw_api_rc_.hasMsg()) {
+    3165             : 
+    3166             :     // create the reference
+    3167        1566 :     mrs_msgs::VelocityReferenceStampedSrv::Request request;
+    3168             : 
+    3169         783 :     double des_x       = 0;
+    3170         783 :     double des_y       = 0;
+    3171         783 :     double des_z       = 0;
+    3172         783 :     double des_heading = 0;
+    3173             : 
+    3174         783 :     bool nothing_to_do = true;
+    3175             : 
+    3176             :     // copy member variables
+    3177        1566 :     mrs_msgs::HwApiRcChannelsConstPtr rc_channels = sh_hw_api_rc_.getMsg();
+    3178             : 
+    3179         783 :     if (rc_channels->channels.size() < 4) {
+    3180             : 
+    3181           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: RC control channel numbers are out of range (the # of channels in rc/in topic is %d)",
+    3182             :                          int(rc_channels->channels.size()));
+    3183           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: tip: this could be caused by the RC failsafe not being configured!");
+    3184             : 
+    3185             :     } else {
+    3186             : 
+    3187         783 :       double tmp_x       = RCChannelToRange(rc_channels->channels.at(_rc_channel_pitch_), _rc_horizontal_speed_, 0.1);
+    3188         783 :       double tmp_y       = -RCChannelToRange(rc_channels->channels.at(_rc_channel_roll_), _rc_horizontal_speed_, 0.1);
+    3189         783 :       double tmp_z       = RCChannelToRange(rc_channels->channels.at(_rc_channel_throttle_), _rc_vertical_speed_, 0.3);
+    3190         783 :       double tmp_heading = -RCChannelToRange(rc_channels->channels.at(_rc_channel_heading_), _rc_heading_rate_, 0.1);
+    3191             : 
+    3192         783 :       if (abs(tmp_x) > 1e-3) {
+    3193         265 :         des_x         = tmp_x;
+    3194         265 :         nothing_to_do = false;
+    3195             :       }
+    3196             : 
+    3197         783 :       if (abs(tmp_y) > 1e-3) {
+    3198         119 :         des_y         = tmp_y;
+    3199         119 :         nothing_to_do = false;
+    3200             :       }
+    3201             : 
+    3202         783 :       if (abs(tmp_z) > 1e-3) {
+    3203         257 :         des_z         = tmp_z;
+    3204         257 :         nothing_to_do = false;
+    3205             :       }
+    3206             : 
+    3207         783 :       if (abs(tmp_heading) > 1e-3) {
+    3208          76 :         des_heading   = tmp_heading;
+    3209          76 :         nothing_to_do = false;
+    3210             :       }
+    3211             :     }
+    3212             : 
+    3213         783 :     if (!nothing_to_do) {
+    3214             : 
+    3215         717 :       request.reference.header.frame_id = "fcu_untilted";
+    3216             : 
+    3217         717 :       request.reference.reference.use_heading_rate = true;
+    3218             : 
+    3219         717 :       request.reference.reference.velocity.x   = des_x;
+    3220         717 :       request.reference.reference.velocity.y   = des_y;
+    3221         717 :       request.reference.reference.velocity.z   = des_z;
+    3222         717 :       request.reference.reference.heading_rate = des_heading;
+    3223             : 
+    3224        1434 :       mrs_msgs::VelocityReferenceStampedSrv::Response response;
+    3225             : 
+    3226             :       // disable callbacks of all trackers
+    3227         717 :       std_srvs::SetBoolRequest req_enable_callbacks;
+    3228             : 
+    3229             :       // enable the callbacks for the active tracker
+    3230         717 :       req_enable_callbacks.data = true;
+    3231             :       {
+    3232         717 :         std::scoped_lock lock(mutex_tracker_list_);
+    3233             : 
+    3234         717 :         tracker_list_.at(active_tracker_idx_)
+    3235         717 :             ->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3236             :       }
+    3237             : 
+    3238         717 :       callbacks_enabled_ = true;
+    3239             : 
+    3240         717 :       callbackVelocityReferenceService(request, response);
+    3241             : 
+    3242         717 :       callbacks_enabled_ = false;
+    3243             : 
+    3244         717 :       ROS_INFO_THROTTLE(1.0, "[ControlManager]: goto by RC with speed x=%.2f, y=%.2f, z=%.2f, heading_rate=%.2f", des_x, des_y, des_z, des_heading);
+    3245             : 
+    3246             :       // disable the callbacks back again
+    3247         717 :       req_enable_callbacks.data = false;
+    3248             :       {
+    3249         717 :         std::scoped_lock lock(mutex_tracker_list_);
+    3250             : 
+    3251         717 :         tracker_list_.at(active_tracker_idx_)
+    3252         717 :             ->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3253             :       }
+    3254             :     }
+    3255             :   }
+    3256             : }
+    3257             : 
+    3258             : //}
+    3259             : 
+    3260             : /* //{ timerBumper() */
+    3261             : 
+    3262        2437 : void ControlManager::timerBumper(const ros::TimerEvent& event) {
+    3263             : 
+    3264        2437 :   if (!is_initialized_) {
+    3265        2161 :     return;
+    3266             :   }
+    3267             : 
+    3268        4874 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerBumper", _bumper_timer_rate_, 0.05, event);
+    3269        4874 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerBumper", scope_timer_logger_, scope_timer_enabled_);
+    3270             : 
+    3271             :   // | ---------------------- preconditions --------------------- |
+    3272             : 
+    3273        2437 :   if (!sh_bumper_.hasMsg()) {
+    3274        2157 :     return;
+    3275             :   }
+    3276             : 
+    3277         280 :   if (!bumper_enabled_) {
+    3278           0 :     return;
+    3279             :   }
+    3280             : 
+    3281         280 :   if (!isFlyingNormally() && !bumper_repulsing_) {
+    3282           4 :     return;
+    3283             :   }
+    3284             : 
+    3285         276 :   if (!got_uav_state_) {
+    3286           0 :     return;
+    3287             :   }
+    3288             : 
+    3289         276 :   if (sh_bumper_.hasMsg() && (ros::Time::now() - sh_bumper_.lastMsgTime()).toSec() > 1.0) {
+    3290             : 
+    3291           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: obstacle bumper is missing messages although we got them before");
+    3292             : 
+    3293           0 :     return;
+    3294             :   }
+    3295             : 
+    3296         276 :   timer_bumper_.setPeriod(ros::Duration(1.0 / _bumper_timer_rate_));
+    3297             : 
+    3298             :   // | ------------------ call the bumper logic ----------------- |
+    3299             : 
+    3300         276 :   bumperPushFromObstacle();
+    3301             : }
+    3302             : 
+    3303             : //}
+    3304             : 
+    3305             : /* //{ timerPirouette() */
+    3306             : 
+    3307           0 : void ControlManager::timerPirouette(const ros::TimerEvent& event) {
+    3308             : 
+    3309           0 :   if (!is_initialized_) {
+    3310           0 :     return;
+    3311             :   }
+    3312             : 
+    3313           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerPirouette", _pirouette_timer_rate_, 0.01, event);
+    3314           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerPirouette", scope_timer_logger_, scope_timer_enabled_);
+    3315             : 
+    3316           0 :   pirouette_iterator_++;
+    3317             : 
+    3318           0 :   double pirouette_duration  = (2 * M_PI) / _pirouette_speed_;
+    3319           0 :   double pirouette_n_steps   = pirouette_duration * _pirouette_timer_rate_;
+    3320           0 :   double pirouette_step_size = (2 * M_PI) / pirouette_n_steps;
+    3321             : 
+    3322           0 :   if (rc_escalating_failsafe_triggered_ || failsafe_triggered_ || eland_triggered_ || (pirouette_iterator_ > pirouette_duration * _pirouette_timer_rate_)) {
+    3323             : 
+    3324           0 :     _pirouette_enabled_ = false;
+    3325           0 :     timer_pirouette_.stop();
+    3326             : 
+    3327           0 :     setCallbacks(true);
+    3328             : 
+    3329           0 :     return;
+    3330             :   }
+    3331             : 
+    3332             :   // set the reference
+    3333           0 :   mrs_msgs::ReferenceStamped reference_request;
+    3334             : 
+    3335           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    3336             : 
+    3337           0 :   reference_request.header.frame_id      = "";
+    3338           0 :   reference_request.header.stamp         = ros::Time(0);
+    3339           0 :   reference_request.reference.position.x = last_tracker_cmd->position.x;
+    3340           0 :   reference_request.reference.position.y = last_tracker_cmd->position.y;
+    3341           0 :   reference_request.reference.position.z = last_tracker_cmd->position.z;
+    3342           0 :   reference_request.reference.heading    = pirouette_initial_heading_ + pirouette_iterator_ * pirouette_step_size;
+    3343             : 
+    3344             :   // enable the callbacks for the active tracker
+    3345             :   {
+    3346           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    3347             : 
+    3348           0 :     std_srvs::SetBoolRequest req_enable_callbacks;
+    3349           0 :     req_enable_callbacks.data = true;
+    3350             : 
+    3351           0 :     tracker_list_.at(active_tracker_idx_)
+    3352           0 :         ->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3353             : 
+    3354           0 :     callbacks_enabled_ = true;
+    3355             :   }
+    3356             : 
+    3357           0 :   setReference(reference_request);
+    3358             : 
+    3359             :   {
+    3360           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    3361             : 
+    3362             :     // disable the callbacks for the active tracker
+    3363           0 :     std_srvs::SetBoolRequest req_enable_callbacks;
+    3364           0 :     req_enable_callbacks.data = false;
+    3365             : 
+    3366           0 :     tracker_list_.at(active_tracker_idx_)
+    3367           0 :         ->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3368             : 
+    3369           0 :     callbacks_enabled_ = false;
+    3370             :   }
+    3371             : }
+    3372             : 
+    3373             : //}
+    3374             : 
+    3375             : // --------------------------------------------------------------
+    3376             : // |                           asyncs                           |
+    3377             : // --------------------------------------------------------------
+    3378             : 
+    3379             : /* asyncControl() //{ */
+    3380             : 
+    3381      147970 : void ControlManager::asyncControl(void) {
+    3382             : 
+    3383      147970 :   if (!is_initialized_) {
+    3384           0 :     return;
+    3385             :   }
+    3386             : 
+    3387      295940 :   mrs_lib::AtomicScopeFlag unset_running(running_async_control_);
+    3388             : 
+    3389      443910 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("asyncControl");
+    3390      443910 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::asyncControl", scope_timer_logger_, scope_timer_enabled_);
+    3391             : 
+    3392             :   // copy member variables
+    3393      295940 :   auto uav_state           = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    3394      147970 :   auto current_constraints = mrs_lib::get_mutexed(mutex_constraints_, current_constraints_);
+    3395             : 
+    3396      147970 :   if (!failsafe_triggered_) {  // when failsafe is triggered, updateControllers() and publish() is called in timerFailsafe()
+    3397             : 
+    3398             :     // run the safety timer
+    3399             :     // in the case of large control errors, the safety mechanisms will be triggered before the controllers and trackers are updated...
+    3400      138760 :     while (running_safety_timer_) {
+    3401             : 
+    3402         964 :       ROS_DEBUG("[ControlManager]: waiting for safety timer to finish");
+    3403         964 :       ros::Duration wait(0.001);
+    3404         964 :       wait.sleep();
+    3405             : 
+    3406         964 :       if (!running_safety_timer_) {
+    3407         956 :         ROS_DEBUG("[ControlManager]: safety timer finished");
+    3408         956 :         break;
+    3409             :       }
+    3410             :     }
+    3411             : 
+    3412      138752 :     ros::TimerEvent safety_timer_event;
+    3413      138752 :     timerSafety(safety_timer_event);
+    3414             : 
+    3415      138752 :     updateTrackers();
+    3416             : 
+    3417      138752 :     updateControllers(uav_state);
+    3418             : 
+    3419      138752 :     if (got_constraints_) {
+    3420             : 
+    3421             :       // update the constraints to trackers, if need to
+    3422      138017 :       auto enforce = enforceControllersConstraints(current_constraints);
+    3423             : 
+    3424      138017 :       if (enforce && !constraints_being_enforced_) {
+    3425             : 
+    3426          83 :         setConstraintsToTrackers(enforce.value());
+    3427          83 :         mrs_lib::set_mutexed(mutex_constraints_, enforce.value(), sanitized_constraints_);
+    3428             : 
+    3429          83 :         constraints_being_enforced_ = true;
+    3430             : 
+    3431          83 :         auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    3432             : 
+    3433          83 :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: the controller '%s' is enforcing constraints over the ConstraintManager",
+    3434             :                           _controller_names_.at(active_controller_idx).c_str());
+    3435             : 
+    3436      137934 :       } else if (!enforce && constraints_being_enforced_) {
+    3437             : 
+    3438          77 :         ROS_INFO_THROTTLE(1.0, "[ControlManager]: constraint values returned to original values");
+    3439             : 
+    3440          77 :         constraints_being_enforced_ = false;
+    3441             : 
+    3442          77 :         mrs_lib::set_mutexed(mutex_constraints_, current_constraints, sanitized_constraints_);
+    3443             : 
+    3444          77 :         setConstraintsToTrackers(current_constraints);
+    3445             :       }
+    3446             :     }
+    3447             : 
+    3448      138752 :     publish();
+    3449             :   }
+    3450             : 
+    3451             :   // if odometry switch happened, we finish it here and turn the safety timer back on
+    3452      147970 :   if (odometry_switch_in_progress_) {
+    3453             : 
+    3454           5 :     ROS_DEBUG("[ControlManager]: starting safety timer");
+    3455           5 :     timer_safety_.start();
+    3456           5 :     ROS_DEBUG("[ControlManager]: safety timer started");
+    3457           5 :     odometry_switch_in_progress_ = false;
+    3458             : 
+    3459             :     {
+    3460          10 :       std::scoped_lock lock(mutex_uav_state_);
+    3461             : 
+    3462           5 :       ROS_INFO("[ControlManager]: odometry after switch: x=%.2f, y=%.2f, z=%.2f, heading=%.2f", uav_state.pose.position.x, uav_state.pose.position.y,
+    3463             :                uav_state.pose.position.z, uav_heading_);
+    3464             :     }
+    3465             :   }
+    3466             : }
+    3467             : 
+    3468             : //}
+    3469             : 
+    3470             : // --------------------------------------------------------------
+    3471             : // |                          callbacks                         |
+    3472             : // --------------------------------------------------------------
+    3473             : 
+    3474             : // | --------------------- topic callbacks -------------------- |
+    3475             : 
+    3476             : /* //{ callbackOdometry() */
+    3477             : 
+    3478           0 : void ControlManager::callbackOdometry(const nav_msgs::Odometry::ConstPtr msg) {
+    3479             : 
+    3480           0 :   if (!is_initialized_) {
+    3481           0 :     return;
+    3482             :   }
+    3483             : 
+    3484           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackOdometry");
+    3485           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackOdometry", scope_timer_logger_, scope_timer_enabled_);
+    3486             : 
+    3487           0 :   nav_msgs::OdometryConstPtr odom = msg;
+    3488             : 
+    3489             :   // | ------------------ check for time stamp ------------------ |
+    3490             : 
+    3491             :   {
+    3492           0 :     std::scoped_lock lock(mutex_uav_state_);
+    3493             : 
+    3494           0 :     if (uav_state_.header.stamp == odom->header.stamp) {
+    3495           0 :       return;
+    3496             :     }
+    3497             :   }
+    3498             : 
+    3499             :   // | --------------------- check for nans --------------------- |
+    3500             : 
+    3501           0 :   if (!validateOdometry(*odom, "ControlManager", "odometry")) {
+    3502           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: incoming 'odometry' contains invalid values, throwing it away");
+    3503           0 :     return;
+    3504             :   }
+    3505             : 
+    3506             :   // | ---------------------- frame switch ---------------------- |
+    3507             : 
+    3508             :   /* Odometry frame switch //{ */
+    3509             : 
+    3510             :   // | -- prepare an OdometryConstPtr for trackers & controllers -- |
+    3511             : 
+    3512           0 :   mrs_msgs::UavState uav_state_odom;
+    3513             : 
+    3514           0 :   uav_state_odom.header   = odom->header;
+    3515           0 :   uav_state_odom.pose     = odom->pose.pose;
+    3516           0 :   uav_state_odom.velocity = odom->twist.twist;
+    3517             : 
+    3518             :   // | ----- check for change in odometry frame of reference ---- |
+    3519             : 
+    3520           0 :   if (got_uav_state_) {
+    3521             : 
+    3522           0 :     if (odom->header.frame_id != uav_state_.header.frame_id) {
+    3523             : 
+    3524           0 :       ROS_INFO("[ControlManager]: detecting switch of odometry frame");
+    3525             :       {
+    3526           0 :         std::scoped_lock lock(mutex_uav_state_);
+    3527             : 
+    3528           0 :         ROS_INFO("[ControlManager]: odometry before switch: x=%.2f, y=%.2f, z=%.2f, heading=%.2f", uav_state_.pose.position.x, uav_state_.pose.position.y,
+    3529             :                  uav_state_.pose.position.z, uav_heading_);
+    3530             :       }
+    3531             : 
+    3532           0 :       odometry_switch_in_progress_ = true;
+    3533             : 
+    3534             :       // we have to stop safety timer, otherwise it will interfere
+    3535           0 :       ROS_DEBUG("[ControlManager]: stopping the safety timer");
+    3536           0 :       timer_safety_.stop();
+    3537           0 :       ROS_DEBUG("[ControlManager]: safety timer stopped");
+    3538             : 
+    3539             :       // wait for the safety timer to stop if its running
+    3540           0 :       while (running_safety_timer_) {
+    3541             : 
+    3542           0 :         ROS_DEBUG("[ControlManager]: waiting for safety timer to finish");
+    3543           0 :         ros::Duration wait(0.001);
+    3544           0 :         wait.sleep();
+    3545             : 
+    3546           0 :         if (!running_safety_timer_) {
+    3547           0 :           ROS_DEBUG("[ControlManager]: safety timer finished");
+    3548           0 :           break;
+    3549             :         }
+    3550             :       }
+    3551             : 
+    3552             :       // we have to also for the oneshot control timer to finish
+    3553           0 :       while (running_async_control_) {
+    3554             : 
+    3555           0 :         ROS_DEBUG("[ControlManager]: waiting for control timer to finish");
+    3556           0 :         ros::Duration wait(0.001);
+    3557           0 :         wait.sleep();
+    3558             : 
+    3559           0 :         if (!running_async_control_) {
+    3560           0 :           ROS_DEBUG("[ControlManager]: control timer finished");
+    3561           0 :           break;
+    3562             :         }
+    3563             :       }
+    3564             : 
+    3565             :       {
+    3566           0 :         std::scoped_lock lock(mutex_controller_list_, mutex_tracker_list_);
+    3567             : 
+    3568           0 :         tracker_list_.at(active_tracker_idx_)->switchOdometrySource(uav_state_odom);
+    3569           0 :         controller_list_.at(active_controller_idx_)->switchOdometrySource(uav_state_odom);
+    3570             :       }
+    3571             :     }
+    3572             :   }
+    3573             : 
+    3574             :   //}
+    3575             : 
+    3576             :   // | ----------- copy the odometry to the uav_state ----------- |
+    3577             : 
+    3578             :   {
+    3579           0 :     std::scoped_lock lock(mutex_uav_state_);
+    3580             : 
+    3581           0 :     previous_uav_state_ = uav_state_;
+    3582             : 
+    3583           0 :     uav_state_ = mrs_msgs::UavState();
+    3584             : 
+    3585           0 :     uav_state_.header           = odom->header;
+    3586           0 :     uav_state_.pose             = odom->pose.pose;
+    3587           0 :     uav_state_.velocity.angular = odom->twist.twist.angular;
+    3588             : 
+    3589             :     // transform the twist into the header's frame
+    3590             :     {
+    3591             :       // the velocity from the odometry
+    3592           0 :       geometry_msgs::Vector3Stamped speed_child_frame;
+    3593           0 :       speed_child_frame.header.frame_id = odom->child_frame_id;
+    3594           0 :       speed_child_frame.header.stamp    = odom->header.stamp;
+    3595           0 :       speed_child_frame.vector.x        = odom->twist.twist.linear.x;
+    3596           0 :       speed_child_frame.vector.y        = odom->twist.twist.linear.y;
+    3597           0 :       speed_child_frame.vector.z        = odom->twist.twist.linear.z;
+    3598             : 
+    3599           0 :       auto res = transformer_->transformSingle(speed_child_frame, odom->header.frame_id);
+    3600             : 
+    3601           0 :       if (res) {
+    3602           0 :         uav_state_.velocity.linear.x = res.value().vector.x;
+    3603           0 :         uav_state_.velocity.linear.y = res.value().vector.y;
+    3604           0 :         uav_state_.velocity.linear.z = res.value().vector.z;
+    3605             :       } else {
+    3606           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not transform the odometry speed from '%s' to '%s'", odom->child_frame_id.c_str(),
+    3607             :                            odom->header.frame_id.c_str());
+    3608           0 :         return;
+    3609             :       }
+    3610             :     }
+    3611             : 
+    3612             :     // calculate the euler angles
+    3613           0 :     std::tie(uav_roll_, uav_pitch_, uav_yaw_) = mrs_lib::AttitudeConverter(odom->pose.pose.orientation);
+    3614             : 
+    3615             :     try {
+    3616           0 :       uav_heading_ = mrs_lib::AttitudeConverter(odom->pose.pose.orientation).getHeading();
+    3617             :     }
+    3618           0 :     catch (...) {
+    3619           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not calculate UAV heading");
+    3620             :     }
+    3621             : 
+    3622           0 :     transformer_->setDefaultFrame(odom->header.frame_id);
+    3623             : 
+    3624           0 :     got_uav_state_ = true;
+    3625             :   }
+    3626             : 
+    3627             :   // run the control loop asynchronously in an OneShotTimer
+    3628             :   // but only if its not already running
+    3629           0 :   if (!running_async_control_) {
+    3630             : 
+    3631           0 :     running_async_control_ = true;
+    3632             : 
+    3633           0 :     async_control_result_ = std::async(std::launch::async, &ControlManager::asyncControl, this);
+    3634             :   }
+    3635             : }
+    3636             : 
+    3637             : //}
+    3638             : 
+    3639             : /* //{ callbackUavState() */
+    3640             : 
+    3641      172664 : void ControlManager::callbackUavState(const mrs_msgs::UavState::ConstPtr msg) {
+    3642             : 
+    3643      172664 :   if (!is_initialized_) {
+    3644       22818 :     return;
+    3645             :   }
+    3646             : 
+    3647      345328 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackUavState");
+    3648      345328 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackUavState", scope_timer_logger_, scope_timer_enabled_);
+    3649             : 
+    3650      172664 :   mrs_msgs::UavStateConstPtr uav_state = msg;
+    3651             : 
+    3652             :   // | ------------------ check for time stamp ------------------ |
+    3653             : 
+    3654             :   {
+    3655      172664 :     std::scoped_lock lock(mutex_uav_state_);
+    3656             : 
+    3657      172664 :     if (uav_state_.header.stamp == uav_state->header.stamp) {
+    3658       22818 :       return;
+    3659             :     }
+    3660             :   }
+    3661             : 
+    3662             :   // | --------------------- check for nans --------------------- |
+    3663             : 
+    3664      149846 :   if (!validateUavState(*uav_state, "ControlManager", "uav_state")) {
+    3665           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: incoming 'uav_state' contains invalid values, throwing it away");
+    3666           0 :     return;
+    3667             :   }
+    3668             : 
+    3669             :   // | -------------------- check for hiccups ------------------- |
+    3670             : 
+    3671             :   /* hickup detection //{ */
+    3672             : 
+    3673      149846 :   double alpha               = 0.99;
+    3674      149846 :   double alpha2              = 0.666;
+    3675      149846 :   double uav_state_count_lim = 1000;
+    3676             : 
+    3677      149846 :   double uav_state_dt = (ros::Time::now() - previous_uav_state_.header.stamp).toSec();
+    3678             : 
+    3679             :   // belive only reasonable numbers
+    3680      149846 :   if (uav_state_dt <= 1.0) {
+    3681             : 
+    3682      149630 :     uav_state_avg_dt_ = alpha * uav_state_avg_dt_ + (1 - alpha) * uav_state_dt;
+    3683             : 
+    3684      149630 :     if (uav_state_count_ < uav_state_count_lim) {
+    3685       82354 :       uav_state_count_++;
+    3686             :     }
+    3687             :   }
+    3688             : 
+    3689      149846 :   if (uav_state_count_ == uav_state_count_lim) {
+    3690             : 
+    3691             :     /* ROS_INFO_STREAM("[ControlManager]: uav_state_dt = " << uav_state_dt); */
+    3692             : 
+    3693       67340 :     if (uav_state_dt < uav_state_avg_dt_ && uav_state_dt > 0.0001) {
+    3694             : 
+    3695       29713 :       uav_state_hiccup_factor_ = alpha2 * uav_state_hiccup_factor_ + (1 - alpha2) * (uav_state_avg_dt_ / uav_state_dt);
+    3696             : 
+    3697       37627 :     } else if (uav_state_avg_dt_ > 0.0001) {
+    3698             : 
+    3699       37627 :       uav_state_hiccup_factor_ = alpha2 * uav_state_hiccup_factor_ + (1 - alpha2) * (uav_state_dt / uav_state_avg_dt_);
+    3700             :     }
+    3701             : 
+    3702       67340 :     if (uav_state_hiccup_factor_ > 3.141592653) {
+    3703             : 
+    3704             :       /* ROS_ERROR_STREAM_THROTTLE(0.1, "[ControlManager]: hiccup factor = " << uav_state_hiccup_factor_); */
+    3705             : 
+    3706           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: ");
+    3707           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // | ------------------------- WARNING ------------------------ |");
+    3708           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |                                                            |");
+    3709           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |            UAV_STATE has a large hiccup factor!            |");
+    3710           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |           hint, hint: you are probably rosbagging          |");
+    3711           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |           lot of data or publishing lot of large           |");
+    3712           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |          messages without mutual nodelet managers.         |");
+    3713           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |                                                            |");
+    3714           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // | ------------------------- WARNING ------------------------ |");
+    3715           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: ");
+    3716             :     }
+    3717             :   }
+    3718             : 
+    3719             :   //}
+    3720             : 
+    3721             :   // | ---------------------- frame switch ---------------------- |
+    3722             : 
+    3723             :   /* frame switch //{ */
+    3724             : 
+    3725             :   // | ----- check for change in odometry frame of reference ---- |
+    3726             : 
+    3727      149846 :   if (got_uav_state_) {
+    3728             : 
+    3729      149738 :     if (uav_state->estimator_iteration != uav_state_.estimator_iteration) {
+    3730             : 
+    3731           5 :       ROS_INFO("[ControlManager]: detecting switch of odometry frame");
+    3732             :       {
+    3733          10 :         std::scoped_lock lock(mutex_uav_state_);
+    3734             : 
+    3735           5 :         ROS_INFO("[ControlManager]: odometry before switch: x=%.2f, y=%.2f, z=%.2f, heading=%.2f", uav_state_.pose.position.x, uav_state_.pose.position.y,
+    3736             :                  uav_state_.pose.position.z, uav_heading_);
+    3737             :       }
+    3738             : 
+    3739           5 :       odometry_switch_in_progress_ = true;
+    3740             : 
+    3741             :       // we have to stop safety timer, otherwise it will interfere
+    3742           5 :       ROS_DEBUG("[ControlManager]: stopping the safety timer");
+    3743           5 :       timer_safety_.stop();
+    3744           5 :       ROS_DEBUG("[ControlManager]: safety timer stopped");
+    3745             : 
+    3746             :       // wait for the safety timer to stop if its running
+    3747           5 :       while (running_safety_timer_) {
+    3748             : 
+    3749           0 :         ROS_DEBUG("[ControlManager]: waiting for safety timer to finish");
+    3750           0 :         ros::Duration wait(0.001);
+    3751           0 :         wait.sleep();
+    3752             : 
+    3753           0 :         if (!running_safety_timer_) {
+    3754           0 :           ROS_DEBUG("[ControlManager]: safety timer finished");
+    3755           0 :           break;
+    3756             :         }
+    3757             :       }
+    3758             : 
+    3759             :       // we have to also for the oneshot control timer to finish
+    3760           5 :       while (running_async_control_) {
+    3761             : 
+    3762           0 :         ROS_DEBUG("[ControlManager]: waiting for control timer to finish");
+    3763           0 :         ros::Duration wait(0.001);
+    3764           0 :         wait.sleep();
+    3765             : 
+    3766           0 :         if (!running_async_control_) {
+    3767           0 :           ROS_DEBUG("[ControlManager]: control timer finished");
+    3768           0 :           break;
+    3769             :         }
+    3770             :       }
+    3771             : 
+    3772             :       {
+    3773          10 :         std::scoped_lock lock(mutex_controller_list_, mutex_tracker_list_);
+    3774             : 
+    3775           5 :         tracker_list_.at(active_tracker_idx_)->switchOdometrySource(*uav_state);
+    3776           5 :         controller_list_.at(active_controller_idx_)->switchOdometrySource(*uav_state);
+    3777             :       }
+    3778             :     }
+    3779             :   }
+    3780             : 
+    3781             :   //}
+    3782             : 
+    3783             :   // --------------------------------------------------------------
+    3784             :   // |           copy the UavState message for later use          |
+    3785             :   // --------------------------------------------------------------
+    3786             : 
+    3787             :   {
+    3788      149846 :     std::scoped_lock lock(mutex_uav_state_);
+    3789             : 
+    3790      149846 :     previous_uav_state_ = uav_state_;
+    3791             : 
+    3792      149846 :     uav_state_ = *uav_state;
+    3793             : 
+    3794      149846 :     std::tie(uav_roll_, uav_pitch_, uav_yaw_) = mrs_lib::AttitudeConverter(uav_state_.pose.orientation);
+    3795             : 
+    3796             :     try {
+    3797      149846 :       uav_heading_ = mrs_lib::AttitudeConverter(uav_state_.pose.orientation).getHeading();
+    3798             :     }
+    3799           0 :     catch (...) {
+    3800           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not calculate UAV heading, not updating it");
+    3801             :     }
+    3802             : 
+    3803      149846 :     transformer_->setDefaultFrame(uav_state->header.frame_id);
+    3804             : 
+    3805      149846 :     got_uav_state_ = true;
+    3806             :   }
+    3807             : 
+    3808             :   // run the control loop asynchronously in an OneShotTimer
+    3809             :   // but only if its not already running
+    3810      149846 :   if (!running_async_control_) {
+    3811             : 
+    3812      147970 :     running_async_control_ = true;
+    3813             : 
+    3814      147970 :     async_control_result_ = std::async(std::launch::async, &ControlManager::asyncControl, this);
+    3815             :   }
+    3816             : }
+    3817             : 
+    3818             : //}
+    3819             : 
+    3820             : /* //{ callbackGNSS() */
+    3821             : 
+    3822       77599 : void ControlManager::callbackGNSS(const sensor_msgs::NavSatFix::ConstPtr msg) {
+    3823             : 
+    3824       77599 :   if (!is_initialized_) {
+    3825          96 :     return;
+    3826             :   }
+    3827             : 
+    3828      232509 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGNSS");
+    3829      232509 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGNSS", scope_timer_logger_, scope_timer_enabled_);
+    3830             : 
+    3831       77503 :   transformer_->setLatLon(msg->latitude, msg->longitude);
+    3832             : }
+    3833             : 
+    3834             : //}
+    3835             : 
+    3836             : /* callbackJoystick() //{ */
+    3837             : 
+    3838           0 : void ControlManager::callbackJoystick(const sensor_msgs::Joy::ConstPtr msg) {
+    3839             : 
+    3840           0 :   if (!is_initialized_) {
+    3841           0 :     return;
+    3842             :   }
+    3843             : 
+    3844           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackJoystick");
+    3845           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackJoystick", scope_timer_logger_, scope_timer_enabled_);
+    3846             : 
+    3847             :   // copy member variables
+    3848           0 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    3849           0 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    3850             : 
+    3851           0 :   sensor_msgs::JoyConstPtr joystick_data = msg;
+    3852             : 
+    3853             :   // TODO check if the array is smaller than the largest idx
+    3854           0 :   if (joystick_data->buttons.size() == 0 || joystick_data->axes.size() == 0) {
+    3855           0 :     return;
+    3856             :   }
+    3857             : 
+    3858             :   // | ---- switching back to fallback tracker and controller --- |
+    3859             : 
+    3860             :   // if any of the A, B, X, Y buttons are pressed when flying with joystick, switch back to fallback controller and tracker
+    3861           0 :   if ((joystick_data->buttons.at(_channel_A_) == 1 || joystick_data->buttons.at(_channel_B_) == 1 || joystick_data->buttons.at(_channel_X_) == 1 ||
+    3862           0 :        joystick_data->buttons.at(_channel_Y_) == 1) &&
+    3863           0 :       active_tracker_idx == _joystick_tracker_idx_ && active_controller_idx == _joystick_controller_idx_) {
+    3864             : 
+    3865           0 :     ROS_INFO("[ControlManager]: switching from joystick to normal control");
+    3866             : 
+    3867           0 :     switchTracker(_joystick_fallback_tracker_name_);
+    3868           0 :     switchController(_joystick_fallback_controller_name_);
+    3869             : 
+    3870           0 :     joystick_goto_enabled_ = false;
+    3871             :   }
+    3872             : 
+    3873             :   // | ------- joystick control activation ------- |
+    3874             : 
+    3875             :   // if start button was pressed
+    3876           0 :   if (joystick_data->buttons.at(_channel_start_) == 1) {
+    3877             : 
+    3878           0 :     if (!joystick_start_pressed_) {
+    3879             : 
+    3880           0 :       ROS_INFO("[ControlManager]: joystick start button pressed");
+    3881             : 
+    3882           0 :       joystick_start_pressed_    = true;
+    3883           0 :       joystick_start_press_time_ = ros::Time::now();
+    3884             :     }
+    3885             : 
+    3886           0 :   } else if (joystick_start_pressed_) {
+    3887             : 
+    3888           0 :     ROS_INFO("[ControlManager]: joystick start button released");
+    3889             : 
+    3890           0 :     joystick_start_pressed_    = false;
+    3891           0 :     joystick_start_press_time_ = ros::Time(0);
+    3892             :   }
+    3893             : 
+    3894             :   // | ---------------- Joystick goto activation ---------------- |
+    3895             : 
+    3896             :   // if back button was pressed
+    3897           0 :   if (joystick_data->buttons.at(_channel_back_) == 1) {
+    3898             : 
+    3899           0 :     if (!joystick_back_pressed_) {
+    3900             : 
+    3901           0 :       ROS_INFO("[ControlManager]: joystick back button pressed");
+    3902             : 
+    3903           0 :       joystick_back_pressed_    = true;
+    3904           0 :       joystick_back_press_time_ = ros::Time::now();
+    3905             :     }
+    3906             : 
+    3907           0 :   } else if (joystick_back_pressed_) {
+    3908             : 
+    3909           0 :     ROS_INFO("[ControlManager]: joystick back button released");
+    3910             : 
+    3911           0 :     joystick_back_pressed_    = false;
+    3912           0 :     joystick_back_press_time_ = ros::Time(0);
+    3913             :   }
+    3914             : 
+    3915             :   // | ------------------------ Failsafes ----------------------- |
+    3916             : 
+    3917             :   // if LT and RT buttons are both pressed down
+    3918           0 :   if (joystick_data->axes.at(_channel_LT_) < -0.99 && joystick_data->axes.at(_channel_RT_) < -0.99) {
+    3919             : 
+    3920           0 :     if (!joystick_failsafe_pressed_) {
+    3921             : 
+    3922           0 :       ROS_INFO("[ControlManager]: joystick Failsafe pressed");
+    3923             : 
+    3924           0 :       joystick_failsafe_pressed_    = true;
+    3925           0 :       joystick_failsafe_press_time_ = ros::Time::now();
+    3926             :     }
+    3927             : 
+    3928           0 :   } else if (joystick_failsafe_pressed_) {
+    3929             : 
+    3930           0 :     ROS_INFO("[ControlManager]: joystick Failsafe released");
+    3931             : 
+    3932           0 :     joystick_failsafe_pressed_    = false;
+    3933           0 :     joystick_failsafe_press_time_ = ros::Time(0);
+    3934             :   }
+    3935             : 
+    3936             :   // if left and right joypads are both pressed down
+    3937           0 :   if (joystick_data->buttons.at(_channel_L_joy_) == 1 && joystick_data->buttons.at(_channel_R_joy_) == 1) {
+    3938             : 
+    3939           0 :     if (!joystick_eland_pressed_) {
+    3940             : 
+    3941           0 :       ROS_INFO("[ControlManager]: joystick eland pressed");
+    3942             : 
+    3943           0 :       joystick_eland_pressed_    = true;
+    3944           0 :       joystick_eland_press_time_ = ros::Time::now();
+    3945             :     }
+    3946             : 
+    3947           0 :   } else if (joystick_eland_pressed_) {
+    3948             : 
+    3949           0 :     ROS_INFO("[ControlManager]: joystick eland released");
+    3950             : 
+    3951           0 :     joystick_eland_pressed_    = false;
+    3952           0 :     joystick_eland_press_time_ = ros::Time(0);
+    3953             :   }
+    3954             : }
+    3955             : 
+    3956             : //}
+    3957             : 
+    3958             : /* //{ callbackHwApiStatus() */
+    3959             : 
+    3960      443998 : void ControlManager::callbackHwApiStatus(const mrs_msgs::HwApiStatus::ConstPtr msg) {
+    3961             : 
+    3962      443998 :   if (!is_initialized_) {
+    3963         431 :     return;
+    3964             :   }
+    3965             : 
+    3966     1330701 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackHwApiStatus");
+    3967     1330701 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackHwApiStatus", scope_timer_logger_, scope_timer_enabled_);
+    3968             : 
+    3969      887134 :   mrs_msgs::HwApiStatusConstPtr state = msg;
+    3970             : 
+    3971             :   // | ------ detect and print the changes in offboard mode ----- |
+    3972      443567 :   if (state->offboard) {
+    3973             : 
+    3974      309780 :     if (!offboard_mode_) {
+    3975         102 :       offboard_mode_          = true;
+    3976         102 :       offboard_mode_was_true_ = true;
+    3977         102 :       ROS_INFO("[ControlManager]: detected: OFFBOARD mode ON");
+    3978             :     }
+    3979             : 
+    3980             :   } else {
+    3981             : 
+    3982      133787 :     if (offboard_mode_) {
+    3983           0 :       offboard_mode_ = false;
+    3984           0 :       ROS_INFO("[ControlManager]: detected: OFFBOARD mode OFF");
+    3985             :     }
+    3986             :   }
+    3987             : 
+    3988             :   // | --------- detect and print the changes in arming --------- |
+    3989      443567 :   if (state->armed == true) {
+    3990             : 
+    3991      323217 :     if (!armed_) {
+    3992         107 :       armed_ = true;
+    3993         107 :       ROS_INFO("[ControlManager]: detected: vehicle ARMED");
+    3994             :     }
+    3995             : 
+    3996             :   } else {
+    3997             : 
+    3998      120350 :     if (armed_) {
+    3999          20 :       armed_ = false;
+    4000          20 :       ROS_INFO("[ControlManager]: detected: vehicle DISARMED");
+    4001             :     }
+    4002             :   }
+    4003             : }
+    4004             : 
+    4005             : //}
+    4006             : 
+    4007             : /* //{ callbackRC() */
+    4008             : 
+    4009       24835 : void ControlManager::callbackRC(const mrs_msgs::HwApiRcChannels::ConstPtr msg) {
+    4010             : 
+    4011       24835 :   if (!is_initialized_) {
+    4012           0 :     return;
+    4013             :   }
+    4014             : 
+    4015       74505 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackRC");
+    4016       74505 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackRC", scope_timer_logger_, scope_timer_enabled_);
+    4017             : 
+    4018       49670 :   mrs_msgs::HwApiRcChannelsConstPtr rc = msg;
+    4019             : 
+    4020       24835 :   ROS_INFO_ONCE("[ControlManager]: getting RC channels");
+    4021             : 
+    4022             :   // | ------------------- rc joystic control ------------------- |
+    4023             : 
+    4024             :   // when the switch change its position
+    4025       24835 :   if (_rc_goto_enabled_) {
+    4026             : 
+    4027       24835 :     if (_rc_joystick_channel_ >= int(rc->channels.size())) {
+    4028             : 
+    4029           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: RC joystick activation channel number (%d) is out of range [0-%d]", _rc_joystick_channel_,
+    4030             :                          int(rc->channels.size()));
+    4031             : 
+    4032             :     } else {
+    4033             : 
+    4034       24835 :       bool channel_low  = rc->channels.at(_rc_joystick_channel_) < (0.5 - RC_DEADBAND) ? true : false;
+    4035       24835 :       bool channel_high = rc->channels.at(_rc_joystick_channel_) > (0.5 + RC_DEADBAND) ? true : false;
+    4036             : 
+    4037       24835 :       if (channel_low) {
+    4038       22222 :         rc_joystick_channel_was_low_ = true;
+    4039             :       }
+    4040             : 
+    4041             :       // rc control activation
+    4042       24835 :       if (!rc_goto_active_) {
+    4043             : 
+    4044       22222 :         if (rc_joystick_channel_last_value_ < (0.5 - RC_DEADBAND) && channel_high) {
+    4045             : 
+    4046           2 :           if (isFlyingNormally()) {
+    4047             : 
+    4048           2 :             ROS_INFO_THROTTLE(1.0, "[ControlManager]: activating RC joystick");
+    4049             : 
+    4050           2 :             callbacks_enabled_ = false;
+    4051             : 
+    4052           2 :             std_srvs::SetBoolRequest req_goto_out;
+    4053           2 :             req_goto_out.data = false;
+    4054             : 
+    4055           2 :             std_srvs::SetBoolRequest req_enable_callbacks;
+    4056           2 :             req_enable_callbacks.data = callbacks_enabled_;
+    4057             : 
+    4058             :             {
+    4059           4 :               std::scoped_lock lock(mutex_tracker_list_);
+    4060             : 
+    4061             :               // disable callbacks of all trackers
+    4062          14 :               for (int i = 0; i < int(tracker_list_.size()); i++) {
+    4063          12 :                 tracker_list_.at(i)->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4064             :               }
+    4065             :             }
+    4066             : 
+    4067           2 :             rc_goto_active_ = true;
+    4068             : 
+    4069             :           } else {
+    4070             : 
+    4071           0 :             ROS_WARN_THROTTLE(1.0, "[ControlManager]: can not activate RC joystick, not flying normally");
+    4072           2 :           }
+    4073             : 
+    4074       22220 :         } else if (channel_high && !rc_joystick_channel_was_low_) {
+    4075             : 
+    4076           0 :           ROS_WARN_THROTTLE(1.0, "[ControlManager]: can not activate RC joystick, the switch is ON from the beginning");
+    4077             :         }
+    4078             :       }
+    4079             : 
+    4080             :       // rc control deactivation
+    4081       24835 :       if (rc_goto_active_ && channel_low) {
+    4082             : 
+    4083           2 :         ROS_INFO("[ControlManager]: deactivating RC joystick");
+    4084             : 
+    4085           2 :         callbacks_enabled_ = true;
+    4086             : 
+    4087           2 :         std_srvs::SetBoolRequest req_goto_out;
+    4088           2 :         req_goto_out.data = true;
+    4089             : 
+    4090           2 :         std_srvs::SetBoolRequest req_enable_callbacks;
+    4091           2 :         req_enable_callbacks.data = callbacks_enabled_;
+    4092             : 
+    4093             :         {
+    4094           4 :           std::scoped_lock lock(mutex_tracker_list_);
+    4095             : 
+    4096             :           // enable callbacks of all trackers
+    4097          14 :           for (int i = 0; i < int(tracker_list_.size()); i++) {
+    4098          12 :             tracker_list_.at(i)->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4099             :           }
+    4100             :         }
+    4101             : 
+    4102           2 :         rc_goto_active_ = false;
+    4103             :       }
+    4104             : 
+    4105             :       // do not forget to update the last... variable
+    4106             :       // only do that if its out of the deadband
+    4107       24835 :       if (channel_high || channel_low) {
+    4108       24835 :         rc_joystick_channel_last_value_ = rc->channels.at(_rc_joystick_channel_);
+    4109             :       }
+    4110             :     }
+    4111             :   }
+    4112             : 
+    4113             :   // | ----------------- RC escalating failsafe ----------------- |
+    4114             : 
+    4115       24835 :   if (_rc_escalating_failsafe_enabled_) {
+    4116             : 
+    4117       24835 :     if (_rc_escalating_failsafe_channel_ >= int(rc->channels.size())) {
+    4118             : 
+    4119           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: RC eland channel number (%d) is out of range [0-%d]", _rc_escalating_failsafe_channel_,
+    4120             :                          int(rc->channels.size()));
+    4121             : 
+    4122             :     } else {
+    4123             : 
+    4124       24835 :       if (rc->channels.at(_rc_escalating_failsafe_channel_) >= _rc_escalating_failsafe_threshold_) {
+    4125             : 
+    4126         140 :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: triggering escalating failsafe by RC");
+    4127             : 
+    4128         280 :         auto [success, message] = escalatingFailsafe();
+    4129             : 
+    4130         140 :         if (success) {
+    4131           3 :           rc_escalating_failsafe_triggered_ = true;
+    4132             :         }
+    4133             :       }
+    4134             :     }
+    4135             :   }
+    4136             : }
+    4137             : 
+    4138             : //}
+    4139             : 
+    4140             : // | --------------------- topic timeouts --------------------- |
+    4141             : 
+    4142             : /* timeoutUavState() //{ */
+    4143             : 
+    4144           1 : void ControlManager::timeoutUavState(const double& missing_for) {
+    4145             : 
+    4146           2 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    4147             : 
+    4148           1 :   if (output_enabled_ && last_control_output.control_output && !failsafe_triggered_) {
+    4149             : 
+    4150             :     // We need to fire up timerFailsafe, which will regularly trigger the controllers
+    4151             :     // in place of the callbackUavState/callbackOdometry().
+    4152             : 
+    4153           1 :     ROS_ERROR_THROTTLE(0.1, "[ControlManager]: not receiving uav_state/odometry for %.3f s, initiating failsafe land", missing_for);
+    4154             : 
+    4155           1 :     failsafe();
+    4156             :   }
+    4157           1 : }
+    4158             : 
+    4159             : //}
+    4160             : 
+    4161             : // | -------------------- service callbacks ------------------- |
+    4162             : 
+    4163             : /* //{ callbackSwitchTracker() */
+    4164             : 
+    4165         212 : bool ControlManager::callbackSwitchTracker(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+    4166             : 
+    4167         212 :   if (!is_initialized_) {
+    4168           0 :     return false;
+    4169             :   }
+    4170             : 
+    4171         212 :   if (failsafe_triggered_ || eland_triggered_) {
+    4172             : 
+    4173           0 :     std::stringstream ss;
+    4174           0 :     ss << "can not switch tracker, eland or failsafe active";
+    4175             : 
+    4176           0 :     res.message = ss.str();
+    4177           0 :     res.success = false;
+    4178             : 
+    4179           0 :     ROS_WARN_STREAM("[ControlManager]: " << ss.str());
+    4180             : 
+    4181           0 :     return true;
+    4182             :   }
+    4183             : 
+    4184         212 :   auto [success, response] = switchTracker(req.value);
+    4185             : 
+    4186         212 :   res.success = success;
+    4187         212 :   res.message = response;
+    4188             : 
+    4189         212 :   return true;
+    4190             : }
+    4191             : 
+    4192             : //}
+    4193             : 
+    4194             : /* callbackSwitchController() //{ */
+    4195             : 
+    4196         213 : bool ControlManager::callbackSwitchController(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+    4197             : 
+    4198         213 :   if (!is_initialized_) {
+    4199           0 :     return false;
+    4200             :   }
+    4201             : 
+    4202         213 :   if (failsafe_triggered_ || eland_triggered_) {
+    4203             : 
+    4204           0 :     std::stringstream ss;
+    4205           0 :     ss << "can not switch controller, eland or failsafe active";
+    4206             : 
+    4207           0 :     res.message = ss.str();
+    4208           0 :     res.success = false;
+    4209             : 
+    4210           0 :     ROS_WARN_STREAM("[ControlManager]: " << ss.str());
+    4211             : 
+    4212           0 :     return true;
+    4213             :   }
+    4214             : 
+    4215         213 :   auto [success, response] = switchController(req.value);
+    4216             : 
+    4217         213 :   res.success = success;
+    4218         213 :   res.message = response;
+    4219             : 
+    4220         213 :   return true;
+    4221             : }
+    4222             : 
+    4223             : //}
+    4224             : 
+    4225             : /* //{ callbackSwitchTracker() */
+    4226             : 
+    4227           0 : bool ControlManager::callbackTrackerResetStatic([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4228             : 
+    4229           0 :   if (!is_initialized_) {
+    4230           0 :     return false;
+    4231             :   }
+    4232             : 
+    4233           0 :   std::stringstream message;
+    4234             : 
+    4235           0 :   if (failsafe_triggered_ || eland_triggered_) {
+    4236             : 
+    4237           0 :     message << "can not reset tracker, eland or failsafe active";
+    4238             : 
+    4239           0 :     res.message = message.str();
+    4240           0 :     res.success = false;
+    4241             : 
+    4242           0 :     ROS_WARN_STREAM("[ControlManager]: " << message.str());
+    4243             : 
+    4244           0 :     return true;
+    4245             :   }
+    4246             : 
+    4247             :   // reactivate the current tracker
+    4248             :   {
+    4249           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    4250             : 
+    4251           0 :     std::string tracker_name = _tracker_names_.at(active_tracker_idx_);
+    4252             : 
+    4253           0 :     bool succ = tracker_list_.at(active_tracker_idx_)->resetStatic();
+    4254             : 
+    4255           0 :     if (succ) {
+    4256           0 :       message << "the tracker '" << tracker_name << "' was reset";
+    4257           0 :       ROS_INFO_STREAM("[ControlManager]: " << message.str());
+    4258             :     } else {
+    4259           0 :       message << "the tracker '" << tracker_name << "' reset failed!";
+    4260           0 :       ROS_ERROR_STREAM("[ControlManager]: " << message.str());
+    4261             :     }
+    4262             :   }
+    4263             : 
+    4264           0 :   res.message = message.str();
+    4265           0 :   res.success = true;
+    4266             : 
+    4267           0 :   return true;
+    4268             : }
+    4269             : 
+    4270             : //}
+    4271             : 
+    4272             : /* //{ callbackEHover() */
+    4273             : 
+    4274           2 : bool ControlManager::callbackEHover([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4275             : 
+    4276           2 :   if (!is_initialized_) {
+    4277           0 :     return false;
+    4278             :   }
+    4279             : 
+    4280           2 :   if (failsafe_triggered_ || eland_triggered_) {
+    4281             : 
+    4282           0 :     std::stringstream ss;
+    4283           0 :     ss << "can not switch controller, eland or failsafe active";
+    4284             : 
+    4285           0 :     res.message = ss.str();
+    4286           0 :     res.success = false;
+    4287             : 
+    4288           0 :     ROS_WARN_STREAM("[ControlManager]: " << ss.str());
+    4289             : 
+    4290           0 :     return true;
+    4291             :   }
+    4292             : 
+    4293           2 :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: ehover trigger by callback");
+    4294             : 
+    4295           2 :   auto [success, message] = ehover();
+    4296             : 
+    4297           2 :   res.success = success;
+    4298           2 :   res.message = message;
+    4299             : 
+    4300           2 :   return true;
+    4301             : }
+    4302             : 
+    4303             : //}
+    4304             : 
+    4305             : /* callbackFailsafe() //{ */
+    4306             : 
+    4307           4 : bool ControlManager::callbackFailsafe([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4308             : 
+    4309           4 :   if (!is_initialized_) {
+    4310           0 :     return false;
+    4311             :   }
+    4312             : 
+    4313           4 :   if (failsafe_triggered_) {
+    4314             : 
+    4315           0 :     std::stringstream ss;
+    4316           0 :     ss << "can not activate failsafe, it is already active";
+    4317             : 
+    4318           0 :     res.message = ss.str();
+    4319           0 :     res.success = false;
+    4320             : 
+    4321           0 :     ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4322             : 
+    4323           0 :     return true;
+    4324             :   }
+    4325             : 
+    4326           4 :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: failsafe triggered by callback");
+    4327             : 
+    4328           4 :   auto [success, message] = failsafe();
+    4329             : 
+    4330           4 :   res.success = success;
+    4331           4 :   res.message = message;
+    4332             : 
+    4333           4 :   return true;
+    4334             : }
+    4335             : 
+    4336             : //}
+    4337             : 
+    4338             : /* callbackFailsafeEscalating() //{ */
+    4339             : 
+    4340           7 : bool ControlManager::callbackFailsafeEscalating([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4341             : 
+    4342           7 :   if (!is_initialized_) {
+    4343           0 :     return false;
+    4344             :   }
+    4345             : 
+    4346           7 :   if (_service_escalating_failsafe_enabled_) {
+    4347             : 
+    4348           7 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: escalating failsafe triggered by callback");
+    4349             : 
+    4350          14 :     auto [success, message] = escalatingFailsafe();
+    4351             : 
+    4352           7 :     res.success = success;
+    4353           7 :     res.message = message;
+    4354             : 
+    4355             :   } else {
+    4356             : 
+    4357           0 :     std::stringstream ss;
+    4358           0 :     ss << "escalating failsafe is disabled";
+    4359             : 
+    4360           0 :     res.success = false;
+    4361           0 :     res.message = ss.str();
+    4362             : 
+    4363           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: %s", ss.str().c_str());
+    4364             :   }
+    4365             : 
+    4366           7 :   return true;
+    4367             : }
+    4368             : 
+    4369             : //}
+    4370             : 
+    4371             : /* //{ callbackELand() */
+    4372             : 
+    4373           2 : bool ControlManager::callbackEland([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4374             : 
+    4375           2 :   if (!is_initialized_) {
+    4376           0 :     return false;
+    4377             :   }
+    4378             : 
+    4379           2 :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: eland triggered by callback");
+    4380             : 
+    4381           2 :   auto [success, message] = eland();
+    4382             : 
+    4383           2 :   res.success = success;
+    4384           2 :   res.message = message;
+    4385             : 
+    4386           2 :   return true;
+    4387             : }
+    4388             : 
+    4389             : //}
+    4390             : 
+    4391             : /* //{ callbackParachute() */
+    4392             : 
+    4393           0 : bool ControlManager::callbackParachute([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4394             : 
+    4395           0 :   if (!is_initialized_) {
+    4396           0 :     return false;
+    4397             :   }
+    4398             : 
+    4399           0 :   if (!_parachute_enabled_) {
+    4400             : 
+    4401           0 :     std::stringstream ss;
+    4402           0 :     ss << "parachute disabled";
+    4403           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4404           0 :     res.message = ss.str();
+    4405           0 :     res.success = false;
+    4406             :   }
+    4407             : 
+    4408           0 :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: parachute triggered by callback");
+    4409             : 
+    4410           0 :   auto [success, message] = deployParachute();
+    4411             : 
+    4412           0 :   res.success = success;
+    4413           0 :   res.message = message;
+    4414             : 
+    4415           0 :   return true;
+    4416             : }
+    4417             : 
+    4418             : //}
+    4419             : 
+    4420             : /* //{ callbackSetMinZ() */
+    4421             : 
+    4422           0 : bool ControlManager::callbackSetMinZ([[maybe_unused]] mrs_msgs::Float64StampedSrv::Request& req, mrs_msgs::Float64StampedSrv::Response& res) {
+    4423             : 
+    4424           0 :   if (!is_initialized_) {
+    4425           0 :     return false;
+    4426             :   }
+    4427             : 
+    4428           0 :   if (!use_safety_area_) {
+    4429           0 :     res.success = true;
+    4430           0 :     res.message = "safety area is disabled";
+    4431           0 :     return true;
+    4432             :   }
+    4433             : 
+    4434             :   // | -------- transform min_z to the safety area frame -------- |
+    4435             : 
+    4436           0 :   mrs_msgs::ReferenceStamped point;
+    4437           0 :   point.header               = req.header;
+    4438           0 :   point.reference.position.z = req.value;
+    4439             : 
+    4440           0 :   auto result = transformer_->transformSingle(point, _safety_area_vertical_frame_);
+    4441             : 
+    4442           0 :   if (result) {
+    4443             : 
+    4444           0 :     _safety_area_min_z_ = result.value().reference.position.z;
+    4445             : 
+    4446           0 :     res.success = true;
+    4447           0 :     res.message = "safety area's min z updated";
+    4448             : 
+    4449             :   } else {
+    4450             : 
+    4451           0 :     res.success = false;
+    4452           0 :     res.message = "could not transform the value to safety area's vertical frame";
+    4453             :   }
+    4454             : 
+    4455           0 :   return true;
+    4456             : }
+    4457             : 
+    4458             : //}
+    4459             : 
+    4460             : /* //{ callbackToggleOutput() */
+    4461             : 
+    4462         109 : bool ControlManager::callbackToggleOutput(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4463             : 
+    4464         109 :   if (!is_initialized_) {
+    4465           0 :     return false;
+    4466             :   }
+    4467             : 
+    4468         109 :   ROS_INFO("[ControlManager]: toggling output by service");
+    4469             : 
+    4470             :   // copy member variables
+    4471         218 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    4472             : 
+    4473         218 :   std::stringstream ss;
+    4474             : 
+    4475         109 :   bool prereq_check = true;
+    4476             : 
+    4477             :   {
+    4478         218 :     mrs_msgs::ReferenceStamped current_coord;
+    4479         109 :     current_coord.header.frame_id      = uav_state.header.frame_id;
+    4480         109 :     current_coord.reference.position.x = uav_state.pose.position.x;
+    4481         109 :     current_coord.reference.position.y = uav_state.pose.position.y;
+    4482             : 
+    4483         109 :     if (!isPointInSafetyArea2d(current_coord)) {
+    4484           1 :       ss << "cannot toggle output, the UAV is outside of the safety area!";
+    4485           1 :       prereq_check = false;
+    4486             :     }
+    4487             :   }
+    4488             : 
+    4489         109 :   if (req.data && (failsafe_triggered_ || eland_triggered_ || rc_escalating_failsafe_triggered_)) {
+    4490           0 :     ss << "cannot toggle output ON, we landed in emergency";
+    4491           0 :     prereq_check = false;
+    4492             :   }
+    4493             : 
+    4494         109 :   if (!sh_hw_api_status_.hasMsg() || (ros::Time::now() - sh_hw_api_status_.lastMsgTime()).toSec() > 1.0) {
+    4495           0 :     ss << "cannot toggle output ON, missing HW API status!";
+    4496           0 :     prereq_check = false;
+    4497             :   }
+    4498             : 
+    4499         109 :   if (!prereq_check) {
+    4500             : 
+    4501           1 :     res.message = ss.str();
+    4502           1 :     res.success = false;
+    4503             : 
+    4504           1 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4505             : 
+    4506           1 :     return false;
+    4507             : 
+    4508             :   } else {
+    4509             : 
+    4510         108 :     toggleOutput(req.data);
+    4511             : 
+    4512         108 :     ss << "Output: " << (output_enabled_ ? "ON" : "OFF");
+    4513         108 :     res.message = ss.str();
+    4514         108 :     res.success = true;
+    4515             : 
+    4516         108 :     ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4517             : 
+    4518         108 :     publishDiagnostics();
+    4519             : 
+    4520         108 :     return true;
+    4521             :   }
+    4522             : }
+    4523             : 
+    4524             : //}
+    4525             : 
+    4526             : /* callbackArm() //{ */
+    4527             : 
+    4528           7 : bool ControlManager::callbackArm(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4529             : 
+    4530           7 :   if (!is_initialized_) {
+    4531           0 :     return false;
+    4532             :   }
+    4533             : 
+    4534           7 :   ROS_INFO("[ControlManager]: arming by service");
+    4535             : 
+    4536          14 :   std::stringstream ss;
+    4537             : 
+    4538           7 :   if (failsafe_triggered_ || eland_triggered_) {
+    4539             : 
+    4540           0 :     ss << "can not " << (req.data ? "arm" : "disarm") << ", eland or failsafe active";
+    4541             : 
+    4542           0 :     res.message = ss.str();
+    4543           0 :     res.success = false;
+    4544             : 
+    4545           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4546             : 
+    4547           0 :     return true;
+    4548             :   }
+    4549             : 
+    4550           7 :   if (req.data) {
+    4551             : 
+    4552           0 :     ss << "this service is not allowed to arm the UAV";
+    4553           0 :     res.success = false;
+    4554           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4555             : 
+    4556             :   } else {
+    4557             : 
+    4558          14 :     auto [success, message] = arming(false);
+    4559             : 
+    4560           7 :     if (success) {
+    4561             : 
+    4562           7 :       ss << "disarmed";
+    4563           7 :       res.success = true;
+    4564           7 :       ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4565             : 
+    4566             :     } else {
+    4567             : 
+    4568           0 :       ss << "could not disarm: " << message;
+    4569           0 :       res.success = false;
+    4570           0 :       ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4571             :     }
+    4572             :   }
+    4573             : 
+    4574           7 :   res.message = ss.str();
+    4575             : 
+    4576           7 :   return true;
+    4577             : }
+    4578             : 
+    4579             : //}
+    4580             : 
+    4581             : /* //{ callbackEnableCallbacks() */
+    4582             : 
+    4583         102 : bool ControlManager::callbackEnableCallbacks(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4584             : 
+    4585         102 :   if (!is_initialized_) {
+    4586           0 :     return false;
+    4587             :   }
+    4588             : 
+    4589         102 :   setCallbacks(req.data);
+    4590             : 
+    4591         102 :   std::stringstream ss;
+    4592             : 
+    4593         102 :   ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+    4594             : 
+    4595         102 :   res.message = ss.str();
+    4596         102 :   res.success = true;
+    4597             : 
+    4598         102 :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4599             : 
+    4600         102 :   return true;
+    4601             : }
+    4602             : 
+    4603             : //}
+    4604             : 
+    4605             : /* callbackSetConstraints() //{ */
+    4606             : 
+    4607         111 : bool ControlManager::callbackSetConstraints(mrs_msgs::DynamicsConstraintsSrv::Request& req, mrs_msgs::DynamicsConstraintsSrv::Response& res) {
+    4608             : 
+    4609         111 :   if (!is_initialized_) {
+    4610           0 :     res.message = "not initialized";
+    4611           0 :     res.success = false;
+    4612           0 :     return true;
+    4613             :   }
+    4614             : 
+    4615             :   {
+    4616         222 :     std::scoped_lock lock(mutex_constraints_);
+    4617             : 
+    4618         111 :     current_constraints_ = req;
+    4619             : 
+    4620         111 :     auto enforced = enforceControllersConstraints(current_constraints_);
+    4621             : 
+    4622         111 :     if (enforced) {
+    4623           0 :       sanitized_constraints_      = enforced.value();
+    4624           0 :       constraints_being_enforced_ = true;
+    4625             :     } else {
+    4626         111 :       sanitized_constraints_      = req;
+    4627         111 :       constraints_being_enforced_ = false;
+    4628             :     }
+    4629             : 
+    4630         111 :     got_constraints_ = true;
+    4631             : 
+    4632         111 :     setConstraintsToControllers(current_constraints_);
+    4633         111 :     setConstraintsToTrackers(sanitized_constraints_);
+    4634             :   }
+    4635             : 
+    4636         111 :   res.message = "setting constraints";
+    4637         111 :   res.success = true;
+    4638             : 
+    4639         111 :   return true;
+    4640             : }
+    4641             : 
+    4642             : //}
+    4643             : 
+    4644             : /* //{ callbackEmergencyReference() */
+    4645             : 
+    4646         101 : bool ControlManager::callbackEmergencyReference(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res) {
+    4647             : 
+    4648         101 :   if (!is_initialized_) {
+    4649           0 :     return false;
+    4650             :   }
+    4651             : 
+    4652         202 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    4653             : 
+    4654         101 :   callbacks_enabled_ = false;
+    4655             : 
+    4656         101 :   mrs_msgs::ReferenceSrvResponse::ConstPtr tracker_response;
+    4657             : 
+    4658         202 :   std::stringstream ss;
+    4659             : 
+    4660             :   // transform the reference to the current frame
+    4661         202 :   mrs_msgs::ReferenceStamped original_reference;
+    4662         101 :   original_reference.header    = req.header;
+    4663         101 :   original_reference.reference = req.reference;
+    4664             : 
+    4665         202 :   auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    4666             : 
+    4667         101 :   if (!ret) {
+    4668             : 
+    4669           0 :     ss << "the emergency reference could not be transformed";
+    4670             : 
+    4671           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4672           0 :     res.message = ss.str();
+    4673           0 :     res.success = false;
+    4674           0 :     return true;
+    4675             :   }
+    4676             : 
+    4677         101 :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    4678             : 
+    4679         101 :   std_srvs::SetBoolRequest req_enable_callbacks;
+    4680             : 
+    4681         101 :   mrs_msgs::ReferenceSrvRequest req_goto_out;
+    4682         101 :   req_goto_out.reference = transformed_reference.reference;
+    4683             : 
+    4684             :   {
+    4685         202 :     std::scoped_lock lock(mutex_tracker_list_);
+    4686             : 
+    4687             :     // disable callbacks of all trackers
+    4688         101 :     req_enable_callbacks.data = false;
+    4689         707 :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    4690         606 :       tracker_list_.at(i)->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4691             :     }
+    4692             : 
+    4693             :     // enable the callbacks for the active tracker
+    4694         101 :     req_enable_callbacks.data = true;
+    4695         101 :     tracker_list_.at(active_tracker_idx_)
+    4696         101 :         ->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4697             : 
+    4698             :     // call the setReference()
+    4699         101 :     tracker_response = tracker_list_.at(active_tracker_idx_)
+    4700         101 :                            ->setReference(mrs_msgs::ReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::ReferenceSrvRequest>(req_goto_out)));
+    4701             : 
+    4702             :     // disable the callbacks back again
+    4703         101 :     req_enable_callbacks.data = false;
+    4704         101 :     tracker_list_.at(active_tracker_idx_)
+    4705         101 :         ->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4706             : 
+    4707         101 :     if (tracker_response != mrs_msgs::ReferenceSrvResponse::Ptr()) {
+    4708         101 :       res.message = tracker_response->message;
+    4709         101 :       res.success = tracker_response->success;
+    4710             :     } else {
+    4711           0 :       ss << "the tracker '" << _tracker_names_.at(active_tracker_idx_) << "' does not implement the 'setReference()' function!";
+    4712           0 :       res.message = ss.str();
+    4713           0 :       res.success = false;
+    4714             :     }
+    4715             :   }
+    4716             : 
+    4717         101 :   return true;
+    4718             : }
+    4719             : 
+    4720             : //}
+    4721             : 
+    4722             : /* callbackPirouette() //{ */
+    4723             : 
+    4724           0 : bool ControlManager::callbackPirouette([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4725             : 
+    4726           0 :   if (!is_initialized_) {
+    4727           0 :     return false;
+    4728             :   }
+    4729             : 
+    4730             :   // copy member variables
+    4731           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    4732             : 
+    4733             :   double uav_heading;
+    4734             :   try {
+    4735           0 :     uav_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    4736             :   }
+    4737           0 :   catch (...) {
+    4738           0 :     std::stringstream ss;
+    4739           0 :     ss << "could not calculate the UAV heading to initialize the pirouette";
+    4740             : 
+    4741           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4742             : 
+    4743           0 :     res.message = ss.str();
+    4744           0 :     res.success = false;
+    4745             : 
+    4746           0 :     return false;
+    4747             :   }
+    4748             : 
+    4749           0 :   if (_pirouette_enabled_) {
+    4750           0 :     res.success = false;
+    4751           0 :     res.message = "already active";
+    4752           0 :     return true;
+    4753             :   }
+    4754             : 
+    4755           0 :   if (failsafe_triggered_ || eland_triggered_ || rc_escalating_failsafe_triggered_) {
+    4756             : 
+    4757           0 :     std::stringstream ss;
+    4758           0 :     ss << "can not activate the pirouette, eland or failsafe active";
+    4759             : 
+    4760           0 :     res.message = ss.str();
+    4761           0 :     res.success = false;
+    4762             : 
+    4763           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4764             : 
+    4765           0 :     return true;
+    4766             :   }
+    4767             : 
+    4768           0 :   _pirouette_enabled_ = true;
+    4769             : 
+    4770           0 :   setCallbacks(false);
+    4771             : 
+    4772           0 :   pirouette_initial_heading_ = uav_heading;
+    4773           0 :   pirouette_iterator_        = 0;
+    4774           0 :   timer_pirouette_.start();
+    4775             : 
+    4776           0 :   res.success = true;
+    4777           0 :   res.message = "activated";
+    4778             : 
+    4779           0 :   return true;
+    4780             : }
+    4781             : 
+    4782             : //}
+    4783             : 
+    4784             : /* callbackUseJoystick() //{ */
+    4785             : 
+    4786           0 : bool ControlManager::callbackUseJoystick([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4787             : 
+    4788           0 :   if (!is_initialized_) {
+    4789           0 :     return false;
+    4790             :   }
+    4791             : 
+    4792           0 :   std::stringstream ss;
+    4793             : 
+    4794             :   {
+    4795           0 :     auto [success, response] = switchTracker(_joystick_tracker_name_);
+    4796             : 
+    4797           0 :     if (!success) {
+    4798             : 
+    4799           0 :       ss << "switching to '" << _joystick_tracker_name_ << "' was unsuccessfull: '" << response << "'";
+    4800           0 :       ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4801             : 
+    4802           0 :       res.success = false;
+    4803           0 :       res.message = ss.str();
+    4804             : 
+    4805           0 :       return true;
+    4806             :     }
+    4807             :   }
+    4808             : 
+    4809           0 :   auto [success, response] = switchController(_joystick_controller_name_);
+    4810             : 
+    4811           0 :   if (!success) {
+    4812             : 
+    4813           0 :     ss << "switching to '" << _joystick_controller_name_ << "' was unsuccessfull: '" << response << "'";
+    4814           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4815             : 
+    4816           0 :     res.success = false;
+    4817           0 :     res.message = ss.str();
+    4818             : 
+    4819             :     // switch back to hover tracker
+    4820           0 :     switchTracker(_ehover_tracker_name_);
+    4821             : 
+    4822             :     // switch back to safety controller
+    4823           0 :     switchController(_eland_controller_name_);
+    4824             : 
+    4825           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4826             : 
+    4827           0 :     return true;
+    4828             :   }
+    4829             : 
+    4830           0 :   ss << "switched to joystick control";
+    4831             : 
+    4832           0 :   res.success = true;
+    4833           0 :   res.message = ss.str();
+    4834             : 
+    4835           0 :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4836             : 
+    4837           0 :   return true;
+    4838             : }
+    4839             : 
+    4840             : //}
+    4841             : 
+    4842             : /* //{ callbackHover() */
+    4843             : 
+    4844           1 : bool ControlManager::callbackHover([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4845             : 
+    4846           1 :   if (!is_initialized_) {
+    4847           0 :     return false;
+    4848             :   }
+    4849             : 
+    4850           1 :   auto [success, message] = hover();
+    4851             : 
+    4852           1 :   res.success = success;
+    4853           1 :   res.message = message;
+    4854             : 
+    4855           1 :   return true;
+    4856             : }
+    4857             : 
+    4858             : //}
+    4859             : 
+    4860             : /* //{ callbackStartTrajectoryTracking() */
+    4861             : 
+    4862           2 : bool ControlManager::callbackStartTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4863             : 
+    4864           2 :   if (!is_initialized_) {
+    4865           0 :     return false;
+    4866             :   }
+    4867             : 
+    4868           2 :   auto [success, message] = startTrajectoryTracking();
+    4869             : 
+    4870           2 :   res.success = success;
+    4871           2 :   res.message = message;
+    4872             : 
+    4873           2 :   return true;
+    4874             : }
+    4875             : 
+    4876             : //}
+    4877             : 
+    4878             : /* //{ callbackStopTrajectoryTracking() */
+    4879             : 
+    4880           1 : bool ControlManager::callbackStopTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4881             : 
+    4882           1 :   if (!is_initialized_) {
+    4883           0 :     return false;
+    4884             :   }
+    4885             : 
+    4886           1 :   auto [success, message] = stopTrajectoryTracking();
+    4887             : 
+    4888           1 :   res.success = success;
+    4889           1 :   res.message = message;
+    4890             : 
+    4891           1 :   return true;
+    4892             : }
+    4893             : 
+    4894             : //}
+    4895             : 
+    4896             : /* //{ callbackResumeTrajectoryTracking() */
+    4897             : 
+    4898           1 : bool ControlManager::callbackResumeTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4899             : 
+    4900           1 :   if (!is_initialized_) {
+    4901           0 :     return false;
+    4902             :   }
+    4903             : 
+    4904           1 :   auto [success, message] = resumeTrajectoryTracking();
+    4905             : 
+    4906           1 :   res.success = success;
+    4907           1 :   res.message = message;
+    4908             : 
+    4909           1 :   return true;
+    4910             : }
+    4911             : 
+    4912             : //}
+    4913             : 
+    4914             : /* //{ callbackGotoTrajectoryStart() */
+    4915             : 
+    4916           2 : bool ControlManager::callbackGotoTrajectoryStart([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4917             : 
+    4918           2 :   if (!is_initialized_) {
+    4919           0 :     return false;
+    4920             :   }
+    4921             : 
+    4922           2 :   auto [success, message] = gotoTrajectoryStart();
+    4923             : 
+    4924           2 :   res.success = success;
+    4925           2 :   res.message = message;
+    4926             : 
+    4927           2 :   return true;
+    4928             : }
+    4929             : 
+    4930             : //}
+    4931             : 
+    4932             : /* //{ callbackTransformReference() */
+    4933             : 
+    4934           1 : bool ControlManager::callbackTransformReference(mrs_msgs::TransformReferenceSrv::Request& req, mrs_msgs::TransformReferenceSrv::Response& res) {
+    4935             : 
+    4936           1 :   if (!is_initialized_) {
+    4937           0 :     return false;
+    4938             :   }
+    4939             : 
+    4940             :   // transform the reference to the current frame
+    4941           2 :   mrs_msgs::ReferenceStamped transformed_reference = req.reference;
+    4942             : 
+    4943           2 :   if (auto ret = transformer_->transformSingle(transformed_reference, req.frame_id)) {
+    4944             : 
+    4945           1 :     res.reference = ret.value();
+    4946           1 :     res.message   = "transformation successful";
+    4947           1 :     res.success   = true;
+    4948           1 :     return true;
+    4949             : 
+    4950             :   } else {
+    4951             : 
+    4952           0 :     res.message = "the reference could not be transformed";
+    4953           0 :     res.success = false;
+    4954           0 :     return true;
+    4955             :   }
+    4956             : 
+    4957             :   return true;
+    4958             : }
+    4959             : 
+    4960             : //}
+    4961             : 
+    4962             : /* //{ callbackTransformPose() */
+    4963             : 
+    4964           1 : bool ControlManager::callbackTransformPose(mrs_msgs::TransformPoseSrv::Request& req, mrs_msgs::TransformPoseSrv::Response& res) {
+    4965             : 
+    4966           1 :   if (!is_initialized_) {
+    4967           0 :     return false;
+    4968             :   }
+    4969             : 
+    4970             :   // transform the reference to the current frame
+    4971           2 :   geometry_msgs::PoseStamped transformed_pose = req.pose;
+    4972             : 
+    4973           2 :   if (auto ret = transformer_->transformSingle(transformed_pose, req.frame_id)) {
+    4974             : 
+    4975           1 :     res.pose    = ret.value();
+    4976           1 :     res.message = "transformation successful";
+    4977           1 :     res.success = true;
+    4978           1 :     return true;
+    4979             : 
+    4980             :   } else {
+    4981             : 
+    4982           0 :     res.message = "the pose could not be transformed";
+    4983           0 :     res.success = false;
+    4984           0 :     return true;
+    4985             :   }
+    4986             : 
+    4987             :   return true;
+    4988             : }
+    4989             : 
+    4990             : //}
+    4991             : 
+    4992             : /* //{ callbackTransformVector3() */
+    4993             : 
+    4994           1 : bool ControlManager::callbackTransformVector3(mrs_msgs::TransformVector3Srv::Request& req, mrs_msgs::TransformVector3Srv::Response& res) {
+    4995             : 
+    4996           1 :   if (!is_initialized_) {
+    4997           0 :     return false;
+    4998             :   }
+    4999             : 
+    5000             :   // transform the reference to the current frame
+    5001           2 :   geometry_msgs::Vector3Stamped transformed_vector3 = req.vector;
+    5002             : 
+    5003           2 :   if (auto ret = transformer_->transformSingle(transformed_vector3, req.frame_id)) {
+    5004             : 
+    5005           1 :     res.vector  = ret.value();
+    5006           1 :     res.message = "transformation successful";
+    5007           1 :     res.success = true;
+    5008           1 :     return true;
+    5009             : 
+    5010             :   } else {
+    5011             : 
+    5012           0 :     res.message = "the twist could not be transformed";
+    5013           0 :     res.success = false;
+    5014           0 :     return true;
+    5015             :   }
+    5016             : 
+    5017             :   return true;
+    5018             : }
+    5019             : 
+    5020             : //}
+    5021             : 
+    5022             : /* //{ callbackEnableBumper() */
+    5023             : 
+    5024           0 : bool ControlManager::callbackEnableBumper(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    5025             : 
+    5026           0 :   if (!is_initialized_) {
+    5027           0 :     return false;
+    5028             :   }
+    5029             : 
+    5030           0 :   bumper_enabled_ = req.data;
+    5031             : 
+    5032           0 :   std::stringstream ss;
+    5033             : 
+    5034           0 :   ss << "bumper " << (bumper_enabled_ ? "enalbed" : "disabled");
+    5035             : 
+    5036           0 :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    5037             : 
+    5038           0 :   res.success = true;
+    5039           0 :   res.message = ss.str();
+    5040             : 
+    5041           0 :   return true;
+    5042             : }
+    5043             : 
+    5044             : //}
+    5045             : 
+    5046             : /* //{ callbackUseSafetyArea() */
+    5047             : 
+    5048           0 : bool ControlManager::callbackUseSafetyArea(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    5049             : 
+    5050           0 :   if (!is_initialized_) {
+    5051           0 :     return false;
+    5052             :   }
+    5053             : 
+    5054           0 :   use_safety_area_ = req.data;
+    5055             : 
+    5056           0 :   std::stringstream ss;
+    5057             : 
+    5058           0 :   ss << "safety area " << (use_safety_area_ ? "enabled" : "disabled");
+    5059             : 
+    5060           0 :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    5061             : 
+    5062           0 :   res.success = true;
+    5063           0 :   res.message = ss.str();
+    5064             : 
+    5065           0 :   return true;
+    5066             : }
+    5067             : 
+    5068             : //}
+    5069             : 
+    5070             : /* //{ callbackGetMinZ() */
+    5071             : 
+    5072           0 : bool ControlManager::callbackGetMinZ([[maybe_unused]] mrs_msgs::GetFloat64::Request& req, mrs_msgs::GetFloat64::Response& res) {
+    5073             : 
+    5074           0 :   if (!is_initialized_) {
+    5075           0 :     return false;
+    5076             :   }
+    5077             : 
+    5078           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5079             : 
+    5080           0 :   res.success = true;
+    5081           0 :   res.value   = getMinZ(uav_state.header.frame_id);
+    5082             : 
+    5083           0 :   return true;
+    5084             : }
+    5085             : 
+    5086             : //}
+    5087             : 
+    5088             : /* //{ callbackValidateReference() */
+    5089             : 
+    5090           4 : bool ControlManager::callbackValidateReference(mrs_msgs::ValidateReference::Request& req, mrs_msgs::ValidateReference::Response& res) {
+    5091             : 
+    5092           4 :   if (!is_initialized_) {
+    5093           0 :     res.message = "not initialized";
+    5094           0 :     res.success = false;
+    5095           0 :     return true;
+    5096             :   }
+    5097             : 
+    5098           4 :   if (!validateReference(req.reference.reference, "ControlManager", "reference_for_validation")) {
+    5099           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: NaN detected in variable 'req.reference'!!!");
+    5100           0 :     res.message = "NaNs/infs in input!";
+    5101           0 :     res.success = false;
+    5102           0 :     return true;
+    5103             :   }
+    5104             : 
+    5105             :   // copy member variables
+    5106           8 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5107           8 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5108             : 
+    5109             :   // transform the reference to the current frame
+    5110           8 :   mrs_msgs::ReferenceStamped original_reference;
+    5111           4 :   original_reference.header    = req.reference.header;
+    5112           4 :   original_reference.reference = req.reference.reference;
+    5113             : 
+    5114           8 :   auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    5115             : 
+    5116           4 :   if (!ret) {
+    5117             : 
+    5118           1 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: the reference could not be transformed");
+    5119           1 :     res.message = "the reference could not be transformed";
+    5120           1 :     res.success = false;
+    5121           1 :     return true;
+    5122             :   }
+    5123             : 
+    5124           6 :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5125             : 
+    5126           3 :   if (!isPointInSafetyArea3d(transformed_reference)) {
+    5127           2 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the point is outside of the safety area!");
+    5128           2 :     res.message = "the point is outside of the safety area";
+    5129           2 :     res.success = false;
+    5130           2 :     return true;
+    5131             :   }
+    5132             : 
+    5133           1 :   if (last_tracker_cmd) {
+    5134             : 
+    5135           1 :     mrs_msgs::ReferenceStamped from_point;
+    5136           1 :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5137           1 :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5138           1 :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5139           1 :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5140             : 
+    5141           1 :     if (!isPathToPointInSafetyArea3d(from_point, transformed_reference)) {
+    5142           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the path is going outside the safety area!");
+    5143           0 :       res.message = "the path is going outside the safety area";
+    5144           0 :       res.success = false;
+    5145           0 :       return true;
+    5146             :     }
+    5147             :   }
+    5148             : 
+    5149           1 :   res.message = "the reference is ok";
+    5150           1 :   res.success = true;
+    5151           1 :   return true;
+    5152             : }
+    5153             : 
+    5154             : //}
+    5155             : 
+    5156             : /* //{ callbackValidateReference2d() */
+    5157             : 
+    5158        9378 : bool ControlManager::callbackValidateReference2d(mrs_msgs::ValidateReference::Request& req, mrs_msgs::ValidateReference::Response& res) {
+    5159             : 
+    5160        9378 :   if (!is_initialized_) {
+    5161           0 :     res.message = "not initialized";
+    5162           0 :     res.success = false;
+    5163           0 :     return true;
+    5164             :   }
+    5165             : 
+    5166        9378 :   if (!validateReference(req.reference.reference, "ControlManager", "reference_for_validation")) {
+    5167           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: NaN detected in variable 'req.reference'!!!");
+    5168           0 :     res.message = "NaNs/infs in input!";
+    5169           0 :     res.success = false;
+    5170           0 :     return true;
+    5171             :   }
+    5172             : 
+    5173             :   // copy member variables
+    5174       18756 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5175       18756 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5176             : 
+    5177             :   // transform the reference to the current frame
+    5178       18756 :   mrs_msgs::ReferenceStamped original_reference;
+    5179        9378 :   original_reference.header    = req.reference.header;
+    5180        9378 :   original_reference.reference = req.reference.reference;
+    5181             : 
+    5182       18756 :   auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    5183             : 
+    5184        9378 :   if (!ret) {
+    5185             : 
+    5186           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: the reference could not be transformed");
+    5187           0 :     res.message = "the reference could not be transformed";
+    5188           0 :     res.success = false;
+    5189           0 :     return true;
+    5190             :   }
+    5191             : 
+    5192       18756 :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5193             : 
+    5194        9378 :   if (!isPointInSafetyArea2d(transformed_reference)) {
+    5195          76 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the point is outside of the safety area!");
+    5196          76 :     res.message = "the point is outside of the safety area";
+    5197          76 :     res.success = false;
+    5198          76 :     return true;
+    5199             :   }
+    5200             : 
+    5201        9302 :   if (last_tracker_cmd) {
+    5202             : 
+    5203           0 :     mrs_msgs::ReferenceStamped from_point;
+    5204           0 :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5205           0 :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5206           0 :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5207           0 :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5208             : 
+    5209           0 :     if (!isPathToPointInSafetyArea2d(from_point, transformed_reference)) {
+    5210           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the path is going outside the safety area!");
+    5211           0 :       res.message = "the path is going outside the safety area";
+    5212           0 :       res.success = false;
+    5213           0 :       return true;
+    5214             :     }
+    5215             :   }
+    5216             : 
+    5217        9302 :   res.message = "the reference is ok";
+    5218        9302 :   res.success = true;
+    5219        9302 :   return true;
+    5220             : }
+    5221             : 
+    5222             : //}
+    5223             : 
+    5224             : /* //{ callbackValidateReferenceList() */
+    5225             : 
+    5226           2 : bool ControlManager::callbackValidateReferenceList(mrs_msgs::ValidateReferenceList::Request& req, mrs_msgs::ValidateReferenceList::Response& res) {
+    5227             : 
+    5228           2 :   if (!is_initialized_) {
+    5229           0 :     res.message = "not initialized";
+    5230           0 :     return false;
+    5231             :   }
+    5232             : 
+    5233             :   // copy member variables
+    5234           4 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5235           4 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5236             : 
+    5237             :   // get the transformer
+    5238           4 :   auto ret = transformer_->getTransform(uav_state.header.frame_id, req.list.header.frame_id, req.list.header.stamp);
+    5239             : 
+    5240           2 :   if (!ret) {
+    5241             : 
+    5242           1 :     ROS_DEBUG("[ControlManager]: could not find transform for the reference");
+    5243           1 :     res.message = "could not find transform";
+    5244           1 :     return false;
+    5245             :   }
+    5246             : 
+    5247           1 :   geometry_msgs::TransformStamped tf = ret.value();
+    5248             : 
+    5249           5 :   for (int i = 0; i < int(req.list.list.size()); i++) {
+    5250             : 
+    5251           4 :     res.success.push_back(true);
+    5252             : 
+    5253           8 :     mrs_msgs::ReferenceStamped original_reference;
+    5254           4 :     original_reference.header    = req.list.header;
+    5255           4 :     original_reference.reference = req.list.list.at(i);
+    5256             : 
+    5257           4 :     res.success.at(i) = validateReference(original_reference.reference, "ControlManager", "reference_list");
+    5258             : 
+    5259           8 :     auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    5260             : 
+    5261           4 :     if (!ret) {
+    5262             : 
+    5263           0 :       ROS_DEBUG("[ControlManager]: the reference could not be transformed");
+    5264           0 :       res.success.at(i) = false;
+    5265             :     }
+    5266             : 
+    5267           8 :     mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5268             : 
+    5269           4 :     if (!isPointInSafetyArea3d(transformed_reference)) {
+    5270           2 :       res.success.at(i) = false;
+    5271             :     }
+    5272             : 
+    5273           4 :     if (last_tracker_cmd) {
+    5274             : 
+    5275           8 :       mrs_msgs::ReferenceStamped from_point;
+    5276           4 :       from_point.header.frame_id      = uav_state.header.frame_id;
+    5277           4 :       from_point.reference.position.x = last_tracker_cmd->position.x;
+    5278           4 :       from_point.reference.position.y = last_tracker_cmd->position.y;
+    5279           4 :       from_point.reference.position.z = last_tracker_cmd->position.z;
+    5280             : 
+    5281           4 :       if (!isPathToPointInSafetyArea3d(from_point, transformed_reference)) {
+    5282           2 :         res.success.at(i) = false;
+    5283             :       }
+    5284             :     }
+    5285             :   }
+    5286             : 
+    5287           1 :   res.message = "references were checked";
+    5288           1 :   return true;
+    5289             : }
+    5290             : 
+    5291             : //}
+    5292             : 
+    5293             : // | -------------- setpoint topics and services -------------- |
+    5294             : 
+    5295             : /* //{ callbackReferenceService() */
+    5296             : 
+    5297           2 : bool ControlManager::callbackReferenceService(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res) {
+    5298             : 
+    5299           2 :   if (!is_initialized_) {
+    5300           0 :     res.message = "not initialized";
+    5301           0 :     res.success = false;
+    5302           0 :     return true;
+    5303             :   }
+    5304             : 
+    5305           6 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackReferenceService");
+    5306           6 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackReferenceService", scope_timer_logger_, scope_timer_enabled_);
+    5307             : 
+    5308           4 :   mrs_msgs::ReferenceStamped des_reference;
+    5309           2 :   des_reference.header    = req.header;
+    5310           2 :   des_reference.reference = req.reference;
+    5311             : 
+    5312           4 :   auto [success, message] = setReference(des_reference);
+    5313             : 
+    5314           2 :   res.success = success;
+    5315           2 :   res.message = message;
+    5316             : 
+    5317           2 :   return true;
+    5318             : }
+    5319             : 
+    5320             : //}
+    5321             : 
+    5322             : /* //{ callbackReferenceTopic() */
+    5323             : 
+    5324           1 : void ControlManager::callbackReferenceTopic(const mrs_msgs::ReferenceStamped::ConstPtr msg) {
+    5325             : 
+    5326           1 :   if (!is_initialized_) {
+    5327           0 :     return;
+    5328             :   }
+    5329             : 
+    5330           3 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackReferenceTopic");
+    5331           2 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackReferenceTopic", scope_timer_logger_, scope_timer_enabled_);
+    5332             : 
+    5333           1 :   setReference(*msg);
+    5334             : }
+    5335             : 
+    5336             : //}
+    5337             : 
+    5338             : /* //{ callbackVelocityReferenceService() */
+    5339             : 
+    5340         717 : bool ControlManager::callbackVelocityReferenceService(mrs_msgs::VelocityReferenceStampedSrv::Request&  req,
+    5341             :                                                       mrs_msgs::VelocityReferenceStampedSrv::Response& res) {
+    5342             : 
+    5343         717 :   if (!is_initialized_) {
+    5344           0 :     res.message = "not initialized";
+    5345           0 :     res.success = false;
+    5346           0 :     return true;
+    5347             :   }
+    5348             : 
+    5349        2151 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackVelocityReferenceService");
+    5350        2151 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackVelocityReferenceService", scope_timer_logger_, scope_timer_enabled_);
+    5351             : 
+    5352        1434 :   mrs_msgs::VelocityReferenceStamped des_reference;
+    5353         717 :   des_reference = req.reference;
+    5354             : 
+    5355         717 :   auto [success, message] = setVelocityReference(des_reference);
+    5356             : 
+    5357         717 :   res.success = success;
+    5358         717 :   res.message = message;
+    5359             : 
+    5360         717 :   return true;
+    5361             : }
+    5362             : 
+    5363             : //}
+    5364             : 
+    5365             : /* //{ callbackVelocityReferenceTopic() */
+    5366             : 
+    5367          94 : void ControlManager::callbackVelocityReferenceTopic(const mrs_msgs::VelocityReferenceStamped::ConstPtr msg) {
+    5368             : 
+    5369          94 :   if (!is_initialized_) {
+    5370           0 :     return;
+    5371             :   }
+    5372             : 
+    5373         282 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackVelocityReferenceTopic");
+    5374         188 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackVelocityReferenceTopic", scope_timer_logger_, scope_timer_enabled_);
+    5375             : 
+    5376          94 :   setVelocityReference(*msg);
+    5377             : }
+    5378             : 
+    5379             : //}
+    5380             : 
+    5381             : /* //{ callbackTrajectoryReferenceService() */
+    5382             : 
+    5383           4 : bool ControlManager::callbackTrajectoryReferenceService(mrs_msgs::TrajectoryReferenceSrv::Request& req, mrs_msgs::TrajectoryReferenceSrv::Response& res) {
+    5384             : 
+    5385           4 :   if (!is_initialized_) {
+    5386           0 :     res.message = "not initialized";
+    5387           0 :     res.success = false;
+    5388           0 :     return true;
+    5389             :   }
+    5390             : 
+    5391          12 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackTrajectoryReferenceService");
+    5392          12 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackTrajectoryReferenceService", scope_timer_logger_, scope_timer_enabled_);
+    5393             : 
+    5394           8 :   auto [success, message, modified, tracker_names, tracker_successes, tracker_messages] = setTrajectoryReference(req.trajectory);
+    5395             : 
+    5396           4 :   res.success          = success;
+    5397           4 :   res.message          = message;
+    5398           4 :   res.modified         = modified;
+    5399           4 :   res.tracker_names    = tracker_names;
+    5400           4 :   res.tracker_messages = tracker_messages;
+    5401             : 
+    5402          28 :   for (size_t i = 0; i < tracker_successes.size(); i++) {
+    5403          24 :     res.tracker_successes.push_back(tracker_successes.at(i));
+    5404             :   }
+    5405             : 
+    5406           4 :   return true;
+    5407             : }
+    5408             : 
+    5409             : //}
+    5410             : 
+    5411             : /* //{ callbackTrajectoryReferenceTopic() */
+    5412             : 
+    5413           2 : void ControlManager::callbackTrajectoryReferenceTopic(const mrs_msgs::TrajectoryReference::ConstPtr msg) {
+    5414             : 
+    5415           2 :   if (!is_initialized_) {
+    5416           0 :     return;
+    5417             :   }
+    5418             : 
+    5419           6 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackTrajectoryReferenceTopic");
+    5420           4 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackTrajectoryReferenceTopic", scope_timer_logger_, scope_timer_enabled_);
+    5421             : 
+    5422           2 :   setTrajectoryReference(*msg);
+    5423             : }
+    5424             : 
+    5425             : //}
+    5426             : 
+    5427             : // | ------------- human-callable "goto" services ------------- |
+    5428             : 
+    5429             : /* //{ callbackGoto() */
+    5430             : 
+    5431          27 : bool ControlManager::callbackGoto(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res) {
+    5432             : 
+    5433          27 :   if (!is_initialized_) {
+    5434           0 :     res.message = "not initialized";
+    5435           0 :     res.success = false;
+    5436           0 :     return true;
+    5437             :   }
+    5438             : 
+    5439          81 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGoto");
+    5440          81 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGoto", scope_timer_logger_, scope_timer_enabled_);
+    5441             : 
+    5442          54 :   mrs_msgs::ReferenceStamped des_reference;
+    5443          27 :   des_reference.header.frame_id      = "";
+    5444          27 :   des_reference.header.stamp         = ros::Time(0);
+    5445          27 :   des_reference.reference.position.x = req.goal.at(REF_X);
+    5446          27 :   des_reference.reference.position.y = req.goal.at(REF_Y);
+    5447          27 :   des_reference.reference.position.z = req.goal.at(REF_Z);
+    5448          27 :   des_reference.reference.heading    = req.goal.at(REF_HEADING);
+    5449             : 
+    5450          54 :   auto [success, message] = setReference(des_reference);
+    5451             : 
+    5452          27 :   res.success = success;
+    5453          27 :   res.message = message;
+    5454             : 
+    5455          27 :   return true;
+    5456             : }
+    5457             : 
+    5458             : //}
+    5459             : 
+    5460             : /* //{ callbackGotoFcu() */
+    5461             : 
+    5462           1 : bool ControlManager::callbackGotoFcu(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res) {
+    5463             : 
+    5464           1 :   if (!is_initialized_) {
+    5465           0 :     res.message = "not initialized";
+    5466           0 :     res.success = false;
+    5467           0 :     return true;
+    5468             :   }
+    5469             : 
+    5470           3 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGotoFcu");
+    5471           3 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGotoFcu", scope_timer_logger_, scope_timer_enabled_);
+    5472             : 
+    5473           2 :   mrs_msgs::ReferenceStamped des_reference;
+    5474           1 :   des_reference.header.frame_id      = "fcu_untilted";
+    5475           1 :   des_reference.header.stamp         = ros::Time(0);
+    5476           1 :   des_reference.reference.position.x = req.goal.at(REF_X);
+    5477           1 :   des_reference.reference.position.y = req.goal.at(REF_Y);
+    5478           1 :   des_reference.reference.position.z = req.goal.at(REF_Z);
+    5479           1 :   des_reference.reference.heading    = req.goal.at(REF_HEADING);
+    5480             : 
+    5481           2 :   auto [success, message] = setReference(des_reference);
+    5482             : 
+    5483           1 :   res.success = success;
+    5484           1 :   res.message = message;
+    5485             : 
+    5486           1 :   return true;
+    5487             : }
+    5488             : 
+    5489             : //}
+    5490             : 
+    5491             : /* //{ callbackGotoRelative() */
+    5492             : 
+    5493          25 : bool ControlManager::callbackGotoRelative(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res) {
+    5494             : 
+    5495          25 :   if (!is_initialized_) {
+    5496           0 :     res.message = "not initialized";
+    5497           0 :     res.success = false;
+    5498           0 :     return true;
+    5499             :   }
+    5500             : 
+    5501          75 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGotoRelative");
+    5502          75 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGotoRelative", scope_timer_logger_, scope_timer_enabled_);
+    5503             : 
+    5504          50 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5505             : 
+    5506          25 :   if (!last_tracker_cmd) {
+    5507           0 :     res.message = "not flying";
+    5508           0 :     res.success = false;
+    5509           0 :     return true;
+    5510             :   }
+    5511             : 
+    5512          50 :   mrs_msgs::ReferenceStamped des_reference;
+    5513          25 :   des_reference.header.frame_id      = "";
+    5514          25 :   des_reference.header.stamp         = ros::Time(0);
+    5515          25 :   des_reference.reference.position.x = last_tracker_cmd->position.x + req.goal.at(REF_X);
+    5516          25 :   des_reference.reference.position.y = last_tracker_cmd->position.y + req.goal.at(REF_Y);
+    5517          25 :   des_reference.reference.position.z = last_tracker_cmd->position.z + req.goal.at(REF_Z);
+    5518          25 :   des_reference.reference.heading    = last_tracker_cmd->heading + req.goal.at(REF_HEADING);
+    5519             : 
+    5520          50 :   auto [success, message] = setReference(des_reference);
+    5521             : 
+    5522          25 :   res.success = success;
+    5523          25 :   res.message = message;
+    5524             : 
+    5525          25 :   return true;
+    5526             : }
+    5527             : 
+    5528             : //}
+    5529             : 
+    5530             : /* //{ callbackGotoAltitude() */
+    5531             : 
+    5532           2 : bool ControlManager::callbackGotoAltitude(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    5533             : 
+    5534           2 :   if (!is_initialized_) {
+    5535           0 :     res.message = "not initialized";
+    5536           0 :     res.success = false;
+    5537           0 :     return true;
+    5538             :   }
+    5539             : 
+    5540           6 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGotoAltitude");
+    5541           6 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGotoAltitude", scope_timer_logger_, scope_timer_enabled_);
+    5542             : 
+    5543           4 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5544             : 
+    5545           2 :   if (!last_tracker_cmd) {
+    5546           0 :     res.message = "not flying";
+    5547           0 :     res.success = false;
+    5548           0 :     return true;
+    5549             :   }
+    5550             : 
+    5551           4 :   mrs_msgs::ReferenceStamped des_reference;
+    5552           2 :   des_reference.header.frame_id      = "";
+    5553           2 :   des_reference.header.stamp         = ros::Time(0);
+    5554           2 :   des_reference.reference.position.x = last_tracker_cmd->position.x;
+    5555           2 :   des_reference.reference.position.y = last_tracker_cmd->position.y;
+    5556           2 :   des_reference.reference.position.z = req.goal;
+    5557           2 :   des_reference.reference.heading    = last_tracker_cmd->heading;
+    5558             : 
+    5559           4 :   auto [success, message] = setReference(des_reference);
+    5560             : 
+    5561           2 :   res.success = success;
+    5562           2 :   res.message = message;
+    5563             : 
+    5564           2 :   return true;
+    5565             : }
+    5566             : 
+    5567             : //}
+    5568             : 
+    5569             : /* //{ callbackSetHeading() */
+    5570             : 
+    5571           4 : bool ControlManager::callbackSetHeading(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    5572             : 
+    5573           4 :   if (!is_initialized_) {
+    5574           0 :     res.message = "not initialized";
+    5575           0 :     res.success = false;
+    5576           0 :     return true;
+    5577             :   }
+    5578             : 
+    5579          12 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackSetHeading");
+    5580          12 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackSetHeading", scope_timer_logger_, scope_timer_enabled_);
+    5581             : 
+    5582           8 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5583             : 
+    5584           4 :   if (!last_tracker_cmd) {
+    5585           0 :     res.message = "not flying";
+    5586           0 :     res.success = false;
+    5587           0 :     return true;
+    5588             :   }
+    5589             : 
+    5590           8 :   mrs_msgs::ReferenceStamped des_reference;
+    5591           4 :   des_reference.header.frame_id      = "";
+    5592           4 :   des_reference.header.stamp         = ros::Time(0);
+    5593           4 :   des_reference.reference.position.x = last_tracker_cmd->position.x;
+    5594           4 :   des_reference.reference.position.y = last_tracker_cmd->position.y;
+    5595           4 :   des_reference.reference.position.z = last_tracker_cmd->position.z;
+    5596           4 :   des_reference.reference.heading    = req.goal;
+    5597             : 
+    5598           8 :   auto [success, message] = setReference(des_reference);
+    5599             : 
+    5600           4 :   res.success = success;
+    5601           4 :   res.message = message;
+    5602             : 
+    5603           4 :   return true;
+    5604             : }
+    5605             : 
+    5606             : //}
+    5607             : 
+    5608             : /* //{ callbackSetHeadingRelative() */
+    5609             : 
+    5610           3 : bool ControlManager::callbackSetHeadingRelative(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    5611             : 
+    5612           3 :   if (!is_initialized_) {
+    5613           0 :     res.message = "not initialized";
+    5614           0 :     res.success = false;
+    5615           0 :     return true;
+    5616             :   }
+    5617             : 
+    5618           9 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackSetHeadingRelative");
+    5619           9 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackSetHeadingRelative", scope_timer_logger_, scope_timer_enabled_);
+    5620             : 
+    5621           6 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5622             : 
+    5623           3 :   if (!last_tracker_cmd) {
+    5624           0 :     res.message = "not flying";
+    5625           0 :     res.success = false;
+    5626           0 :     return true;
+    5627             :   }
+    5628             : 
+    5629           6 :   mrs_msgs::ReferenceStamped des_reference;
+    5630           3 :   des_reference.header.frame_id      = "";
+    5631           3 :   des_reference.header.stamp         = ros::Time(0);
+    5632           3 :   des_reference.reference.position.x = last_tracker_cmd->position.x;
+    5633           3 :   des_reference.reference.position.y = last_tracker_cmd->position.y;
+    5634           3 :   des_reference.reference.position.z = last_tracker_cmd->position.z;
+    5635           3 :   des_reference.reference.heading    = last_tracker_cmd->heading + req.goal;
+    5636             : 
+    5637           6 :   auto [success, message] = setReference(des_reference);
+    5638             : 
+    5639           3 :   res.success = success;
+    5640           3 :   res.message = message;
+    5641             : 
+    5642           3 :   return true;
+    5643             : }
+    5644             : 
+    5645             : //}
+    5646             : 
+    5647             : // --------------------------------------------------------------
+    5648             : // |                          routines                          |
+    5649             : // --------------------------------------------------------------
+    5650             : 
+    5651             : /* setReference() //{ */
+    5652             : 
+    5653          65 : std::tuple<bool, std::string> ControlManager::setReference(const mrs_msgs::ReferenceStamped reference_in) {
+    5654             : 
+    5655         130 :   std::stringstream ss;
+    5656             : 
+    5657          65 :   if (!callbacks_enabled_) {
+    5658           0 :     ss << "can not set the reference, the callbacks are disabled";
+    5659           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5660           0 :     return std::tuple(false, ss.str());
+    5661             :   }
+    5662             : 
+    5663          65 :   if (!validateReference(reference_in.reference, "ControlManager", "reference")) {
+    5664           0 :     ss << "incoming reference is not finite!!!";
+    5665           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5666           0 :     return std::tuple(false, ss.str());
+    5667             :   }
+    5668             : 
+    5669             :   // copy member variables
+    5670         130 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5671         130 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5672             : 
+    5673             :   // transform the reference to the current frame
+    5674         130 :   auto ret = transformer_->transformSingle(reference_in, uav_state.header.frame_id);
+    5675             : 
+    5676          65 :   if (!ret) {
+    5677             : 
+    5678           0 :     ss << "the reference could not be transformed";
+    5679           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5680           0 :     return std::tuple(false, ss.str());
+    5681             :   }
+    5682             : 
+    5683         130 :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5684             : 
+    5685             :   // safety area check
+    5686          65 :   if (!isPointInSafetyArea3d(transformed_reference)) {
+    5687           0 :     ss << "failed to set the reference, the point is outside of the safety area!";
+    5688           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5689           0 :     return std::tuple(false, ss.str());
+    5690             :   }
+    5691             : 
+    5692          65 :   if (last_tracker_cmd) {
+    5693             : 
+    5694          65 :     mrs_msgs::ReferenceStamped from_point;
+    5695          65 :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5696          65 :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5697          65 :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5698          65 :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5699             : 
+    5700          65 :     if (!isPathToPointInSafetyArea3d(from_point, transformed_reference)) {
+    5701           0 :       ss << "failed to set the reference, the path is going outside the safety area!";
+    5702           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5703           0 :       return std::tuple(false, ss.str());
+    5704             :     }
+    5705             :   }
+    5706             : 
+    5707          65 :   mrs_msgs::ReferenceSrvResponse::ConstPtr tracker_response;
+    5708             : 
+    5709             :   // prepare the message for current tracker
+    5710          65 :   mrs_msgs::ReferenceSrvRequest reference_request;
+    5711          65 :   reference_request.reference = transformed_reference.reference;
+    5712             : 
+    5713             :   {
+    5714         130 :     std::scoped_lock lock(mutex_tracker_list_);
+    5715             : 
+    5716          65 :     ROS_INFO("[ControlManager]: setting reference to x=%.2f, y=%.2f, z=%.2f, hdg=%.2f (expressed in '%s')", reference_request.reference.position.x,
+    5717             :              reference_request.reference.position.y, reference_request.reference.position.z, reference_request.reference.heading,
+    5718             :              transformed_reference.header.frame_id.c_str());
+    5719             : 
+    5720          65 :     tracker_response = tracker_list_.at(active_tracker_idx_)
+    5721          65 :                            ->setReference(mrs_msgs::ReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::ReferenceSrvRequest>(reference_request)));
+    5722             : 
+    5723          65 :     if (tracker_response != mrs_msgs::ReferenceSrvResponse::Ptr()) {
+    5724             : 
+    5725         130 :       return std::tuple(tracker_response->success, tracker_response->message);
+    5726             : 
+    5727             :     } else {
+    5728             : 
+    5729           0 :       ss << "the tracker '" << _tracker_names_.at(active_tracker_idx_) << "' does not implement the 'setReference()' function!";
+    5730           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: failed to set the reference: " << ss.str());
+    5731           0 :       return std::tuple(false, ss.str());
+    5732             :     }
+    5733             :   }
+    5734             : }
+    5735             : 
+    5736             : //}
+    5737             : 
+    5738             : /* setVelocityReference() //{ */
+    5739             : 
+    5740         811 : std::tuple<bool, std::string> ControlManager::setVelocityReference(const mrs_msgs::VelocityReferenceStamped& reference_in) {
+    5741             : 
+    5742        1622 :   std::stringstream ss;
+    5743             : 
+    5744         811 :   if (!callbacks_enabled_) {
+    5745           0 :     ss << "can not set the reference, the callbacks are disabled";
+    5746           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5747           0 :     return std::tuple(false, ss.str());
+    5748             :   }
+    5749             : 
+    5750         811 :   if (!validateVelocityReference(reference_in.reference, "ControlManager", "velocity_reference")) {
+    5751           0 :     ss << "velocity command is not valid!";
+    5752           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5753           0 :     return std::tuple(false, ss.str());
+    5754             :   }
+    5755             : 
+    5756             :   {
+    5757         811 :     std::scoped_lock lock(mutex_last_tracker_cmd_);
+    5758             : 
+    5759         811 :     if (!last_tracker_cmd_) {
+    5760           0 :       ss << "could not set velocity command, not flying!";
+    5761           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5762           0 :       return std::tuple(false, ss.str());
+    5763             :     }
+    5764             :   }
+    5765             : 
+    5766             :   // copy member variables
+    5767        1622 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5768        1622 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5769             : 
+    5770             :   // | -- transform the velocity reference to the current frame - |
+    5771             : 
+    5772        1622 :   mrs_msgs::VelocityReferenceStamped transformed_reference = reference_in;
+    5773             : 
+    5774        1622 :   auto ret = transformer_->getTransform(reference_in.header.frame_id, uav_state.header.frame_id, reference_in.header.stamp);
+    5775             : 
+    5776        1622 :   geometry_msgs::TransformStamped tf;
+    5777             : 
+    5778         811 :   if (!ret) {
+    5779           0 :     ss << "could not find tf from " << reference_in.header.frame_id << " to " << uav_state.header.frame_id;
+    5780           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5781           0 :     return std::tuple(false, ss.str());
+    5782             :   } else {
+    5783         811 :     tf = ret.value();
+    5784             :   }
+    5785             : 
+    5786             :   // transform the velocity
+    5787             :   {
+    5788         811 :     geometry_msgs::Vector3Stamped velocity;
+    5789         811 :     velocity.header   = reference_in.header;
+    5790         811 :     velocity.vector.x = reference_in.reference.velocity.x;
+    5791         811 :     velocity.vector.y = reference_in.reference.velocity.y;
+    5792         811 :     velocity.vector.z = reference_in.reference.velocity.z;
+    5793             : 
+    5794         811 :     auto ret = transformer_->transform(velocity, tf);
+    5795             : 
+    5796         811 :     if (!ret) {
+    5797             : 
+    5798           0 :       ss << "the velocity reference could not be transformed";
+    5799           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5800           0 :       return std::tuple(false, ss.str());
+    5801             : 
+    5802             :     } else {
+    5803         811 :       transformed_reference.reference.velocity.x = ret->vector.x;
+    5804         811 :       transformed_reference.reference.velocity.y = ret->vector.y;
+    5805         811 :       transformed_reference.reference.velocity.z = ret->vector.z;
+    5806             :     }
+    5807             :   }
+    5808             : 
+    5809             :   // transform the z and the heading
+    5810             :   {
+    5811         811 :     geometry_msgs::PoseStamped pose;
+    5812         811 :     pose.header           = reference_in.header;
+    5813         811 :     pose.pose.position.x  = 0;
+    5814         811 :     pose.pose.position.y  = 0;
+    5815         811 :     pose.pose.position.z  = reference_in.reference.altitude;
+    5816         811 :     pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, reference_in.reference.heading);
+    5817             : 
+    5818         811 :     auto ret = transformer_->transform(pose, tf);
+    5819             : 
+    5820         811 :     if (!ret) {
+    5821             : 
+    5822           0 :       ss << "the velocity reference could not be transformed";
+    5823           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5824           0 :       return std::tuple(false, ss.str());
+    5825             : 
+    5826             :     } else {
+    5827         811 :       transformed_reference.reference.altitude = ret->pose.position.z;
+    5828         811 :       transformed_reference.reference.heading  = mrs_lib::AttitudeConverter(ret->pose.orientation).getHeading();
+    5829             :     }
+    5830             :   }
+    5831             : 
+    5832             :   // the heading rate doees not need to be transformed
+    5833         811 :   transformed_reference.reference.heading_rate = reference_in.reference.heading_rate;
+    5834             : 
+    5835         811 :   transformed_reference.header.stamp    = tf.header.stamp;
+    5836         811 :   transformed_reference.header.frame_id = transformer_->frame_to(tf);
+    5837             : 
+    5838        1622 :   mrs_msgs::ReferenceStamped eqivalent_reference = velocityReferenceToReference(transformed_reference);
+    5839             : 
+    5840         811 :   ROS_DEBUG("[ControlManager]: equivalent reference: %.2f, %.2f, %.2f, %.2f", eqivalent_reference.reference.position.x,
+    5841             :             eqivalent_reference.reference.position.y, eqivalent_reference.reference.position.z, eqivalent_reference.reference.heading);
+    5842             : 
+    5843             :   // safety area check
+    5844         811 :   if (!isPointInSafetyArea3d(eqivalent_reference)) {
+    5845           0 :     ss << "failed to set the reference, the point is outside of the safety area!";
+    5846           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5847           0 :     return std::tuple(false, ss.str());
+    5848             :   }
+    5849             : 
+    5850         811 :   if (last_tracker_cmd) {
+    5851             : 
+    5852         811 :     mrs_msgs::ReferenceStamped from_point;
+    5853         811 :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5854         811 :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5855         811 :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5856         811 :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5857             : 
+    5858         811 :     if (!isPathToPointInSafetyArea3d(from_point, eqivalent_reference)) {
+    5859           0 :       ss << "failed to set the reference, the path is going outside the safety area!";
+    5860           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5861           0 :       return std::tuple(false, ss.str());
+    5862             :     }
+    5863             :   }
+    5864             : 
+    5865         811 :   mrs_msgs::VelocityReferenceSrvResponse::ConstPtr tracker_response;
+    5866             : 
+    5867             :   // prepare the message for current tracker
+    5868         811 :   mrs_msgs::VelocityReferenceSrvRequest reference_request;
+    5869         811 :   reference_request.reference = transformed_reference.reference;
+    5870             : 
+    5871             :   {
+    5872        1622 :     std::scoped_lock lock(mutex_tracker_list_);
+    5873             : 
+    5874             :     tracker_response =
+    5875         811 :         tracker_list_.at(active_tracker_idx_)
+    5876         811 :             ->setVelocityReference(mrs_msgs::VelocityReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::VelocityReferenceSrvRequest>(reference_request)));
+    5877             : 
+    5878         811 :     if (tracker_response != mrs_msgs::VelocityReferenceSrvResponse::Ptr()) {
+    5879             : 
+    5880        1622 :       return std::tuple(tracker_response->success, tracker_response->message);
+    5881             : 
+    5882             :     } else {
+    5883             : 
+    5884           0 :       ss << "the tracker '" << _tracker_names_.at(active_tracker_idx_) << "' does not implement the 'setVelocityReference()' function!";
+    5885           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: failed to set the velocity reference: " << ss.str());
+    5886           0 :       return std::tuple(false, ss.str());
+    5887             :     }
+    5888             :   }
+    5889             : }
+    5890             : 
+    5891             : //}
+    5892             : 
+    5893             : /* setTrajectoryReference() //{ */
+    5894             : 
+    5895           6 : std::tuple<bool, std::string, bool, std::vector<std::string>, std::vector<bool>, std::vector<std::string>> ControlManager::setTrajectoryReference(
+    5896             :     const mrs_msgs::TrajectoryReference trajectory_in) {
+    5897             : 
+    5898          12 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5899             : 
+    5900          12 :   std::stringstream ss;
+    5901             : 
+    5902           6 :   if (!callbacks_enabled_) {
+    5903           0 :     ss << "can not set the reference, the callbacks are disabled";
+    5904           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5905           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    5906             :   }
+    5907             : 
+    5908             :   /* validate the size and check for NaNs //{ */
+    5909             : 
+    5910             :   // check for the size 0, which is invalid
+    5911           6 :   if (trajectory_in.points.size() == 0) {
+    5912             : 
+    5913           0 :     ss << "can not load trajectory with size 0";
+    5914           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5915           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    5916             :   }
+    5917             : 
+    5918         700 :   for (int i = 0; i < int(trajectory_in.points.size()); i++) {
+    5919             : 
+    5920             :     // check the point for NaN/inf
+    5921         694 :     bool valid = validateReference(trajectory_in.points.at(i), "ControlManager", "trajectory_in.points");
+    5922             : 
+    5923         694 :     if (!valid) {
+    5924             : 
+    5925           0 :       ss << "trajectory contains NaNs/infs.";
+    5926           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5927           0 :       return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    5928             :     }
+    5929             :   }
+    5930             : 
+    5931             :   //}
+    5932             : 
+    5933             :   /* publish the debugging topics of the original trajectory //{ */
+    5934             : 
+    5935             :   {
+    5936             : 
+    5937          12 :     geometry_msgs::PoseArray debug_trajectory_out;
+    5938           6 :     debug_trajectory_out.header = trajectory_in.header;
+    5939             : 
+    5940           6 :     debug_trajectory_out.header.frame_id = transformer_->resolveFrame(debug_trajectory_out.header.frame_id);
+    5941             : 
+    5942           6 :     if (debug_trajectory_out.header.stamp == ros::Time(0)) {
+    5943           4 :       debug_trajectory_out.header.stamp = ros::Time::now();
+    5944             :     }
+    5945             : 
+    5946         694 :     for (int i = 0; i < int(trajectory_in.points.size()) - 1; i++) {
+    5947             : 
+    5948         688 :       geometry_msgs::Pose new_pose;
+    5949             : 
+    5950         688 :       new_pose.position.x = trajectory_in.points.at(i).position.x;
+    5951         688 :       new_pose.position.y = trajectory_in.points.at(i).position.y;
+    5952         688 :       new_pose.position.z = trajectory_in.points.at(i).position.z;
+    5953             : 
+    5954         688 :       new_pose.orientation = mrs_lib::AttitudeConverter(0, 0, trajectory_in.points.at(i).heading);
+    5955             : 
+    5956         688 :       debug_trajectory_out.poses.push_back(new_pose);
+    5957             :     }
+    5958             : 
+    5959           6 :     pub_debug_original_trajectory_poses_.publish(debug_trajectory_out);
+    5960             : 
+    5961          12 :     visualization_msgs::MarkerArray msg_out;
+    5962             : 
+    5963          12 :     visualization_msgs::Marker marker;
+    5964             : 
+    5965           6 :     marker.header = trajectory_in.header;
+    5966             : 
+    5967           6 :     marker.header.frame_id = transformer_->resolveFrame(marker.header.frame_id);
+    5968             : 
+    5969           6 :     if (marker.header.frame_id == "") {
+    5970           0 :       marker.header.frame_id = uav_state.header.frame_id;
+    5971             :     }
+    5972             : 
+    5973           6 :     if (marker.header.stamp == ros::Time(0)) {
+    5974           4 :       marker.header.stamp = ros::Time::now();
+    5975             :     }
+    5976             : 
+    5977           6 :     marker.type             = visualization_msgs::Marker::LINE_LIST;
+    5978           6 :     marker.color.a          = 1;
+    5979           6 :     marker.scale.x          = 0.05;
+    5980           6 :     marker.color.r          = 0;
+    5981           6 :     marker.color.g          = 1;
+    5982           6 :     marker.color.b          = 0;
+    5983           6 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    5984             : 
+    5985         694 :     for (int i = 0; i < int(trajectory_in.points.size()) - 1; i++) {
+    5986             : 
+    5987         688 :       geometry_msgs::Point point1;
+    5988             : 
+    5989         688 :       point1.x = trajectory_in.points.at(i).position.x;
+    5990         688 :       point1.y = trajectory_in.points.at(i).position.y;
+    5991         688 :       point1.z = trajectory_in.points.at(i).position.z;
+    5992             : 
+    5993         688 :       marker.points.push_back(point1);
+    5994             : 
+    5995         688 :       geometry_msgs::Point point2;
+    5996             : 
+    5997         688 :       point2.x = trajectory_in.points.at(i + 1).position.x;
+    5998         688 :       point2.y = trajectory_in.points.at(i + 1).position.y;
+    5999         688 :       point2.z = trajectory_in.points.at(i + 1).position.z;
+    6000             : 
+    6001         688 :       marker.points.push_back(point2);
+    6002             :     }
+    6003             : 
+    6004           6 :     msg_out.markers.push_back(marker);
+    6005             : 
+    6006           6 :     pub_debug_original_trajectory_markers_.publish(msg_out);
+    6007             :   }
+    6008             : 
+    6009             :   //}
+    6010             : 
+    6011          12 :   mrs_msgs::TrajectoryReference processed_trajectory = trajectory_in;
+    6012             : 
+    6013           6 :   int trajectory_size = int(processed_trajectory.points.size());
+    6014             : 
+    6015           6 :   bool trajectory_modified = false;
+    6016             : 
+    6017             :   /* safety area check //{ */
+    6018             : 
+    6019           6 :   if (use_safety_area_) {
+    6020             : 
+    6021           5 :     int last_valid_idx    = 0;
+    6022           5 :     int first_invalid_idx = -1;
+    6023             : 
+    6024           5 :     double min_z = getMinZ(processed_trajectory.header.frame_id);
+    6025           5 :     double max_z = getMaxZ(processed_trajectory.header.frame_id);
+    6026             : 
+    6027         678 :     for (int i = 0; i < trajectory_size; i++) {
+    6028             : 
+    6029         673 :       if (_snap_trajectory_to_safety_area_) {
+    6030             : 
+    6031             :         // saturate the trajectory to min and max Z
+    6032           0 :         if (processed_trajectory.points.at(i).position.z < min_z) {
+    6033             : 
+    6034           0 :           processed_trajectory.points.at(i).position.z = min_z;
+    6035           0 :           ROS_WARN_THROTTLE(1.0, "[ControlManager]: the trajectory violates the minimum Z!");
+    6036           0 :           trajectory_modified = true;
+    6037             :         }
+    6038             : 
+    6039           0 :         if (processed_trajectory.points.at(i).position.z > max_z) {
+    6040             : 
+    6041           0 :           processed_trajectory.points.at(i).position.z = max_z;
+    6042           0 :           ROS_WARN_THROTTLE(1.0, "[ControlManager]: the trajectory violates the maximum Z!");
+    6043           0 :           trajectory_modified = true;
+    6044             :         }
+    6045             :       }
+    6046             : 
+    6047             :       // check the point against the safety area
+    6048         673 :       mrs_msgs::ReferenceStamped des_reference;
+    6049         673 :       des_reference.header    = processed_trajectory.header;
+    6050         673 :       des_reference.reference = processed_trajectory.points.at(i);
+    6051             : 
+    6052         673 :       if (!isPointInSafetyArea3d(des_reference)) {
+    6053             : 
+    6054           0 :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: the trajectory contains points outside of the safety area!");
+    6055           0 :         trajectory_modified = true;
+    6056             : 
+    6057             :         // the first invalid point
+    6058           0 :         if (first_invalid_idx == -1) {
+    6059             : 
+    6060           0 :           first_invalid_idx = i;
+    6061             : 
+    6062           0 :           last_valid_idx = i - 1;
+    6063             :         }
+    6064             : 
+    6065             :         // the point is ok
+    6066             :       } else {
+    6067             : 
+    6068             :         // we found a point, which is ok, after finding a point which was not ok
+    6069         673 :         if (first_invalid_idx != -1) {
+    6070             : 
+    6071             :           // special case, we had no valid point so far
+    6072           0 :           if (last_valid_idx == -1) {
+    6073             : 
+    6074           0 :             ss << "the trajectory starts outside of the safety area!";
+    6075           0 :             ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6076           0 :             return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6077             : 
+    6078             :             // we have a valid point in the past
+    6079             :           } else {
+    6080             : 
+    6081           0 :             if (!_snap_trajectory_to_safety_area_) {
+    6082           0 :               break;
+    6083             :             }
+    6084             : 
+    6085           0 :             bool interpolation_success = true;
+    6086             : 
+    6087             :             // iterpolate between the last valid point and this new valid point
+    6088           0 :             double angle = atan2((processed_trajectory.points.at(i).position.y - processed_trajectory.points.at(last_valid_idx).position.y),
+    6089           0 :                                  (processed_trajectory.points.at(i).position.x - processed_trajectory.points.at(last_valid_idx).position.x));
+    6090             : 
+    6091           0 :             double dist_two_points = mrs_lib::geometry::dist(
+    6092           0 :                 vec2_t(processed_trajectory.points.at(i).position.x, processed_trajectory.points.at(i).position.y),
+    6093           0 :                 vec2_t(processed_trajectory.points.at(last_valid_idx).position.x, processed_trajectory.points.at(last_valid_idx).position.y));
+    6094           0 :             double step = dist_two_points / (i - last_valid_idx);
+    6095             : 
+    6096           0 :             for (int j = last_valid_idx; j < i; j++) {
+    6097             : 
+    6098           0 :               mrs_msgs::ReferenceStamped temp_point;
+    6099           0 :               temp_point.header.frame_id      = processed_trajectory.header.frame_id;
+    6100           0 :               temp_point.reference.position.x = processed_trajectory.points.at(last_valid_idx).position.x + (j - last_valid_idx) * cos(angle) * step;
+    6101           0 :               temp_point.reference.position.y = processed_trajectory.points.at(last_valid_idx).position.y + (j - last_valid_idx) * sin(angle) * step;
+    6102             : 
+    6103           0 :               if (!isPointInSafetyArea2d(temp_point)) {
+    6104             : 
+    6105           0 :                 interpolation_success = false;
+    6106           0 :                 break;
+    6107             : 
+    6108             :               } else {
+    6109             : 
+    6110           0 :                 processed_trajectory.points.at(j).position.x = temp_point.reference.position.x;
+    6111           0 :                 processed_trajectory.points.at(j).position.y = temp_point.reference.position.y;
+    6112             :               }
+    6113             :             }
+    6114             : 
+    6115           0 :             if (!interpolation_success) {
+    6116           0 :               break;
+    6117             :             }
+    6118             :           }
+    6119             : 
+    6120           0 :           first_invalid_idx = -1;
+    6121             :         }
+    6122             :       }
+    6123             :     }
+    6124             : 
+    6125             :     // special case, the trajectory does not end with a valid point
+    6126           5 :     if (first_invalid_idx != -1) {
+    6127             : 
+    6128             :       // super special case, the whole trajectory is invalid
+    6129           0 :       if (first_invalid_idx == 0) {
+    6130             : 
+    6131           0 :         ss << "the whole trajectory is outside of the safety area!";
+    6132           0 :         ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6133           0 :         return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6134             : 
+    6135             :         // there is a good portion of the trajectory in the beginning
+    6136             :       } else {
+    6137             : 
+    6138           0 :         trajectory_size = last_valid_idx + 1;
+    6139           0 :         processed_trajectory.points.resize(trajectory_size);
+    6140           0 :         trajectory_modified = true;
+    6141             :       }
+    6142             :     }
+    6143             :   }
+    6144             : 
+    6145           6 :   if (trajectory_size == 0) {
+    6146             : 
+    6147           0 :     ss << "the trajectory happened to be empty after all the checks! This message should not appear!";
+    6148           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6149           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6150             :   }
+    6151             : 
+    6152             :   //}
+    6153             : 
+    6154             :   /* transform the trajectory to the current control frame //{ */
+    6155             : 
+    6156           6 :   std::optional<geometry_msgs::TransformStamped> tf_traj_state;
+    6157             : 
+    6158           6 :   if (processed_trajectory.header.stamp > ros::Time::now()) {
+    6159           0 :     tf_traj_state = transformer_->getTransform(processed_trajectory.header.frame_id, "", processed_trajectory.header.stamp);
+    6160             :   } else {
+    6161           6 :     tf_traj_state = transformer_->getTransform(processed_trajectory.header.frame_id, "", uav_state_.header.stamp);
+    6162             :   }
+    6163             : 
+    6164           6 :   if (!tf_traj_state) {
+    6165           0 :     ss << "could not create TF transformer for the trajectory";
+    6166           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6167           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6168             :   }
+    6169             : 
+    6170           6 :   processed_trajectory.header.frame_id = transformer_->frame_to(*tf_traj_state);
+    6171             : 
+    6172         700 :   for (int i = 0; i < trajectory_size; i++) {
+    6173             : 
+    6174         694 :     mrs_msgs::ReferenceStamped trajectory_point;
+    6175         694 :     trajectory_point.header    = processed_trajectory.header;
+    6176         694 :     trajectory_point.reference = processed_trajectory.points.at(i);
+    6177             : 
+    6178         694 :     auto ret = transformer_->transform(trajectory_point, *tf_traj_state);
+    6179             : 
+    6180         694 :     if (!ret) {
+    6181             : 
+    6182           0 :       ss << "trajectory cannnot be transformed";
+    6183           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6184           0 :       return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6185             : 
+    6186             :     } else {
+    6187             : 
+    6188             :       // transform the points in the trajectory to the current frame
+    6189         694 :       processed_trajectory.points.at(i) = ret.value().reference;
+    6190             :     }
+    6191             :   }
+    6192             : 
+    6193             :   //}
+    6194             : 
+    6195           6 :   mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr response;
+    6196          12 :   mrs_msgs::TrajectoryReferenceSrvRequest            request;
+    6197             : 
+    6198             :   // check for empty trajectory
+    6199           6 :   if (processed_trajectory.points.size() == 0) {
+    6200           0 :     ss << "reference trajectory was processing and it is now empty, this should not happen!";
+    6201           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6202           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6203             :   }
+    6204             : 
+    6205             :   // prepare the message for current tracker
+    6206           6 :   request.trajectory = processed_trajectory;
+    6207             : 
+    6208             :   bool                     success;
+    6209          12 :   std::string              message;
+    6210             :   bool                     modified;
+    6211          12 :   std::vector<std::string> tracker_names;
+    6212          12 :   std::vector<bool>        tracker_successes;
+    6213          12 :   std::vector<std::string> tracker_messages;
+    6214             : 
+    6215             :   {
+    6216          12 :     std::scoped_lock lock(mutex_tracker_list_);
+    6217             : 
+    6218             :     // set the trajectory to the currently active tracker
+    6219             :     response =
+    6220           6 :         tracker_list_.at(active_tracker_idx_)
+    6221           6 :             ->setTrajectoryReference(mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::TrajectoryReferenceSrvRequest>(request)));
+    6222             : 
+    6223           6 :     tracker_names.push_back(_tracker_names_.at(active_tracker_idx_));
+    6224             : 
+    6225           6 :     if (response != mrs_msgs::TrajectoryReferenceSrvResponse::Ptr()) {
+    6226             : 
+    6227           5 :       success  = response->success;
+    6228           5 :       message  = response->message;
+    6229           5 :       modified = response->modified || trajectory_modified;
+    6230           5 :       tracker_successes.push_back(response->success);
+    6231           5 :       tracker_messages.push_back(response->message);
+    6232             : 
+    6233             :     } else {
+    6234             : 
+    6235           1 :       ss << "the active tracker '" << _tracker_names_.at(active_tracker_idx_) << "' does not implement the 'setTrajectoryReference()' function!";
+    6236           1 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6237             : 
+    6238           1 :       success  = true;
+    6239           1 :       message  = ss.str();
+    6240           1 :       modified = false;
+    6241           1 :       tracker_successes.push_back(false);
+    6242           1 :       tracker_messages.push_back(ss.str());
+    6243             :     }
+    6244             : 
+    6245             :     // set the trajectory to the non-active trackers
+    6246          42 :     for (size_t i = 0; i < tracker_list_.size(); i++) {
+    6247             : 
+    6248          36 :       if (i != active_tracker_idx_) {
+    6249             : 
+    6250          30 :         tracker_names.push_back(_tracker_names_.at(i));
+    6251             : 
+    6252          90 :         response = tracker_list_.at(i)->setTrajectoryReference(
+    6253          90 :             mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::TrajectoryReferenceSrvRequest>(request)));
+    6254             : 
+    6255          30 :         if (response != mrs_msgs::TrajectoryReferenceSrvResponse::Ptr()) {
+    6256             : 
+    6257           1 :           tracker_successes.push_back(response->success);
+    6258           1 :           tracker_messages.push_back(response->message);
+    6259             : 
+    6260           1 :           if (response->success) {
+    6261           2 :             std::stringstream ss;
+    6262           1 :             ss << "trajectory loaded to non-active tracker '" << _tracker_names_.at(i);
+    6263           1 :             ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6264             :           }
+    6265             : 
+    6266             :         } else {
+    6267             : 
+    6268          29 :           std::stringstream ss;
+    6269          29 :           ss << "the tracker \"" << _tracker_names_.at(i) << "\" does not implement setTrajectoryReference()";
+    6270          29 :           tracker_successes.push_back(false);
+    6271          29 :           tracker_messages.push_back(ss.str());
+    6272             :         }
+    6273             :       }
+    6274             :     }
+    6275             :   }
+    6276             : 
+    6277           6 :   return std::tuple(success, message, modified, tracker_names, tracker_successes, tracker_messages);
+    6278             : }
+    6279             : 
+    6280             : //}
+    6281             : 
+    6282             : /* isOffboard() //{ */
+    6283             : 
+    6284          18 : bool ControlManager::isOffboard(void) {
+    6285             : 
+    6286          18 :   if (!sh_hw_api_status_.hasMsg()) {
+    6287           0 :     return false;
+    6288             :   }
+    6289             : 
+    6290          18 :   mrs_msgs::HwApiStatusConstPtr hw_api_status = sh_hw_api_status_.getMsg();
+    6291             : 
+    6292          18 :   return hw_api_status->connected && hw_api_status->offboard;
+    6293             : }
+    6294             : 
+    6295             : //}
+    6296             : 
+    6297             : /* setCallbacks() //{ */
+    6298             : 
+    6299         102 : void ControlManager::setCallbacks(bool in) {
+    6300             : 
+    6301         102 :   callbacks_enabled_ = in;
+    6302             : 
+    6303         102 :   std_srvs::SetBoolRequest req_enable_callbacks;
+    6304         102 :   req_enable_callbacks.data = callbacks_enabled_;
+    6305             : 
+    6306             :   {
+    6307         204 :     std::scoped_lock lock(mutex_tracker_list_);
+    6308             : 
+    6309             :     // set callbacks to all trackers
+    6310         714 :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    6311         612 :       tracker_list_.at(i)->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    6312             :     }
+    6313             :   }
+    6314         102 : }
+    6315             : 
+    6316             : //}
+    6317             : 
+    6318             : /* publishDiagnostics() //{ */
+    6319             : 
+    6320       19103 : void ControlManager::publishDiagnostics(void) {
+    6321             : 
+    6322       19103 :   if (!is_initialized_) {
+    6323           0 :     return;
+    6324             :   }
+    6325             : 
+    6326       57309 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("publishDiagnostics");
+    6327       57309 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::publishDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+    6328             : 
+    6329       38206 :   std::scoped_lock lock(mutex_diagnostics_);
+    6330             : 
+    6331       38206 :   mrs_msgs::ControlManagerDiagnostics diagnostics_msg;
+    6332             : 
+    6333       19103 :   diagnostics_msg.stamp    = ros::Time::now();
+    6334       19103 :   diagnostics_msg.uav_name = _uav_name_;
+    6335             : 
+    6336       19103 :   diagnostics_msg.desired_uav_state_rate = desired_uav_state_rate_;
+    6337             : 
+    6338       19103 :   diagnostics_msg.output_enabled = output_enabled_;
+    6339             : 
+    6340       19103 :   diagnostics_msg.joystick_active = rc_goto_active_;
+    6341             : 
+    6342             :   {
+    6343       19103 :     std::scoped_lock lock(mutex_tracker_list_, mutex_controller_list_);
+    6344             : 
+    6345       19103 :     diagnostics_msg.flying_normally = isFlyingNormally();
+    6346             :   }
+    6347             : 
+    6348       19103 :   diagnostics_msg.bumper_active = bumper_repulsing_;
+    6349             : 
+    6350             :   // | ----------------- fill the tracker status ---------------- |
+    6351             : 
+    6352             :   {
+    6353       38206 :     std::scoped_lock lock(mutex_tracker_list_);
+    6354             : 
+    6355       19103 :     mrs_msgs::TrackerStatus tracker_status;
+    6356             : 
+    6357       19103 :     diagnostics_msg.active_tracker = _tracker_names_.at(active_tracker_idx_);
+    6358       19103 :     diagnostics_msg.tracker_status = tracker_list_.at(active_tracker_idx_)->getStatus();
+    6359             :   }
+    6360             : 
+    6361             :   // | --------------- fill the controller status --------------- |
+    6362             : 
+    6363             :   {
+    6364       38206 :     std::scoped_lock lock(mutex_controller_list_);
+    6365             : 
+    6366       19103 :     mrs_msgs::ControllerStatus controller_status;
+    6367             : 
+    6368       19103 :     diagnostics_msg.active_controller = _controller_names_.at(active_controller_idx_);
+    6369       19103 :     diagnostics_msg.controller_status = controller_list_.at(active_controller_idx_)->getStatus();
+    6370             :   }
+    6371             : 
+    6372             :   // | ------------ fill in the available controllers ----------- |
+    6373             : 
+    6374      114618 :   for (int i = 0; i < int(_controller_names_.size()); i++) {
+    6375       95515 :     if ((_controller_names_.at(i) != _failsafe_controller_name_) && (_controller_names_.at(i) != _eland_controller_name_)) {
+    6376       57309 :       diagnostics_msg.available_controllers.push_back(_controller_names_.at(i));
+    6377       57309 :       diagnostics_msg.human_switchable_controllers.push_back(controllers_.at(_controller_names_.at(i)).human_switchable);
+    6378             :     }
+    6379             :   }
+    6380             : 
+    6381             :   // | ------------- fill in the available trackers ------------- |
+    6382             : 
+    6383      133951 :   for (int i = 0; i < int(_tracker_names_.size()); i++) {
+    6384      114848 :     if (_tracker_names_.at(i) != _null_tracker_name_) {
+    6385       95745 :       diagnostics_msg.available_trackers.push_back(_tracker_names_.at(i));
+    6386       95745 :       diagnostics_msg.human_switchable_trackers.push_back(trackers_.at(_tracker_names_.at(i)).human_switchable);
+    6387             :     }
+    6388             :   }
+    6389             : 
+    6390             :   // | ------------------------- publish ------------------------ |
+    6391             : 
+    6392       19103 :   ph_diagnostics_.publish(diagnostics_msg);
+    6393             : }
+    6394             : 
+    6395             : //}
+    6396             : 
+    6397             : /* setConstraintsToTrackers() //{ */
+    6398             : 
+    6399         379 : void ControlManager::setConstraintsToTrackers(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6400             : 
+    6401        1137 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("setConstraintsToTrackers");
+    6402        1137 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::setConstraintsToTrackers", scope_timer_logger_, scope_timer_enabled_);
+    6403             : 
+    6404         379 :   mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr response;
+    6405             : 
+    6406             :   {
+    6407         758 :     std::scoped_lock lock(mutex_tracker_list_);
+    6408             : 
+    6409             :     // for each tracker
+    6410        2656 :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    6411             : 
+    6412             :       // if it is the active one, update and retrieve the command
+    6413        6831 :       response = tracker_list_.at(i)->setConstraints(
+    6414        6831 :           mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr(std::make_unique<mrs_msgs::DynamicsConstraintsSrvRequest>(constraints)));
+    6415             :     }
+    6416             :   }
+    6417         379 : }
+    6418             : 
+    6419             : //}
+    6420             : 
+    6421             : /* setConstraintsToControllers() //{ */
+    6422             : 
+    6423         428 : void ControlManager::setConstraintsToControllers(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6424             : 
+    6425        1284 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("setConstraintsToControllers");
+    6426        1284 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::setConstraintsToControllers", scope_timer_logger_, scope_timer_enabled_);
+    6427             : 
+    6428         428 :   mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr response;
+    6429             : 
+    6430             :   {
+    6431         856 :     std::scoped_lock lock(mutex_controller_list_);
+    6432             : 
+    6433             :     // for each controller
+    6434        2568 :     for (int i = 0; i < int(controller_list_.size()); i++) {
+    6435             : 
+    6436             :       // if it is the active one, update and retrieve the command
+    6437        6420 :       response = controller_list_.at(i)->setConstraints(
+    6438        6420 :           mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr(std::make_unique<mrs_msgs::DynamicsConstraintsSrvRequest>(constraints)));
+    6439             :     }
+    6440             :   }
+    6441         428 : }
+    6442             : 
+    6443             : //}
+    6444             : 
+    6445             : /* setConstraints() //{ */
+    6446             : 
+    6447         108 : void ControlManager::setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6448             : 
+    6449         324 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("setConstraints");
+    6450         324 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::setConstraints", scope_timer_logger_, scope_timer_enabled_);
+    6451             : 
+    6452         108 :   mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr response;
+    6453             : 
+    6454         108 :   setConstraintsToTrackers(constraints);
+    6455             : 
+    6456         108 :   setConstraintsToControllers(constraints);
+    6457         108 : }
+    6458             : 
+    6459             : //}
+    6460             : 
+    6461             : /* enforceControllerConstraints() //{ */
+    6462             : 
+    6463      138128 : std::optional<mrs_msgs::DynamicsConstraintsSrvRequest> ControlManager::enforceControllersConstraints(
+    6464             :     const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6465             : 
+    6466             :   // copy member variables
+    6467      276256 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    6468             : 
+    6469      138128 :   if (!last_control_output.control_output || !last_control_output.diagnostics.controller_enforcing_constraints) {
+    6470      118657 :     return {};
+    6471             :   }
+    6472             : 
+    6473       19471 :   bool enforcing = false;
+    6474             : 
+    6475       19471 :   auto constraints_out = constraints;
+    6476             : 
+    6477       38942 :   std::scoped_lock lock(mutex_tracker_list_);
+    6478             : 
+    6479             :   // enforce horizontal speed
+    6480       19471 :   if (last_control_output.diagnostics.horizontal_speed_constraint < constraints.constraints.horizontal_speed) {
+    6481       14090 :     constraints_out.constraints.horizontal_speed = last_control_output.diagnostics.horizontal_speed_constraint;
+    6482             : 
+    6483       14090 :     enforcing = true;
+    6484             :   }
+    6485             : 
+    6486             :   // enforce horizontal acceleration
+    6487       19471 :   if (last_control_output.diagnostics.horizontal_acc_constraint < constraints.constraints.horizontal_acceleration) {
+    6488       17833 :     constraints_out.constraints.horizontal_acceleration = last_control_output.diagnostics.horizontal_acc_constraint;
+    6489             : 
+    6490       17833 :     enforcing = true;
+    6491             :   }
+    6492             : 
+    6493             :   // enforce vertical ascending speed
+    6494       19471 :   if (last_control_output.diagnostics.vertical_asc_speed_constraint < constraints.constraints.vertical_ascending_speed) {
+    6495       14090 :     constraints_out.constraints.vertical_ascending_speed = last_control_output.diagnostics.vertical_asc_speed_constraint;
+    6496             : 
+    6497       14090 :     enforcing = true;
+    6498             :   }
+    6499             : 
+    6500             :   // enforce vertical ascending acceleration
+    6501       19471 :   if (last_control_output.diagnostics.vertical_asc_acc_constraint < constraints.constraints.vertical_ascending_acceleration) {
+    6502           0 :     constraints_out.constraints.vertical_ascending_acceleration = last_control_output.diagnostics.vertical_asc_acc_constraint;
+    6503             : 
+    6504           0 :     enforcing = true;
+    6505             :   }
+    6506             : 
+    6507             :   // enforce vertical descending speed
+    6508       19471 :   if (last_control_output.diagnostics.vertical_desc_speed_constraint < constraints.constraints.vertical_descending_speed) {
+    6509       14090 :     constraints_out.constraints.vertical_descending_speed = last_control_output.diagnostics.vertical_desc_speed_constraint;
+    6510             : 
+    6511       14090 :     enforcing = true;
+    6512             :   }
+    6513             : 
+    6514             :   // enforce vertical descending acceleration
+    6515       19471 :   if (last_control_output.diagnostics.vertical_desc_acc_constraint < constraints.constraints.vertical_descending_acceleration) {
+    6516           0 :     constraints_out.constraints.vertical_descending_acceleration = last_control_output.diagnostics.vertical_desc_acc_constraint;
+    6517             : 
+    6518           0 :     enforcing = true;
+    6519             :   }
+    6520             : 
+    6521       19471 :   if (enforcing) {
+    6522       17833 :     return {constraints_out};
+    6523             :   } else {
+    6524        1638 :     return {};
+    6525             :   }
+    6526             : }
+    6527             : 
+    6528             : //}
+    6529             : 
+    6530             : /* isFlyingNormally() //{ */
+    6531             : 
+    6532       19385 : bool ControlManager::isFlyingNormally(void) {
+    6533             : 
+    6534       16704 :   return callbacks_enabled_ && (output_enabled_) && (offboard_mode_) && (armed_) &&
+    6535       10512 :          (((active_tracker_idx_ != _ehover_tracker_idx_) && (active_controller_idx_ != _eland_controller_idx_) &&
+    6536       10512 :            (active_controller_idx_ != _failsafe_controller_idx_)) ||
+    6537       38301 :           _controller_names_.size() == 1) &&
+    6538       27685 :          (((active_tracker_idx_ != _null_tracker_idx_) && (active_tracker_idx_ != _landoff_tracker_idx_)) || _tracker_names_.size() == 1);
+    6539             : }
+    6540             : 
+    6541             : //}
+    6542             : 
+    6543             : /* //{ getMass() */
+    6544             : 
+    6545         556 : double ControlManager::getMass(void) {
+    6546             : 
+    6547        1112 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    6548             : 
+    6549         556 :   if (last_control_output.diagnostics.mass_estimator) {
+    6550          14 :     return _uav_mass_ + last_control_output.diagnostics.mass_difference;
+    6551             :   } else {
+    6552         542 :     return _uav_mass_;
+    6553             :   }
+    6554             : }
+    6555             : 
+    6556             : //}
+    6557             : 
+    6558             : /* loadConfigFile() //{ */
+    6559             : 
+    6560           0 : bool ControlManager::loadConfigFile(const std::string& file_path, const std::string ns) {
+    6561             : 
+    6562           0 :   const std::string name_space = nh_.getNamespace() + "/" + ns;
+    6563             : 
+    6564           0 :   ROS_INFO("[ControlManager]: loading '%s' under the namespace '%s'", file_path.c_str(), name_space.c_str());
+    6565             : 
+    6566             :   // load the user-requested file
+    6567             :   {
+    6568           0 :     std::string command = "rosparam load " + file_path + " " + name_space;
+    6569           0 :     int         result  = std::system(command.c_str());
+    6570             : 
+    6571           0 :     if (result != 0) {
+    6572           0 :       ROS_ERROR("[ControlManager]: failed to load '%s'", file_path.c_str());
+    6573           0 :       return false;
+    6574             :     }
+    6575             :   }
+    6576             : 
+    6577             :   // load the platform config
+    6578           0 :   if (_platform_config_ != "") {
+    6579           0 :     std::string command = "rosparam load " + _platform_config_ + " " + name_space;
+    6580           0 :     int         result  = std::system(command.c_str());
+    6581             : 
+    6582           0 :     if (result != 0) {
+    6583           0 :       ROS_ERROR("[ControlManager]: failed to load the platform config file '%s'", _platform_config_.c_str());
+    6584           0 :       return false;
+    6585             :     }
+    6586             :   }
+    6587             : 
+    6588             :   // load the custom config
+    6589           0 :   if (_custom_config_ != "") {
+    6590           0 :     std::string command = "rosparam load " + _custom_config_ + " " + name_space;
+    6591           0 :     int         result  = std::system(command.c_str());
+    6592             : 
+    6593           0 :     if (result != 0) {
+    6594           0 :       ROS_ERROR("[ControlManager]: failed to load the custom config file '%s'", _custom_config_.c_str());
+    6595           0 :       return false;
+    6596             :     }
+    6597             :   }
+    6598             : 
+    6599           0 :   return true;
+    6600             : }
+    6601             : 
+    6602             : //}
+    6603             : 
+    6604             : // | ----------------------- safety area ---------------------- |
+    6605             : 
+    6606             : /* //{ isPointInSafetyArea3d() */
+    6607             : 
+    6608        1848 : bool ControlManager::isPointInSafetyArea3d(const mrs_msgs::ReferenceStamped& point) {
+    6609             : 
+    6610        1848 :   if (!use_safety_area_) {
+    6611         735 :     return true;
+    6612             :   }
+    6613             : 
+    6614        2226 :   auto tfed_horizontal = transformer_->transformSingle(point, _safety_area_horizontal_frame_);
+    6615             : 
+    6616        1113 :   if (!tfed_horizontal) {
+    6617           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform the point to the safety area horizontal frame");
+    6618           0 :     return false;
+    6619             :   }
+    6620             : 
+    6621        1113 :   if (!safety_zone_->isPointValid(tfed_horizontal->reference.position.x, tfed_horizontal->reference.position.y)) {
+    6622           3 :     return false;
+    6623             :   }
+    6624             : 
+    6625        1110 :   if (point.reference.position.z < getMinZ(point.header.frame_id) || point.reference.position.z > getMaxZ(point.header.frame_id)) {
+    6626           3 :     return false;
+    6627             :   }
+    6628             : 
+    6629        1107 :   return true;
+    6630             : }
+    6631             : 
+    6632             : //}
+    6633             : 
+    6634             : /* //{ isPointInSafetyArea2d() */
+    6635             : 
+    6636        9487 : bool ControlManager::isPointInSafetyArea2d(const mrs_msgs::ReferenceStamped& point) {
+    6637             : 
+    6638        9487 :   if (!use_safety_area_) {
+    6639         595 :     return true;
+    6640             :   }
+    6641             : 
+    6642       17784 :   auto tfed_horizontal = transformer_->transformSingle(point, _safety_area_horizontal_frame_);
+    6643             : 
+    6644        8892 :   if (!tfed_horizontal) {
+    6645           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform the point to the safety area horizontal frame");
+    6646           0 :     return false;
+    6647             :   }
+    6648             : 
+    6649        8892 :   if (!safety_zone_->isPointValid(tfed_horizontal->reference.position.x, tfed_horizontal->reference.position.y)) {
+    6650          77 :     return false;
+    6651             :   }
+    6652             : 
+    6653        8815 :   return true;
+    6654             : }
+    6655             : 
+    6656             : //}
+    6657             : 
+    6658             : /* //{ isPathToPointInSafetyArea3d() */
+    6659             : 
+    6660         881 : bool ControlManager::isPathToPointInSafetyArea3d(const mrs_msgs::ReferenceStamped& start, const mrs_msgs::ReferenceStamped& end) {
+    6661             : 
+    6662         881 :   if (!use_safety_area_) {
+    6663         735 :     return true;
+    6664             :   }
+    6665             : 
+    6666         146 :   if (!isPointInSafetyArea3d(start) || !isPointInSafetyArea3d(end)) {
+    6667           2 :     return false;
+    6668             :   }
+    6669             : 
+    6670         288 :   mrs_msgs::ReferenceStamped start_transformed, end_transformed;
+    6671             : 
+    6672             :   {
+    6673         144 :     auto ret = transformer_->transformSingle(start, _safety_area_horizontal_frame_);
+    6674             : 
+    6675         144 :     if (!ret) {
+    6676             : 
+    6677           0 :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6678             : 
+    6679           0 :       return false;
+    6680             :     }
+    6681             : 
+    6682         144 :     start_transformed = ret.value();
+    6683             :   }
+    6684             : 
+    6685             :   {
+    6686         144 :     auto ret = transformer_->transformSingle(end, _safety_area_horizontal_frame_);
+    6687             : 
+    6688         144 :     if (!ret) {
+    6689             : 
+    6690           0 :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6691             : 
+    6692           0 :       return false;
+    6693             :     }
+    6694             : 
+    6695         144 :     end_transformed = ret.value();
+    6696             :   }
+    6697             : 
+    6698         144 :   return safety_zone_->isPathValid(start_transformed.reference.position.x, start_transformed.reference.position.y, end_transformed.reference.position.x,
+    6699         144 :                                    end_transformed.reference.position.y);
+    6700             : }
+    6701             : 
+    6702             : //}
+    6703             : 
+    6704             : /* //{ isPathToPointInSafetyArea2d() */
+    6705             : 
+    6706           0 : bool ControlManager::isPathToPointInSafetyArea2d(const mrs_msgs::ReferenceStamped& start, const mrs_msgs::ReferenceStamped& end) {
+    6707             : 
+    6708           0 :   if (!use_safety_area_) {
+    6709           0 :     return true;
+    6710             :   }
+    6711             : 
+    6712           0 :   mrs_msgs::ReferenceStamped start_transformed, end_transformed;
+    6713             : 
+    6714           0 :   if (!isPointInSafetyArea2d(start) || !isPointInSafetyArea2d(end)) {
+    6715           0 :     return false;
+    6716             :   }
+    6717             : 
+    6718             :   {
+    6719           0 :     auto ret = transformer_->transformSingle(start, _safety_area_horizontal_frame_);
+    6720             : 
+    6721           0 :     if (!ret) {
+    6722             : 
+    6723           0 :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6724             : 
+    6725           0 :       return false;
+    6726             :     }
+    6727             : 
+    6728           0 :     start_transformed = ret.value();
+    6729             :   }
+    6730             : 
+    6731             :   {
+    6732           0 :     auto ret = transformer_->transformSingle(end, _safety_area_horizontal_frame_);
+    6733             : 
+    6734           0 :     if (!ret) {
+    6735             : 
+    6736           0 :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6737             : 
+    6738           0 :       return false;
+    6739             :     }
+    6740             : 
+    6741           0 :     end_transformed = ret.value();
+    6742             :   }
+    6743             : 
+    6744           0 :   return safety_zone_->isPathValid(start_transformed.reference.position.x, start_transformed.reference.position.y, end_transformed.reference.position.x,
+    6745           0 :                                    end_transformed.reference.position.y);
+    6746             : }
+    6747             : 
+    6748             : //}
+    6749             : 
+    6750             : /* //{ getMaxZ() */
+    6751             : 
+    6752       13549 : double ControlManager::getMaxZ(const std::string& frame_id) {
+    6753             : 
+    6754             :   // | ------- first, calculate max_z from the safety area ------ |
+    6755             : 
+    6756       13549 :   double safety_area_max_z = std::numeric_limits<float>::max();
+    6757             : 
+    6758             :   {
+    6759             : 
+    6760       27098 :     geometry_msgs::PointStamped point;
+    6761             : 
+    6762       13549 :     point.header.frame_id = _safety_area_vertical_frame_;
+    6763       13549 :     point.point.x         = 0;
+    6764       13549 :     point.point.y         = 0;
+    6765       13549 :     point.point.z         = _safety_area_max_z_;
+    6766             : 
+    6767       13549 :     auto ret = transformer_->transformSingle(point, frame_id);
+    6768             : 
+    6769       13549 :     if (!ret) {
+    6770           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform safety area's max_z to '%s'", frame_id.c_str());
+    6771             :     }
+    6772             : 
+    6773       13549 :     safety_area_max_z = ret->point.z;
+    6774             :   }
+    6775             : 
+    6776             :   // | ------------ overwrite from estimation manager ----------- |
+    6777             : 
+    6778       13549 :   double estimation_manager_max_z = std::numeric_limits<float>::max();
+    6779             : 
+    6780             :   {
+    6781             :     // if possible, override it with max z from the estimation manager
+    6782       13549 :     if (sh_max_z_.hasMsg()) {
+    6783             : 
+    6784       27070 :       auto msg = sh_max_z_.getMsg();
+    6785             : 
+    6786             :       // transform it into the safety area frame
+    6787       27070 :       geometry_msgs::PointStamped point;
+    6788       13535 :       point.header  = msg->header;
+    6789       13535 :       point.point.x = 0;
+    6790       13535 :       point.point.y = 0;
+    6791       13535 :       point.point.z = msg->value;
+    6792             : 
+    6793       13535 :       auto ret = transformer_->transformSingle(point, frame_id);
+    6794             : 
+    6795       13535 :       if (!ret) {
+    6796           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform estimation manager's max_z to the current control frame");
+    6797             :       }
+    6798             : 
+    6799       13535 :       estimation_manager_max_z = ret->point.z;
+    6800             :     }
+    6801             :   }
+    6802             : 
+    6803       13549 :   if (estimation_manager_max_z < safety_area_max_z) {
+    6804       12767 :     return estimation_manager_max_z;
+    6805             :   } else {
+    6806         782 :     return safety_area_max_z;
+    6807             :   }
+    6808             : }
+    6809             : 
+    6810             : //}
+    6811             : 
+    6812             : /* //{ getMinZ() */
+    6813             : 
+    6814       13552 : double ControlManager::getMinZ(const std::string& frame_id) {
+    6815             : 
+    6816       13552 :   if (!use_safety_area_) {
+    6817           0 :     return std::numeric_limits<double>::lowest();
+    6818             :   }
+    6819             : 
+    6820       27104 :   geometry_msgs::PointStamped point;
+    6821             : 
+    6822       13552 :   point.header.frame_id = _safety_area_vertical_frame_;
+    6823       13552 :   point.point.x         = 0;
+    6824       13552 :   point.point.y         = 0;
+    6825       13552 :   point.point.z         = _safety_area_min_z_;
+    6826             : 
+    6827       27104 :   auto ret = transformer_->transformSingle(point, frame_id);
+    6828             : 
+    6829       13552 :   if (!ret) {
+    6830           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform safety area's min_z to '%s'", frame_id.c_str());
+    6831           0 :     return std::numeric_limits<double>::lowest();
+    6832             :   }
+    6833             : 
+    6834       13552 :   return ret->point.z;
+    6835             : }
+    6836             : 
+    6837             : //}
+    6838             : 
+    6839             : // | --------------------- obstacle bumper -------------------- |
+    6840             : 
+    6841             : /* bumperPushFromObstacle() //{ */
+    6842             : 
+    6843         276 : void ControlManager::bumperPushFromObstacle(void) {
+    6844             : 
+    6845             :   // | --------------- fabricate the min distances -------------- |
+    6846             : 
+    6847         276 :   double min_distance_horizontal = _bumper_horizontal_distance_;
+    6848         276 :   double min_distance_vertical   = _bumper_vertical_distance_;
+    6849             : 
+    6850         276 :   if (_bumper_horizontal_derive_from_dynamics_ || _bumper_vertical_derive_from_dynamics_) {
+    6851             : 
+    6852         276 :     auto constraints = mrs_lib::get_mutexed(mutex_constraints_, current_constraints_);
+    6853             : 
+    6854         276 :     if (_bumper_horizontal_derive_from_dynamics_) {
+    6855             : 
+    6856         276 :       const double horizontal_t_stop    = constraints.constraints.horizontal_speed / constraints.constraints.horizontal_acceleration;
+    6857         276 :       const double horizontal_stop_dist = (horizontal_t_stop * constraints.constraints.horizontal_speed) / 2.0;
+    6858             : 
+    6859         276 :       min_distance_horizontal += 1.5 * horizontal_stop_dist;
+    6860             :     }
+    6861             : 
+    6862         276 :     if (_bumper_vertical_derive_from_dynamics_) {
+    6863             : 
+    6864             : 
+    6865             :       // larger from the two accelerations
+    6866         552 :       const double vert_acc = constraints.constraints.vertical_ascending_acceleration > constraints.constraints.vertical_descending_acceleration
+    6867         276 :                                   ? constraints.constraints.vertical_ascending_acceleration
+    6868             :                                   : constraints.constraints.vertical_descending_acceleration;
+    6869             : 
+    6870             :       // larger from the two speeds
+    6871         552 :       const double vert_speed = constraints.constraints.vertical_ascending_speed > constraints.constraints.vertical_descending_speed
+    6872         276 :                                     ? constraints.constraints.vertical_ascending_speed
+    6873             :                                     : constraints.constraints.vertical_descending_speed;
+    6874             : 
+    6875         276 :       const double vertical_t_stop    = vert_speed / vert_acc;
+    6876         276 :       const double vertical_stop_dist = (vertical_t_stop * vert_speed) / 2.0;
+    6877             : 
+    6878         276 :       min_distance_vertical += 1.5 * vertical_stop_dist;
+    6879             :     }
+    6880             :   }
+    6881             : 
+    6882             :   // | ----------------------------  ---------------------------- |
+    6883             : 
+    6884             :   // copy member variables
+    6885         276 :   mrs_msgs::ObstacleSectorsConstPtr bumper_data = sh_bumper_.getMsg();
+    6886         276 :   auto                              uav_state   = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    6887             : 
+    6888         276 :   double sector_size = TAU / double(bumper_data->n_horizontal_sectors);
+    6889             : 
+    6890         276 :   double direction          = 0;
+    6891         276 :   double repulsion_distance = std::numeric_limits<double>::max();
+    6892             : 
+    6893         276 :   bool horizontal_collision_detected = false;
+    6894         276 :   bool vertical_collision_detected   = false;
+    6895             : 
+    6896         276 :   double min_horizontal_sector_distance = std::numeric_limits<double>::max();
+    6897         276 :   size_t min_sector_id                  = 0;
+    6898             : 
+    6899        2484 :   for (unsigned long i = 0; i < bumper_data->n_horizontal_sectors; i++) {
+    6900             : 
+    6901        2208 :     if (bumper_data->sectors.at(i) < 0) {
+    6902           0 :       continue;
+    6903             :     }
+    6904             : 
+    6905        2208 :     if (bumper_data->sectors.at(i) < min_horizontal_sector_distance) {
+    6906         276 :       min_horizontal_sector_distance = bumper_data->sectors.at(i);
+    6907         276 :       min_sector_id                  = i;
+    6908             :     }
+    6909             :   }
+    6910             : 
+    6911             :   // if the sector is under the threshold distance
+    6912         276 :   if (min_horizontal_sector_distance < min_distance_horizontal) {
+    6913             : 
+    6914             :     // get the desired direction of motion
+    6915         104 :     double oposite_direction  = double(min_sector_id) * sector_size + M_PI;
+    6916         104 :     int    oposite_sector_idx = bumperGetSectorId(cos(oposite_direction), sin(oposite_direction), 0);
+    6917             : 
+    6918             :     // get the id of the oposite sector
+    6919         104 :     direction = oposite_direction;
+    6920             : 
+    6921         104 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: Bumper: found potential collision (sector %lu vs. %d), obstacle distance: %.2f, repulsing", min_sector_id,
+    6922             :                       oposite_sector_idx, bumper_data->sectors.at(min_sector_id));
+    6923             : 
+    6924         104 :     repulsion_distance = min_distance_horizontal + _bumper_horizontal_overshoot_ - bumper_data->sectors.at(min_sector_id);
+    6925             : 
+    6926         104 :     horizontal_collision_detected = true;
+    6927             :   }
+    6928             : 
+    6929         276 :   double vertical_repulsion_distance = 0;
+    6930             : 
+    6931             :   // check for vertical collision down
+    6932         276 :   if (bumper_data->sectors.at(bumper_data->n_horizontal_sectors) > 0 && bumper_data->sectors.at(bumper_data->n_horizontal_sectors) <= min_distance_vertical) {
+    6933             : 
+    6934           0 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: potential collision below");
+    6935           0 :     vertical_collision_detected = true;
+    6936           0 :     vertical_repulsion_distance = min_distance_vertical - bumper_data->sectors.at(bumper_data->n_horizontal_sectors);
+    6937             :   }
+    6938             : 
+    6939             :   // check for vertical collision up
+    6940         552 :   if (bumper_data->sectors.at(bumper_data->n_horizontal_sectors + 1) > 0 &&
+    6941         276 :       bumper_data->sectors.at(bumper_data->n_horizontal_sectors + 1) <= min_distance_vertical) {
+    6942             : 
+    6943           0 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: potential collision above");
+    6944           0 :     vertical_collision_detected = true;
+    6945           0 :     vertical_repulsion_distance = -(min_distance_vertical - bumper_data->sectors.at(bumper_data->n_horizontal_sectors + 1));
+    6946             :   }
+    6947             : 
+    6948             :   // if potential collision was detected and we should start the repulsing_
+    6949         276 :   if (horizontal_collision_detected || vertical_collision_detected) {
+    6950             : 
+    6951         104 :     if (!bumper_repulsing_) {
+    6952             : 
+    6953           1 :       if (_bumper_switch_tracker_) {
+    6954             : 
+    6955           1 :         auto        active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    6956           2 :         std::string active_tracker_name = _tracker_names_.at(active_tracker_idx);
+    6957             : 
+    6958             :         // remember the previously active tracker
+    6959           1 :         bumper_previous_tracker_ = active_tracker_name;
+    6960             : 
+    6961           1 :         if (active_tracker_name != _bumper_tracker_name_) {
+    6962             : 
+    6963           0 :           switchTracker(_bumper_tracker_name_);
+    6964             :         }
+    6965             :       }
+    6966             : 
+    6967           1 :       if (_bumper_switch_controller_) {
+    6968             : 
+    6969           1 :         auto        active_controller_idx  = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    6970           2 :         std::string active_controller_name = _controller_names_.at(active_controller_idx);
+    6971             : 
+    6972             :         // remember the previously active controller
+    6973           1 :         bumper_previous_controller_ = active_controller_name;
+    6974             : 
+    6975           1 :         if (active_controller_name != _bumper_controller_name_) {
+    6976             : 
+    6977           1 :           switchController(_bumper_controller_name_);
+    6978             :         }
+    6979             :       }
+    6980             :     }
+    6981             : 
+    6982         104 :     bumper_repulsing_ = true;
+    6983             : 
+    6984         104 :     callbacks_enabled_ = false;
+    6985             : 
+    6986           0 :     mrs_msgs::ReferenceSrvResponse::ConstPtr tracker_response;
+    6987             : 
+    6988         104 :     std_srvs::SetBoolRequest req_enable_callbacks;
+    6989             : 
+    6990             :     // create the reference in the fcu_untilted frame
+    6991         104 :     mrs_msgs::ReferenceStamped reference_fcu_untilted;
+    6992             : 
+    6993         104 :     reference_fcu_untilted.header.frame_id = "fcu_untilted";
+    6994             : 
+    6995         104 :     if (horizontal_collision_detected) {
+    6996         104 :       reference_fcu_untilted.reference.position.x = cos(direction) * repulsion_distance;
+    6997         104 :       reference_fcu_untilted.reference.position.y = sin(direction) * repulsion_distance;
+    6998             :     } else {
+    6999           0 :       reference_fcu_untilted.reference.position.x = 0;
+    7000           0 :       reference_fcu_untilted.reference.position.y = 0;
+    7001             :     }
+    7002             : 
+    7003         104 :     reference_fcu_untilted.reference.heading = 0;
+    7004             : 
+    7005         104 :     if (vertical_collision_detected) {
+    7006           0 :       reference_fcu_untilted.reference.position.z = vertical_repulsion_distance;
+    7007             :     } else {
+    7008         104 :       reference_fcu_untilted.reference.position.z = 0;
+    7009             :     }
+    7010             : 
+    7011             :     {
+    7012         104 :       std::scoped_lock lock(mutex_tracker_list_);
+    7013             : 
+    7014             :       // transform the reference into the currently used frame
+    7015             :       // this is under the mutex_tracker_list since we don't won't the odometry switch to happen
+    7016             :       // to the tracker before we actually call the goto service
+    7017             : 
+    7018         104 :       auto ret = transformer_->transformSingle(reference_fcu_untilted, uav_state.header.frame_id);
+    7019             : 
+    7020         104 :       if (!ret) {
+    7021           0 :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: Bumper: bumper reference could not be transformed");
+    7022           0 :         return;
+    7023             :       }
+    7024             : 
+    7025         104 :       reference_fcu_untilted = ret.value();
+    7026             : 
+    7027             :       // copy the reference into the service type message
+    7028         104 :       mrs_msgs::ReferenceSrvRequest req_goto_out;
+    7029         104 :       req_goto_out.reference = reference_fcu_untilted.reference;
+    7030             : 
+    7031             :       // disable callbacks of all trackers
+    7032         104 :       req_enable_callbacks.data = false;
+    7033         728 :       for (size_t i = 0; i < tracker_list_.size(); i++) {
+    7034         624 :         tracker_list_.at(i)->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    7035             :       }
+    7036             : 
+    7037             :       // enable the callbacks for the active tracker
+    7038         104 :       req_enable_callbacks.data = true;
+    7039         104 :       tracker_list_.at(active_tracker_idx_)
+    7040         104 :           ->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    7041             : 
+    7042             :       // call the goto
+    7043         104 :       tracker_response = tracker_list_.at(active_tracker_idx_)
+    7044         104 :                              ->setReference(mrs_msgs::ReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::ReferenceSrvRequest>(req_goto_out)));
+    7045             : 
+    7046             :       // disable the callbacks back again
+    7047         104 :       req_enable_callbacks.data = false;
+    7048         104 :       tracker_list_.at(active_tracker_idx_)
+    7049         104 :           ->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    7050             :     }
+    7051             :   }
+    7052             : 
+    7053             :   // if repulsing_ and the distance is safe once again
+    7054         276 :   if (bumper_repulsing_ && !horizontal_collision_detected && !vertical_collision_detected) {
+    7055             : 
+    7056           1 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: no more collision, stopping repulsion");
+    7057             : 
+    7058           1 :     if (_bumper_switch_tracker_) {
+    7059             : 
+    7060           1 :       auto        active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7061           2 :       std::string active_tracker_name = _tracker_names_.at(active_tracker_idx);
+    7062             : 
+    7063           1 :       if (active_tracker_name != bumper_previous_tracker_) {
+    7064             : 
+    7065           0 :         switchTracker(bumper_previous_tracker_);
+    7066             :       }
+    7067             :     }
+    7068             : 
+    7069           1 :     if (_bumper_switch_controller_) {
+    7070             : 
+    7071           1 :       auto        active_controller_idx  = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    7072           2 :       std::string active_controller_name = _controller_names_.at(active_controller_idx);
+    7073             : 
+    7074           1 :       if (active_controller_name != bumper_previous_controller_) {
+    7075             : 
+    7076           1 :         switchController(bumper_previous_controller_);
+    7077             :       }
+    7078             :     }
+    7079             : 
+    7080           1 :     std_srvs::SetBoolRequest req_enable_callbacks;
+    7081             : 
+    7082             :     {
+    7083           2 :       std::scoped_lock lock(mutex_tracker_list_);
+    7084             : 
+    7085             :       // enable callbacks of all trackers
+    7086           1 :       req_enable_callbacks.data = true;
+    7087           7 :       for (size_t i = 0; i < tracker_list_.size(); i++) {
+    7088           6 :         tracker_list_.at(i)->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    7089             :       }
+    7090             :     }
+    7091             : 
+    7092           1 :     callbacks_enabled_ = true;
+    7093             : 
+    7094           1 :     bumper_repulsing_ = false;
+    7095             :   }
+    7096             : }
+    7097             : 
+    7098             : //}
+    7099             : 
+    7100             : /* bumperGetSectorId() //{ */
+    7101             : 
+    7102         104 : int ControlManager::bumperGetSectorId(const double& x, const double& y, [[maybe_unused]] const double& z) {
+    7103             : 
+    7104             :   // copy member variables
+    7105         104 :   mrs_msgs::ObstacleSectorsConstPtr bumper_data = sh_bumper_.getMsg();
+    7106             : 
+    7107             :   // heading of the point in drone frame
+    7108         104 :   double point_heading_horizontal = atan2(y, x);
+    7109             : 
+    7110         104 :   point_heading_horizontal += TAU;
+    7111             : 
+    7112             :   // if point_heading_horizontal is greater then 2*M_PI mod it
+    7113         104 :   if (fabs(point_heading_horizontal) >= TAU) {
+    7114         104 :     point_heading_horizontal = fmod(point_heading_horizontal, TAU);
+    7115             :   }
+    7116             : 
+    7117             :   // heading of the right edge of the first sector
+    7118         104 :   double sector_size = TAU / double(bumper_data->n_horizontal_sectors);
+    7119             : 
+    7120             :   // calculate the idx
+    7121         104 :   int idx = floor((point_heading_horizontal + (sector_size / 2.0)) / sector_size);
+    7122             : 
+    7123         104 :   if (idx > int(bumper_data->n_horizontal_sectors) - 1) {
+    7124           0 :     idx -= bumper_data->n_horizontal_sectors;
+    7125             :   }
+    7126             : 
+    7127         208 :   return idx;
+    7128             : }
+    7129             : 
+    7130             : //}
+    7131             : 
+    7132             : // | ------------------------- safety ------------------------- |
+    7133             : 
+    7134             : /* //{ changeLandingState() */
+    7135             : 
+    7136          12 : void ControlManager::changeLandingState(LandingStates_t new_state) {
+    7137             : 
+    7138             :   // copy member variables
+    7139          24 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7140             : 
+    7141             :   {
+    7142          12 :     std::scoped_lock lock(mutex_landing_state_machine_);
+    7143             : 
+    7144          12 :     previous_state_landing_ = current_state_landing_;
+    7145          12 :     current_state_landing_  = new_state;
+    7146             :   }
+    7147             : 
+    7148          12 :   switch (current_state_landing_) {
+    7149             : 
+    7150           4 :     case IDLE_STATE:
+    7151           4 :       break;
+    7152           8 :     case LANDING_STATE: {
+    7153             : 
+    7154           8 :       ROS_DEBUG("[ControlManager]: starting eland timer");
+    7155           8 :       timer_eland_.start();
+    7156           8 :       ROS_DEBUG("[ControlManager]: eland timer started");
+    7157           8 :       eland_triggered_ = true;
+    7158           8 :       bumper_enabled_  = false;
+    7159             : 
+    7160           8 :       landing_uav_mass_ = getMass();
+    7161             :     }
+    7162             : 
+    7163           8 :     break;
+    7164             :   }
+    7165             : 
+    7166          12 :   ROS_INFO("[ControlManager]: switching emergency landing state %s -> %s", state_names[previous_state_landing_], state_names[current_state_landing_]);
+    7167          12 : }
+    7168             : 
+    7169             : //}
+    7170             : 
+    7171             : /* hover() //{ */
+    7172             : 
+    7173           1 : std::tuple<bool, std::string> ControlManager::hover(void) {
+    7174             : 
+    7175           1 :   if (!is_initialized_) {
+    7176           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7177             :   }
+    7178             : 
+    7179           1 :   if (eland_triggered_) {
+    7180           0 :     return std::tuple(false, "cannot hover, eland already triggered");
+    7181             :   }
+    7182             : 
+    7183           1 :   if (failsafe_triggered_) {
+    7184           0 :     return std::tuple(false, "cannot hover, failsafe already triggered");
+    7185             :   }
+    7186             : 
+    7187             :   {
+    7188           2 :     std::scoped_lock lock(mutex_tracker_list_);
+    7189             : 
+    7190           1 :     std_srvs::TriggerResponse::ConstPtr response;
+    7191           1 :     std_srvs::TriggerRequest            request;
+    7192             : 
+    7193           1 :     response = tracker_list_.at(active_tracker_idx_)->hover(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7194             : 
+    7195           1 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7196             : 
+    7197           2 :       return std::tuple(response->success, response->message);
+    7198             : 
+    7199             :     } else {
+    7200             : 
+    7201           0 :       std::stringstream ss;
+    7202           0 :       ss << "the tracker '" << _tracker_names_.at(active_tracker_idx_) << "' does not implement the 'hover()' function!";
+    7203             : 
+    7204           0 :       return std::tuple(false, ss.str());
+    7205             :     }
+    7206             :   }
+    7207             : }
+    7208             : 
+    7209             : //}
+    7210             : 
+    7211             : /* //{ ehover() */
+    7212             : 
+    7213           4 : std::tuple<bool, std::string> ControlManager::ehover(void) {
+    7214             : 
+    7215           4 :   if (!is_initialized_) {
+    7216           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7217             :   }
+    7218             : 
+    7219           4 :   if (eland_triggered_) {
+    7220           0 :     return std::tuple(false, "cannot ehover, eland already triggered");
+    7221             :   }
+    7222             : 
+    7223           4 :   if (failsafe_triggered_) {
+    7224           0 :     return std::tuple(false, "cannot ehover, failsafe already triggered");
+    7225             :   }
+    7226             : 
+    7227             :   // copy the member variables
+    7228           8 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7229           4 :   auto active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7230             : 
+    7231           4 :   if (active_tracker_idx == _null_tracker_idx_) {
+    7232             : 
+    7233           0 :     std::stringstream ss;
+    7234           0 :     ss << "can not trigger ehover while not flying";
+    7235           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7236             : 
+    7237           0 :     return std::tuple(false, ss.str());
+    7238             :   }
+    7239             : 
+    7240           4 :   ungripSrv();
+    7241             : 
+    7242             :   {
+    7243             : 
+    7244           4 :     auto [success, message] = switchTracker(_ehover_tracker_name_);
+    7245             : 
+    7246             :     // check if the tracker was successfully switched
+    7247             :     // this is vital, that is the core of the hover
+    7248           4 :     if (!success) {
+    7249             : 
+    7250           0 :       std::stringstream ss;
+    7251           0 :       ss << "error during switching to ehover tracker: '" << message << "'";
+    7252           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7253             : 
+    7254           0 :       return std::tuple(success, ss.str());
+    7255             :     }
+    7256             :   }
+    7257             : 
+    7258             :   {
+    7259           8 :     auto [success, message] = switchController(_eland_controller_name_);
+    7260             : 
+    7261             :     // check if the controller was successfully switched
+    7262             :     // this is not vital, we can continue without that
+    7263           4 :     if (!success) {
+    7264             : 
+    7265           0 :       std::stringstream ss;
+    7266           0 :       ss << "error during switching to ehover controller: '" << message << "'";
+    7267           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7268             :     }
+    7269             :   }
+    7270             : 
+    7271           4 :   std::stringstream ss;
+    7272           4 :   ss << "ehover activated";
+    7273           4 :   ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7274             : 
+    7275           4 :   callbacks_enabled_ = false;
+    7276             : 
+    7277           4 :   return std::tuple(true, ss.str());
+    7278             : }
+    7279             : 
+    7280             : //}
+    7281             : 
+    7282             : /* eland() //{ */
+    7283             : 
+    7284           8 : std::tuple<bool, std::string> ControlManager::eland(void) {
+    7285             : 
+    7286           8 :   if (!is_initialized_) {
+    7287           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7288             :   }
+    7289             : 
+    7290           8 :   if (eland_triggered_) {
+    7291           0 :     return std::tuple(false, "cannot eland, eland already triggered");
+    7292             :   }
+    7293             : 
+    7294           8 :   if (failsafe_triggered_) {
+    7295           0 :     return std::tuple(false, "cannot eland, failsafe already triggered");
+    7296             :   }
+    7297             : 
+    7298             :   // copy member variables
+    7299          16 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7300           8 :   auto active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7301             : 
+    7302           8 :   if (active_tracker_idx == _null_tracker_idx_) {
+    7303             : 
+    7304           0 :     std::stringstream ss;
+    7305           0 :     ss << "can not trigger eland while not flying";
+    7306           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7307             : 
+    7308           0 :     return std::tuple(false, ss.str());
+    7309             :   }
+    7310             : 
+    7311           8 :   if (_rc_emergency_handoff_) {
+    7312             : 
+    7313           0 :     toggleOutput(false);
+    7314             : 
+    7315           0 :     return std::tuple(true, "RC emergency handoff is ON, disabling output");
+    7316             :   }
+    7317             : 
+    7318             :   {
+    7319           8 :     auto [success, message] = switchTracker(_ehover_tracker_name_);
+    7320             : 
+    7321             :     // check if the tracker was successfully switched
+    7322             :     // this is vital
+    7323           8 :     if (!success) {
+    7324             : 
+    7325           0 :       std::stringstream ss;
+    7326           0 :       ss << "error during switching to eland tracker: '" << message << "'";
+    7327           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7328             : 
+    7329           0 :       return std::tuple(success, ss.str());
+    7330             :     }
+    7331             :   }
+    7332             : 
+    7333             :   {
+    7334          16 :     auto [success, message] = switchController(_eland_controller_name_);
+    7335             : 
+    7336             :     // check if the controller was successfully switched
+    7337             :     // this is not vital, we can continue without it
+    7338           8 :     if (!success) {
+    7339             : 
+    7340           0 :       std::stringstream ss;
+    7341           0 :       ss << "error during switching to eland controller: '" << message << "'";
+    7342           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7343             :     }
+    7344             :   }
+    7345             : 
+    7346             :   // | ----------------- call the eland service ----------------- |
+    7347             : 
+    7348           8 :   std::stringstream ss;
+    7349             :   bool              success;
+    7350             : 
+    7351           8 :   if (elandSrv()) {
+    7352             : 
+    7353           8 :     changeLandingState(LANDING_STATE);
+    7354             : 
+    7355           8 :     odometryCallbacksSrv(false);
+    7356             : 
+    7357           8 :     ss << "eland activated";
+    7358           8 :     ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7359             : 
+    7360           8 :     success = true;
+    7361             : 
+    7362           8 :     callbacks_enabled_ = false;
+    7363             : 
+    7364             :   } else {
+    7365             : 
+    7366           0 :     ss << "error during activation of eland";
+    7367           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7368             : 
+    7369           0 :     success = false;
+    7370             :   }
+    7371             : 
+    7372          16 :   return std::tuple(success, ss.str());
+    7373             : }
+    7374             : 
+    7375             : //}
+    7376             : 
+    7377             : /* failsafe() //{ */
+    7378             : 
+    7379           8 : std::tuple<bool, std::string> ControlManager::failsafe(void) {
+    7380             : 
+    7381             :   // copy member variables
+    7382          16 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7383           8 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    7384           8 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7385             : 
+    7386           8 :   if (!is_initialized_) {
+    7387           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7388             :   }
+    7389             : 
+    7390           8 :   if (failsafe_triggered_) {
+    7391           0 :     return std::tuple(false, "cannot, failsafe already triggered");
+    7392             :   }
+    7393             : 
+    7394           8 :   if (active_tracker_idx == _null_tracker_idx_) {
+    7395             : 
+    7396           0 :     std::stringstream ss;
+    7397           0 :     ss << "can not trigger failsafe while not flying";
+    7398           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7399           0 :     return std::tuple(false, ss.str());
+    7400             :   }
+    7401             : 
+    7402           8 :   if (_rc_emergency_handoff_) {
+    7403             : 
+    7404           0 :     toggleOutput(false);
+    7405             : 
+    7406           0 :     return std::tuple(true, "RC emergency handoff is ON, disabling output");
+    7407             :   }
+    7408             : 
+    7409           8 :   if (getLowestOuput(_hw_api_inputs_) == POSITION) {
+    7410           0 :     return eland();
+    7411             :   }
+    7412             : 
+    7413           8 :   if (_parachute_enabled_) {
+    7414             : 
+    7415           0 :     auto [success, message] = deployParachute();
+    7416             : 
+    7417           0 :     if (success) {
+    7418             : 
+    7419           0 :       std::stringstream ss;
+    7420           0 :       ss << "failsafe activated (parachute): '" << message << "'";
+    7421           0 :       ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    7422             : 
+    7423           0 :       return std::tuple(true, ss.str());
+    7424             : 
+    7425             :     } else {
+    7426             : 
+    7427           0 :       std::stringstream ss;
+    7428           0 :       ss << "could not deploy parachute: '" << message << "', continuing with normal failsafe";
+    7429           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7430             :     }
+    7431             :   }
+    7432             : 
+    7433           8 :   if (_failsafe_controller_idx_ != active_controller_idx) {
+    7434             : 
+    7435             :     try {
+    7436             : 
+    7437          16 :       std::scoped_lock lock(mutex_controller_list_);
+    7438             : 
+    7439           8 :       ROS_INFO("[ControlManager]: activating the controller '%s'", _failsafe_controller_name_.c_str());
+    7440           8 :       controller_list_.at(_failsafe_controller_idx_)->activate(last_control_output);
+    7441             : 
+    7442             :       {
+    7443          16 :         std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    7444             : 
+    7445             :         // update the time (used in failsafe)
+    7446           8 :         controller_tracker_switch_time_ = ros::Time::now();
+    7447             :       }
+    7448             : 
+    7449           8 :       failsafe_triggered_ = true;
+    7450           8 :       ROS_DEBUG("[ControlManager]: stopping eland timer");
+    7451           8 :       timer_eland_.stop();
+    7452           8 :       ROS_DEBUG("[ControlManager]: eland timer stopped");
+    7453             : 
+    7454           8 :       landing_uav_mass_ = getMass();
+    7455             : 
+    7456           8 :       eland_triggered_ = false;
+    7457           8 :       ROS_DEBUG("[ControlManager]: starting failsafe timer");
+    7458           8 :       timer_failsafe_.start();
+    7459           8 :       ROS_DEBUG("[ControlManager]: failsafe timer started");
+    7460             : 
+    7461           8 :       bumper_enabled_ = false;
+    7462             : 
+    7463           8 :       odometryCallbacksSrv(false);
+    7464             : 
+    7465           8 :       callbacks_enabled_ = false;
+    7466             : 
+    7467           8 :       ROS_INFO_THROTTLE(1.0, "[ControlManager]: the controller '%s' was activated", _failsafe_controller_name_.c_str());
+    7468             : 
+    7469             :       // super important, switch the active controller idx
+    7470             :       try {
+    7471           8 :         controller_list_.at(active_controller_idx_)->deactivate();
+    7472           8 :         active_controller_idx_ = _failsafe_controller_idx_;
+    7473             :       }
+    7474           0 :       catch (std::runtime_error& exrun) {
+    7475           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not deactivate the controller '%s'", _controller_names_.at(active_controller_idx_).c_str());
+    7476             :       }
+    7477             :     }
+    7478           0 :     catch (std::runtime_error& exrun) {
+    7479           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: error during activation of the controller '%s'", _failsafe_controller_name_.c_str());
+    7480           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception: '%s'", exrun.what());
+    7481             :     }
+    7482             :   }
+    7483             : 
+    7484          16 :   return std::tuple(true, "failsafe activated");
+    7485             : }
+    7486             : 
+    7487             : //}
+    7488             : 
+    7489             : /* escalatingFailsafe() //{ */
+    7490             : 
+    7491         147 : std::tuple<bool, std::string> ControlManager::escalatingFailsafe(void) {
+    7492             : 
+    7493         294 :   std::stringstream ss;
+    7494             : 
+    7495         147 :   if ((ros::Time::now() - escalating_failsafe_time_).toSec() < _escalating_failsafe_timeout_) {
+    7496             : 
+    7497         139 :     ss << "too soon for escalating failsafe";
+    7498         139 :     ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7499             : 
+    7500         139 :     return std::tuple(false, ss.str());
+    7501             :   }
+    7502             : 
+    7503           8 :   if (!output_enabled_) {
+    7504             : 
+    7505           0 :     ss << "not escalating failsafe, output is disabled";
+    7506           0 :     ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7507             : 
+    7508           0 :     return std::tuple(false, ss.str());
+    7509             :   }
+    7510             : 
+    7511           8 :   ROS_WARN("[ControlManager]: escalating failsafe triggered");
+    7512             : 
+    7513           8 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7514           8 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    7515             : 
+    7516          16 :   std::string active_tracker_name    = _tracker_names_.at(active_tracker_idx);
+    7517          16 :   std::string active_controller_name = _controller_names_.at(active_controller_idx);
+    7518             : 
+    7519           8 :   EscalatingFailsafeStates_t next_state = getNextEscFailsafeState();
+    7520             : 
+    7521           8 :   escalating_failsafe_time_ = ros::Time::now();
+    7522             : 
+    7523           8 :   switch (next_state) {
+    7524             : 
+    7525           0 :     case ESC_NONE_STATE: {
+    7526             : 
+    7527           0 :       ss << "escalating failsafe has run to impossible situation";
+    7528           0 :       ROS_ERROR_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7529             : 
+    7530           0 :       return std::tuple(false, "escalating failsafe has run to impossible situation");
+    7531             : 
+    7532             :       break;
+    7533             :     }
+    7534             : 
+    7535           2 :     case ESC_EHOVER_STATE: {
+    7536             : 
+    7537           2 :       ss << "escalating failsafe escalates to ehover";
+    7538           2 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7539             : 
+    7540           4 :       auto [success, message] = ehover();
+    7541             : 
+    7542           2 :       if (success) {
+    7543           2 :         state_escalating_failsafe_ = ESC_EHOVER_STATE;
+    7544             :       }
+    7545             : 
+    7546           2 :       return {success, message};
+    7547             : 
+    7548             :       break;
+    7549             :     }
+    7550             : 
+    7551           2 :     case ESC_ELAND_STATE: {
+    7552             : 
+    7553           2 :       ss << "escalating failsafe escalates to eland";
+    7554           2 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7555             : 
+    7556           4 :       auto [success, message] = eland();
+    7557             : 
+    7558           2 :       if (success) {
+    7559           2 :         state_escalating_failsafe_ = ESC_ELAND_STATE;
+    7560             :       }
+    7561             : 
+    7562           2 :       return {success, message};
+    7563             : 
+    7564             :       break;
+    7565             :     }
+    7566             : 
+    7567           2 :     case ESC_FAILSAFE_STATE: {
+    7568             : 
+    7569           2 :       escalating_failsafe_time_ = ros::Time::now();
+    7570             : 
+    7571           2 :       ss << "escalating failsafe escalates to failsafe";
+    7572           2 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7573             : 
+    7574           4 :       auto [success, message] = failsafe();
+    7575             : 
+    7576           2 :       if (success) {
+    7577           2 :         state_escalating_failsafe_ = ESC_FINISHED_STATE;
+    7578             :       }
+    7579             : 
+    7580           2 :       return {success, message};
+    7581             : 
+    7582             :       break;
+    7583             :     }
+    7584             : 
+    7585           2 :     case ESC_FINISHED_STATE: {
+    7586             : 
+    7587           2 :       escalating_failsafe_time_ = ros::Time::now();
+    7588             : 
+    7589           2 :       ss << "escalating failsafe has nothing more to do";
+    7590           2 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7591             : 
+    7592           4 :       return std::tuple(false, "escalating failsafe has nothing more to do");
+    7593             : 
+    7594             :       break;
+    7595             :     }
+    7596             : 
+    7597           0 :     default: {
+    7598             : 
+    7599           0 :       break;
+    7600             :     }
+    7601             :   }
+    7602             : 
+    7603           0 :   ROS_ERROR("[ControlManager]: escalatingFailsafe() reached the final return, this should not happen!");
+    7604             : 
+    7605           0 :   return std::tuple(false, "escalating failsafe exception");
+    7606             : }
+    7607             : 
+    7608             : //}
+    7609             : 
+    7610             : /* getNextEscFailsafeState() //{ */
+    7611             : 
+    7612           8 : EscalatingFailsafeStates_t ControlManager::getNextEscFailsafeState(void) {
+    7613             : 
+    7614           8 :   EscalatingFailsafeStates_t current_state = state_escalating_failsafe_;
+    7615             : 
+    7616           8 :   switch (current_state) {
+    7617             : 
+    7618           2 :     case ESC_FINISHED_STATE: {
+    7619             : 
+    7620           2 :       return ESC_FINISHED_STATE;
+    7621             : 
+    7622             :       break;
+    7623             :     }
+    7624             : 
+    7625           2 :     case ESC_NONE_STATE: {
+    7626             : 
+    7627           2 :       if (_escalating_failsafe_ehover_) {
+    7628           2 :         return ESC_EHOVER_STATE;
+    7629           0 :       } else if (_escalating_failsafe_eland_) {
+    7630           0 :         return ESC_ELAND_STATE;
+    7631           0 :       } else if (_escalating_failsafe_failsafe_) {
+    7632           0 :         return ESC_FAILSAFE_STATE;
+    7633             :       } else {
+    7634           0 :         return ESC_FINISHED_STATE;
+    7635             :       }
+    7636             : 
+    7637             :       break;
+    7638             :     }
+    7639             : 
+    7640           2 :     case ESC_EHOVER_STATE: {
+    7641             : 
+    7642           2 :       if (_escalating_failsafe_eland_) {
+    7643           2 :         return ESC_ELAND_STATE;
+    7644           0 :       } else if (_escalating_failsafe_failsafe_) {
+    7645           0 :         return ESC_FAILSAFE_STATE;
+    7646             :       } else {
+    7647           0 :         return ESC_FINISHED_STATE;
+    7648             :       }
+    7649             : 
+    7650             :       break;
+    7651             :     }
+    7652             : 
+    7653           2 :     case ESC_ELAND_STATE: {
+    7654             : 
+    7655           2 :       if (_escalating_failsafe_failsafe_) {
+    7656           2 :         return ESC_FAILSAFE_STATE;
+    7657             :       } else {
+    7658           0 :         return ESC_FINISHED_STATE;
+    7659             :       }
+    7660             : 
+    7661             :       break;
+    7662             :     }
+    7663             : 
+    7664           0 :     case ESC_FAILSAFE_STATE: {
+    7665             : 
+    7666           0 :       return ESC_FINISHED_STATE;
+    7667             : 
+    7668             :       break;
+    7669             :     }
+    7670             :   }
+    7671             : 
+    7672           0 :   ROS_ERROR("[ControlManager]: getNextEscFailsafeState() reached the final return, this should not happen!");
+    7673             : 
+    7674           0 :   return ESC_NONE_STATE;
+    7675             : }
+    7676             : 
+    7677             : //}
+    7678             : 
+    7679             : // | ------------------- trajectory tracking ------------------ |
+    7680             : 
+    7681             : /* startTrajectoryTracking() //{ */
+    7682             : 
+    7683           2 : std::tuple<bool, std::string> ControlManager::startTrajectoryTracking(void) {
+    7684             : 
+    7685           2 :   if (!is_initialized_) {
+    7686           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7687             :   }
+    7688             : 
+    7689             :   {
+    7690           4 :     std::scoped_lock lock(mutex_tracker_list_);
+    7691             : 
+    7692           2 :     std_srvs::TriggerResponse::ConstPtr response;
+    7693           2 :     std_srvs::TriggerRequest            request;
+    7694             : 
+    7695             :     response =
+    7696           2 :         tracker_list_.at(active_tracker_idx_)->startTrajectoryTracking(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7697             : 
+    7698           2 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7699             : 
+    7700           4 :       return std::tuple(response->success, response->message);
+    7701             : 
+    7702             :     } else {
+    7703             : 
+    7704           0 :       std::stringstream ss;
+    7705           0 :       ss << "the tracker '" << _tracker_names_.at(active_tracker_idx_) << "' does not implement the 'startTrajectoryTracking()' function!";
+    7706             : 
+    7707           0 :       return std::tuple(false, ss.str());
+    7708             :     }
+    7709             :   }
+    7710             : }
+    7711             : 
+    7712             : //}
+    7713             : 
+    7714             : /* stopTrajectoryTracking() //{ */
+    7715             : 
+    7716           1 : std::tuple<bool, std::string> ControlManager::stopTrajectoryTracking(void) {
+    7717             : 
+    7718           1 :   if (!is_initialized_) {
+    7719           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7720             :   }
+    7721             : 
+    7722             :   {
+    7723           2 :     std::scoped_lock lock(mutex_tracker_list_);
+    7724             : 
+    7725           1 :     std_srvs::TriggerResponse::ConstPtr response;
+    7726           1 :     std_srvs::TriggerRequest            request;
+    7727             : 
+    7728             :     response =
+    7729           1 :         tracker_list_.at(active_tracker_idx_)->stopTrajectoryTracking(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7730             : 
+    7731           1 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7732             : 
+    7733           2 :       return std::tuple(response->success, response->message);
+    7734             : 
+    7735             :     } else {
+    7736             : 
+    7737           0 :       std::stringstream ss;
+    7738           0 :       ss << "the tracker '" << _tracker_names_.at(active_tracker_idx_) << "' does not implement the 'stopTrajectoryTracking()' function!";
+    7739             : 
+    7740           0 :       return std::tuple(false, ss.str());
+    7741             :     }
+    7742             :   }
+    7743             : }
+    7744             : 
+    7745             : //}
+    7746             : 
+    7747             : /* resumeTrajectoryTracking() //{ */
+    7748             : 
+    7749           1 : std::tuple<bool, std::string> ControlManager::resumeTrajectoryTracking(void) {
+    7750             : 
+    7751           1 :   if (!is_initialized_) {
+    7752           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7753             :   }
+    7754             : 
+    7755             :   {
+    7756           2 :     std::scoped_lock lock(mutex_tracker_list_);
+    7757             : 
+    7758           1 :     std_srvs::TriggerResponse::ConstPtr response;
+    7759           1 :     std_srvs::TriggerRequest            request;
+    7760             : 
+    7761           1 :     response = tracker_list_.at(active_tracker_idx_)
+    7762           1 :                    ->resumeTrajectoryTracking(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7763             : 
+    7764           1 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7765             : 
+    7766           2 :       return std::tuple(response->success, response->message);
+    7767             : 
+    7768             :     } else {
+    7769             : 
+    7770           0 :       std::stringstream ss;
+    7771           0 :       ss << "the tracker '" << _tracker_names_.at(active_tracker_idx_) << "' does not implement the 'resumeTrajectoryTracking()' function!";
+    7772             : 
+    7773           0 :       return std::tuple(false, ss.str());
+    7774             :     }
+    7775             :   }
+    7776             : }
+    7777             : 
+    7778             : //}
+    7779             : 
+    7780             : /* gotoTrajectoryStart() //{ */
+    7781             : 
+    7782           2 : std::tuple<bool, std::string> ControlManager::gotoTrajectoryStart(void) {
+    7783             : 
+    7784           2 :   if (!is_initialized_) {
+    7785           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7786             :   }
+    7787             : 
+    7788             :   {
+    7789           4 :     std::scoped_lock lock(mutex_tracker_list_);
+    7790             : 
+    7791           2 :     std_srvs::TriggerResponse::ConstPtr response;
+    7792           2 :     std_srvs::TriggerRequest            request;
+    7793             : 
+    7794             :     response =
+    7795           2 :         tracker_list_.at(active_tracker_idx_)->gotoTrajectoryStart(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7796             : 
+    7797           2 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7798             : 
+    7799           4 :       return std::tuple(response->success, response->message);
+    7800             : 
+    7801             :     } else {
+    7802             : 
+    7803           0 :       std::stringstream ss;
+    7804           0 :       ss << "the tracker '" << _tracker_names_.at(active_tracker_idx_) << "' does not implement the 'gotoTrajectoryStart()' function!";
+    7805             : 
+    7806           0 :       return std::tuple(false, ss.str());
+    7807             :     }
+    7808             :   }
+    7809             : }
+    7810             : 
+    7811             : //}
+    7812             : 
+    7813             : // | ----------------- service client wrappers ---------------- |
+    7814             : 
+    7815             : /* arming() //{ */
+    7816             : 
+    7817          18 : std::tuple<bool, std::string> ControlManager::arming(const bool input) {
+    7818             : 
+    7819          36 :   std::stringstream ss;
+    7820             : 
+    7821          18 :   if (input) {
+    7822             : 
+    7823           0 :     ss << "not allowed to arm using the ControlManager, maybe later when we don't do bugs";
+    7824           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7825           0 :     return std::tuple(false, ss.str());
+    7826             :   }
+    7827             : 
+    7828          18 :   if (!input && !isOffboard()) {
+    7829             : 
+    7830           0 :     ss << "can not disarm, not in OFFBOARD mode";
+    7831           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7832           0 :     return std::tuple(false, ss.str());
+    7833             :   }
+    7834             : 
+    7835          18 :   if (!input && _rc_emergency_handoff_) {
+    7836             : 
+    7837           0 :     toggleOutput(false);
+    7838             : 
+    7839           0 :     return std::tuple(true, "RC emergency handoff is ON, disabling output");
+    7840             :   }
+    7841             : 
+    7842          18 :   std_srvs::SetBool srv_out;
+    7843             : 
+    7844          18 :   srv_out.request.data = input ? 1 : 0;  // arm or disarm?
+    7845             : 
+    7846          18 :   ROS_INFO("[ControlManager]: calling for %s", input ? "arming" : "disarming");
+    7847             : 
+    7848          18 :   if (sch_arming_.call(srv_out)) {
+    7849             : 
+    7850          18 :     if (srv_out.response.success) {
+    7851             : 
+    7852          18 :       ss << "service call for " << (input ? "arming" : "disarming") << " was successful";
+    7853          18 :       ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7854             : 
+    7855          18 :       if (!input) {
+    7856             : 
+    7857          18 :         toggleOutput(false);
+    7858             : 
+    7859          18 :         ROS_DEBUG("[ControlManager]: stopping failsafe timer");
+    7860          18 :         timer_failsafe_.stop();
+    7861          18 :         ROS_DEBUG("[ControlManager]: failsafe timer stopped");
+    7862             : 
+    7863          18 :         ROS_DEBUG("[ControlManager]: stopping the eland timer");
+    7864          18 :         timer_eland_.stop();
+    7865          18 :         ROS_DEBUG("[ControlManager]: eland timer stopped");
+    7866             :       }
+    7867             : 
+    7868             :     } else {
+    7869           0 :       ss << "service call for " << (input ? "arming" : "disarming") << " failed";
+    7870           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7871             :     }
+    7872             : 
+    7873             :   } else {
+    7874           0 :     ss << "calling for " << (input ? "arming" : "disarming") << " resulted in failure: '" << srv_out.response.message << "'";
+    7875           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7876             :   }
+    7877             : 
+    7878          36 :   return std::tuple(srv_out.response.success, ss.str());
+    7879             : }
+    7880             : 
+    7881             : //}
+    7882             : 
+    7883             : /* odometryCallbacksSrv() //{ */
+    7884             : 
+    7885          16 : void ControlManager::odometryCallbacksSrv(const bool input) {
+    7886             : 
+    7887          16 :   ROS_INFO("[ControlManager]: switching odometry callbacks to %s", input ? "ON" : "OFF");
+    7888             : 
+    7889          32 :   std_srvs::SetBool srv;
+    7890             : 
+    7891          16 :   srv.request.data = input;
+    7892             : 
+    7893          16 :   bool res = sch_set_odometry_callbacks_.call(srv);
+    7894             : 
+    7895          16 :   if (res) {
+    7896             : 
+    7897          15 :     if (!srv.response.success) {
+    7898           0 :       ROS_WARN("[ControlManager]: service call for toggle odometry callbacks returned: '%s'", srv.response.message.c_str());
+    7899             :     }
+    7900             : 
+    7901             :   } else {
+    7902           1 :     ROS_ERROR("[ControlManager]: service call for toggle odometry callbacks failed!");
+    7903             :   }
+    7904          16 : }
+    7905             : 
+    7906             : //}
+    7907             : 
+    7908             : /* elandSrv() //{ */
+    7909             : 
+    7910           8 : bool ControlManager::elandSrv(void) {
+    7911             : 
+    7912           8 :   ROS_INFO("[ControlManager]: calling for eland");
+    7913             : 
+    7914          16 :   std_srvs::Trigger srv;
+    7915             : 
+    7916           8 :   bool res = sch_eland_.call(srv);
+    7917             : 
+    7918           8 :   if (res) {
+    7919             : 
+    7920           8 :     if (!srv.response.success) {
+    7921           0 :       ROS_WARN("[ControlManager]: service call for eland returned: '%s'", srv.response.message.c_str());
+    7922             :     }
+    7923             : 
+    7924           8 :     return srv.response.success;
+    7925             : 
+    7926             :   } else {
+    7927             : 
+    7928           0 :     ROS_ERROR("[ControlManager]: service call for eland failed!");
+    7929             : 
+    7930           0 :     return false;
+    7931             :   }
+    7932             : }
+    7933             : 
+    7934             : //}
+    7935             : 
+    7936             : /* parachuteSrv() //{ */
+    7937             : 
+    7938           0 : bool ControlManager::parachuteSrv(void) {
+    7939             : 
+    7940           0 :   ROS_INFO("[ControlManager]: calling for parachute deployment");
+    7941             : 
+    7942           0 :   std_srvs::Trigger srv;
+    7943             : 
+    7944           0 :   bool res = sch_parachute_.call(srv);
+    7945             : 
+    7946           0 :   if (res) {
+    7947             : 
+    7948           0 :     if (!srv.response.success) {
+    7949           0 :       ROS_WARN("[ControlManager]: service call for parachute deployment returned: '%s'", srv.response.message.c_str());
+    7950             :     }
+    7951             : 
+    7952           0 :     return srv.response.success;
+    7953             : 
+    7954             :   } else {
+    7955             : 
+    7956           0 :     ROS_ERROR("[ControlManager]: service call for parachute deployment failed!");
+    7957             : 
+    7958           0 :     return false;
+    7959             :   }
+    7960             : }
+    7961             : 
+    7962             : //}
+    7963             : 
+    7964             : /* ungripSrv() //{ */
+    7965             : 
+    7966         366 : void ControlManager::ungripSrv(void) {
+    7967             : 
+    7968         732 :   std_srvs::Trigger srv;
+    7969             : 
+    7970         366 :   bool res = sch_ungrip_.call(srv);
+    7971             : 
+    7972         366 :   if (res) {
+    7973             : 
+    7974           0 :     if (!srv.response.success) {
+    7975           0 :       ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: service call for ungripping payload returned: '%s'", srv.response.message.c_str());
+    7976             :     }
+    7977             : 
+    7978             :   } else {
+    7979         366 :     ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: service call for ungripping payload failed!");
+    7980             :   }
+    7981         366 : }
+    7982             : 
+    7983             : //}
+    7984             : 
+    7985             : // | ------------------------ routines ------------------------ |
+    7986             : 
+    7987             : /* toggleOutput() //{ */
+    7988             : 
+    7989         130 : void ControlManager::toggleOutput(const bool& input) {
+    7990             : 
+    7991         130 :   if (input == output_enabled_) {
+    7992           6 :     ROS_WARN_THROTTLE(0.1, "[ControlManager]: output is already %s", input ? "ON" : "OFF");
+    7993           6 :     return;
+    7994             :   }
+    7995             : 
+    7996         124 :   ROS_INFO("[ControlManager]: switching output %s", input ? "ON" : "OFF");
+    7997             : 
+    7998         124 :   output_enabled_ = input;
+    7999             : 
+    8000             :   // if switching output off, switch to NullTracker
+    8001         124 :   if (!output_enabled_) {
+    8002             : 
+    8003          20 :     ROS_INFO("[ControlManager]: switching to 'NullTracker' after switching output off");
+    8004             : 
+    8005          20 :     switchTracker(_null_tracker_name_);
+    8006             : 
+    8007          20 :     ROS_INFO_STREAM("[ControlManager]: switching to the controller '" << _eland_controller_name_ << "' after switching output off");
+    8008             : 
+    8009          20 :     switchController(_eland_controller_name_);
+    8010             : 
+    8011             :     // | --------- deactivate all trackers and controllers -------- |
+    8012             : 
+    8013         140 :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    8014             : 
+    8015         120 :       std::map<std::string, TrackerParams>::iterator it;
+    8016         120 :       it = trackers_.find(_tracker_names_.at(i));
+    8017             : 
+    8018             :       try {
+    8019         120 :         ROS_INFO("[ControlManager]: deactivating the tracker '%s'", it->second.address.c_str());
+    8020         120 :         tracker_list_.at(i)->deactivate();
+    8021             :       }
+    8022           0 :       catch (std::runtime_error& ex) {
+    8023           0 :         ROS_ERROR("[ControlManager]: exception caught during tracker deactivation: '%s'", ex.what());
+    8024             :       }
+    8025             :     }
+    8026             : 
+    8027         120 :     for (int i = 0; i < int(controller_list_.size()); i++) {
+    8028             : 
+    8029         100 :       std::map<std::string, ControllerParams>::iterator it;
+    8030         100 :       it = controllers_.find(_controller_names_.at(i));
+    8031             : 
+    8032             :       try {
+    8033         100 :         ROS_INFO("[ControlManager]: deactivating the controller '%s'", it->second.address.c_str());
+    8034         100 :         controller_list_.at(i)->deactivate();
+    8035             :       }
+    8036           0 :       catch (std::runtime_error& ex) {
+    8037           0 :         ROS_ERROR("[ControlManager]: exception caught during controller deactivation: '%s'", ex.what());
+    8038             :       }
+    8039             :     }
+    8040             : 
+    8041          20 :     timer_failsafe_.stop();
+    8042          20 :     timer_eland_.stop();
+    8043          20 :     timer_pirouette_.stop();
+    8044             : 
+    8045          20 :     offboard_mode_was_true_ = false;
+    8046             :   }
+    8047             : }
+    8048             : 
+    8049             : //}
+    8050             : 
+    8051             : /* switchTracker() //{ */
+    8052             : 
+    8053         244 : std::tuple<bool, std::string> ControlManager::switchTracker(const std::string& tracker_name) {
+    8054             : 
+    8055         732 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("switchTracker");
+    8056         732 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::switchTracker", scope_timer_logger_, scope_timer_enabled_);
+    8057             : 
+    8058             :   // copy member variables
+    8059         488 :   auto last_tracker_cmd   = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8060         244 :   auto active_tracker_idx = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    8061             : 
+    8062         488 :   std::stringstream ss;
+    8063             : 
+    8064         244 :   if (!got_uav_state_) {
+    8065             : 
+    8066           0 :     ss << "can not switch tracker, missing odometry!";
+    8067           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8068           0 :     return std::tuple(false, ss.str());
+    8069             :   }
+    8070             : 
+    8071         244 :   if (_state_input_ == INPUT_UAV_STATE && _odometry_innovation_check_enabled_ && !sh_odometry_innovation_.hasMsg()) {
+    8072             : 
+    8073           0 :     ss << "can not switch tracker, missing odometry innovation!";
+    8074           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8075           0 :     return std::tuple(false, ss.str());
+    8076             :   }
+    8077             : 
+    8078         244 :   if (rc_goto_active_) {
+    8079           0 :     ss << "can not switch tracker, the RC joystick is active";
+    8080           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    8081           0 :     return std::tuple(false, ss.str());
+    8082             :   }
+    8083             : 
+    8084         244 :   auto new_tracker_idx = idxInVector(tracker_name, _tracker_names_);
+    8085             : 
+    8086             :   // check if the tracker exists
+    8087         244 :   if (!new_tracker_idx) {
+    8088           2 :     ss << "the tracker '" << tracker_name << "' does not exist!";
+    8089           2 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8090           2 :     return std::tuple(false, ss.str());
+    8091             :   }
+    8092             : 
+    8093             :   // check if the tracker is already active
+    8094         242 :   if (new_tracker_idx.value() == active_tracker_idx) {
+    8095          11 :     ss << "not switching, the tracker '" << tracker_name << "' is already active!";
+    8096          11 :     ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    8097          11 :     return std::tuple(true, ss.str());
+    8098             :   }
+    8099             : 
+    8100             :   {
+    8101         231 :     std::scoped_lock lock(mutex_tracker_list_);
+    8102             : 
+    8103             :     try {
+    8104             : 
+    8105         231 :       ROS_INFO("[ControlManager]: activating the tracker '%s'", _tracker_names_.at(new_tracker_idx.value()).c_str());
+    8106             : 
+    8107         231 :       auto [success, message] = tracker_list_.at(new_tracker_idx.value())->activate(last_tracker_cmd);
+    8108             : 
+    8109         231 :       if (!success) {
+    8110             : 
+    8111           0 :         ss << "the tracker '" << tracker_name << "' could not be activated: '" << message << "'";
+    8112           0 :         ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8113           0 :         return std::tuple(false, ss.str());
+    8114             : 
+    8115             :       } else {
+    8116             : 
+    8117         231 :         ss << "the tracker '" << tracker_name << "' was activated";
+    8118         231 :         ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    8119             : 
+    8120             :         {
+    8121         462 :           std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    8122             : 
+    8123             :           // update the time (used in failsafe)
+    8124         231 :           controller_tracker_switch_time_ = ros::Time::now();
+    8125             :         }
+    8126             : 
+    8127             :         // super important, switch the active tracker idx
+    8128             :         try {
+    8129             : 
+    8130         231 :           ROS_INFO("[ControlManager]: deactivating '%s'", _tracker_names_.at(active_tracker_idx_).c_str());
+    8131         231 :           tracker_list_.at(active_tracker_idx_)->deactivate();
+    8132             : 
+    8133             :           // if switching from null tracker, re-activate the already active the controller
+    8134         231 :           if (active_tracker_idx_ == _null_tracker_idx_) {
+    8135             : 
+    8136         101 :             ROS_INFO("[ControlManager]: reactivating '%s' due to switching from 'NullTracker'", _controller_names_.at(active_controller_idx_).c_str());
+    8137             :             {
+    8138         202 :               std::scoped_lock lock(mutex_controller_list_);
+    8139             : 
+    8140         101 :               initializeControlOutput();
+    8141             : 
+    8142         202 :               auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8143             : 
+    8144         101 :               controller_list_.at(active_controller_idx_)->activate(last_control_output);
+    8145             : 
+    8146             :               {
+    8147         202 :                 std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    8148             : 
+    8149             :                 // update the time (used in failsafe)
+    8150         101 :                 controller_tracker_switch_time_ = ros::Time::now();
+    8151             :               }
+    8152             :             }
+    8153             : 
+    8154             :             // if switching to null tracker, deactivate the active controller
+    8155         130 :           } else if (new_tracker_idx == _null_tracker_idx_) {
+    8156             : 
+    8157          17 :             ROS_INFO("[ControlManager]: deactivating '%s' due to switching to 'NullTracker'", _controller_names_.at(active_controller_idx_).c_str());
+    8158             :             {
+    8159          34 :               std::scoped_lock lock(mutex_controller_list_);
+    8160             : 
+    8161          17 :               controller_list_.at(active_controller_idx_)->deactivate();
+    8162             :             }
+    8163             : 
+    8164             :             {
+    8165          17 :               std::scoped_lock lock(mutex_last_tracker_cmd_);
+    8166             : 
+    8167          17 :               last_tracker_cmd_ = {};
+    8168             :             }
+    8169             : 
+    8170          17 :             initializeControlOutput();
+    8171             :           }
+    8172             : 
+    8173         231 :           active_tracker_idx_ = new_tracker_idx.value();
+    8174             :         }
+    8175           0 :         catch (std::runtime_error& exrun) {
+    8176           0 :           ROS_ERROR("[ControlManager]: could not deactivate the tracker '%s'", _tracker_names_.at(active_tracker_idx_).c_str());
+    8177             :         }
+    8178             :       }
+    8179             :     }
+    8180           0 :     catch (std::runtime_error& exrun) {
+    8181           0 :       ROS_ERROR("[ControlManager]: error during activation of the tracker '%s'", tracker_name.c_str());
+    8182           0 :       ROS_ERROR("[ControlManager]: exception: '%s'", exrun.what());
+    8183             :     }
+    8184             :   }
+    8185             : 
+    8186         231 :   return std::tuple(true, ss.str());
+    8187             : }
+    8188             : 
+    8189             : //}
+    8190             : 
+    8191             : /* switchController() //{ */
+    8192             : 
+    8193         247 : std::tuple<bool, std::string> ControlManager::switchController(const std::string& controller_name) {
+    8194             : 
+    8195         741 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("switchController");
+    8196         741 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::switchController", scope_timer_logger_, scope_timer_enabled_);
+    8197             : 
+    8198             :   // copy member variables
+    8199         494 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8200         247 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    8201             : 
+    8202         494 :   std::stringstream ss;
+    8203             : 
+    8204         247 :   if (!got_uav_state_) {
+    8205             : 
+    8206           0 :     ss << "can not switch controller, missing odometry!";
+    8207           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8208           0 :     return std::tuple(false, ss.str());
+    8209             :   }
+    8210             : 
+    8211         247 :   if (_state_input_ == INPUT_UAV_STATE && _odometry_innovation_check_enabled_ && !sh_odometry_innovation_.hasMsg()) {
+    8212             : 
+    8213           0 :     ss << "can not switch controller, missing odometry innovation!";
+    8214           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8215           0 :     return std::tuple(false, ss.str());
+    8216             :   }
+    8217             : 
+    8218         247 :   if (rc_goto_active_) {
+    8219           2 :     ss << "can not switch controller, the RC joystick is active";
+    8220           2 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    8221           2 :     return std::tuple(false, ss.str());
+    8222             :   }
+    8223             : 
+    8224         245 :   auto new_controller_idx = idxInVector(controller_name, _controller_names_);
+    8225             : 
+    8226             :   // check if the controller exists
+    8227         245 :   if (!new_controller_idx) {
+    8228           2 :     ss << "the controller '" << controller_name << "' does not exist!";
+    8229           2 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8230           2 :     return std::tuple(false, ss.str());
+    8231             :   }
+    8232             : 
+    8233             :   // check if the controller is not active
+    8234         243 :   if (new_controller_idx.value() == active_controller_idx) {
+    8235             : 
+    8236          34 :     ss << "not switching, the controller '" << controller_name << "' is already active!";
+    8237          34 :     ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    8238          34 :     return std::tuple(true, ss.str());
+    8239             :   }
+    8240             : 
+    8241             :   {
+    8242         209 :     std::scoped_lock lock(mutex_controller_list_);
+    8243             : 
+    8244             :     try {
+    8245             : 
+    8246         209 :       ROS_INFO("[ControlManager]: activating the controller '%s'", _controller_names_.at(new_controller_idx.value()).c_str());
+    8247         209 :       if (!controller_list_.at(new_controller_idx.value())->activate(last_control_output)) {
+    8248             : 
+    8249           0 :         ss << "the controller '" << controller_name << "' was not activated";
+    8250           0 :         ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8251           0 :         return std::tuple(false, ss.str());
+    8252             : 
+    8253             :       } else {
+    8254             : 
+    8255         209 :         ss << "the controller '" << controller_name << "' was activated";
+    8256         209 :         ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    8257             : 
+    8258         209 :         ROS_INFO("[ControlManager]: triggering hover after switching to '%s', re-activating '%s'", _controller_names_.at(new_controller_idx.value()).c_str(),
+    8259             :                  _tracker_names_.at(active_tracker_idx_).c_str());
+    8260             : 
+    8261             :         // reactivate the current tracker
+    8262             :         // TODO this is not the most elegant way to restart the tracker after a controller switch
+    8263             :         // but it serves the purpose
+    8264             :         {
+    8265         209 :           std::scoped_lock lock(mutex_tracker_list_);
+    8266             : 
+    8267         209 :           tracker_list_.at(active_tracker_idx_)->deactivate();
+    8268         209 :           tracker_list_.at(active_tracker_idx_)->activate({});
+    8269             :         }
+    8270             : 
+    8271             :         {
+    8272         418 :           std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    8273             : 
+    8274             :           // update the time (used in failsafe)
+    8275         209 :           controller_tracker_switch_time_ = ros::Time::now();
+    8276             :         }
+    8277             : 
+    8278             :         // super important, switch the active controller idx
+    8279             :         try {
+    8280             : 
+    8281         209 :           controller_list_.at(active_controller_idx_)->deactivate();
+    8282         209 :           active_controller_idx_ = new_controller_idx.value();
+    8283             :         }
+    8284           0 :         catch (std::runtime_error& exrun) {
+    8285           0 :           ROS_ERROR("[ControlManager]: could not deactivate controller '%s'", _controller_names_.at(active_controller_idx_).c_str());
+    8286             :         }
+    8287             :       }
+    8288             :     }
+    8289           0 :     catch (std::runtime_error& exrun) {
+    8290           0 :       ROS_ERROR("[ControlManager]: error during activation of controller '%s'", controller_name.c_str());
+    8291           0 :       ROS_ERROR("[ControlManager]: exception: '%s'", exrun.what());
+    8292             :     }
+    8293             :   }
+    8294             : 
+    8295         209 :   mrs_msgs::DynamicsConstraintsSrvRequest sanitized_constraints;
+    8296             : 
+    8297             :   {
+    8298         209 :     std::scoped_lock lock(mutex_constraints_);
+    8299             : 
+    8300         209 :     sanitized_constraints_ = current_constraints_;
+    8301         209 :     sanitized_constraints  = sanitized_constraints_;
+    8302             :   }
+    8303             : 
+    8304         209 :   setConstraintsToControllers(sanitized_constraints);
+    8305             : 
+    8306         209 :   return std::tuple(true, ss.str());
+    8307             : }
+    8308             : 
+    8309             : //}
+    8310             : 
+    8311             : /* updateTrackers() //{ */
+    8312             : 
+    8313      138752 : void ControlManager::updateTrackers(void) {
+    8314             : 
+    8315      277504 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("updateTrackers");
+    8316      277504 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::updateTrackers", scope_timer_logger_, scope_timer_enabled_);
+    8317             : 
+    8318             :   // copy member variables
+    8319      138752 :   auto uav_state           = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8320      138752 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8321             : 
+    8322             :   // --------------------------------------------------------------
+    8323             :   // |                     Update the trackers                    |
+    8324             :   // --------------------------------------------------------------
+    8325             : 
+    8326           0 :   std::optional<mrs_msgs::TrackerCommand> tracker_command;
+    8327             : 
+    8328             :   unsigned int active_tracker_idx;
+    8329             : 
+    8330             :   {
+    8331      138752 :     std::scoped_lock lock(mutex_tracker_list_);
+    8332             : 
+    8333      138752 :     active_tracker_idx = active_tracker_idx_;
+    8334             : 
+    8335             :     // for each tracker
+    8336      972947 :     for (size_t i = 0; i < tracker_list_.size(); i++) {
+    8337             : 
+    8338      834195 :       if (i == active_tracker_idx) {
+    8339             : 
+    8340             :         try {
+    8341             :           // active tracker => update and retrieve the command
+    8342      138752 :           tracker_command = tracker_list_.at(i)->update(uav_state, last_control_output);
+    8343             :         }
+    8344           0 :         catch (std::runtime_error& exrun) {
+    8345           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: caught an exception while updating the active tracker (%s)",
+    8346             :                              _tracker_names_.at(active_tracker_idx).c_str());
+    8347           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the exception: '%s'", exrun.what());
+    8348           0 :           tracker_command = {};
+    8349             :         }
+    8350             : 
+    8351             :       } else {
+    8352             : 
+    8353             :         try {
+    8354             :           // nonactive tracker => just update without retrieving the command
+    8355      695443 :           tracker_list_.at(i)->update(uav_state, last_control_output);
+    8356             :         }
+    8357           0 :         catch (std::runtime_error& exrun) {
+    8358           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: caught an exception while updating the tracker '%s'", _tracker_names_.at(i).c_str());
+    8359           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the exception: '%s'", exrun.what());
+    8360             :         }
+    8361             :       }
+    8362             :     }
+    8363             : 
+    8364      138752 :     if (active_tracker_idx == _null_tracker_idx_) {
+    8365       37510 :       return;
+    8366             :     }
+    8367             :   }
+    8368             : 
+    8369      101242 :   if (validateTrackerCommand(tracker_command, "ControlManager", "tracker_command")) {
+    8370             : 
+    8371      202484 :     std::scoped_lock lock(mutex_last_tracker_cmd_);
+    8372             : 
+    8373      101242 :     last_tracker_cmd_ = tracker_command;
+    8374             : 
+    8375             :     // | --------- fill in the potentially missing header --------- |
+    8376             : 
+    8377      101242 :     if (last_tracker_cmd_->header.frame_id == "") {
+    8378           0 :       last_tracker_cmd_->header.frame_id = uav_state.header.frame_id;
+    8379             :     }
+    8380             : 
+    8381      101242 :     if (last_tracker_cmd_->header.stamp == ros::Time(0)) {
+    8382           0 :       last_tracker_cmd_->header.stamp = ros::Time::now();
+    8383             :     }
+    8384             : 
+    8385             :   } else {
+    8386             : 
+    8387           0 :     if (active_tracker_idx == _ehover_tracker_idx_) {
+    8388             : 
+    8389           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the emergency tracker '%s' returned empty or invalid command!",
+    8390             :                          _tracker_names_.at(active_tracker_idx).c_str());
+    8391           0 :       failsafe();
+    8392             : 
+    8393             :     } else {
+    8394             : 
+    8395           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the tracker '%s' returned empty or invalid command!", _tracker_names_.at(active_tracker_idx).c_str());
+    8396             : 
+    8397           0 :       if (_tracker_error_action_ == ELAND_STR) {
+    8398           0 :         eland();
+    8399           0 :       } else if (_tracker_error_action_ == EHOVER_STR) {
+    8400           0 :         ehover();
+    8401             :       } else {
+    8402           0 :         failsafe();
+    8403             :       }
+    8404             :     }
+    8405             :   }
+    8406             : }
+    8407             : 
+    8408             : //}
+    8409             : 
+    8410             : /* updateControllers() //{ */
+    8411             : 
+    8412      148472 : void ControlManager::updateControllers(const mrs_msgs::UavState& uav_state) {
+    8413             : 
+    8414      296944 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("updateControllers");
+    8415      296944 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::updateControllers", scope_timer_logger_, scope_timer_enabled_);
+    8416             : 
+    8417             :   // copy member variables
+    8418      148472 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8419             : 
+    8420             :   // | ----------------- update the controllers ----------------- |
+    8421             : 
+    8422             :   // the trackers are not running
+    8423      148472 :   if (!last_tracker_cmd) {
+    8424             : 
+    8425             :     {
+    8426       75020 :       std::scoped_lock lock(mutex_controller_list_);
+    8427             : 
+    8428             :       // nonactive controller => just update without retrieving the command
+    8429      225060 :       for (int i = 0; i < int(controller_list_.size()); i++) {
+    8430      187550 :         controller_list_.at(i)->updateInactive(uav_state, last_tracker_cmd);
+    8431             :       }
+    8432             :     }
+    8433             : 
+    8434       37510 :     return;
+    8435             :   }
+    8436             : 
+    8437      221924 :   Controller::ControlOutput control_output;
+    8438             : 
+    8439             :   unsigned int active_controller_idx;
+    8440             : 
+    8441             :   {
+    8442      221924 :     std::scoped_lock lock(mutex_controller_list_);
+    8443             : 
+    8444      110962 :     active_controller_idx = active_controller_idx_;
+    8445             : 
+    8446             :     // for each controller
+    8447      665772 :     for (size_t i = 0; i < controller_list_.size(); i++) {
+    8448             : 
+    8449      554810 :       if (i == active_controller_idx) {
+    8450             : 
+    8451             :         try {
+    8452             :           // active controller => update and retrieve the command
+    8453      110962 :           control_output = controller_list_.at(active_controller_idx)->updateActive(uav_state, last_tracker_cmd.value());
+    8454             :         }
+    8455           0 :         catch (std::runtime_error& exrun) {
+    8456             : 
+    8457           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: an exception while updating the active controller (%s)",
+    8458             :                              _controller_names_.at(active_controller_idx).c_str());
+    8459           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the exception: '%s'", exrun.what());
+    8460             :         }
+    8461             : 
+    8462             :       } else {
+    8463             : 
+    8464             :         try {
+    8465             :           // nonactive controller => just update without retrieving the command
+    8466      443848 :           controller_list_.at(i)->updateInactive(uav_state, last_tracker_cmd);
+    8467             :         }
+    8468           0 :         catch (std::runtime_error& exrun) {
+    8469             : 
+    8470           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception while updating the controller '%s'", _controller_names_.at(i).c_str());
+    8471           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception: '%s'", exrun.what());
+    8472             :         }
+    8473             :       }
+    8474             :     }
+    8475             :   }
+    8476             : 
+    8477             :   // normally, the active controller returns a valid command
+    8478      110962 :   if (validateControlOutput(control_output, _hw_api_inputs_, "ControlManager", "control_output")) {
+    8479             : 
+    8480      110962 :     mrs_lib::set_mutexed(mutex_last_control_output_, control_output, last_control_output_);
+    8481             : 
+    8482             :     // but it can return an empty command, due to some critical internal error
+    8483             :     // which means we should trigger the failsafe landing
+    8484             :   } else {
+    8485             : 
+    8486             :     // only if the controller is still active, trigger escalating failsafe
+    8487             :     // if not active, we don't care, we should not ask the controller for
+    8488             :     // the result anyway -> this could mean a race condition occured
+    8489             :     // like it once happend during landing
+    8490           0 :     bool controller_status = false;
+    8491             : 
+    8492             :     {
+    8493           0 :       std::scoped_lock lock(mutex_controller_list_);
+    8494             : 
+    8495           0 :       controller_status = controller_list_.at(active_controller_idx)->getStatus().active;
+    8496             :     }
+    8497             : 
+    8498           0 :     if (controller_status) {
+    8499             : 
+    8500           0 :       if (failsafe_triggered_) {
+    8501             : 
+    8502           0 :         ROS_ERROR("[ControlManager]: disabling control, the active controller returned an empty command when failsafe was active");
+    8503             : 
+    8504           0 :         toggleOutput(false);
+    8505             : 
+    8506           0 :       } else if (eland_triggered_) {
+    8507             : 
+    8508           0 :         ROS_ERROR("[ControlManager]: triggering failsafe, the active controller returned an empty command when eland was active");
+    8509             : 
+    8510           0 :         failsafe();
+    8511             : 
+    8512             :       } else {
+    8513             : 
+    8514           0 :         ROS_ERROR("[ControlManager]: triggering eland, the active controller returned an empty command");
+    8515             : 
+    8516           0 :         eland();
+    8517             :       }
+    8518             :     }
+    8519             :   }
+    8520             : }
+    8521             : 
+    8522             : //}
+    8523             : 
+    8524             : /* publish() //{ */
+    8525             : 
+    8526      148472 : void ControlManager::publish(void) {
+    8527             : 
+    8528      296944 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("publish");
+    8529      296944 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::publish", scope_timer_logger_, scope_timer_enabled_);
+    8530             : 
+    8531             :   // copy member variables
+    8532      148472 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8533      148472 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8534      148472 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    8535      148472 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    8536      148472 :   auto uav_state             = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8537             : 
+    8538      148472 :   publishControlReferenceOdom(last_tracker_cmd, last_control_output);
+    8539             : 
+    8540             :   // --------------------------------------------------------------
+    8541             :   // |                 Publish the control command                |
+    8542             :   // --------------------------------------------------------------
+    8543             : 
+    8544      148472 :   mrs_msgs::HwApiAttitudeCmd attitude_target;
+    8545      148472 :   attitude_target.stamp = ros::Time::now();
+    8546             : 
+    8547      148472 :   mrs_msgs::HwApiAttitudeRateCmd attitude_rate_target;
+    8548      148472 :   attitude_rate_target.stamp = ros::Time::now();
+    8549             : 
+    8550      148472 :   if (!output_enabled_) {
+    8551             : 
+    8552       23397 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: output is disabled");
+    8553             : 
+    8554      125075 :   } else if (active_tracker_idx == _null_tracker_idx_) {
+    8555             : 
+    8556       14117 :     ROS_WARN_THROTTLE(5.0, "[ControlManager]: 'NullTracker' is active, not controlling");
+    8557             : 
+    8558             :     Controller::HwApiOutputVariant output =
+    8559       28234 :         initializeDefaultOutput(_hw_api_inputs_, uav_state, _min_throttle_null_tracker_, common_handlers_->throttle_model.n_motors);
+    8560             : 
+    8561             :     {
+    8562       28234 :       std::scoped_lock lock(mutex_last_control_output_);
+    8563             : 
+    8564       14117 :       last_control_output_.control_output = output;
+    8565             :     }
+    8566             : 
+    8567       14117 :     control_output_publisher_.publish(output);
+    8568             : 
+    8569      110958 :   } else if (active_tracker_idx != _null_tracker_idx_ && !last_control_output.control_output) {
+    8570             : 
+    8571           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: the controller '%s' returned nil command, not publishing anything",
+    8572             :                       _controller_names_.at(active_controller_idx).c_str());
+    8573             : 
+    8574             :     Controller::HwApiOutputVariant output =
+    8575           0 :         initializeDefaultOutput(_hw_api_inputs_, uav_state, _min_throttle_null_tracker_, common_handlers_->throttle_model.n_motors);
+    8576             : 
+    8577           0 :     control_output_publisher_.publish(output);
+    8578             : 
+    8579      110958 :   } else if (last_control_output.control_output) {
+    8580             : 
+    8581      110958 :     if (validateHwApiAttitudeCmd(attitude_target, "ControlManager", "last_control_output.control_output")) {
+    8582      110958 :       control_output_publisher_.publish(last_control_output.control_output.value());
+    8583             :     } else {
+    8584           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the attitude cmd is not valid just before publishing!");
+    8585           0 :       return;
+    8586             :     }
+    8587             : 
+    8588             :   } else {
+    8589           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: not publishing a control command");
+    8590             :   }
+    8591             : 
+    8592             :   // | ----------- publish the controller diagnostics ----------- |
+    8593             : 
+    8594      148472 :   ph_controller_diagnostics_.publish(last_control_output.diagnostics);
+    8595             : 
+    8596             :   // | --------- publish the applied throttle and thrust -------- |
+    8597             : 
+    8598      148472 :   auto throttle = extractThrottle(last_control_output);
+    8599             : 
+    8600      148472 :   if (throttle) {
+    8601             : 
+    8602             :     {
+    8603      119405 :       std_msgs::Float64 msg;
+    8604      119405 :       msg.data = throttle.value();
+    8605      119405 :       ph_throttle_.publish(msg);
+    8606             :     }
+    8607             : 
+    8608      119405 :     double thrust = mrs_lib::quadratic_throttle_model::throttleToForce(common_handlers_->throttle_model, throttle.value());
+    8609             : 
+    8610             :     {
+    8611      119405 :       std_msgs::Float64 msg;
+    8612      119405 :       msg.data = thrust;
+    8613      119405 :       ph_thrust_.publish(msg);
+    8614             :     }
+    8615             :   }
+    8616             : 
+    8617             :   // | ----------------- publish tracker command ---------------- |
+    8618             : 
+    8619      148472 :   if (last_tracker_cmd) {
+    8620      110958 :     ph_tracker_cmd_.publish(last_tracker_cmd.value());
+    8621             :   }
+    8622             : 
+    8623             :   // | --------------- publish the odometry input --------------- |
+    8624             : 
+    8625      148472 :   if (last_control_output.control_output) {
+    8626             : 
+    8627      251898 :     mrs_msgs::EstimatorInput msg;
+    8628             : 
+    8629      125949 :     msg.header.frame_id = _uav_name_ + "/fcu";
+    8630      125949 :     msg.header.stamp    = ros::Time::now();
+    8631             : 
+    8632      125949 :     if (last_control_output.desired_unbiased_acceleration) {
+    8633       96338 :       msg.control_acceleration.x = last_control_output.desired_unbiased_acceleration.value()(0);
+    8634       96338 :       msg.control_acceleration.y = last_control_output.desired_unbiased_acceleration.value()(1);
+    8635       96338 :       msg.control_acceleration.z = last_control_output.desired_unbiased_acceleration.value()(2);
+    8636             :     }
+    8637             : 
+    8638      125949 :     if (last_control_output.desired_heading_rate) {
+    8639       92888 :       msg.control_hdg_rate = last_control_output.desired_heading_rate.value();
+    8640             :     }
+    8641             : 
+    8642      125949 :     if (last_control_output.desired_unbiased_acceleration) {
+    8643       96338 :       ph_mrs_odom_input_.publish(msg);
+    8644             :     }
+    8645             :   }
+    8646             : }
+    8647             : 
+    8648             : //}
+    8649             : 
+    8650             : /* deployParachute() //{ */
+    8651             : 
+    8652           0 : std::tuple<bool, std::string> ControlManager::deployParachute(void) {
+    8653             : 
+    8654             :   // if not enabled, return false
+    8655           0 :   if (!_parachute_enabled_) {
+    8656             : 
+    8657           0 :     std::stringstream ss;
+    8658           0 :     ss << "can not deploy parachute, it is disabled";
+    8659           0 :     return std::tuple(false, ss.str());
+    8660             :   }
+    8661             : 
+    8662             :   // we can not disarm if the drone is not in offboard mode
+    8663             :   // this is super important!
+    8664           0 :   if (!isOffboard()) {
+    8665             : 
+    8666           0 :     std::stringstream ss;
+    8667           0 :     ss << "can not deploy parachute, not in offboard mode";
+    8668           0 :     return std::tuple(false, ss.str());
+    8669             :   }
+    8670             : 
+    8671             :   // call the parachute service
+    8672           0 :   bool succ = parachuteSrv();
+    8673             : 
+    8674             :   // if the deployment was successful,
+    8675           0 :   if (succ) {
+    8676             : 
+    8677           0 :     arming(false);
+    8678             : 
+    8679           0 :     std::stringstream ss;
+    8680           0 :     ss << "parachute deployed";
+    8681             : 
+    8682           0 :     return std::tuple(true, ss.str());
+    8683             : 
+    8684             :   } else {
+    8685             : 
+    8686           0 :     std::stringstream ss;
+    8687           0 :     ss << "error during deployment of parachute";
+    8688             : 
+    8689           0 :     return std::tuple(false, ss.str());
+    8690             :   }
+    8691             : }
+    8692             : 
+    8693             : //}
+    8694             : 
+    8695             : /* velocityReferenceToReference() //{ */
+    8696             : 
+    8697         811 : mrs_msgs::ReferenceStamped ControlManager::velocityReferenceToReference(const mrs_msgs::VelocityReferenceStamped& vel_reference) {
+    8698             : 
+    8699        1622 :   auto last_tracker_cmd    = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8700        1622 :   auto uav_state           = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8701         811 :   auto current_constraints = mrs_lib::get_mutexed(mutex_constraints_, current_constraints_);
+    8702             : 
+    8703         811 :   mrs_msgs::ReferenceStamped reference_out;
+    8704             : 
+    8705         811 :   reference_out.header = vel_reference.header;
+    8706             : 
+    8707         811 :   if (vel_reference.reference.use_heading) {
+    8708           0 :     reference_out.reference.heading = vel_reference.reference.heading;
+    8709         811 :   } else if (vel_reference.reference.use_heading_rate) {
+    8710         717 :     reference_out.reference.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading() + vel_reference.reference.use_heading_rate;
+    8711             :   } else {
+    8712          94 :     reference_out.reference.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    8713             :   }
+    8714             : 
+    8715         811 :   if (vel_reference.reference.use_altitude) {
+    8716           0 :     reference_out.reference.position.z = vel_reference.reference.altitude;
+    8717             :   } else {
+    8718             : 
+    8719         811 :     double stopping_time_z = 0;
+    8720             : 
+    8721         811 :     if (vel_reference.reference.velocity.x >= 0) {
+    8722         543 :       stopping_time_z = 1.5 * (fabs(vel_reference.reference.velocity.z) / current_constraints.constraints.vertical_ascending_acceleration) + 1.0;
+    8723             :     } else {
+    8724         268 :       stopping_time_z = 1.5 * (fabs(vel_reference.reference.velocity.z) / current_constraints.constraints.vertical_descending_acceleration) + 1.0;
+    8725             :     }
+    8726             : 
+    8727         811 :     reference_out.reference.position.z = last_tracker_cmd->position.z + vel_reference.reference.velocity.z * stopping_time_z;
+    8728             :   }
+    8729             : 
+    8730             :   {
+    8731         811 :     double stopping_time_x = 1.5 * (fabs(vel_reference.reference.velocity.x) / current_constraints.constraints.horizontal_acceleration) + 1.0;
+    8732         811 :     double stopping_time_y = 1.5 * (fabs(vel_reference.reference.velocity.y) / current_constraints.constraints.horizontal_acceleration) + 1.0;
+    8733             : 
+    8734         811 :     reference_out.reference.position.x = last_tracker_cmd->position.x + vel_reference.reference.velocity.x * stopping_time_x;
+    8735         811 :     reference_out.reference.position.y = last_tracker_cmd->position.y + vel_reference.reference.velocity.y * stopping_time_y;
+    8736             :   }
+    8737             : 
+    8738        1622 :   return reference_out;
+    8739             : }
+    8740             : 
+    8741             : //}
+    8742             : 
+    8743             : /* publishControlReferenceOdom() //{ */
+    8744             : 
+    8745      148472 : void ControlManager::publishControlReferenceOdom([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand>& tracker_command,
+    8746             :                                                  [[maybe_unused]] const Controller::ControlOutput&               control_output) {
+    8747             : 
+    8748      148472 :   if (!tracker_command || !control_output.control_output) {
+    8749       37514 :     return;
+    8750             :   }
+    8751             : 
+    8752      221916 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8753             : 
+    8754      221916 :   nav_msgs::Odometry msg;
+    8755             : 
+    8756      110958 :   msg.header = tracker_command->header;
+    8757             : 
+    8758      110958 :   if (tracker_command->use_position_horizontal) {
+    8759      110958 :     msg.pose.pose.position.x = tracker_command->position.x;
+    8760      110958 :     msg.pose.pose.position.y = tracker_command->position.y;
+    8761             :   } else {
+    8762           0 :     msg.pose.pose.position.x = uav_state.pose.position.x;
+    8763           0 :     msg.pose.pose.position.y = uav_state.pose.position.y;
+    8764             :   }
+    8765             : 
+    8766      110958 :   if (tracker_command->use_position_vertical) {
+    8767      110958 :     msg.pose.pose.position.z = tracker_command->position.z;
+    8768             :   } else {
+    8769           0 :     msg.pose.pose.position.z = uav_state.pose.position.z;
+    8770             :   }
+    8771             : 
+    8772             :   // transform the velocity in the reference to the child_frame
+    8773      110958 :   if (tracker_command->use_velocity_horizontal || tracker_command->use_velocity_vertical) {
+    8774             : 
+    8775      110958 :     msg.child_frame_id = _uav_name_ + "/" + _body_frame_;
+    8776             : 
+    8777      221916 :     geometry_msgs::Vector3Stamped velocity;
+    8778      110958 :     velocity.header = tracker_command->header;
+    8779             : 
+    8780      110958 :     if (tracker_command->use_velocity_horizontal) {
+    8781      110958 :       velocity.vector.x = tracker_command->velocity.x;
+    8782      110958 :       velocity.vector.y = tracker_command->velocity.y;
+    8783             :     }
+    8784             : 
+    8785      110958 :     if (tracker_command->use_velocity_vertical) {
+    8786      110958 :       velocity.vector.z = tracker_command->velocity.z;
+    8787             :     }
+    8788             : 
+    8789      221916 :     auto res = transformer_->transformSingle(velocity, msg.child_frame_id);
+    8790             : 
+    8791      110958 :     if (res) {
+    8792      110958 :       msg.twist.twist.linear.x = res.value().vector.x;
+    8793      110958 :       msg.twist.twist.linear.y = res.value().vector.y;
+    8794      110958 :       msg.twist.twist.linear.z = res.value().vector.z;
+    8795             :     } else {
+    8796           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not transform the reference speed from '%s' to '%s'", velocity.header.frame_id.c_str(),
+    8797             :                          msg.child_frame_id.c_str());
+    8798             :     }
+    8799             :   }
+    8800             : 
+    8801             :   // fill in the orientation or heading
+    8802      110958 :   if (control_output.desired_orientation) {
+    8803       94221 :     msg.pose.pose.orientation = mrs_lib::AttitudeConverter(control_output.desired_orientation.value());
+    8804       16737 :   } else if (tracker_command->use_heading) {
+    8805       16737 :     msg.pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, tracker_command->heading);
+    8806             :   }
+    8807             : 
+    8808             :   // fill in the attitude rate
+    8809      110958 :   if (std::holds_alternative<mrs_msgs::HwApiAttitudeRateCmd>(control_output.control_output.value())) {
+    8810             : 
+    8811       88105 :     auto attitude_cmd = std::get<mrs_msgs::HwApiAttitudeRateCmd>(control_output.control_output.value());
+    8812             : 
+    8813       88105 :     msg.twist.twist.angular.x = attitude_cmd.body_rate.x;
+    8814       88105 :     msg.twist.twist.angular.y = attitude_cmd.body_rate.y;
+    8815       88105 :     msg.twist.twist.angular.z = attitude_cmd.body_rate.z;
+    8816             :   }
+    8817             : 
+    8818      110958 :   ph_control_reference_odom_.publish(msg);
+    8819             : }
+    8820             : 
+    8821             : //}
+    8822             : 
+    8823             : /* initializeControlOutput() //{ */
+    8824             : 
+    8825         226 : void ControlManager::initializeControlOutput(void) {
+    8826             : 
+    8827         226 :   Controller::ControlOutput controller_output;
+    8828             : 
+    8829         226 :   controller_output.diagnostics.total_mass      = _uav_mass_;
+    8830         226 :   controller_output.diagnostics.mass_difference = 0.0;
+    8831             : 
+    8832         226 :   controller_output.diagnostics.disturbance_bx_b = _initial_body_disturbance_x_;
+    8833         226 :   controller_output.diagnostics.disturbance_by_b = _initial_body_disturbance_y_;
+    8834             : 
+    8835         226 :   if (std::abs(_initial_body_disturbance_x_) > 0.001 || std::abs(_initial_body_disturbance_y_) > 0.001) {
+    8836           0 :     controller_output.diagnostics.disturbance_estimator = true;
+    8837             :   }
+    8838             : 
+    8839         226 :   controller_output.diagnostics.disturbance_wx_w = 0.0;
+    8840         226 :   controller_output.diagnostics.disturbance_wy_w = 0.0;
+    8841             : 
+    8842         226 :   controller_output.diagnostics.disturbance_bx_w = 0.0;
+    8843         226 :   controller_output.diagnostics.disturbance_by_w = 0.0;
+    8844             : 
+    8845         226 :   controller_output.diagnostics.controller = "none";
+    8846             : 
+    8847         226 :   mrs_lib::set_mutexed(mutex_last_control_output_, controller_output, last_control_output_);
+    8848         226 : }
+    8849             : 
+    8850             : //}
+    8851             : 
+    8852             : }  // namespace control_manager
+    8853             : 
+    8854             : }  // namespace mrs_uav_managers
+    8855             : 
+    8856             : #include <pluginlib/class_list_macros.h>
+    8857         108 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::control_manager::ControlManager, nodelet::Nodelet)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/control_manager/control_manager.cpp.gcov.overview.html b/mrs_uav_managers/src/control_manager/control_manager.cpp.gcov.overview.html new file mode 100644 index 0000000000..b4f80b7f24 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/control_manager.cpp.gcov.overview.html @@ -0,0 +1,2235 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/control_manager.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + 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+ Top

+ Overview +
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Test:MRS UAV System - Test coverage reportLines:2596371469.9 %
Date:2024-08-07 22:18:19Functions:10812387.8 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
control_manager.cpp +
69.5%69.5%
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LCOV - code coverage report
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Test:MRS UAV System - Test coverage reportLines:2596371469.9 %
Date:2024-08-07 22:18:19Functions:10812387.8 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
control_manager.cpp +
69.5%69.5%
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<unnamed>69.5 %2553 / 367186.5 %96 / 111
output_publisher.cpp +
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<unnamed>100.0 %43 / 43100.0 %12 / 12
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/control_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:2596371469.9 %
Date:2024-08-07 22:18:19Functions:10812387.8 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
control_manager.cpp +
69.5%69.5%
+ 		69.5 %2553 / 367186.5 %96 / 111
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output_publisher.cpp +
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<unnamed>100.0 %43 / 43100.0 %12 / 12
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Current view:top level - mrs_uav_managers/src/control_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:2596371469.9 %
Date:2024-08-07 22:18:19Functions:10812387.8 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
control_manager.cpp +
69.5%69.5%
+ 		69.5 %2553 / 367186.5 %96 / 111
output_publisher.cpp +
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_managers/src/control_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:2596371469.9 %
Date:2024-08-07 22:18:19Functions:10812387.8 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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control_manager.cpp +
69.5%69.5%
+ 		69.5 %2553 / 367186.5 %96 / 111
output_publisher.cpp +
100.0%
+ 		100.0 %43 / 43100.0 %12 / 12
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_managers/src/control_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:2596371469.9 %
Date:2024-08-07 22:18:19Functions:10812387.8 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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control_manager.cpp +
69.5%69.5%
+ 		69.5 %2553 / 367186.5 %96 / 111
output_publisher.cpp +
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+ 		100.0 %43 / 43100.0 %12 / 12
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/control_manager - output_publisher.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4343100.0 %
Date:2024-08-07 22:18:19Functions:1212100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::control_manager::OutputPublisher::OutputPublisher(ros::NodeHandle&)108
mrs_uav_managers::control_manager::OutputPublisher::OutputPublisher()108
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)534
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1025
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1104
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1471
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2410
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3984
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)4042
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)8283
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)102222
mrs_uav_managers::control_manager::OutputPublisher::publish(std::variant<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> >, mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> >, mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> >, mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> >, mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> >, mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> >, mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> >, mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> >, mrs_msgs::HwApiPositionCmd_<std::allocator<void> > > const&)125075
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+
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/control_manager - output_publisher.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4343100.0 %
Date:2024-08-07 22:18:19Functions:1212100.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3984
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)8283
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)534
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1471
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)102222
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)4042
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1104
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2410
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1025
mrs_uav_managers::control_manager::OutputPublisher::publish(std::variant<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> >, mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> >, mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> >, mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> >, mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> >, mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> >, mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> >, mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> >, mrs_msgs::HwApiPositionCmd_<std::allocator<void> > > const&)125075
mrs_uav_managers::control_manager::OutputPublisher::OutputPublisher(ros::NodeHandle&)108
mrs_uav_managers::control_manager::OutputPublisher::OutputPublisher()108
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.frameset.html b/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.frameset.html new file mode 100644 index 0000000000..43585be242 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/output_publisher.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.html b/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.html new file mode 100644 index 0000000000..932ca58ea2 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.html @@ -0,0 +1,154 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/output_publisher.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/control_manager - output_publisher.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4343100.0 %
Date:2024-08-07 22:18:19Functions:1212100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #include <control_manager/output_publisher.h>
+       2             : 
+       3             : namespace mrs_uav_managers
+       4             : {
+       5             : 
+       6             : namespace control_manager
+       7             : {
+       8             : 
+       9         108 : OutputPublisher::OutputPublisher() {
+      10         108 : }
+      11             : 
+      12         108 : OutputPublisher::OutputPublisher(ros::NodeHandle& nh) {
+      13             : 
+      14         108 :   ph_hw_api_actuator_cmd_              = mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd>(nh, "hw_api_actuator_cmd_out", 1);
+      15         108 :   ph_hw_api_control_group_cmd_         = mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd>(nh, "hw_api_control_group_cmd_out", 1);
+      16         108 :   ph_hw_api_attitude_rate_cmd_         = mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd>(nh, "hw_api_attitude_rate_cmd_out", 1);
+      17         108 :   ph_hw_api_attitude_cmd_              = mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd>(nh, "hw_api_attitude_cmd_out", 1);
+      18         108 :   ph_hw_api_acceleration_hdg_rate_cmd_ = mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd>(nh, "hw_api_acceleration_hdg_rate_cmd_out", 1);
+      19         108 :   ph_hw_api_acceleration_hdg_cmd_      = mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd>(nh, "hw_api_acceleration_hdg_cmd_out", 1);
+      20         108 :   ph_hw_api_velocity_hdg_rate_cmd_     = mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd>(nh, "hw_api_velocity_hdg_rate_cmd_out", 1);
+      21         108 :   ph_hw_api_velocity_hdg_cmd_          = mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd>(nh, "hw_api_velocity_hdg_cmd_out", 1);
+      22         108 :   ph_hw_api_position_cmd_              = mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd>(nh, "hw_api_position_cmd_out", 1);
+      23         108 : }
+      24             : 
+      25      125075 : void OutputPublisher::publish(const Controller::HwApiOutputVariant& control_output) {
+      26             : 
+      27      125075 :   std::visit(OutputPublisher::PublisherVisitor(this), control_output);
+      28      125075 : }
+      29             : 
+      30             : // | ------------------------- private ------------------------ |
+      31             : 
+      32        3984 : void OutputPublisher::publish(const mrs_msgs::HwApiActuatorCmd& msg) {
+      33        3984 :   ph_hw_api_actuator_cmd_.publish(msg);
+      34        3984 : }
+      35             : 
+      36        4042 : void OutputPublisher::publish(const mrs_msgs::HwApiControlGroupCmd& msg) {
+      37        4042 :   ph_hw_api_control_group_cmd_.publish(msg);
+      38        4042 : }
+      39             : 
+      40      102222 : void OutputPublisher::publish(const mrs_msgs::HwApiAttitudeRateCmd& msg) {
+      41      102222 :   ph_hw_api_attitude_rate_cmd_.publish(msg);
+      42      102222 : }
+      43             : 
+      44        8283 : void OutputPublisher::publish(const mrs_msgs::HwApiAttitudeCmd& msg) {
+      45        8283 :   ph_hw_api_attitude_cmd_.publish(msg);
+      46        8283 : }
+      47             : 
+      48        1025 : void OutputPublisher::publish(const mrs_msgs::HwApiAccelerationHdgRateCmd& msg) {
+      49        1025 :   ph_hw_api_acceleration_hdg_rate_cmd_.publish(msg);
+      50        1025 : }
+      51             : 
+      52        1104 : void OutputPublisher::publish(const mrs_msgs::HwApiAccelerationHdgCmd& msg) {
+      53        1104 :   ph_hw_api_acceleration_hdg_cmd_.publish(msg);
+      54        1104 : }
+      55             : 
+      56        2410 : void OutputPublisher::publish(const mrs_msgs::HwApiVelocityHdgRateCmd& msg) {
+      57        2410 :   ph_hw_api_velocity_hdg_rate_cmd_.publish(msg);
+      58        2410 : }
+      59             : 
+      60        1471 : void OutputPublisher::publish(const mrs_msgs::HwApiVelocityHdgCmd& msg) {
+      61        1471 :   ph_hw_api_velocity_hdg_cmd_.publish(msg);
+      62        1471 : }
+      63             : 
+      64         534 : void OutputPublisher::publish(const mrs_msgs::HwApiPositionCmd& msg) {
+      65         534 :   ph_hw_api_position_cmd_.publish(msg);
+      66         534 : }
+      67             : 
+      68             : }  // namespace control_manager
+      69             : 
+      70             : }  // namespace mrs_uav_managers
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.overview.html b/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.overview.html new file mode 100644 index 0000000000..8bbe8c2bfd --- /dev/null +++ b/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.overview.html @@ -0,0 +1,38 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/output_publisher.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + + + + diff --git a/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.png b/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..c385c662de6cc4327e3a61ce14e679273fb7fbb9 GIT binary patch literal 307 zcmeAS@N?(olHy`uVBq!ia0vp^0YL1=!VDx=Zs3yuQW60^A+G=b|6c_J%iqVwzWUF= zunH&+rp|e9UJ7J$7I;J!GcfQS0b$0e+I-SL!GoSIjv*eMZ^In<8Web%cPzx|uYg9wc$$GsO#c<%LD z^o61EWbIvRy=0gZWQ-p596VxsjnPP{OElF*Cg6-{dy|A>Y}=H;oU<(ImnK^5lUTi3 z+iSA*={Nb$&wWaG6~8WP+rHV`1hgbCr~Q%KEqQ|=`dh-AP literal 0 HcmV?d00001 diff --git a/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.func-sort-c.html b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.func-sort-c.html new file mode 100644 index 0000000000..25dbb8a11b --- /dev/null +++ b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.func-sort-c.html @@ -0,0 +1,180 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/estimation_manager/estimation_manager.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/estimation_manager - estimation_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:37457864.7 %
Date:2024-08-07 22:18:19Functions:212584.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::estimation_manager::EstimationManager::loadConfigFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_uav_managers::estimation_manager::EstimationManager::callFailsafeService()0
mrs_uav_managers::estimation_manager::EstimationManager::callbackResetEstimator(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)0
mrs_uav_managers::estimation_manager::EstimationManager::switchToHealthyEstimator()0
mrs_uav_managers::estimation_manager::StateMachine::changeToPreSwitchState()5
mrs_uav_managers::estimation_manager::EstimationManager::switchToEstimator(boost::shared_ptr<mrs_uav_managers::StateEstimator> const&)5
mrs_uav_managers::estimation_manager::EstimationManager::callbackChangeEstimator(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)5
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_managers::estimation_manager::StateMachine::StateMachine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_uav_managers::estimation_manager::EstimationManager::timerInitialization(ros::TimerEvent const&)108
mrs_uav_managers::estimation_manager::EstimationManager::onInit()108
mrs_uav_managers::estimation_manager::EstimationManager::EstimationManager()108
mrs_uav_managers::estimation_manager::EstimationManager::callbackToggleServiceCallbacks(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)142
mrs_uav_managers::estimation_manager::StateMachine::changeState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&)346
mrs_uav_managers::estimation_manager::StateMachine::getPrintName[abi:cxx11]() const346
mrs_uav_managers::estimation_manager::StateMachine::getStateAsString[abi:cxx11](mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const692
mrs_uav_managers::estimation_manager::EstimationManager::getName[abi:cxx11]() const3583
mrs_uav_managers::estimation_manager::StateMachine::getCurrentStateString[abi:cxx11]() const19605
mrs_uav_managers::estimation_manager::EstimationManager::timerPublishDiagnostics(ros::TimerEvent const&)20791
mrs_uav_managers::estimation_manager::EstimationManager::timerPublish(ros::TimerEvent const&)193659
mrs_uav_managers::estimation_manager::EstimationManager::timerCheckHealth(ros::TimerEvent const&)193661
mrs_uav_managers::estimation_manager::StateMachine::isInSwitchableState() const193661
mrs_uav_managers::estimation_manager::StateMachine::isInPublishableState() const214444
mrs_uav_managers::estimation_manager::StateMachine::isInitialized() const407992
mrs_uav_managers::estimation_manager::StateMachine::isInState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const1859031
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.func.html b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.func.html new file mode 100644 index 0000000000..436de6d89d --- /dev/null +++ b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.func.html @@ -0,0 +1,180 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/estimation_manager/estimation_manager.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/estimation_manager - estimation_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:37457864.7 %
Date:2024-08-07 22:18:19Functions:212584.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_managers::estimation_manager::StateMachine::changeState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&)346
mrs_uav_managers::estimation_manager::StateMachine::changeToPreSwitchState()5
mrs_uav_managers::estimation_manager::StateMachine::StateMachine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)108
mrs_uav_managers::estimation_manager::EstimationManager::timerPublish(ros::TimerEvent const&)193659
mrs_uav_managers::estimation_manager::EstimationManager::loadConfigFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_uav_managers::estimation_manager::EstimationManager::timerCheckHealth(ros::TimerEvent const&)193661
mrs_uav_managers::estimation_manager::EstimationManager::switchToEstimator(boost::shared_ptr<mrs_uav_managers::StateEstimator> const&)5
mrs_uav_managers::estimation_manager::EstimationManager::callFailsafeService()0
mrs_uav_managers::estimation_manager::EstimationManager::timerInitialization(ros::TimerEvent const&)108
mrs_uav_managers::estimation_manager::EstimationManager::callbackResetEstimator(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)0
mrs_uav_managers::estimation_manager::EstimationManager::callbackChangeEstimator(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)5
mrs_uav_managers::estimation_manager::EstimationManager::timerPublishDiagnostics(ros::TimerEvent const&)20791
mrs_uav_managers::estimation_manager::EstimationManager::switchToHealthyEstimator()0
mrs_uav_managers::estimation_manager::EstimationManager::callbackToggleServiceCallbacks(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)142
mrs_uav_managers::estimation_manager::EstimationManager::onInit()108
mrs_uav_managers::estimation_manager::EstimationManager::EstimationManager()108
mrs_uav_managers::estimation_manager::StateMachine::getPrintName[abi:cxx11]() const346
mrs_uav_managers::estimation_manager::StateMachine::isInitialized() const407992
mrs_uav_managers::estimation_manager::StateMachine::getStateAsString[abi:cxx11](mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const692
mrs_uav_managers::estimation_manager::StateMachine::isInSwitchableState() const193661
mrs_uav_managers::estimation_manager::StateMachine::isInPublishableState() const214444
mrs_uav_managers::estimation_manager::StateMachine::getCurrentStateString[abi:cxx11]() const19605
mrs_uav_managers::estimation_manager::StateMachine::isInState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const1859031
mrs_uav_managers::estimation_manager::EstimationManager::getName[abi:cxx11]() const3583
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+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.gcov.frameset.html b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.gcov.frameset.html new file mode 100644 index 0000000000..0e76ed7e74 --- /dev/null +++ b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/estimation_manager/estimation_manager.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.gcov.html b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.gcov.html new file mode 100644 index 0000000000..a690c54f19 --- /dev/null +++ b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.gcov.html @@ -0,0 +1,1410 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/estimation_manager/estimation_manager.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/estimation_manager - estimation_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:37457864.7 %
Date:2024-08-07 22:18:19Functions:212584.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /*//{ includes */
+       2             : #include <ros/ros.h>
+       3             : #include <nodelet/nodelet.h>
+       4             : 
+       5             : #include <pluginlib/class_loader.h>
+       6             : #include <nodelet/loader.h>
+       7             : 
+       8             : #include <geometry_msgs/QuaternionStamped.h>
+       9             : #include <geometry_msgs/Vector3Stamped.h>
+      10             : 
+      11             : #include <nav_msgs/Odometry.h>
+      12             : 
+      13             : #include <std_srvs/Trigger.h>
+      14             : #include <std_srvs/SetBool.h>
+      15             : 
+      16             : #include <mrs_msgs/UavState.h>
+      17             : #include <mrs_msgs/Float64Stamped.h>
+      18             : #include <mrs_msgs/String.h>
+      19             : #include <mrs_msgs/EstimationDiagnostics.h>
+      20             : #include <mrs_msgs/HwApiCapabilities.h>
+      21             : #include <mrs_msgs/ControlManagerDiagnostics.h>
+      22             : 
+      23             : #include <mrs_lib/param_loader.h>
+      24             : #include <mrs_lib/publisher_handler.h>
+      25             : #include <mrs_lib/service_client_handler.h>
+      26             : #include <mrs_lib/transformer.h>
+      27             : #include <mrs_lib/subscribe_handler.h>
+      28             : #include <mrs_lib/gps_conversions.h>
+      29             : #include <mrs_lib/scope_timer.h>
+      30             : 
+      31             : 
+      32             : #include <mrs_uav_managers/state_estimator.h>
+      33             : #include <mrs_uav_managers/agl_estimator.h>
+      34             : #include <mrs_uav_managers/estimation_manager/support.h>
+      35             : #include <mrs_uav_managers/estimation_manager/common_handlers.h>
+      36             : #include <mrs_uav_managers/estimation_manager/private_handlers.h>
+      37             : /*//}*/
+      38             : 
+      39             : namespace mrs_uav_managers
+      40             : {
+      41             : 
+      42             : namespace estimation_manager
+      43             : {
+      44             : 
+      45             : // --------------------------------------------------------------
+      46             : // |                           classes                          |
+      47             : // --------------------------------------------------------------
+      48             : 
+      49             : /*//{ class StateMachine */
+      50             : class StateMachine {
+      51             : 
+      52             :   /*//{ states */
+      53             : public:
+      54             :   typedef enum
+      55             :   {
+      56             : 
+      57             :     UNINITIALIZED_STATE,
+      58             :     INITIALIZED_STATE,
+      59             :     READY_FOR_FLIGHT_STATE,
+      60             :     TAKING_OFF_STATE,
+      61             :     FLYING_STATE,
+      62             :     HOVER_STATE,
+      63             :     LANDING_STATE,
+      64             :     LANDED_STATE,
+      65             :     ESTIMATOR_SWITCHING_STATE,
+      66             :     DUMMY_STATE,
+      67             :     EMERGENCY_STATE,
+      68             :     FAILSAFE_STATE,
+      69             :     ERROR_STATE
+      70             : 
+      71             :   } SMState_t;
+      72             : 
+      73             :   /*//}*/
+      74             : 
+      75             : public:
+      76        1512 :   StateMachine(const std::string& nodelet_name) : nodelet_name_(nodelet_name) {
+      77         108 :   }
+      78             : 
+      79     1859031 :   bool isInState(const SMState_t& state) const {
+      80     1859031 :     return mrs_lib::get_mutexed(mtx_state_, current_state_) == state;
+      81             :   }
+      82             : 
+      83      407992 :   bool isInitialized() const {
+      84      407992 :     return mrs_lib::get_mutexed(mtx_state_, current_state_) != UNINITIALIZED_STATE;
+      85             :   }
+      86             : 
+      87      214444 :   bool isInPublishableState() const {
+      88      214444 :     const SMState_t current_state = mrs_lib::get_mutexed(mtx_state_, current_state_);
+      89      167104 :     return current_state == READY_FOR_FLIGHT_STATE || current_state == TAKING_OFF_STATE || current_state == HOVER_STATE || current_state == FLYING_STATE ||
+      90      381554 :            current_state == LANDING_STATE || current_state == DUMMY_STATE || current_state == FAILSAFE_STATE;
+      91             :   }
+      92             : 
+      93      193661 :   bool isInSwitchableState() const {
+      94      193661 :     const SMState_t current_state = mrs_lib::get_mutexed(mtx_state_, current_state_);
+      95      193661 :     return current_state == READY_FOR_FLIGHT_STATE || current_state == TAKING_OFF_STATE || current_state == HOVER_STATE || current_state == FLYING_STATE ||
+      96      193661 :            current_state == LANDING_STATE;
+      97             :   }
+      98             : 
+      99             :   bool isInTheAir() const {
+     100             :     const SMState_t current_state = mrs_lib::get_mutexed(mtx_state_, current_state_);
+     101             :     return current_state == TAKING_OFF_STATE || current_state == HOVER_STATE || current_state == FLYING_STATE || current_state == LANDING_STATE;
+     102             :   }
+     103             : 
+     104             :   SMState_t getCurrentState() const {
+     105             :     return mrs_lib::get_mutexed(mtx_state_, current_state_);
+     106             :   }
+     107             : 
+     108       19605 :   std::string getCurrentStateString() const {
+     109       19605 :     return mrs_lib::get_mutexed(mtx_state_, sm_state_names_[current_state_]);
+     110             :   }
+     111             : 
+     112         692 :   std::string getStateAsString(const SMState_t& state) const {
+     113         692 :     return sm_state_names_[state];
+     114             :   }
+     115             : 
+     116             :   /*//{ changeState() */
+     117         346 :   bool changeState(const SMState_t& target_state) {
+     118             : 
+     119         346 :     if (target_state == current_state_) {
+     120             : 
+     121           0 :       ROS_WARN("[%s]: requested change to same state %s -> %s", getPrintName().c_str(), getStateAsString(current_state_).c_str(),
+     122             :                getStateAsString(target_state).c_str());
+     123           0 :       return true;
+     124             :     }
+     125             : 
+     126         346 :     switch (target_state) {
+     127             : 
+     128           0 :       case UNINITIALIZED_STATE: {
+     129           0 :         ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is not possible from any state", getPrintName().c_str(), getStateAsString(UNINITIALIZED_STATE).c_str());
+     130           0 :         return false;
+     131             :         break;
+     132             :       }
+     133             : 
+     134         108 :       case INITIALIZED_STATE: {
+     135         108 :         if (current_state_ != UNINITIALIZED_STATE) {
+     136           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s", getPrintName().c_str(), getStateAsString(INITIALIZED_STATE).c_str(),
+     137             :                              getStateAsString(UNINITIALIZED_STATE).c_str());
+     138           0 :           return false;
+     139             :         }
+     140         108 :         break;
+     141             :       }
+     142             : 
+     143         108 :       case READY_FOR_FLIGHT_STATE: {
+     144         108 :         if (current_state_ != INITIALIZED_STATE && current_state_ != LANDED_STATE && current_state_ != ESTIMATOR_SWITCHING_STATE) {
+     145           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s, %s or %s", getPrintName().c_str(),
+     146             :                              getStateAsString(READY_FOR_FLIGHT_STATE).c_str(), getStateAsString(INITIALIZED_STATE).c_str(),
+     147             :                              getStateAsString(LANDED_STATE).c_str(), getStateAsString(ESTIMATOR_SWITCHING_STATE).c_str());
+     148           0 :           return false;
+     149             :         }
+     150         108 :         break;
+     151             :       }
+     152             : 
+     153          22 :       case TAKING_OFF_STATE: {
+     154          22 :         if (current_state_ != READY_FOR_FLIGHT_STATE && current_state_ != ESTIMATOR_SWITCHING_STATE) {
+     155           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s or %s", getPrintName().c_str(), getStateAsString(TAKING_OFF_STATE).c_str(),
+     156             :                              getStateAsString(READY_FOR_FLIGHT_STATE).c_str(), getStateAsString(ESTIMATOR_SWITCHING_STATE).c_str());
+     157           0 :           return false;
+     158             :         }
+     159          22 :         break;
+     160             :       }
+     161             : 
+     162         103 :       case FLYING_STATE: {
+     163         103 :         if (current_state_ != TAKING_OFF_STATE && current_state_ != READY_FOR_FLIGHT_STATE && current_state_ != HOVER_STATE && current_state_ != ESTIMATOR_SWITCHING_STATE) {
+     164           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s or %s or %s", getPrintName().c_str(), getStateAsString(FLYING_STATE).c_str(),
+     165             :                              getStateAsString(TAKING_OFF_STATE).c_str(), getStateAsString(HOVER_STATE).c_str(),
+     166             :                              getStateAsString(ESTIMATOR_SWITCHING_STATE).c_str());
+     167           0 :           return false;
+     168             :         }
+     169         103 :         break;
+     170             :       }
+     171             : 
+     172           0 :       case HOVER_STATE: {
+     173           0 :         if (current_state_ != FLYING_STATE && current_state_ != ESTIMATOR_SWITCHING_STATE) {
+     174           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s or %s", getPrintName().c_str(), getStateAsString(HOVER_STATE).c_str(),
+     175             :                              getStateAsString(FLYING_STATE).c_str(), getStateAsString(ESTIMATOR_SWITCHING_STATE).c_str());
+     176           0 :           return false;
+     177             :         }
+     178           0 :         break;
+     179             :       }
+     180             : 
+     181           5 :       case ESTIMATOR_SWITCHING_STATE: {
+     182           5 :         if (current_state_ != READY_FOR_FLIGHT_STATE && current_state_ != TAKING_OFF_STATE  && current_state_ != HOVER_STATE && current_state_ != FLYING_STATE && current_state_ != LANDING_STATE) {
+     183           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s, %s, %s, %s or %s", getPrintName().c_str(),
+     184             :                              getStateAsString(ESTIMATOR_SWITCHING_STATE).c_str(), getStateAsString(READY_FOR_FLIGHT_STATE).c_str(), getStateAsString(TAKING_OFF_STATE).c_str(), getStateAsString(FLYING_STATE).c_str(),
+     185             :                              getStateAsString(HOVER_STATE).c_str(), getStateAsString(FLYING_STATE).c_str());
+     186           0 :           return false;
+     187             :         }
+     188           5 :         pre_switch_state_ = current_state_;
+     189           5 :         break;
+     190             :       }
+     191             : 
+     192           0 :       case LANDING_STATE: {
+     193           0 :         if (current_state_ != FLYING_STATE && current_state_ != HOVER_STATE && current_state_ != ESTIMATOR_SWITCHING_STATE) {
+     194           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s, %s or %s", getPrintName().c_str(), getStateAsString(LANDING_STATE).c_str(),
+     195             :                              getStateAsString(FLYING_STATE).c_str(), getStateAsString(HOVER_STATE).c_str(), getStateAsString(ESTIMATOR_SWITCHING_STATE).c_str());
+     196           0 :           return false;
+     197             :         }
+     198           0 :         break;
+     199             :       }
+     200             : 
+     201           0 :       case LANDED_STATE: {
+     202           0 :         if (current_state_ != LANDING_STATE) {
+     203           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s", getPrintName().c_str(), getStateAsString(LANDED_STATE).c_str(),
+     204             :                              getStateAsString(LANDING_STATE).c_str());
+     205           0 :           return false;
+     206             :         }
+     207           0 :         break;
+     208             :       }
+     209             : 
+     210           0 :       case DUMMY_STATE: {
+     211           0 :         if (current_state_ != INITIALIZED_STATE) {
+     212           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s", getPrintName().c_str(), getStateAsString(DUMMY_STATE).c_str(),
+     213             :                              getStateAsString(INITIALIZED_STATE).c_str());
+     214           0 :           return false;
+     215             :         }
+     216           0 :         break;
+     217             :       }
+     218           0 :       case EMERGENCY_STATE: {
+     219           0 :         ROS_WARN("[%s]: transition to %s", getPrintName().c_str(), getStateAsString(EMERGENCY_STATE).c_str());
+     220           0 :         break;
+     221             :       }
+     222             : 
+     223           0 :       case ERROR_STATE: {
+     224           0 :         ROS_WARN("[%s]: transition to %s", getPrintName().c_str(), getStateAsString(ERROR_STATE).c_str());
+     225           0 :         break;
+     226             :       }
+     227             : 
+     228           0 :       case FAILSAFE_STATE: {
+     229           0 :         ROS_WARN("[%s]: transition to %s", getPrintName().c_str(), getStateAsString(FAILSAFE_STATE).c_str());
+     230           0 :         break;
+     231             :       }
+     232             : 
+     233           0 :       default: {
+     234           0 :         ROS_ERROR_THROTTLE(1.0, "[%s]: rejected transition to unknown state id %d", getPrintName().c_str(), target_state);
+     235           0 :         return false;
+     236             :         break;
+     237             :       }
+     238             :     }
+     239             : 
+     240         346 :     std::scoped_lock lock(mtx_state_);
+     241             :     {
+     242         346 :       previous_state_ = current_state_;
+     243         346 :       current_state_  = target_state;
+     244             :     }
+     245             : 
+     246         346 :     ROS_INFO("[%s]: successfully changed states %s -> %s", getPrintName().c_str(), getStateAsString(previous_state_).c_str(),
+     247             :              getStateAsString(current_state_).c_str());
+     248             : 
+     249         346 :     return true;
+     250             :   }
+     251             :   /*//}*/
+     252             : 
+     253             :   /*//{ changeToPreSwitchState() */
+     254           5 :   void changeToPreSwitchState() {
+     255           5 :     changeState(pre_switch_state_);
+     256           5 :   }
+     257             :   /*//}*/
+     258             : 
+     259             : private:
+     260             :   const std::string name_ = "StateMachine";
+     261             :   const std::string nodelet_name_;
+     262             : 
+     263             :   SMState_t current_state_    = UNINITIALIZED_STATE;
+     264             :   SMState_t previous_state_   = UNINITIALIZED_STATE;
+     265             :   SMState_t pre_switch_state_ = UNINITIALIZED_STATE;
+     266             : 
+     267             :   mutable std::mutex mtx_state_;
+     268             : 
+     269             :   std::string getName() const {
+     270             :     return name_;
+     271             :   }
+     272             : 
+     273         346 :   std::string getPrintName() const {
+     274         692 :     return nodelet_name_ + "/" + name_;
+     275             :   }
+     276             : 
+     277             :   // clang-format off
+     278             :   const std::vector<std::string> sm_state_names_ = {
+     279             :   "UNINITIALIZED_STATE",
+     280             :   "INITIALIZED_STATE",
+     281             :   "READY_FOR_FLIGHT_STATE",
+     282             :   "TAKING_OFF_STATE",
+     283             :   "FLYING_STATE",
+     284             :   "HOVER_STATE",
+     285             :   "LANDING_STATE",
+     286             :   "LANDED_STATE",
+     287             :   "ESTIMATOR_SWITCHING_STATE",
+     288             :   "DUMMY_STATE",
+     289             :   "EMERGENCY_STATE",
+     290             :   "FAILSAFE_STATE",
+     291             :   "ERROR_STATE"
+     292             :   };
+     293             :   // clang-format on
+     294             : };
+     295             : /*//}*/
+     296             : 
+     297             : /*//{ class EstimationManager */
+     298             : class EstimationManager : public nodelet::Nodelet {
+     299             : 
+     300             : private:
+     301             :   const std::string nodelet_name_ = "EstimationManager";
+     302             :   const std::string package_name_ = "mrs_uav_managers";
+     303             : 
+     304             :   ros::NodeHandle nh_;
+     305             : 
+     306             :   std::string _custom_config_;
+     307             :   std::string _platform_config_;
+     308             :   std::string _world_config_;
+     309             : 
+     310             :   std::shared_ptr<CommonHandlers_t> ch_;
+     311             : 
+     312             :   std::shared_ptr<StateMachine> sm_;
+     313             : 
+     314             :   std::string after_midair_activation_tracker_name_;
+     315             :   std::string takeoff_tracker_name_;
+     316             : 
+     317             :   mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics> sh_control_manager_diag_;
+     318             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>            sh_control_input_;
+     319             : 
+     320             :   mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics> ph_diagnostics_;
+     321             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>        ph_max_flight_z_;
+     322             :   mrs_lib::PublisherHandler<mrs_msgs::UavState>              ph_uav_state_;
+     323             :   mrs_lib::PublisherHandler<nav_msgs::Odometry>              ph_odom_main_;
+     324             :   mrs_lib::PublisherHandler<nav_msgs::Odometry>              ph_odom_slow_;  // use topic throttler instead?
+     325             :   mrs_lib::PublisherHandler<nav_msgs::Odometry>              ph_innovation_;
+     326             : 
+     327             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped> ph_altitude_amsl_;
+     328             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped> ph_altitude_agl_;
+     329             : 
+     330             :   mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped> ph_orientation_;
+     331             : 
+     332             :   ros::Timer timer_publish_;
+     333             :   void       timerPublish(const ros::TimerEvent& event);
+     334             : 
+     335             :   ros::Timer timer_publish_diagnostics_;
+     336             :   void       timerPublishDiagnostics(const ros::TimerEvent& event);
+     337             : 
+     338             :   ros::Timer timer_check_health_;
+     339             :   void       timerCheckHealth(const ros::TimerEvent& event);
+     340             : 
+     341             :   ros::Timer timer_initialization_;
+     342             :   void       timerInitialization(const ros::TimerEvent& event);
+     343             : 
+     344             :   ros::ServiceServer srvs_change_estimator_;
+     345             :   bool               callbackChangeEstimator(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+     346             :   int                estimator_switch_count_ = 0;
+     347             : 
+     348             :   ros::ServiceServer srvs_reset_estimator_;
+     349             :   bool               callbackResetEstimator(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+     350             : 
+     351             : 
+     352             :   ros::ServiceServer srvs_toggle_callbacks_;
+     353             :   bool               callbackToggleServiceCallbacks(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     354             :   bool               callbacks_enabled_             = false;
+     355             :   bool               callbacks_disabled_by_service_ = false;
+     356             : 
+     357             :   bool                                             callFailsafeService();
+     358             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> srvch_failsafe_;
+     359             :   bool                                             failsafe_call_succeeded_ = false;
+     360             : 
+     361             :   // TODO service clients
+     362             :   /* mrs_lib::ServiceClientHandler<std_srvs::Trigger> srvc_hover_; */
+     363             :   /* mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv> srvc_reference_; */
+     364             :   /* mrs_lib::ServiceClientHandler<std_srvs::Trigger> srvc_ehover_; */
+     365             :   /* mrs_lib::ServiceClientHandler<std_srvs::SetBool> srvc_enable_callbacks_; */
+     366             : 
+     367             :   // | ------------- dynamic loading of estimators ------------- |
+     368             :   std::unique_ptr<pluginlib::ClassLoader<mrs_uav_managers::StateEstimator>> state_estimator_loader_;  // pluginlib loader of dynamically loaded estimators
+     369             :   std::vector<std::string>                                                  estimator_names_;         // list of estimator names
+     370             :   std::vector<boost::shared_ptr<mrs_uav_managers::StateEstimator>>          estimator_list_;          // list of estimators
+     371             :   std::mutex                                                                mutex_estimator_list_;
+     372             :   std::vector<std::string>                                                  switchable_estimator_names_;
+     373             :   std::mutex                                                                mutex_switchable_estimator_names_;
+     374             :   std::string                                                               initial_estimator_name_ = "UNDEFINED_INITIAL_ESTIMATOR";
+     375             :   boost::shared_ptr<mrs_uav_managers::StateEstimator>                       initial_estimator_;
+     376             :   boost::shared_ptr<mrs_uav_managers::StateEstimator>                       active_estimator_;
+     377             :   std::mutex                                                                mutex_active_estimator_;
+     378             : 
+     379             :   std::unique_ptr<pluginlib::ClassLoader<mrs_uav_managers::AglEstimator>> agl_estimator_loader_;  // pluginlib loader of dynamically loaded estimators
+     380             :   std::string                                                             est_alt_agl_name_ = "UNDEFINED_AGL_ESTIMATOR";
+     381             :   boost::shared_ptr<mrs_uav_managers::AglEstimator>                       est_alt_agl_;
+     382             :   bool                                                                    is_using_agl_estimator_;
+     383             : 
+     384             :   double max_flight_z_;
+     385             : 
+     386             :   bool switchToHealthyEstimator();
+     387             :   void switchToEstimator(const boost::shared_ptr<mrs_uav_managers::StateEstimator>& target_estimator);
+     388             : 
+     389             :   bool loadConfigFile(const std::string& file_path);
+     390             : 
+     391             : public:
+     392         108 :   EstimationManager() {
+     393         108 :   }
+     394             : 
+     395             :   void onInit();
+     396             : 
+     397             :   std::string getName() const;
+     398             : };
+     399             : /*//}*/
+     400             : 
+     401             : /*//{ onInit() */
+     402         108 : void EstimationManager::onInit() {
+     403             : 
+     404         108 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     405             : 
+     406         108 :   ros::Time::waitForValid();
+     407             : 
+     408         108 :   ROS_INFO("[%s]: initializing", getName().c_str());
+     409             : 
+     410         108 :   sm_ = std::make_shared<StateMachine>(nodelet_name_);
+     411             : 
+     412         108 :   ch_ = std::make_shared<CommonHandlers_t>();
+     413             : 
+     414         108 :   ch_->nodelet_name = nodelet_name_;
+     415         108 :   ch_->package_name = package_name_;
+     416             : 
+     417             :   // finish initialization in a oneshot timer, so that we don't block loading of other nodelets by the nodelet manager
+     418         108 :   timer_initialization_ = nh_.createTimer(ros::Rate(1.0), &EstimationManager::timerInitialization, this, true, true);
+     419         108 : }
+     420             : /*//}*/
+     421             : 
+     422             : // --------------------------------------------------------------
+     423             : // |                          callbacks                         |
+     424             : // --------------------------------------------------------------
+     425             : 
+     426             : // | --------------------- timer callbacks -------------------- |
+     427             : 
+     428             : /*//{ timerPublish() */
+     429      193659 : void EstimationManager::timerPublish([[maybe_unused]] const ros::TimerEvent& event) {
+     430             : 
+     431      193659 :   if (!sm_->isInitialized()) {
+     432       20939 :     return;
+     433             :   }
+     434             : 
+     435      387318 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("EstimationManager::timerPublish", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     436             : 
+     437      193659 :   if (sm_->isInState(StateMachine::ESTIMATOR_SWITCHING_STATE)) {
+     438           0 :     ROS_WARN("[%s]: Not publishing during estimator switching.", getName().c_str());
+     439           0 :     return;
+     440             :   }
+     441             : 
+     442      193659 :   if (!sm_->isInPublishableState()) {
+     443       20939 :     ROS_WARN_THROTTLE(1.0, "[%s]: not publishing uav state in %s", getName().c_str(), sm_->getCurrentStateString().c_str());
+     444       20939 :     return;
+     445             :   }
+     446             : 
+     447      172720 :   mrs_msgs::UavState uav_state;
+     448      172720 :   auto               ret = active_estimator_->getUavState();
+     449      172720 :   if (ret) {
+     450      172720 :     uav_state = ret.value();
+     451             :   } else {
+     452           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Active estimator did not provide uav_state.", getName().c_str());
+     453           0 :     return;
+     454             :   }
+     455             : 
+     456      172720 :   if (!Support::noNans(uav_state.pose.orientation)) {
+     457           0 :     ROS_ERROR("[%s]: nan in uav state orientation", getName().c_str());
+     458           0 :     return;
+     459             :   }
+     460             : 
+     461             : 
+     462      172720 :   if (active_estimator_->isMitigatingJump()) {
+     463           0 :     estimator_switch_count_++;
+     464             :   }
+     465      172720 :   uav_state.estimator_iteration = estimator_switch_count_;
+     466             : 
+     467      172720 :   scope_timer.checkpoint("get uav state");
+     468             :   // TODO state health checks
+     469             : 
+     470      172720 :   ph_uav_state_.publish(uav_state);
+     471             : 
+     472      172720 :   scope_timer.checkpoint("pub uav state");
+     473      345440 :   nav_msgs::Odometry odom_main = Support::uavStateToOdom(uav_state);
+     474             : 
+     475      172720 :   scope_timer.checkpoint("uav state to odom");
+     476      345440 :   const std::vector<double> pose_covariance = active_estimator_->getPoseCovariance();
+     477     6390612 :   for (size_t i = 0; i < pose_covariance.size(); i++) {
+     478     6217886 :     odom_main.pose.covariance[i] = pose_covariance[i];
+     479             :   }
+     480             : 
+     481      345440 :   const std::vector<double> twist_covariance = active_estimator_->getTwistCovariance();
+     482     6390612 :   for (size_t i = 0; i < twist_covariance.size(); i++) {
+     483     6217886 :     odom_main.twist.covariance[i] = twist_covariance[i];
+     484             :   }
+     485             : 
+     486      172720 :   scope_timer.checkpoint("get covariance");
+     487      172720 :   ph_odom_main_.publish(odom_main);
+     488             : 
+     489      345440 :   nav_msgs::Odometry innovation = active_estimator_->getInnovation();
+     490      172720 :   ph_innovation_.publish(innovation);
+     491             : 
+     492             : 
+     493      345440 :   mrs_msgs::Float64Stamped agl_height;
+     494             : 
+     495      172720 :   if (is_using_agl_estimator_) {
+     496      142560 :     agl_height = est_alt_agl_->getUavAglHeight();
+     497      142560 :     ph_altitude_agl_.publish(agl_height);
+     498             :   }
+     499             : }
+     500             : /*//}*/
+     501             : 
+     502             : /*//{ timerPublishDiagnostics() */
+     503       20791 : void EstimationManager::timerPublishDiagnostics([[maybe_unused]] const ros::TimerEvent& event) {
+     504             : 
+     505       20791 :   if (!sm_->isInitialized()) {
+     506        2075 :     return;
+     507             :   }
+     508             : 
+     509       41582 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("EstimationManager::timerPublishDiagnostics", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     510             : 
+     511       20791 :   if (sm_->isInState(StateMachine::ESTIMATOR_SWITCHING_STATE)) {
+     512           0 :     ROS_WARN("[%s]: Not publishing diagnostics during estimator switching.", getName().c_str());
+     513           0 :     return;
+     514             :   }
+     515             : 
+     516       20791 :   if (!sm_->isInPublishableState()) {
+     517        2075 :     ROS_WARN_THROTTLE(1.0, "[%s]: not publishing uav state in %s", getName().c_str(), sm_->getCurrentStateString().c_str());
+     518        2075 :     return;
+     519             :   }
+     520             : 
+     521       18716 :   mrs_msgs::UavState uav_state;
+     522       18716 :   auto               ret = active_estimator_->getUavState();
+     523       18716 :   if (ret) {
+     524       18716 :     uav_state = ret.value();
+     525             :   } else {
+     526           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Active estimator did not provide uav_state.", getName().c_str());
+     527           0 :     return;
+     528             :   }
+     529             : 
+     530       18716 :   if (!Support::noNans(uav_state.pose.orientation)) {
+     531           0 :     ROS_ERROR("[%s]: nan in uav state orientation", getName().c_str());
+     532           0 :     return;
+     533             :   }
+     534             : 
+     535       37432 :   mrs_msgs::Float64Stamped agl_height;
+     536             : 
+     537       18716 :   if (is_using_agl_estimator_) {
+     538       14464 :     agl_height = est_alt_agl_->getUavAglHeight();
+     539       14464 :     ph_altitude_agl_.publish(agl_height);
+     540             :   }
+     541             : 
+     542       37432 :   mrs_msgs::Float64Stamped max_flight_z_msg;
+     543       18716 :   max_flight_z_msg.header.stamp = ros::Time::now();
+     544       18716 :   if (active_estimator_ && active_estimator_->isInitialized()) {
+     545       18716 :     max_flight_z_msg.header.frame_id = active_estimator_->getFrameId();
+     546       18716 :     max_flight_z_msg.value           = active_estimator_->getMaxFlightZ();
+     547             :   }
+     548       18716 :   max_flight_z_ = max_flight_z_msg.value;
+     549       18716 :   ph_max_flight_z_.publish(max_flight_z_msg);
+     550             : 
+     551             :   // publish diagnostics
+     552       37432 :   mrs_msgs::EstimationDiagnostics diagnostics;
+     553             : 
+     554       18716 :   diagnostics.header.stamp   = uav_state.header.stamp;
+     555       18716 :   diagnostics.child_frame_id = uav_state.child_frame_id;
+     556             : 
+     557       18716 :   diagnostics.pose         = uav_state.pose;
+     558       18716 :   diagnostics.velocity     = uav_state.velocity;
+     559       18716 :   diagnostics.acceleration = uav_state.acceleration;
+     560             : 
+     561       18716 :   diagnostics.sm_state                 = sm_->getCurrentStateString();
+     562       18716 :   diagnostics.max_flight_z             = max_flight_z_msg.value;
+     563       18716 :   diagnostics.estimator_iteration      = estimator_switch_count_;
+     564       18716 :   diagnostics.estimation_rate          = ch_->desired_uav_state_rate;
+     565       18716 :   diagnostics.running_state_estimators = estimator_names_;
+     566             : 
+     567             :   {
+     568       37432 :     std::scoped_lock lock(mutex_switchable_estimator_names_);
+     569       18716 :     diagnostics.switchable_state_estimators = switchable_estimator_names_;
+     570             :   }
+     571             : 
+     572             : 
+     573       18716 :   if (active_estimator_ && active_estimator_->isInitialized()) {
+     574       18716 :     diagnostics.header.frame_id         = active_estimator_->getFrameId();
+     575       18716 :     diagnostics.current_state_estimator = active_estimator_->getName();
+     576             :   } else {
+     577           0 :     diagnostics.header.frame_id         = "";
+     578           0 :     diagnostics.current_state_estimator = "";
+     579             :   }
+     580             : 
+     581       18716 :   diagnostics.estimator_horizontal = uav_state.estimator_horizontal;
+     582       18716 :   diagnostics.estimator_vertical   = uav_state.estimator_vertical;
+     583       18716 :   diagnostics.estimator_heading    = uav_state.estimator_heading;
+     584             : 
+     585       18716 :   if (is_using_agl_estimator_) {
+     586       14464 :     diagnostics.estimator_agl_height = est_alt_agl_name_;
+     587       14464 :     diagnostics.agl_height           = agl_height.value;
+     588             :   } else {
+     589        4252 :     diagnostics.estimator_agl_height = "NOT_USED";
+     590        4252 :     diagnostics.agl_height           = std::nanf("");
+     591             :   }
+     592             : 
+     593       18716 :   diagnostics.platform_config = _platform_config_;
+     594       18716 :   diagnostics.custom_config   = _custom_config_;
+     595             : 
+     596       18716 :   ph_diagnostics_.publish(diagnostics);
+     597             : 
+     598       18716 :   ROS_INFO_THROTTLE(5.0, "[%s]: %s. pos: [%.2f, %.2f, %.2f] m. Estimator: %s. Max. z.: %.2f m. Estimator switches: %d.", getName().c_str(),
+     599             :                     sm_->getCurrentStateString().c_str(), uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z,
+     600             :                     active_estimator_->getName().c_str(), max_flight_z_, estimator_switch_count_);
+     601             : }
+     602             : /*//}*/
+     603             : 
+     604             : /*//{ timerCheckHealth() */
+     605      193661 : void EstimationManager::timerCheckHealth([[maybe_unused]] const ros::TimerEvent& event) {
+     606             : 
+     607      193661 :   if (!sm_->isInitialized()) {
+     608           0 :     return;
+     609             :   }
+     610             : 
+     611      580983 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("EstimationManager::timerCheckHealth", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     612             : 
+     613             :   /*//{ start ready estimators, check switchable estimators */
+     614      387322 :   std::vector<std::string> switchable_estimator_names;
+     615      411739 :   for (auto estimator : estimator_list_) {
+     616             : 
+     617      218078 :     if (estimator->isReady()) {
+     618             :       try {
+     619        7965 :         ROS_INFO_THROTTLE(1.0, "[%s]: starting the estimator '%s'", getName().c_str(), estimator->getName().c_str());
+     620        7965 :         estimator->start();
+     621             :       }
+     622           0 :       catch (std::runtime_error& ex) {
+     623           0 :         ROS_ERROR("[%s]: exception caught during estimator starting: '%s'", getName().c_str(), ex.what());
+     624           0 :         ros::shutdown();
+     625             :       }
+     626             :     }
+     627             : 
+     628      218078 :     if (estimator->isRunning() && estimator->getName() != "dummy" && estimator->getName() != "ground_truth") {
+     629      207607 :       switchable_estimator_names.push_back(estimator->getName());
+     630             :     }
+     631             :   }
+     632             : 
+     633             :   {
+     634      387322 :     std::scoped_lock lock(mutex_switchable_estimator_names_);
+     635      193661 :     switchable_estimator_names_ = switchable_estimator_names;
+     636             :   }
+     637             : 
+     638      193661 :   if (is_using_agl_estimator_ && est_alt_agl_->isReady()) {
+     639         660 :     est_alt_agl_->start();
+     640             :   }
+     641             : 
+     642             :   /*//}*/
+     643             : 
+     644      355191 :   if (!callbacks_disabled_by_service_ &&
+     645      355191 :       (sm_->isInState(StateMachine::FLYING_STATE) || sm_->isInState(StateMachine::HOVER_STATE) || sm_->isInState(StateMachine::READY_FOR_FLIGHT_STATE))) {
+     646      140174 :     callbacks_enabled_ = true;
+     647             :   } else {
+     648       53487 :     callbacks_enabled_ = false;
+     649             :   }
+     650             : 
+     651             :   // TODO fuj if, zmenit na switch
+     652             :   // activate initial estimator
+     653      193661 :   if (sm_->isInState(StateMachine::INITIALIZED_STATE) && initial_estimator_->isRunning()) {
+     654       21286 :     std::scoped_lock lock(mutex_active_estimator_);
+     655       10643 :     ROS_INFO_THROTTLE(1.0, "[%s]: activating the initial estimator %s", getName().c_str(), initial_estimator_->getName().c_str());
+     656       10643 :     active_estimator_ = initial_estimator_;
+     657       10643 :     if (active_estimator_->getName() == "dummy") {
+     658           0 :       sm_->changeState(StateMachine::DUMMY_STATE);
+     659             :     } else {
+     660       10643 :       if (!is_using_agl_estimator_ || est_alt_agl_->isRunning()) {
+     661         108 :         sm_->changeState(StateMachine::READY_FOR_FLIGHT_STATE);
+     662             :       } else {
+     663       10535 :         ROS_INFO_THROTTLE(1.0, "[%s]: %s agl estimator: %s to be running", getName().c_str(), Support::waiting_for_string.c_str(),
+     664             :                           est_alt_agl_->getName().c_str());
+     665             :       }
+     666             :     }
+     667             :   }
+     668             : 
+     669             :   // active estimator is in faulty state, we need to switch to healthy estimator
+     670      193661 :   if (sm_->isInSwitchableState() && active_estimator_->isError()) {
+     671           0 :     sm_->changeState(StateMachine::ESTIMATOR_SWITCHING_STATE);
+     672             :   }
+     673             : 
+     674      193661 :   if (sm_->isInState(StateMachine::ESTIMATOR_SWITCHING_STATE)) {
+     675           0 :     if (switchToHealthyEstimator()) {
+     676           0 :       sm_->changeToPreSwitchState();
+     677             :     } else {  // cannot switch to healthy estimator - failsafe necessary
+     678           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: Cannot switch to any healthy estimator. Triggering failsafe.", getName().c_str());
+     679           0 :       sm_->changeState(StateMachine::FAILSAFE_STATE);
+     680             :     }
+     681             :   }
+     682             : 
+     683      193661 :   if (sm_->isInState(StateMachine::FAILSAFE_STATE)) {
+     684           0 :     if (!failsafe_call_succeeded_ && callFailsafeService()) {
+     685           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: failsafe called successfully", getName().c_str());
+     686           0 :       failsafe_call_succeeded_ = true;
+     687             :     }
+     688           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: we are in failsafe state", getName().c_str());
+     689             :   }
+     690             : 
+     691             :   // standard takeoff
+     692      193661 :   if (sm_->isInState(StateMachine::READY_FOR_FLIGHT_STATE)) {
+     693       42997 :     if (sh_control_manager_diag_.hasMsg() && sh_control_manager_diag_.getMsg()->active_tracker == takeoff_tracker_name_) {
+     694          22 :       sm_->changeState(StateMachine::TAKING_OFF_STATE);
+     695             :     }
+     696             :   }
+     697             : 
+     698             :   // midair activation
+     699      193661 :   if (sm_->isInState(StateMachine::READY_FOR_FLIGHT_STATE)) {
+     700       42975 :     if (sh_control_manager_diag_.hasMsg() && sh_control_manager_diag_.getMsg()->active_tracker == after_midair_activation_tracker_name_) {
+     701          78 :       sm_->changeState(StateMachine::FLYING_STATE);
+     702             :     }
+     703             :   }
+     704             : 
+     705      193661 :   if (sm_->isInState(StateMachine::TAKING_OFF_STATE)) {
+     706       10771 :     if (sh_control_manager_diag_.hasMsg() && sh_control_manager_diag_.getMsg()->active_tracker != takeoff_tracker_name_) {
+     707          20 :       sm_->changeState(StateMachine::FLYING_STATE);
+     708             :     }
+     709             :   }
+     710             : 
+     711      193661 :   if (sm_->isInState(StateMachine::FLYING_STATE)) {
+     712      119158 :     if (!sh_control_input_.hasMsg()) {
+     713        4329 :       ROS_WARN_THROTTLE(1.0, "[%s]: not received control input since starting EstimationManager, estimation suboptimal, potentially unstable", getName().c_str());
+     714      114829 :     } else if ((ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {
+     715       13111 :       ROS_WARN_THROTTLE(1.0, "[%s]: not received control input for %.4fs, estimation suboptimal, potentially unstable", getName().c_str(),
+     716             :                         (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     717             :     }
+     718             :   }
+     719             : }
+     720             : /*//}*/
+     721             : 
+     722             : /*//{ timerInitialization() */
+     723         108 : void EstimationManager::timerInitialization([[maybe_unused]] const ros::TimerEvent& event) {
+     724             : 
+     725         216 :   mrs_lib::ParamLoader param_loader(nh_, getName());
+     726             : 
+     727         108 :   param_loader.loadParam("custom_config", _custom_config_);
+     728         108 :   param_loader.loadParam("platform_config", _platform_config_);
+     729         108 :   param_loader.loadParam("world_config", _world_config_);
+     730             : 
+     731         108 :   if (_custom_config_ != "") {
+     732         108 :     param_loader.addYamlFile(_custom_config_);
+     733             :   }
+     734             : 
+     735         108 :   if (_platform_config_ != "") {
+     736         108 :     param_loader.addYamlFile(_platform_config_);
+     737             :   }
+     738             : 
+     739         108 :   if (_world_config_ != "") {
+     740         108 :     param_loader.addYamlFile(_world_config_);
+     741             :   }
+     742             : 
+     743         108 :   param_loader.addYamlFileFromParam("private_config");
+     744         108 :   param_loader.addYamlFileFromParam("public_config");
+     745         108 :   param_loader.addYamlFileFromParam("uav_manager_config");
+     746         108 :   param_loader.addYamlFileFromParam("estimators_config");
+     747         108 :   param_loader.addYamlFileFromParam("active_estimators_config");
+     748             : 
+     749         108 :   param_loader.loadParam("uav_name", ch_->uav_name);
+     750             : 
+     751             :   /*//{ load world_origin parameters */
+     752             : 
+     753         216 :   std::string world_origin_units;
+     754         108 :   bool        is_origin_param_ok = true;
+     755         108 :   double      world_origin_x     = 0;
+     756         108 :   double      world_origin_y     = 0;
+     757             : 
+     758         108 :   param_loader.loadParam("world_origin/units", world_origin_units);
+     759             : 
+     760         108 :   if (Support::toLowercase(world_origin_units) == "utm") {
+     761           0 :     ROS_INFO("[%s]: Loading world origin in UTM units.", getName().c_str());
+     762           0 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_x", world_origin_x);
+     763           0 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_y", world_origin_y);
+     764             : 
+     765         108 :   } else if (Support::toLowercase(world_origin_units) == "latlon") {
+     766             :     double lat, lon;
+     767         108 :     ROS_INFO("[%s]: Loading world origin in LatLon units.", getName().c_str());
+     768         108 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_x", lat);
+     769         108 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_y", lon);
+     770         108 :     mrs_lib::UTM(lat, lon, &world_origin_x, &world_origin_y);
+     771         108 :     ROS_INFO("[%s]: Converted to UTM x: %f, y: %f.", getName().c_str(), world_origin_x, world_origin_y);
+     772             : 
+     773             :   } else {
+     774           0 :     ROS_ERROR("[%s]: world_origin_units must be (\"UTM\"|\"LATLON\"). Got '%s'", getName().c_str(), world_origin_units.c_str());
+     775           0 :     ros::shutdown();
+     776             :   }
+     777             : 
+     778         108 :   ch_->world_origin.x = world_origin_x;
+     779         108 :   ch_->world_origin.y = world_origin_y;
+     780             : 
+     781         108 :   if (!is_origin_param_ok) {
+     782           0 :     ROS_ERROR("[%s]: Could not load all mandatory parameters from world file. Please check your world file.", getName().c_str());
+     783           0 :     ros::shutdown();
+     784             :   }
+     785             :   /*//}*/
+     786             : 
+     787             :   /*//{ load tracker names */
+     788         108 :   param_loader.loadParam("mrs_uav_managers/uav_manager/takeoff/during_takeoff/tracker", takeoff_tracker_name_);
+     789         108 :   param_loader.loadParam("mrs_uav_managers/uav_manager/midair_activation/after_activation/tracker", after_midair_activation_tracker_name_);
+     790             :   /*//}*/
+     791             : 
+     792         108 :   param_loader.setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/");
+     793             : 
+     794             :   /*//{ load parameters into common handlers */
+     795         108 :   param_loader.loadParam("frame_id/fcu", ch_->frames.fcu);
+     796         108 :   ch_->frames.ns_fcu = ch_->uav_name + "/" + ch_->frames.fcu;
+     797             : 
+     798         108 :   param_loader.loadParam("frame_id/fcu_untilted", ch_->frames.fcu_untilted);
+     799         108 :   ch_->frames.ns_fcu_untilted = ch_->uav_name + "/" + ch_->frames.fcu_untilted;
+     800             : 
+     801         108 :   param_loader.loadParam("frame_id/rtk_antenna", ch_->frames.rtk_antenna);
+     802         108 :   ch_->frames.ns_rtk_antenna = ch_->uav_name + "/" + ch_->frames.rtk_antenna;
+     803             : 
+     804         108 :   ch_->transformer = std::make_shared<mrs_lib::Transformer>(nh_, getName());
+     805         108 :   ch_->transformer->retryLookupNewest(true);
+     806             : 
+     807         108 :   param_loader.loadParam("rate/diagnostics", ch_->desired_diagnostics_rate);
+     808             : 
+     809             :   /*//}*/
+     810             : 
+     811             :   /*//{ load parameters */
+     812             : 
+     813             :   /*//{ publish debug topics parameters */
+     814         108 :   param_loader.loadParam("debug_topics/input", ch_->debug_topics.input);
+     815         108 :   param_loader.loadParam("debug_topics/output", ch_->debug_topics.output);
+     816         108 :   param_loader.loadParam("debug_topics/state", ch_->debug_topics.state);
+     817         108 :   param_loader.loadParam("debug_topics/covariance", ch_->debug_topics.covariance);
+     818         108 :   param_loader.loadParam("debug_topics/innovation", ch_->debug_topics.innovation);
+     819         108 :   param_loader.loadParam("debug_topics/diagnostics", ch_->debug_topics.diag);
+     820         108 :   param_loader.loadParam("debug_topics/correction", ch_->debug_topics.correction);
+     821         108 :   param_loader.loadParam("debug_topics/correction_delay", ch_->debug_topics.corr_delay);
+     822             :   /*//}*/
+     823             : 
+     824             :   /*//}*/
+     825             : 
+     826         216 :   mrs_lib::SubscribeHandlerOptions shopts;
+     827         108 :   shopts.nh                 = nh_;
+     828         108 :   shopts.node_name          = getName();
+     829         108 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     830         108 :   shopts.threadsafe         = true;
+     831         108 :   shopts.autostart          = true;
+     832         108 :   shopts.queue_size         = 10;
+     833         108 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     834             : 
+     835             :   /*//{ wait for hw api message */
+     836             : 
+     837             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities> sh_hw_api_capabilities_ =
+     838         324 :       mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>(shopts, "hw_api_capabilities_in");
+     839         217 :   while (!sh_hw_api_capabilities_.hasMsg()) {
+     840         109 :     ROS_INFO("[%s]: %s hw_api_capabilities message at topic: %s", getName().c_str(), Support::waiting_for_string.c_str(),
+     841             :              sh_hw_api_capabilities_.topicName().c_str());
+     842         109 :     ros::Duration(1.0).sleep();
+     843             :   }
+     844             : 
+     845         216 :   mrs_msgs::HwApiCapabilitiesConstPtr hw_api_capabilities = sh_hw_api_capabilities_.getMsg();
+     846             :   /*//}*/
+     847             : 
+     848             :   /*//{ wait for desired uav_state rate */
+     849         108 :   sh_control_manager_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     850         228 :   while (!sh_control_manager_diag_.hasMsg()) {
+     851         120 :     ROS_INFO("[%s]: %s control_manager_diagnostics message at topic: %s", getName().c_str(), Support::waiting_for_string.c_str(),
+     852             :              sh_control_manager_diag_.topicName().c_str());
+     853         120 :     ros::Duration(1.0).sleep();
+     854             :   }
+     855             : 
+     856         216 :   mrs_msgs::ControlManagerDiagnosticsConstPtr control_manager_diag_msg = sh_control_manager_diag_.getMsg();
+     857         108 :   ch_->desired_uav_state_rate                                          = control_manager_diag_msg->desired_uav_state_rate;
+     858         108 :   ROS_INFO("[%s]: The estimation is running at: %.2f Hz", getName().c_str(), ch_->desired_uav_state_rate);
+     859             :   /*//}*/
+     860             : 
+     861             :   /*//{ initialize subscribers */
+     862             : 
+     863         108 :   sh_control_input_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>(shopts, "control_input_in");
+     864             : 
+     865             :   /*//}*/
+     866             : 
+     867             :   /*//{ load state estimator plugins */
+     868         108 :   param_loader.loadParam("state_estimators", estimator_names_);
+     869             : 
+     870         108 :   state_estimator_loader_ = std::make_unique<pluginlib::ClassLoader<mrs_uav_managers::StateEstimator>>("mrs_uav_managers", "mrs_uav_managers::StateEstimator");
+     871             : 
+     872         224 :   for (size_t i = 0; i < estimator_names_.size(); i++) {
+     873             : 
+     874         232 :     const std::string estimator_name = estimator_names_[i];
+     875             : 
+     876             :     // load the estimator parameters
+     877         232 :     std::string address;
+     878         116 :     param_loader.loadParam(estimator_name + "/address", address);
+     879             : 
+     880             :     try {
+     881         116 :       ROS_INFO("[%s]: loading the estimator '%s'", getName().c_str(), address.c_str());
+     882         116 :       estimator_list_.push_back(state_estimator_loader_->createInstance(address.c_str()));
+     883             :     }
+     884           0 :     catch (pluginlib::CreateClassException& ex1) {
+     885           0 :       ROS_ERROR("[%s]: CreateClassException for the estimator '%s'", getName().c_str(), address.c_str());
+     886           0 :       ROS_ERROR("[%s]: Error: %s", getName().c_str(), ex1.what());
+     887           0 :       ros::shutdown();
+     888             :     }
+     889           0 :     catch (pluginlib::PluginlibException& ex) {
+     890           0 :       ROS_ERROR("[%s]: PluginlibException for the estimator '%s'", getName().c_str(), address.c_str());
+     891           0 :       ROS_ERROR("[%s]: Error: %s", getName().c_str(), ex.what());
+     892           0 :       ros::shutdown();
+     893             :     }
+     894             :   }
+     895             : 
+     896             :   /*//{ load agl estimator plugins */
+     897         108 :   param_loader.loadParam("agl_height_estimator", est_alt_agl_name_);
+     898         108 :   is_using_agl_estimator_ = est_alt_agl_name_ != "";
+     899         108 :   ROS_WARN_COND(!is_using_agl_estimator_, "[%s]: not using AGL estimator for min height safe checking", getName().c_str());
+     900             : 
+     901             : 
+     902         108 :   if (is_using_agl_estimator_) {
+     903             : 
+     904          87 :     agl_estimator_loader_ = std::make_unique<pluginlib::ClassLoader<mrs_uav_managers::AglEstimator>>("mrs_uav_managers", "mrs_uav_managers::AglEstimator");
+     905             : 
+     906             :     // load the estimator parameters
+     907         174 :     std::string address;
+     908          87 :     param_loader.loadParam(est_alt_agl_name_ + "/address", address);
+     909             : 
+     910             :     try {
+     911          87 :       ROS_INFO("[%s]: loading the estimator '%s'", getName().c_str(), address.c_str());
+     912          87 :       est_alt_agl_ = agl_estimator_loader_->createInstance(address.c_str());
+     913             :     }
+     914           0 :     catch (pluginlib::CreateClassException& ex1) {
+     915           0 :       ROS_ERROR("[%s]: CreateClassException for the estimator '%s'", getName().c_str(), address.c_str());
+     916           0 :       ROS_ERROR("[%s]: Error: %s", getName().c_str(), ex1.what());
+     917           0 :       ros::shutdown();
+     918             :     }
+     919           0 :     catch (pluginlib::PluginlibException& ex) {
+     920           0 :       ROS_ERROR("[%s]: PluginlibException for the estimator '%s'", getName().c_str(), address.c_str());
+     921           0 :       ROS_ERROR("[%s]: Error: %s", getName().c_str(), ex.what());
+     922           0 :       ros::shutdown();
+     923             :     }
+     924             :   }
+     925             :   /*//}*/
+     926             : 
+     927         108 :   ROS_INFO("[%s]: estimators were loaded", getName().c_str());
+     928             :   /*//}*/
+     929             : 
+     930             :   /*//{ check whether initial estimator was loaded */
+     931         108 :   param_loader.loadParam("initial_state_estimator", initial_estimator_name_);
+     932         108 :   bool initial_estimator_found = false;
+     933         108 :   for (auto estimator : estimator_list_) {
+     934         108 :     if (estimator->getName() == initial_estimator_name_) {
+     935         108 :       initial_estimator_      = estimator;
+     936         108 :       initial_estimator_found = true;
+     937         108 :       break;
+     938             :     }
+     939             :   }
+     940             : 
+     941         108 :   if (!initial_estimator_found) {
+     942           0 :     ROS_ERROR("[%s]: initial estimator %s could not be found among loaded estimators. shutting down", getName().c_str(), initial_estimator_name_.c_str());
+     943           0 :     ros::shutdown();
+     944             :   }
+     945             :   /*//}*/
+     946             : 
+     947             :   /*//{ initialize estimators */
+     948         224 :   for (auto estimator : estimator_list_) {
+     949             : 
+     950             :     // create private handlers
+     951         232 :     std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> ph = std::make_shared<mrs_uav_managers::estimation_manager::PrivateHandlers_t>();
+     952             : 
+     953         116 :     ph->loadConfigFile = boost::bind(&EstimationManager::loadConfigFile, this, _1);
+     954         116 :     ph->param_loader   = std::make_shared<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, estimator->getName()), "EstimationManager/" + estimator->getName());
+     955             : 
+     956         116 :     if (_custom_config_ != "") {
+     957         116 :       ph->param_loader->addYamlFile(_custom_config_);
+     958             :     }
+     959             : 
+     960         116 :     if (_platform_config_ != "") {
+     961         116 :       ph->param_loader->addYamlFile(_platform_config_);
+     962             :     }
+     963             : 
+     964         116 :     if (_world_config_ != "") {
+     965         116 :       ph->param_loader->addYamlFile(_world_config_);
+     966             :     }
+     967             : 
+     968             :     try {
+     969         116 :       ROS_INFO("[%s]: initializing the estimator '%s'", getName().c_str(), estimator->getName().c_str());
+     970         116 :       estimator->initialize(nh_, ch_, ph);
+     971             :     }
+     972           0 :     catch (std::runtime_error& ex) {
+     973           0 :       ROS_ERROR("[%s]: exception caught during estimator initialization: '%s'", getName().c_str(), ex.what());
+     974           0 :       ros::shutdown();
+     975             :     }
+     976             : 
+     977         116 :     if (!estimator->isCompatibleWithHwApi(hw_api_capabilities)) {
+     978           0 :       ROS_ERROR("[%s]: estimator %s is not compatible with the hw api. Shutting down.", getName().c_str(), estimator->getName().c_str());
+     979           0 :       ros::shutdown();
+     980             :     }
+     981             :   }
+     982             : 
+     983             :   // | ----------- agl height estimator initialization ---------- |
+     984         108 :   if (is_using_agl_estimator_) {
+     985             : 
+     986         174 :     std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> ph = std::make_shared<mrs_uav_managers::estimation_manager::PrivateHandlers_t>();
+     987             : 
+     988          87 :     ph->loadConfigFile = boost::bind(&EstimationManager::loadConfigFile, this, _1);
+     989          87 :     ph->param_loader   = std::make_shared<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, est_alt_agl_->getName()), "EstimationManager/" + est_alt_agl_->getName());
+     990             : 
+     991          87 :     if (_custom_config_ != "") {
+     992          87 :       ph->param_loader->addYamlFile(_custom_config_);
+     993             :     }
+     994             : 
+     995          87 :     if (_platform_config_ != "") {
+     996          87 :       ph->param_loader->addYamlFile(_platform_config_);
+     997             :     }
+     998             : 
+     999          87 :     if (_world_config_ != "") {
+    1000          87 :       ph->param_loader->addYamlFile(_world_config_);
+    1001             :     }
+    1002             : 
+    1003             :     try {
+    1004          87 :       ROS_INFO("[%s]: initializing the estimator '%s'", getName().c_str(), est_alt_agl_->getName().c_str());
+    1005          87 :       est_alt_agl_->initialize(nh_, ch_, ph);
+    1006             :     }
+    1007           0 :     catch (std::runtime_error& ex) {
+    1008           0 :       ROS_ERROR("[%s]: exception caught during estimator initialization: '%s'", getName().c_str(), ex.what());
+    1009           0 :       ros::shutdown();
+    1010             :     }
+    1011             : 
+    1012          87 :     if (!est_alt_agl_->isCompatibleWithHwApi(hw_api_capabilities)) {
+    1013           0 :       ROS_ERROR("[%s]: estimator %s is not compatible with the hw api. Shutting down.", getName().c_str(), est_alt_agl_->getName().c_str());
+    1014           0 :       ros::shutdown();
+    1015             :     }
+    1016             :   }
+    1017             : 
+    1018         108 :   ROS_INFO("[%s]: estimators were initialized", getName().c_str());
+    1019             : 
+    1020             :   /*//}*/
+    1021             : 
+    1022             :   /*//{ initialize publishers */
+    1023         108 :   ph_uav_state_    = mrs_lib::PublisherHandler<mrs_msgs::UavState>(nh_, "uav_state_out", 10);
+    1024         108 :   ph_odom_main_    = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh_, "odom_main_out", 10);
+    1025         108 :   ph_innovation_   = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh_, "innovation_out", 10);
+    1026         108 :   ph_diagnostics_  = mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics>(nh_, "diagnostics_out", 10);
+    1027         108 :   ph_max_flight_z_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "max_flight_z_agl_out", 10);
+    1028         108 :   ph_altitude_agl_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "height_agl_out", 10);
+    1029             : 
+    1030             :   /*//}*/
+    1031             : 
+    1032             :   /*//{ initialize timers */
+    1033         108 :   timer_publish_ = nh_.createTimer(ros::Rate(ch_->desired_uav_state_rate), &EstimationManager::timerPublish, this);
+    1034             : 
+    1035         108 :   timer_publish_diagnostics_ = nh_.createTimer(ros::Rate(ch_->desired_diagnostics_rate), &EstimationManager::timerPublishDiagnostics, this);
+    1036             : 
+    1037         108 :   timer_check_health_ = nh_.createTimer(ros::Rate(ch_->desired_uav_state_rate), &EstimationManager::timerCheckHealth, this);
+    1038             :   /*//}*/
+    1039             : 
+    1040             :   /*//{ initialize service clients */
+    1041             : 
+    1042         108 :   srvch_failsafe_.initialize(nh_, "failsafe_out");
+    1043             : 
+    1044             :   /*//}*/
+    1045             : 
+    1046             :   /*//{ initialize service servers */
+    1047         108 :   srvs_change_estimator_ = nh_.advertiseService("change_estimator_in", &EstimationManager::callbackChangeEstimator, this);
+    1048         108 :   srvs_reset_estimator_ = nh_.advertiseService("reset_estimator_in", &EstimationManager::callbackResetEstimator, this);
+    1049         108 :   srvs_toggle_callbacks_ = nh_.advertiseService("toggle_service_callbacks_in", &EstimationManager::callbackToggleServiceCallbacks, this);
+    1050             :   /*//}*/
+    1051             : 
+    1052             :   /*//{ initialize scope timer */
+    1053         108 :   param_loader.loadParam("scope_timer/enabled", ch_->scope_timer.enabled);
+    1054         216 :   std::string       filepath;
+    1055         216 :   const std::string time_logger_filepath = ros::package::getPath(package_name_) + "/scope_timer/scope_timer.txt";
+    1056         108 :   ch_->scope_timer.logger                = std::make_shared<mrs_lib::ScopeTimerLogger>(time_logger_filepath, ch_->scope_timer.enabled);
+    1057             :   /*//}*/
+    1058             : 
+    1059         108 :   if (!param_loader.loadedSuccessfully()) {
+    1060           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getName().c_str());
+    1061           0 :     ros::shutdown();
+    1062             :   }
+    1063             : 
+    1064         108 :   sm_->changeState(StateMachine::INITIALIZED_STATE);
+    1065             : 
+    1066         108 :   ROS_INFO("[%s]: initialized", getName().c_str());
+    1067         108 : }
+    1068             : /*//}*/
+    1069             : 
+    1070             : // | -------------------- service callbacks ------------------- |
+    1071             : 
+    1072             : /*//{ callbackChangeEstimator() */
+    1073           5 : bool EstimationManager::callbackChangeEstimator(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+    1074             : 
+    1075           5 :   if (!sm_->isInitialized()) {
+    1076           0 :     return false;
+    1077             :   }
+    1078             : 
+    1079           5 :   if (!callbacks_enabled_) {
+    1080           0 :     res.success = false;
+    1081           0 :     res.message = ("Service callbacks are disabled");
+    1082           0 :     ROS_WARN("[%s]: Ignoring service call. Callbacks are disabled.", getName().c_str());
+    1083           0 :     return true;
+    1084             :   }
+    1085             : 
+    1086           5 :   if (req.value == "dummy" || req.value == "ground_truth") {
+    1087           0 :     res.success = false;
+    1088           0 :     std::stringstream ss;
+    1089           0 :     ss << "Switching to " << req.value << " estimator is not allowed.";
+    1090           0 :     res.message = ss.str();
+    1091           0 :     ROS_WARN("[%s]: Switching to %s estimator is not allowed.", getName().c_str(), req.value.c_str());
+    1092           0 :     return true;
+    1093             :   }
+    1094             : 
+    1095             :   // we do not want the switch to be disturbed by a service call
+    1096           5 :   callbacks_enabled_ = false;
+    1097             : 
+    1098           5 :   bool                                                target_estimator_found = false;
+    1099           5 :   boost::shared_ptr<mrs_uav_managers::StateEstimator> target_estimator;
+    1100          12 :   for (auto estimator : estimator_list_) {
+    1101          12 :     if (estimator->getName() == req.value) {
+    1102           5 :       target_estimator       = estimator;
+    1103           5 :       target_estimator_found = true;
+    1104           5 :       break;
+    1105             :     }
+    1106             :   }
+    1107             : 
+    1108           5 :   if (target_estimator_found) {
+    1109             : 
+    1110           5 :     if (target_estimator->isRunning()) {
+    1111           5 :       sm_->changeState(StateMachine::ESTIMATOR_SWITCHING_STATE);
+    1112           5 :       switchToEstimator(target_estimator);
+    1113           5 :       sm_->changeToPreSwitchState();
+    1114             :     } else {
+    1115           0 :       ROS_WARN("[%s]: Switch to not running estimator %s requested", getName().c_str(), req.value.c_str());
+    1116           0 :       res.success = false;
+    1117           0 :       res.message = ("Requested estimator is not running");
+    1118           0 :       return true;
+    1119             :     }
+    1120             : 
+    1121             :   } else {
+    1122           0 :     ROS_WARN("[%s]: Switch to invalid estimator %s requested", getName().c_str(), req.value.c_str());
+    1123           0 :     res.success = false;
+    1124           0 :     res.message = ("Not a valid estimator type");
+    1125           0 :     return true;
+    1126             :   }
+    1127             : 
+    1128           5 :   res.success = true;
+    1129           5 :   res.message = "Estimator switch successful";
+    1130             : 
+    1131             :   // allow service calllbacks after switch again
+    1132           5 :   callbacks_enabled_ = true;
+    1133             : 
+    1134           5 :   return true;
+    1135             : }
+    1136             : /*//}*/
+    1137             : 
+    1138             : /*//{ callbackResetEstimator() */
+    1139           0 : bool EstimationManager::callbackResetEstimator(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+    1140             : 
+    1141           0 :   if (!sm_->isInitialized()) {
+    1142           0 :     return false;
+    1143             :   }
+    1144             : 
+    1145           0 :   if (!callbacks_enabled_) {
+    1146           0 :     res.success = false;
+    1147           0 :     res.message = ("Service callbacks are disabled");
+    1148           0 :     ROS_WARN("[%s]: Ignoring service call. Callbacks are disabled.", getName().c_str());
+    1149           0 :     return true;
+    1150             :   }
+    1151             : 
+    1152             : 
+    1153           0 :   bool                                                target_estimator_found = false;
+    1154           0 :   boost::shared_ptr<mrs_uav_managers::StateEstimator> target_estimator;
+    1155           0 :   for (auto estimator : estimator_list_) {
+    1156           0 :     if (estimator->getName() == req.value) {
+    1157           0 :       target_estimator       = estimator;
+    1158           0 :       target_estimator_found = true;
+    1159           0 :       break;
+    1160             :     }
+    1161             :   }
+    1162             : 
+    1163           0 :   if (target_estimator_found) {
+    1164             : 
+    1165             : 
+    1166           0 :     if (target_estimator->getName() == active_estimator_->getName()) {
+    1167           0 :       res.success = false;
+    1168           0 :       res.message = ("Cannot reset active estimator");
+    1169           0 :       ROS_WARN("[%s]: Ignoring service call. Cannot reset active estimator.", getName().c_str());
+    1170           0 :       return true;
+    1171             :     }
+    1172             : 
+    1173           0 :       target_estimator->reset();
+    1174           0 :       ROS_INFO("[EstimationManager]: Estimator %s reset", target_estimator->getName().c_str());
+    1175             : 
+    1176           0 :       double t_wait_left = 5;
+    1177           0 :       while (t_wait_left > 0) {
+    1178           0 :         ROS_INFO("[EstimationManager]: Attempting starting %s estimator", target_estimator->getName().c_str());
+    1179           0 :         target_estimator->start();
+    1180             : 
+    1181           0 :         if (target_estimator->isRunning()) {
+    1182           0 :           ROS_INFO("[EstimationManager]: Reset of %s estimator successful", target_estimator->getName().c_str());
+    1183           0 :           break;
+    1184             :         } 
+    1185             :         
+    1186           0 :         const double start_period = 1.0;
+    1187           0 :         ros::Duration(start_period).sleep();
+    1188           0 :         t_wait_left -= start_period;
+    1189             : 
+    1190             :       }
+    1191             : 
+    1192             :   } else {
+    1193           0 :     ROS_WARN("[%s]: Reset of invalid estimator %s requested", getName().c_str(), req.value.c_str());
+    1194           0 :     res.success = false;
+    1195           0 :     res.message = ("Not a valid estimator type");
+    1196           0 :     return true;
+    1197             :   }
+    1198             : 
+    1199           0 :   res.success = true;
+    1200           0 :   res.message = "Estimator reset successful";
+    1201             : 
+    1202           0 :   return true;
+    1203             : }
+    1204             : /*//}*/
+    1205             : 
+    1206             : /* //{ callbackToggleServiceCallbacks() */
+    1207         142 : bool EstimationManager::callbackToggleServiceCallbacks(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    1208             : 
+    1209         142 :   if (!sm_->isInitialized()) {
+    1210           0 :     ROS_ERROR("[%s]: service for toggling callbacks is not available before initialization.", getName().c_str());
+    1211           0 :     return false;
+    1212             :   }
+    1213             : 
+    1214         142 :   callbacks_disabled_by_service_ = !req.data;
+    1215             : 
+    1216         142 :   res.success = true;
+    1217         142 :   res.message = (callbacks_disabled_by_service_ ? "Service callbacks disabled" : "Service callbacks enabled");
+    1218             : 
+    1219         142 :   if (callbacks_disabled_by_service_) {
+    1220             : 
+    1221          42 :     ROS_INFO("[%s]: Service callbacks disabled.", getName().c_str());
+    1222             : 
+    1223             :   } else {
+    1224             : 
+    1225         100 :     ROS_INFO("[%s]: Service callbacks enabled", getName().c_str());
+    1226             :   }
+    1227             : 
+    1228         142 :   return true;
+    1229             : }
+    1230             : 
+    1231             : //}
+    1232             : 
+    1233             : 
+    1234             : // --------------------------------------------------------------
+    1235             : // |                        other methods                       |
+    1236             : // --------------------------------------------------------------
+    1237             : //
+    1238             : /*//{ switchToHealthyEstimator() */
+    1239           0 : bool EstimationManager::switchToHealthyEstimator() {
+    1240             : 
+    1241             :   // available estimators should be specified in decreasing priority order in config file
+    1242           0 :   for (auto estimator : estimator_list_) {
+    1243           0 :     if (estimator->isRunning()) {
+    1244           0 :       switchToEstimator(estimator);
+    1245           0 :       return true;
+    1246             :     }
+    1247             :   }
+    1248           0 :   return false;  // no other estimator is running
+    1249             : }
+    1250             : /*//}*/
+    1251             : 
+    1252             : /*//{ switchToEstimator() */
+    1253           5 : void EstimationManager::switchToEstimator(const boost::shared_ptr<mrs_uav_managers::StateEstimator>& target_estimator) {
+    1254             : 
+    1255           5 :   std::scoped_lock lock(mutex_active_estimator_);
+    1256           5 :   ROS_INFO("[%s]: switching estimator from %s to %s", getName().c_str(), active_estimator_->getName().c_str(), target_estimator->getName().c_str());
+    1257           5 :   active_estimator_ = target_estimator;
+    1258           5 :   estimator_switch_count_++;
+    1259           5 : }
+    1260             : /*//}*/
+    1261             : 
+    1262             : /*//{ callFailsafeService() */
+    1263           0 : bool EstimationManager::callFailsafeService() {
+    1264           0 :   std_srvs::Trigger srv_out;
+    1265           0 :   return srvch_failsafe_.call(srv_out);
+    1266             : }
+    1267             : /*//}*/
+    1268             : 
+    1269             : /*//{ getName() */
+    1270        3583 : std::string EstimationManager::getName() const {
+    1271        3583 :   return nodelet_name_;
+    1272             : }
+    1273             : /*//}*/
+    1274             : 
+    1275             : /* loadConfigFile() //{ */
+    1276             : 
+    1277           0 : bool EstimationManager::loadConfigFile(const std::string& file_path) {
+    1278             : 
+    1279           0 :   const std::string name_space = nh_.getNamespace() + "/";
+    1280             : 
+    1281           0 :   ROS_INFO("[%s]: loading '%s' under the namespace '%s'", getName().c_str(), file_path.c_str(), name_space.c_str());
+    1282             : 
+    1283             :   // load the user-requested file
+    1284             :   {
+    1285           0 :     std::string command = "rosparam load " + file_path + " " + name_space;
+    1286           0 :     int         result  = std::system(command.c_str());
+    1287             : 
+    1288           0 :     if (result != 0) {
+    1289           0 :       ROS_ERROR("[%s]: failed to load '%s'", getName().c_str(), file_path.c_str());
+    1290           0 :       return false;
+    1291             :     }
+    1292             :   }
+    1293             : 
+    1294             :   // load the platform config
+    1295           0 :   if (_platform_config_ != "") {
+    1296           0 :     std::string command = "rosparam load " + _platform_config_ + " " + name_space;
+    1297           0 :     int         result  = std::system(command.c_str());
+    1298             : 
+    1299           0 :     if (result != 0) {
+    1300           0 :       ROS_ERROR("[%s]: failed to load the platform config file '%s'", getName().c_str(), _platform_config_.c_str());
+    1301           0 :       return false;
+    1302             :     }
+    1303             :   }
+    1304             : 
+    1305             :   // load the custom config
+    1306           0 :   if (_custom_config_ != "") {
+    1307           0 :     std::string command = "rosparam load " + _custom_config_ + " " + name_space;
+    1308           0 :     int         result  = std::system(command.c_str());
+    1309             : 
+    1310           0 :     if (result != 0) {
+    1311           0 :       ROS_ERROR("[%s]: failed to load the custom config file '%s'", getName().c_str(), _custom_config_.c_str());
+    1312           0 :       return false;
+    1313             :     }
+    1314             :   }
+    1315             : 
+    1316           0 :   return true;
+    1317             : }
+    1318             : 
+    1319             : //}
+    1320             : 
+    1321             : }  // namespace estimation_manager
+    1322             : 
+    1323             : }  // namespace mrs_uav_managers
+    1324             : 
+    1325             : #include <pluginlib/class_list_macros.h>
+    1326         108 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::estimation_manager::EstimationManager, nodelet::Nodelet)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
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Current view:top level - mrs_uav_managers/src/estimation_manager - estimator.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:648872.7 %
Date:2024-08-07 22:18:19Functions:192382.6 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::Estimator::getAccGlobal(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&, double)0
mrs_uav_managers::Estimator::getHeadingRate(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)0
mrs_uav_managers::Estimator::getType[abi:cxx11]() const0
mrs_uav_managers::Estimator::isStopped() const0
mrs_uav_managers::Estimator::changeState(mrs_uav_managers::estimation_manager::SMStates_t)2540
mrs_uav_managers::Estimator::setCurrentSmState(mrs_uav_managers::estimation_manager::SMStates_t const&)2540
mrs_uav_managers::Estimator::getCurrentSmStateString[abi:cxx11]() const2540
mrs_uav_managers::Estimator::getPrintName[abi:cxx11]() const3769
mrs_uav_managers::Estimator::getSmStateString[abi:cxx11](mrs_uav_managers::estimation_manager::SMStates_t const&) const5080
mrs_uav_managers::Estimator::getMaxFlightZ() const19148
mrs_uav_managers::Estimator::isStarted() const39620
mrs_uav_managers::Estimator::getAccGlobal(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, double)326752
mrs_uav_managers::Estimator::getAccGlobal(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&, double)327277
mrs_uav_managers::Estimator::isReady() const380559
mrs_uav_managers::Estimator::getName[abi:cxx11]() const662608
mrs_uav_managers::Estimator::getFrameId[abi:cxx11]() const780977
mrs_uav_managers::Estimator::isMitigatingJump()792653
mrs_uav_managers::Estimator::publishDiagnostics() const1106791
mrs_uav_managers::Estimator::isError() const1444232
mrs_uav_managers::Estimator::isRunning() const1808385
mrs_uav_managers::Estimator::isInitialized() const2866184
mrs_uav_managers::Estimator::isInState(mrs_uav_managers::estimation_manager::SMStates_t const&) const8492878
mrs_uav_managers::Estimator::getCurrentSmState() const9314948
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Current view:top level - mrs_uav_managers/src/estimation_manager - estimator.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:648872.7 %
Date:2024-08-07 22:18:19Functions:192382.6 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::Estimator::changeState(mrs_uav_managers::estimation_manager::SMStates_t)2540
mrs_uav_managers::Estimator::getAccGlobal(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, double)326752
mrs_uav_managers::Estimator::getAccGlobal(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&, double)0
mrs_uav_managers::Estimator::getAccGlobal(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&, double)327277
mrs_uav_managers::Estimator::getHeadingRate(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)0
mrs_uav_managers::Estimator::isMitigatingJump()792653
mrs_uav_managers::Estimator::setCurrentSmState(mrs_uav_managers::estimation_manager::SMStates_t const&)2540
mrs_uav_managers::Estimator::getFrameId[abi:cxx11]() const780977
mrs_uav_managers::Estimator::getPrintName[abi:cxx11]() const3769
mrs_uav_managers::Estimator::getMaxFlightZ() const19148
mrs_uav_managers::Estimator::isInitialized() const2866184
mrs_uav_managers::Estimator::getSmStateString[abi:cxx11](mrs_uav_managers::estimation_manager::SMStates_t const&) const5080
mrs_uav_managers::Estimator::getCurrentSmState() const9314948
mrs_uav_managers::Estimator::publishDiagnostics() const1106791
mrs_uav_managers::Estimator::getCurrentSmStateString[abi:cxx11]() const2540
mrs_uav_managers::Estimator::getName[abi:cxx11]() const662608
mrs_uav_managers::Estimator::getType[abi:cxx11]() const0
mrs_uav_managers::Estimator::isError() const1444232
mrs_uav_managers::Estimator::isReady() const380559
mrs_uav_managers::Estimator::isInState(mrs_uav_managers::estimation_manager::SMStates_t const&) const8492878
mrs_uav_managers::Estimator::isRunning() const1808385
mrs_uav_managers::Estimator::isStarted() const39620
mrs_uav_managers::Estimator::isStopped() const0
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Current view:top level - mrs_uav_managers/src/estimation_manager - estimator.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:648872.7 %
Date:2024-08-07 22:18:19Functions:192382.6 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #include <mrs_uav_managers/estimation_manager/estimator.h>
+       2             : 
+       3             : namespace mrs_uav_managers
+       4             : {
+       5             : 
+       6             : /*//{ method implementations */
+       7             : /*//{ changeState() */
+       8        2540 : bool Estimator::changeState(SMStates_t new_state) {
+       9             : 
+      10        2540 :   if (new_state == getCurrentSmState()) {
+      11           0 :     return true;
+      12             :   }
+      13             : 
+      14        2540 :   previous_sm_state_ = getCurrentSmState();
+      15        2540 :   setCurrentSmState(new_state);
+      16             : 
+      17        2540 :   ROS_INFO("[%s]: Switching sm state %s -> %s", getPrintName().c_str(), getSmStateString(previous_sm_state_).c_str(), getCurrentSmStateString().c_str());
+      18        2540 :   return true;
+      19             : }
+      20             : /*//}*/
+      21             : 
+      22             : /*//{ isInState() */
+      23     8492878 : bool Estimator::isInState(const SMStates_t& state_in) const {
+      24     8492878 :   return state_in == getCurrentSmState();
+      25             : }
+      26             : /*//}*/
+      27             : 
+      28             : /*//{ isInitialized() */
+      29     2866184 : bool Estimator::isInitialized() const {
+      30     2866184 :   return !isInState(UNINITIALIZED_STATE);
+      31             : }
+      32             : /*//}*/
+      33             : 
+      34             : /*//{ isReady() */
+      35      380559 : bool Estimator::isReady() const {
+      36      380559 :   return isInState(READY_STATE);
+      37             : }
+      38             : /*//}*/
+      39             : 
+      40             : /*//{ isStarted() */
+      41       39620 : bool Estimator::isStarted() const {
+      42       39620 :   return isInState(STARTED_STATE);
+      43             : }
+      44             : /*//}*/
+      45             : 
+      46             : /*//{ isRunning() */
+      47     1808385 : bool Estimator::isRunning() const {
+      48     1808385 :   return isInState(SMStates_t::RUNNING_STATE);
+      49             : }
+      50             : /*//}*/
+      51             : 
+      52             : /*//{ isStopped() */
+      53           0 : bool Estimator::isStopped() const {
+      54           0 :   return isInState(STOPPED_STATE);
+      55             : }
+      56             : /*//}*/
+      57             : 
+      58             : /*//{ isError() */
+      59     1444232 : bool Estimator::isError() const {
+      60     1444232 :   return isInState(ERROR_STATE);
+      61             : }
+      62             : /*//}*/
+      63             : 
+      64             : /*//{ getCurrentSmState() */
+      65     9314948 : SMStates_t Estimator::getCurrentSmState() const {
+      66     9314948 :   return current_sm_state_;
+      67             : }
+      68             : /*//}*/
+      69             : 
+      70             : /*//{ setCurrentSmState() */
+      71        2540 : void Estimator::setCurrentSmState(const SMStates_t& new_state) {
+      72        2540 :   std::scoped_lock lock(mutex_current_state_);
+      73        2540 :   current_sm_state_ = new_state;
+      74        2540 : }
+      75             : /*//}*/
+      76             : 
+      77             : /*//{ getSmStateString() */
+      78        5080 : std::string Estimator::getSmStateString(const SMStates_t& state) const {
+      79        5080 :   return sm::state_names[state];
+      80             : }
+      81             : /*//}*/
+      82             : 
+      83             : /*//{ getCurrentSmStateName() */
+      84        2540 : std::string Estimator::getCurrentSmStateString(void) const {
+      85        5080 :   return getSmStateString(getCurrentSmState());
+      86             : }
+      87             : /*//}*/
+      88             : 
+      89             : /*//{ isMitigatingJump() */
+      90      792653 : bool Estimator::isMitigatingJump(void) {
+      91      792653 :   if (is_mitigating_jump_) {
+      92           3 :     is_mitigating_jump_ = false;
+      93           0 :     return true;
+      94             :   } else {
+      95      792639 :     return false;
+      96             :   }
+      97             : }
+      98             : /*//}*/
+      99             : 
+     100             : /*//{ getName() */
+     101      662608 : std::string Estimator::getName(void) const {
+     102      662608 :   return name_;
+     103             : }
+     104             : /*//}*/
+     105             : 
+     106             : /*//{ getPrintName() */
+     107        3769 : std::string Estimator::getPrintName(void) const {
+     108        7538 :   return ch_->nodelet_name + "/" + name_;
+     109             : }
+     110             : /*//}*/
+     111             : 
+     112             : /*//{ getType() */
+     113           0 : std::string Estimator::getType(void) const {
+     114           0 :   return type_;
+     115             : }
+     116             : /*//}*/
+     117             : 
+     118             : /*//{ getFrameId() */
+     119      780977 : std::string Estimator::getFrameId(void) const {
+     120      780977 :   return ns_frame_id_;
+     121             : }
+     122             : /*//}*/
+     123             : 
+     124             : /*//{ getMaxFlightZ() */
+     125       19148 : double Estimator::getMaxFlightZ(void) const {
+     126       19148 :   return max_flight_z_;
+     127             : }
+     128             : /*//}*/
+     129             : 
+     130             : /*//{ publishDiagnostics() */
+     131     1106791 : void Estimator::publishDiagnostics() const {
+     132             : 
+     133     1106791 :   if (!ch_->debug_topics.diag) {
+     134     1106752 :     return;
+     135             :   }
+     136             : 
+     137           1 :   mrs_msgs::EstimatorDiagnostics msg;
+     138           0 :   msg.header.stamp       = ros::Time::now();
+     139           0 :   msg.header.frame_id    = getFrameId();
+     140           0 :   msg.estimator_name     = getName();
+     141           0 :   msg.estimator_type     = getType();
+     142           0 :   msg.estimator_sm_state = getCurrentSmStateString();
+     143             : 
+     144           0 :   ph_diagnostics_.publish(msg);
+     145             : }
+     146             : /*//}*/
+     147             : 
+     148             : /*//{ getAccGlobal() */
+     149           0 : tf2::Vector3 Estimator::getAccGlobal(const sensor_msgs::Imu::ConstPtr& input_msg, const double hdg) {
+     150             : 
+     151           0 :   geometry_msgs::Vector3Stamped acc_stamped;
+     152           0 :   acc_stamped.vector = input_msg->linear_acceleration;
+     153           0 :   acc_stamped.header = input_msg->header;
+     154           0 :   return getAccGlobal(acc_stamped, hdg);
+     155             : }
+     156             : 
+     157      327277 : tf2::Vector3 Estimator::getAccGlobal(const mrs_msgs::EstimatorInput::ConstPtr& input_msg, const double hdg) {
+     158             : 
+     159      649633 :   geometry_msgs::Vector3Stamped acc_stamped;
+     160      326802 :   acc_stamped.vector = input_msg->control_acceleration;
+     161      326833 :   acc_stamped.header = input_msg->header;
+     162      646254 :   return getAccGlobal(acc_stamped, hdg);
+     163             : }
+     164             : 
+     165      326752 : tf2::Vector3 Estimator::getAccGlobal(const geometry_msgs::Vector3Stamped& acc_stamped, const double hdg) {
+     166             : 
+     167             :   // untilt the desired acceleration vector
+     168      651469 :   geometry_msgs::Vector3Stamped des_acc;
+     169      326770 :   geometry_msgs::Vector3        des_acc_untilted;
+     170      326890 :   des_acc.vector.x        = acc_stamped.vector.x;
+     171      326890 :   des_acc.vector.y        = acc_stamped.vector.y;
+     172      326890 :   des_acc.vector.z        = acc_stamped.vector.z;
+     173      326890 :   des_acc.header.frame_id = ch_->frames.ns_fcu;
+     174      326988 :   des_acc.header.stamp    = acc_stamped.header.stamp;
+     175      653114 :   auto response_acc       = ch_->transformer->transformSingle(des_acc, ch_->frames.ns_fcu_untilted);
+     176      327335 :   if (response_acc) {
+     177      327335 :     des_acc_untilted.x = response_acc.value().vector.x;
+     178      327334 :     des_acc_untilted.y = response_acc.value().vector.y;
+     179      327334 :     des_acc_untilted.z = response_acc.value().vector.z;
+     180             :   } else {
+     181           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: Transform from %s to %s failed", getPrintName().c_str(), des_acc.header.frame_id.c_str(),
+     182             :                       ch_->frames.ns_fcu_untilted.c_str());
+     183             :   }
+     184             : 
+     185             :   // rotate the desired acceleration vector to global frame
+     186      327334 :   const tf2::Vector3 des_acc_global = Support::rotateVecByHdg(des_acc_untilted, hdg);
+     187             : 
+     188      646542 :   return des_acc_global;
+     189             : }
+     190             : /*//}*/
+     191             : 
+     192             : /*//{ getHeadingRate() */
+     193           0 : std::optional<double> Estimator::getHeadingRate(const nav_msgs::OdometryConstPtr& odom_msg) {
+     194             : 
+     195             :   double hdg_rate;
+     196             :   try {
+     197           0 :     hdg_rate = mrs_lib::AttitudeConverter(odom_msg->pose.pose.orientation).getHeadingRate(odom_msg->twist.twist.angular);
+     198             :   }
+     199           0 :   catch (...) {
+     200           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: failed getting heading rate", getPrintName().c_str());
+     201           0 :     return {};
+     202             :   }
+     203           0 :   return hdg_rate;
+     204             : }
+     205             : /*//}*/
+     206             : 
+     207             : 
+     208             : /*//}*/
+     209             : 
+     210             : }  // namespace mrs_uav_managers
+     211             : 
+
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mrs_uav_managers::AglEstimator::isCompatibleWithHwApi(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&) const87
mrs_uav_managers::AglEstimator::publishAglHeight() const155524
mrs_uav_managers::AglEstimator::publishCovariance() const155524
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mrs_uav_managers::AglEstimator::publishAglHeight() const155524
mrs_uav_managers::AglEstimator::publishCovariance() const155524
mrs_uav_managers::AglEstimator::isCompatibleWithHwApi(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&) const87
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+
          Line data    Source code
+
+       1             : #include <mrs_uav_managers/agl_estimator.h>
+       2             : 
+       3             : namespace mrs_uav_managers
+       4             : {
+       5             : 
+       6             : /*//{ publishAglHeight() */
+       7      155524 : void AglEstimator::publishAglHeight() const {
+       8      155524 :   ph_agl_height_.publish(mrs_lib::get_mutexed(mtx_agl_height_, agl_height_));
+       9      155524 : }
+      10             : /*//}*/
+      11             : 
+      12             : /*//{ publishCovariance() */
+      13      155524 : void AglEstimator::publishCovariance() const {
+      14             : 
+      15      155524 :   if (!ch_->debug_topics.covariance) {
+      16      155524 :     return;
+      17             :   }
+      18             : 
+      19           0 :   ph_agl_height_cov_.publish(mrs_lib::get_mutexed(mtx_agl_height_, agl_height_cov_));
+      20             : }
+      21             : /*//}*/
+      22             : 
+      23             : /*//{ isCompatibleWithHwApi() */
+      24          87 : bool AglEstimator::isCompatibleWithHwApi(const mrs_msgs::HwApiCapabilitiesConstPtr& hw_api_capabilities) const {
+      25             : 
+      26          87 :   ph_->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      27          87 :   ph_->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      28             : 
+      29          87 :   ph_->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getName() + "/");
+      30             : 
+      31             :   bool requires_gnss, requires_imu, requires_distance_sensor, requires_altitude, requires_magnetometer_heading, requires_position, requires_orientation,
+      32             :       requires_velocity, requires_angular_velocity;
+      33             : 
+      34          87 :   ph_->param_loader->loadParam("requires/gnss", requires_gnss);
+      35          87 :   ph_->param_loader->loadParam("requires/imu", requires_imu);
+      36          87 :   ph_->param_loader->loadParam("requires/distance_sensor", requires_distance_sensor);
+      37          87 :   ph_->param_loader->loadParam("requires/altitude", requires_altitude);
+      38          87 :   ph_->param_loader->loadParam("requires/magnetometer_heading", requires_magnetometer_heading);
+      39          87 :   ph_->param_loader->loadParam("requires/position", requires_position);
+      40          87 :   ph_->param_loader->loadParam("requires/orientation", requires_orientation);
+      41          87 :   ph_->param_loader->loadParam("requires/velocity", requires_velocity);
+      42          87 :   ph_->param_loader->loadParam("requires/angular_velocity", requires_angular_velocity);
+      43             : 
+      44          87 :   if (!ph_->param_loader->loadedSuccessfully()) {
+      45           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+      46           0 :     ros::shutdown();
+      47             :   }
+      48             : 
+      49          87 :   if (requires_gnss && !hw_api_capabilities->produces_gnss) {
+      50           0 :     ROS_ERROR("[%s]: requires gnss but hw api does not provide it.", getPrintName().c_str());
+      51           0 :     return false;
+      52             :   }
+      53             : 
+      54          87 :   if (requires_imu && !hw_api_capabilities->produces_imu) {
+      55           0 :     ROS_ERROR("[%s]: requires imu but hw api does not provide it.", getPrintName().c_str());
+      56           0 :     return false;
+      57             :   }
+      58             : 
+      59          87 :   if (requires_distance_sensor && !hw_api_capabilities->produces_distance_sensor) {
+      60           0 :     ROS_ERROR("[%s]: requires distance_sensor but hw api does not provide it.", getPrintName().c_str());
+      61           0 :     return false;
+      62             :   }
+      63             : 
+      64          87 :   if (requires_altitude && !hw_api_capabilities->produces_altitude) {
+      65           0 :     ROS_ERROR("[%s]: requires altitude but hw api does not provide it.", getPrintName().c_str());
+      66           0 :     return false;
+      67             :   }
+      68             : 
+      69          87 :   if (requires_magnetometer_heading && !hw_api_capabilities->produces_magnetometer_heading) {
+      70           0 :     ROS_ERROR("[%s]: requires magnetometer_heading but hw api does not provide it.", getPrintName().c_str());
+      71           0 :     return false;
+      72             :   }
+      73             : 
+      74          87 :   if (requires_position && !hw_api_capabilities->produces_position) {
+      75           0 :     ROS_ERROR("[%s]: requires position but hw api does not provide it.", getPrintName().c_str());
+      76           0 :     return false;
+      77             :   }
+      78             : 
+      79          87 :   if (requires_orientation && !hw_api_capabilities->produces_orientation) {
+      80           0 :     ROS_ERROR("[%s]: requires orientation but hw api does not provide it.", getPrintName().c_str());
+      81           0 :     return false;
+      82             :   }
+      83             : 
+      84          87 :   if (requires_velocity && !hw_api_capabilities->produces_velocity) {
+      85           0 :     ROS_ERROR("[%s]: requires velocity but hw api does not provide it.", getPrintName().c_str());
+      86           0 :     return false;
+      87             :   }
+      88             : 
+      89          87 :   if (requires_angular_velocity && !hw_api_capabilities->produces_angular_velocity) {
+      90           0 :     ROS_ERROR("[%s]: requires angular_velocity but hw api does not provide it.", getPrintName().c_str());
+      91           0 :     return false;
+      92             :   }
+      93             : 
+      94          87 :   return true;
+      95             : }
+      96             : /*//}*/
+      97             : 
+      98             : }  // namespace mrs_uav_managers
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Test:MRS UAV System - Test coverage reportLines:8213560.7 %
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Test:MRS UAV System - Test coverage reportLines:528461.9 %
Date:2024-08-07 22:18:19Functions:1010100.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::StateEstimator::isCompatibleWithHwApi(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&) const116
mrs_uav_managers::StateEstimator::getInnovation() const172720
mrs_uav_managers::StateEstimator::getPoseCovariance() const172720
mrs_uav_managers::StateEstimator::getTwistCovariance() const172720
mrs_uav_managers::StateEstimator::getUavState()191428
mrs_uav_managers::StateEstimator::publishUavState() const207700
mrs_uav_managers::StateEstimator::publishOdom() const207705
mrs_uav_managers::StateEstimator::publishCovariance() const207705
mrs_uav_managers::StateEstimator::publishInnovation() const207705
mrs_uav_managers::StateEstimator::rotateQuaternionByHeading(geometry_msgs::Quaternion_<std::allocator<void> > const&, double) const421042
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Test:MRS UAV System - Test coverage reportLines:528461.9 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::StateEstimator::getUavState()191428
mrs_uav_managers::StateEstimator::publishOdom() const207705
mrs_uav_managers::StateEstimator::getInnovation() const172720
mrs_uav_managers::StateEstimator::publishUavState() const207700
mrs_uav_managers::StateEstimator::getPoseCovariance() const172720
mrs_uav_managers::StateEstimator::publishCovariance() const207705
mrs_uav_managers::StateEstimator::publishInnovation() const207705
mrs_uav_managers::StateEstimator::getTwistCovariance() const172720
mrs_uav_managers::StateEstimator::isCompatibleWithHwApi(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&) const116
mrs_uav_managers::StateEstimator::rotateQuaternionByHeading(geometry_msgs::Quaternion_<std::allocator<void> > const&, double) const421042
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+
          Line data    Source code
+
+       1             : #include <mrs_uav_managers/state_estimator.h>
+       2             : 
+       3             : namespace mrs_uav_managers
+       4             : {
+       5             : 
+       6             : 
+       7             : /*//{ getUavState() */
+       8      191428 : std::optional<mrs_msgs::UavState> StateEstimator::getUavState() {
+       9             : 
+      10      191428 :   if (!isRunning()) {
+      11           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: getUavState() was called while estimator is not running", getPrintName().c_str());
+      12           0 :     return {};
+      13             :   }
+      14             : 
+      15      382761 :   return mrs_lib::get_mutexed(mtx_uav_state_, uav_state_);
+      16             : }
+      17             : /*//}*/
+      18             : 
+      19             : /*//{ getInnovation() */
+      20      172720 : nav_msgs::Odometry StateEstimator::getInnovation() const {
+      21      172720 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_);
+      22             : }
+      23             : /*//}*/
+      24             : 
+      25             : /*//{ getPoseCovariance() */
+      26      172720 : std::vector<double> StateEstimator::getPoseCovariance() const {
+      27      172720 :   return mrs_lib::get_mutexed(mtx_covariance_, pose_covariance_.values);
+      28             : }
+      29             : /*//}*/
+      30             : 
+      31             : /*//{ getTwistCovariance() */
+      32      172720 : std::vector<double> StateEstimator::getTwistCovariance() const {
+      33      172720 :   return mrs_lib::get_mutexed(mtx_covariance_, twist_covariance_.values);
+      34             : }
+      35             : /*//}*/
+      36             : 
+      37             : /*//{ publishUavState() */
+      38      207700 : void StateEstimator::publishUavState() const {
+      39             : 
+      40      207700 :   if (!ch_->debug_topics.state) {
+      41           0 :     return;
+      42             :   }
+      43             : 
+      44      415395 :   auto uav_state = mrs_lib::get_mutexed(mtx_uav_state_, uav_state_);
+      45      207697 :   ph_uav_state_.publish(uav_state);
+      46             : }
+      47             : /*//}*/
+      48             : 
+      49             : /*//{ publishOdom() */
+      50      207705 : void StateEstimator::publishOdom() const {
+      51             : 
+      52      415410 :   auto odom = mrs_lib::get_mutexed(mtx_odom_, odom_);
+      53      207705 :   ph_odom_.publish(odom);
+      54      207705 : }
+      55             : /*//}*/
+      56             : 
+      57             : /*//{ publishCovariance() */
+      58      207705 : void StateEstimator::publishCovariance() const {
+      59             : 
+      60      207705 :   if (!ch_->debug_topics.covariance) {
+      61      207705 :     return;
+      62             :   }
+      63             : 
+      64           0 :   auto pose_cov  = mrs_lib::get_mutexed(mtx_covariance_, pose_covariance_);
+      65           0 :   auto twist_cov = mrs_lib::get_mutexed(mtx_covariance_, twist_covariance_);
+      66           0 :   ph_pose_covariance_.publish(pose_cov);
+      67           0 :   ph_twist_covariance_.publish(twist_cov);
+      68             : }
+      69             : /*//}*/
+      70             : 
+      71             : /*//{ publishInnovation() */
+      72      207705 : void StateEstimator::publishInnovation() const {
+      73             : 
+      74      207705 :   if (!ch_->debug_topics.innovation) {
+      75      207705 :     return;
+      76             :   }
+      77             : 
+      78           0 :   auto innovation = mrs_lib::get_mutexed(mtx_innovation_, innovation_);
+      79           0 :   ph_innovation_.publish(innovation);
+      80             : }
+      81             : /*//}*/
+      82             : 
+      83             : /*//{ rotateQuaternionByHeading() */
+      84      421042 : std::optional<geometry_msgs::Quaternion> StateEstimator::rotateQuaternionByHeading(const geometry_msgs::Quaternion& q, const double hdg) const {
+      85             : 
+      86             :   try {
+      87      421042 :     tf2::Quaternion tf2_q = mrs_lib::AttitudeConverter(q);
+      88             : 
+      89             :     // Obtain heading from quaternion
+      90      420688 :     double q_hdg = 0;
+      91      420688 :     q_hdg        = mrs_lib::AttitudeConverter(q).getHeading();
+      92             : 
+      93             :     // Build rotation matrix from difference between new heading and quaternion heading
+      94      420312 :     tf2::Matrix3x3 rot_mat = mrs_lib::AttitudeConverter(Eigen::AngleAxisd(hdg - q_hdg, Eigen::Vector3d::UnitZ()));
+      95             : 
+      96             :     // Transform the quaternion orientation by the rotation matrix
+      97      419128 :     geometry_msgs::Quaternion q_new = mrs_lib::AttitudeConverter(tf2::Transform(rot_mat) * tf2_q);
+      98      417987 :     return q_new;
+      99             :   }
+     100           0 :   catch (...) {
+     101           0 :     ROS_WARN("[rotateQuaternionByHeading()]: failed to rotate quaternion by heading");
+     102           0 :     return {};
+     103             :   }
+     104             : }
+     105             : /*//}*/
+     106             : 
+     107             : /*//{ isCompatibleWithHwApi() */
+     108         116 : bool StateEstimator::isCompatibleWithHwApi(const mrs_msgs::HwApiCapabilitiesConstPtr& hw_api_capabilities) const {
+     109             : 
+     110         116 :   ph_->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getName() + "/");
+     111             : 
+     112             :   bool requires_gnss, requires_imu, requires_distance_sensor, requires_altitude, requires_magnetometer_heading, requires_position, requires_orientation,
+     113             :       requires_velocity, requires_angular_velocity;
+     114             : 
+     115         116 :   ph_->param_loader->loadParam("requires/gnss", requires_gnss);
+     116         116 :   ph_->param_loader->loadParam("requires/imu", requires_imu);
+     117         116 :   ph_->param_loader->loadParam("requires/distance_sensor", requires_distance_sensor);
+     118         116 :   ph_->param_loader->loadParam("requires/altitude", requires_altitude);
+     119         116 :   ph_->param_loader->loadParam("requires/magnetometer_heading", requires_magnetometer_heading);
+     120         116 :   ph_->param_loader->loadParam("requires/position", requires_position);
+     121         116 :   ph_->param_loader->loadParam("requires/orientation", requires_orientation);
+     122         116 :   ph_->param_loader->loadParam("requires/velocity", requires_velocity);
+     123         116 :   ph_->param_loader->loadParam("requires/angular_velocity", requires_angular_velocity);
+     124             : 
+     125         116 :   if (!ph_->param_loader->loadedSuccessfully()) {
+     126           0 :     ROS_ERROR("[%s]: Could not load all non-optional hw_api compatibility parameters. Shutting down.", getPrintName().c_str());
+     127           0 :     ros::shutdown();
+     128             :   }
+     129             : 
+     130         116 :   if (requires_gnss && !hw_api_capabilities->produces_gnss) {
+     131           0 :     ROS_ERROR("[%s]: requires gnss but hw api does not provide it.", getPrintName().c_str());
+     132           0 :     return false;
+     133             :   }
+     134             : 
+     135         116 :   if (requires_imu && !hw_api_capabilities->produces_imu) {
+     136           0 :     ROS_ERROR("[%s]: requires imu but hw api does not provide it.", getPrintName().c_str());
+     137           0 :     return false;
+     138             :   }
+     139             : 
+     140         116 :   if (requires_distance_sensor && !hw_api_capabilities->produces_distance_sensor) {
+     141           0 :     ROS_ERROR("[%s]: requires distance_sensor but hw api does not provide it.", getPrintName().c_str());
+     142           0 :     return false;
+     143             :   }
+     144             : 
+     145         116 :   if (requires_altitude && !hw_api_capabilities->produces_altitude) {
+     146           0 :     ROS_ERROR("[%s]: requires altitude but hw api does not provide it.", getPrintName().c_str());
+     147           0 :     return false;
+     148             :   }
+     149             : 
+     150         116 :   if (requires_magnetometer_heading && !hw_api_capabilities->produces_magnetometer_heading) {
+     151           0 :     ROS_ERROR("[%s]: requires magnetometer_heading but hw api does not provide it.", getPrintName().c_str());
+     152           0 :     return false;
+     153             :   }
+     154             : 
+     155         116 :   if (requires_position && !hw_api_capabilities->produces_position) {
+     156           0 :     ROS_ERROR("[%s]: requires position but hw api does not provide it.", getPrintName().c_str());
+     157           0 :     return false;
+     158             :   }
+     159             : 
+     160         116 :   if (requires_orientation && !hw_api_capabilities->produces_orientation) {
+     161           0 :     ROS_ERROR("[%s]: requires orientation but hw api does not provide it.", getPrintName().c_str());
+     162           0 :     return false;
+     163             :   }
+     164             : 
+     165         116 :   if (requires_velocity && !hw_api_capabilities->produces_velocity) {
+     166           0 :     ROS_ERROR("[%s]: requires velocity but hw api does not provide it.", getPrintName().c_str());
+     167           0 :     return false;
+     168             :   }
+     169             : 
+     170         116 :   if (requires_angular_velocity && !hw_api_capabilities->produces_angular_velocity) {
+     171           0 :     ROS_ERROR("[%s]: requires angular_velocity but hw api does not provide it.", getPrintName().c_str());
+     172           0 :     return false;
+     173             :   }
+     174             : 
+     175         116 :   return true;
+     176             : }
+     177             : /*//}*/
+     178             : 
+     179             : }  // namespace mrs_uav_managers
+
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mrs_uav_managers::gain_manager::GainManager::callbackSetGains(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)2
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_managers::gain_manager::GainManager::onInit()108
mrs_uav_managers::gain_manager::GainManager::setGains(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)109
mrs_uav_managers::gain_manager::GainManager::timerDiagnostics(ros::TimerEvent const&)2371
mrs_uav_managers::gain_manager::GainManager::stringInVector(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&)2384
mrs_uav_managers::gain_manager::GainManager::timerGainManagement(ros::TimerEvent const&)24218
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Date:2024-08-07 22:18:19Functions:77100.0 %
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_managers::gain_manager::GainManager::stringInVector(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&)2384
mrs_uav_managers::gain_manager::GainManager::callbackSetGains(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)2
mrs_uav_managers::gain_manager::GainManager::timerDiagnostics(ros::TimerEvent const&)2371
mrs_uav_managers::gain_manager::GainManager::timerGainManagement(ros::TimerEvent const&)24218
mrs_uav_managers::gain_manager::GainManager::onInit()108
mrs_uav_managers::gain_manager::GainManager::setGains(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)109
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Current view:top level - mrs_uav_managers/src - gain_manager.cpp (source / functions)HitTotalCoverage
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Date:2024-08-07 22:18:19Functions:77100.0 %
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+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <nodelet/nodelet.h>
+       5             : 
+       6             : #include <std_msgs/String.h>
+       7             : 
+       8             : #include <mrs_msgs/String.h>
+       9             : #include <mrs_msgs/EstimationDiagnostics.h>
+      10             : #include <mrs_msgs/ControlManagerDiagnostics.h>
+      11             : #include <mrs_msgs/GainManagerDiagnostics.h>
+      12             : 
+      13             : #include <mrs_lib/profiler.h>
+      14             : #include <mrs_lib/scope_timer.h>
+      15             : #include <mrs_lib/param_loader.h>
+      16             : #include <mrs_lib/mutex.h>
+      17             : #include <mrs_lib/publisher_handler.h>
+      18             : #include <mrs_lib/service_client_handler.h>
+      19             : #include <mrs_lib/subscribe_handler.h>
+      20             : 
+      21             : #include <dynamic_reconfigure/ReconfigureRequest.h>
+      22             : #include <dynamic_reconfigure/Reconfigure.h>
+      23             : #include <dynamic_reconfigure/Config.h>
+      24             : 
+      25             : //}
+      26             : 
+      27             : namespace mrs_uav_managers
+      28             : {
+      29             : 
+      30             : namespace gain_manager
+      31             : {
+      32             : 
+      33             : /* //{ class GainManager */
+      34             : 
+      35             : typedef struct
+      36             : {
+      37             : 
+      38             :   double kpxy, kiwxy, kibxy, kvxy, kaxy;
+      39             :   double kpz, kvz, kaz;
+      40             :   double kiwxy_lim, kibxy_lim;
+      41             :   double km, km_lim;
+      42             :   double kqrp, kqy;
+      43             : 
+      44             :   std::string name;
+      45             : 
+      46             : } Gains_t;
+      47             : 
+      48             : class GainManager : public nodelet::Nodelet {
+      49             : 
+      50             : public:
+      51             :   virtual void onInit();
+      52             : 
+      53             : private:
+      54             :   ros::NodeHandle nh_;
+      55             : 
+      56             :   std::atomic<bool> is_initialized_ = false;
+      57             : 
+      58             :   // | ----------------------- parameters ----------------------- |
+      59             : 
+      60             :   std::vector<std::string> _current_state_estimators_;
+      61             : 
+      62             :   std::vector<std::string>       _gain_names_;
+      63             :   std::map<std::string, Gains_t> _gains_;
+      64             : 
+      65             :   std::map<std::string, std::vector<std::string>> _map_type_allowed_gains_;
+      66             :   std::map<std::string, std::string>              _map_type_default_gains_;
+      67             :   ;
+      68             : 
+      69             :   // | --------------------- service clients -------------------- |
+      70             : 
+      71             :   ros::ServiceClient service_client_set_gains_;
+      72             : 
+      73             :   // | ----------------------- subscribers ---------------------- |
+      74             : 
+      75             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>     sh_estimation_diag_;
+      76             :   mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics> sh_control_manager_diag_;
+      77             : 
+      78             :   // | --------------------- gain management -------------------- |
+      79             : 
+      80             :   bool setGains(std::string gains_name);
+      81             : 
+      82             :   ros::ServiceServer service_server_set_gains_;
+      83             :   bool               callbackSetGains(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+      84             : 
+      85             :   std::string last_estimator_name_;
+      86             :   std::mutex  mutex_last_estimator_name_;
+      87             : 
+      88             :   void       timerGainManagement(const ros::TimerEvent& event);
+      89             :   ros::Timer timer_gain_management_;
+      90             :   double     _gain_management_rate_;
+      91             : 
+      92             :   std::string current_gains_;
+      93             :   std::mutex  mutex_current_gains_;
+      94             : 
+      95             :   // | ------------------ diagnostics publisher ----------------- |
+      96             : 
+      97             :   mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics> ph_diagnostics_;
+      98             : 
+      99             :   void       timerDiagnostics(const ros::TimerEvent& event);
+     100             :   ros::Timer timer_diagnostics_;
+     101             :   double     _diagnostics_rate_;
+     102             : 
+     103             :   // | ------------------------ profiler ------------------------ |
+     104             : 
+     105             :   mrs_lib::Profiler profiler_;
+     106             :   bool              _profiler_enabled_ = false;
+     107             : 
+     108             :   // | ------------------- scope timer logger ------------------- |
+     109             : 
+     110             :   bool                                       scope_timer_enabled_ = false;
+     111             :   std::shared_ptr<mrs_lib::ScopeTimerLogger> scope_timer_logger_;
+     112             : 
+     113             :   // | ------------------------- helpers ------------------------ |
+     114             : 
+     115             :   bool stringInVector(const std::string& value, const std::vector<std::string>& vector);
+     116             : };
+     117             : 
+     118             : //}
+     119             : 
+     120             : /* //{ onInit() */
+     121             : 
+     122         108 : void GainManager::onInit() {
+     123             : 
+     124         216 :   ros::NodeHandle nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     125             : 
+     126         108 :   ros::Time::waitForValid();
+     127             : 
+     128         108 :   ROS_INFO("[GainManager]: initializing");
+     129             : 
+     130             :   // | ------------------------- params ------------------------- |
+     131             : 
+     132         216 :   mrs_lib::ParamLoader param_loader(nh_, "GainManager");
+     133             : 
+     134         216 :   std::string custom_config_path;
+     135         216 :   std::string platform_config_path;
+     136             : 
+     137         108 :   param_loader.loadParam("custom_config", custom_config_path);
+     138         108 :   param_loader.loadParam("platform_config", platform_config_path);
+     139             : 
+     140         108 :   if (custom_config_path != "") {
+     141         108 :     param_loader.addYamlFile(custom_config_path);
+     142             :   }
+     143             : 
+     144         108 :   if (platform_config_path != "") {
+     145         108 :     param_loader.addYamlFile(platform_config_path);
+     146             :   }
+     147             : 
+     148         108 :   param_loader.addYamlFileFromParam("private_config");
+     149         108 :   param_loader.addYamlFileFromParam("public_config");
+     150         108 :   param_loader.addYamlFileFromParam("public_gains");
+     151             : 
+     152         216 :   const std::string yaml_prefix = "mrs_uav_managers/gain_manager/";
+     153             : 
+     154             :   // params passed from the launch file are not prefixed
+     155         108 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     156             : 
+     157         108 :   param_loader.loadParam(yaml_prefix + "gains", _gain_names_);
+     158             : 
+     159         108 :   param_loader.loadParam(yaml_prefix + "estimator_types", _current_state_estimators_);
+     160             : 
+     161         108 :   param_loader.loadParam(yaml_prefix + "rate", _gain_management_rate_);
+     162         108 :   param_loader.loadParam(yaml_prefix + "diagnostics_rate", _diagnostics_rate_);
+     163             : 
+     164             :   // | ------------------- scope timer logger ------------------- |
+     165             : 
+     166         108 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     167         324 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     168         108 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     169             : 
+     170         108 :   std::vector<std::string>::iterator it;
+     171             : 
+     172             :   // loading gain_names
+     173         324 :   for (it = _gain_names_.begin(); it != _gain_names_.end(); ++it) {
+     174             : 
+     175         216 :     ROS_INFO_STREAM("[GainManager]: loading gains '" << *it << "'");
+     176             : 
+     177         216 :     Gains_t new_gains;
+     178             : 
+     179         216 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kp", new_gains.kpxy);
+     180         216 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kv", new_gains.kvxy);
+     181         216 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/ka", new_gains.kaxy);
+     182         216 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kib", new_gains.kibxy);
+     183         216 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kiw", new_gains.kiwxy);
+     184         216 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kib_lim", new_gains.kibxy_lim);
+     185         216 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kiw_lim", new_gains.kiwxy_lim);
+     186             : 
+     187         216 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/kp", new_gains.kpz);
+     188         216 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/kv", new_gains.kvz);
+     189         216 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ka", new_gains.kaz);
+     190             : 
+     191         216 :     param_loader.loadParam(yaml_prefix + *it + "/attitude/kq_roll_pitch", new_gains.kqrp);
+     192         216 :     param_loader.loadParam(yaml_prefix + *it + "/attitude/kq_yaw", new_gains.kqy);
+     193             : 
+     194         216 :     param_loader.loadParam(yaml_prefix + *it + "/mass_estimator/km", new_gains.km);
+     195         216 :     param_loader.loadParam(yaml_prefix + *it + "/mass_estimator/km_lim", new_gains.km_lim);
+     196             : 
+     197         216 :     _gains_.insert(std::pair<std::string, Gains_t>(*it, new_gains));
+     198             :   }
+     199             : 
+     200             :   // loading the allowed gains lists
+     201         864 :   for (it = _current_state_estimators_.begin(); it != _current_state_estimators_.end(); ++it) {
+     202             : 
+     203         756 :     std::vector<std::string> temp_vector;
+     204         756 :     param_loader.loadParam(yaml_prefix + "allowed_gains/" + *it, temp_vector);
+     205             : 
+     206         756 :     std::vector<std::string>::iterator it2;
+     207        2268 :     for (it2 = temp_vector.begin(); it2 != temp_vector.end(); ++it2) {
+     208        1512 :       if (!stringInVector(*it2, _gain_names_)) {
+     209           0 :         ROS_ERROR("[GainManager]: the element '%s' of %s/allowed_gains is not a valid gain!", it2->c_str(), it->c_str());
+     210           0 :         ros::shutdown();
+     211             :       }
+     212             :     }
+     213             : 
+     214         756 :     _map_type_allowed_gains_.insert(std::pair<std::string, std::vector<std::string>>(*it, temp_vector));
+     215             :   }
+     216             : 
+     217             :   // loading the default gains
+     218         864 :   for (it = _current_state_estimators_.begin(); it != _current_state_estimators_.end(); ++it) {
+     219             : 
+     220         756 :     std::string temp_str;
+     221         756 :     param_loader.loadParam(yaml_prefix + "default_gains/" + *it, temp_str);
+     222             : 
+     223         756 :     if (!stringInVector(temp_str, _map_type_allowed_gains_.at(*it))) {
+     224           0 :       ROS_ERROR("[GainManager]: the element '%s' of %s/allowed_gains is not a valid gain!", temp_str.c_str(), it->c_str());
+     225           0 :       ros::shutdown();
+     226             :     }
+     227             : 
+     228         756 :     _map_type_default_gains_.insert(std::pair<std::string, std::string>(*it, temp_str));
+     229             :   }
+     230             : 
+     231         108 :   ROS_INFO("[GainManager]: done loading dynamical params");
+     232             : 
+     233         108 :   current_gains_       = "";
+     234         108 :   last_estimator_name_ = "";
+     235             : 
+     236             :   // | ------------------------ services ------------------------ |
+     237             : 
+     238         108 :   service_server_set_gains_ = nh_.advertiseService("set_gains_in", &GainManager::callbackSetGains, this);
+     239             : 
+     240         108 :   service_client_set_gains_ = nh_.serviceClient<dynamic_reconfigure::Reconfigure>("set_gains_out");
+     241             : 
+     242             :   // | ----------------------- subscribers ---------------------- |
+     243             : 
+     244         216 :   mrs_lib::SubscribeHandlerOptions shopts;
+     245         108 :   shopts.nh                 = nh_;
+     246         108 :   shopts.node_name          = "GainManager";
+     247         108 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     248         108 :   shopts.threadsafe         = true;
+     249         108 :   shopts.autostart          = true;
+     250         108 :   shopts.queue_size         = 10;
+     251         108 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     252             : 
+     253         108 :   sh_estimation_diag_      = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "estimation_diagnostics_in");
+     254         108 :   sh_control_manager_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     255             : 
+     256             :   // | ----------------------- publishers ----------------------- |
+     257             : 
+     258         108 :   ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics>(nh_, "diagnostics_out", 10);
+     259             : 
+     260             :   // | ------------------------- timers ------------------------- |
+     261             : 
+     262         108 :   timer_gain_management_ = nh_.createTimer(ros::Rate(_gain_management_rate_), &GainManager::timerGainManagement, this);
+     263         108 :   timer_diagnostics_     = nh_.createTimer(ros::Rate(_diagnostics_rate_), &GainManager::timerDiagnostics, this);
+     264             : 
+     265             :   // | ------------------------ profiler ------------------------ |
+     266             : 
+     267         108 :   profiler_ = mrs_lib::Profiler(nh_, "GainManager", _profiler_enabled_);
+     268             : 
+     269             :   // | ----------------------- finish init ---------------------- |
+     270             : 
+     271         108 :   if (!param_loader.loadedSuccessfully()) {
+     272           0 :     ROS_ERROR("[GainManager]: could not load all parameters!");
+     273           0 :     ros::shutdown();
+     274             :   }
+     275             : 
+     276         108 :   is_initialized_ = true;
+     277             : 
+     278         108 :   ROS_INFO("[GainManager]: initialized");
+     279             : 
+     280         108 :   ROS_DEBUG("[GainManager]: debug output is enabled");
+     281         108 : }
+     282             : 
+     283             : //}
+     284             : 
+     285             : // --------------------------------------------------------------
+     286             : // |                           methods                          |
+     287             : // --------------------------------------------------------------
+     288             : 
+     289             : /* setGains() //{ */
+     290             : 
+     291         109 : bool GainManager::setGains(std::string gains_name) {
+     292             : 
+     293         109 :   std::map<std::string, Gains_t>::iterator it;
+     294         109 :   it = _gains_.find(gains_name);
+     295             : 
+     296         109 :   if (it == _gains_.end()) {
+     297           0 :     ROS_WARN("[GainManager]: can not set gains for '%s', the mode is not on a list!", gains_name.c_str());
+     298           0 :     return false;
+     299             :   }
+     300             : 
+     301         218 :   dynamic_reconfigure::Config          conf;
+     302         218 :   dynamic_reconfigure::DoubleParameter param;
+     303             : 
+     304         109 :   param.name  = "kpxy";
+     305         109 :   param.value = it->second.kpxy;
+     306         109 :   conf.doubles.push_back(param);
+     307             : 
+     308         109 :   param.name  = "kvxy";
+     309         109 :   param.value = it->second.kvxy;
+     310         109 :   conf.doubles.push_back(param);
+     311             : 
+     312         109 :   param.name  = "kaxy";
+     313         109 :   param.value = it->second.kaxy;
+     314         109 :   conf.doubles.push_back(param);
+     315             : 
+     316         109 :   param.name  = "kq_roll_pitch";
+     317         109 :   param.value = it->second.kqrp;
+     318         109 :   conf.doubles.push_back(param);
+     319             : 
+     320         109 :   param.name  = "kibxy";
+     321         109 :   param.value = it->second.kibxy;
+     322         109 :   conf.doubles.push_back(param);
+     323             : 
+     324         109 :   param.name  = "kiwxy";
+     325         109 :   param.value = it->second.kiwxy;
+     326         109 :   conf.doubles.push_back(param);
+     327             : 
+     328         109 :   param.name  = "kibxy_lim";
+     329         109 :   param.value = it->second.kibxy_lim;
+     330         109 :   conf.doubles.push_back(param);
+     331             : 
+     332         109 :   param.name  = "kiwxy_lim";
+     333         109 :   param.value = it->second.kiwxy_lim;
+     334         109 :   conf.doubles.push_back(param);
+     335             : 
+     336         109 :   param.name  = "kpz";
+     337         109 :   param.value = it->second.kpz;
+     338         109 :   conf.doubles.push_back(param);
+     339             : 
+     340         109 :   param.name  = "kvz";
+     341         109 :   param.value = it->second.kvz;
+     342         109 :   conf.doubles.push_back(param);
+     343             : 
+     344         109 :   param.name  = "kaz";
+     345         109 :   param.value = it->second.kaz;
+     346         109 :   conf.doubles.push_back(param);
+     347             : 
+     348         109 :   param.name  = "kq_yaw";
+     349         109 :   param.value = it->second.kqy;
+     350         109 :   conf.doubles.push_back(param);
+     351             : 
+     352         109 :   param.name  = "km";
+     353         109 :   param.value = it->second.km;
+     354         109 :   conf.doubles.push_back(param);
+     355             : 
+     356         109 :   param.name  = "km_lim";
+     357         109 :   param.value = it->second.km_lim;
+     358         109 :   conf.doubles.push_back(param);
+     359             : 
+     360         218 :   dynamic_reconfigure::ReconfigureRequest  srv_req;
+     361         218 :   dynamic_reconfigure::ReconfigureResponse srv_resp;
+     362             : 
+     363         109 :   srv_req.config = conf;
+     364             : 
+     365         218 :   dynamic_reconfigure::Reconfigure reconf;
+     366         109 :   reconf.request = srv_req;
+     367             : 
+     368         109 :   ROS_INFO_THROTTLE(1.0, "[GainManager]: setting up gains for '%s'", gains_name.c_str());
+     369             : 
+     370         109 :   bool res = service_client_set_gains_.call(reconf);
+     371             : 
+     372         109 :   if (!res) {
+     373             : 
+     374           0 :     ROS_WARN_THROTTLE(1.0, "[GainManager]: the service for setting gains has failed!");
+     375           0 :     return false;
+     376             : 
+     377             :   } else {
+     378             : 
+     379         109 :     mrs_lib::set_mutexed(mutex_current_gains_, gains_name, current_gains_);
+     380             : 
+     381         109 :     return true;
+     382             :   }
+     383             : }
+     384             : 
+     385             : //}
+     386             : 
+     387             : // --------------------------------------------------------------
+     388             : // |                          callbacks                         |
+     389             : // --------------------------------------------------------------
+     390             : 
+     391             : // | -------------------- service callbacks ------------------- |
+     392             : 
+     393             : /* //{ callbackSetGains() */
+     394             : 
+     395           2 : bool GainManager::callbackSetGains(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+     396             : 
+     397           2 :   if (!is_initialized_) {
+     398           0 :     return false;
+     399             :   }
+     400             : 
+     401           4 :   std::stringstream ss;
+     402             : 
+     403           2 :   if (!sh_estimation_diag_.hasMsg()) {
+     404             : 
+     405           0 :     ss << "missing estimation diagnostics";
+     406             : 
+     407           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[GainManager]: " << ss.str());
+     408             : 
+     409           0 :     res.message = ss.str();
+     410           0 :     res.success = false;
+     411           0 :     return true;
+     412             :   }
+     413             : 
+     414           4 :   auto estimation_diagnostics = sh_estimation_diag_.getMsg();
+     415             : 
+     416           2 :   if (!stringInVector(req.value, _gain_names_)) {
+     417             : 
+     418           1 :     ss << "the gains '" << req.value.c_str() << "' do not exist (in the GainManager's config)";
+     419             : 
+     420           1 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[GainManager]: " << ss.str());
+     421             : 
+     422           1 :     res.message = ss.str();
+     423           1 :     res.success = false;
+     424           1 :     return true;
+     425             :   }
+     426             : 
+     427           1 :   if (!stringInVector(req.value, _map_type_allowed_gains_.at(estimation_diagnostics->current_state_estimator))) {
+     428             : 
+     429           0 :     ss << "the gains '" << req.value.c_str() << "' are not allowed given the current state estimator";
+     430             : 
+     431           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[GainManager]: " << ss.str());
+     432             : 
+     433           0 :     res.message = ss.str();
+     434           0 :     res.success = false;
+     435           0 :     return true;
+     436             :   }
+     437             : 
+     438             :   // try to set the gains
+     439           1 :   if (!setGains(req.value)) {
+     440             : 
+     441           0 :     ss << "the Se3Controller could not set the gains";
+     442             : 
+     443           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[GainManager]: " << ss.str());
+     444             : 
+     445           0 :     res.message = ss.str();
+     446           0 :     res.success = false;
+     447           0 :     return true;
+     448             : 
+     449             :   } else {
+     450             : 
+     451           1 :     ss << "the gains '" << req.value.c_str() << "' are set";
+     452             : 
+     453           1 :     ROS_INFO_STREAM_THROTTLE(1.0, "[GainManager]: " << ss.str());
+     454             : 
+     455           1 :     res.message = ss.str();
+     456           1 :     res.success = true;
+     457           1 :     return true;
+     458             :   }
+     459             : }
+     460             : 
+     461             : //}
+     462             : 
+     463             : // --------------------------------------------------------------
+     464             : // |                           timers                           |
+     465             : // --------------------------------------------------------------
+     466             : 
+     467             : /* timerGainManagement() //{ */
+     468             : 
+     469       24218 : void GainManager::timerGainManagement(const ros::TimerEvent& event) {
+     470             : 
+     471       24218 :   if (!is_initialized_) {
+     472        5565 :     return;
+     473             :   }
+     474             : 
+     475       48436 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("gainManagementTimer", _gain_management_rate_, 0.01, event);
+     476       48436 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("GainManager::gainManagementTimer", scope_timer_logger_, scope_timer_enabled_);
+     477             : 
+     478       24218 :   if (!sh_estimation_diag_.hasMsg()) {
+     479        5565 :     return;
+     480             :   }
+     481             : 
+     482       18653 :   if (!sh_control_manager_diag_.hasMsg()) {
+     483           0 :     return;
+     484             :   }
+     485             : 
+     486       37306 :   auto estimation_diagnostics = sh_estimation_diag_.getMsg();
+     487             : 
+     488       37306 :   auto control_manager_diagnostics = sh_estimation_diag_.getMsg();
+     489             : 
+     490       37306 :   auto current_gains       = mrs_lib::get_mutexed(mutex_current_gains_, current_gains_);
+     491       18653 :   auto last_estimator_name = mrs_lib::get_mutexed(mutex_last_estimator_name_, last_estimator_name_);
+     492             : 
+     493             :   // | --- automatically set _gains_ when currrent state estimator changes -- |
+     494       18653 :   if (estimation_diagnostics->current_state_estimator != last_estimator_name) {
+     495             : 
+     496         113 :     ROS_INFO_THROTTLE(1.0, "[GainManager]: the state estimator has changed! %s -> %s", last_estimator_name_.c_str(),
+     497             :                       estimation_diagnostics->current_state_estimator.c_str());
+     498             : 
+     499         113 :     std::map<std::string, std::string>::iterator it;
+     500         113 :     it = _map_type_default_gains_.find(estimation_diagnostics->current_state_estimator);
+     501             : 
+     502         113 :     if (it == _map_type_default_gains_.end()) {
+     503             : 
+     504           0 :       ROS_WARN_THROTTLE(1.0, "[GainManager]: the state estimator '%s' was not specified in the gain_manager's config!",
+     505             :                         estimation_diagnostics->current_state_estimator.c_str());
+     506             : 
+     507             :     } else {
+     508             : 
+     509             :       // if the current gains are within the allowed estimator types, do nothing
+     510         113 :       if (stringInVector(current_gains, _map_type_allowed_gains_.at(estimation_diagnostics->current_state_estimator))) {
+     511             : 
+     512           5 :         last_estimator_name = estimation_diagnostics->current_state_estimator;
+     513             : 
+     514             :         // else, try to set the default gains
+     515             :       } else {
+     516             : 
+     517         108 :         ROS_WARN_THROTTLE(1.0, "[GainManager]: the current gains '%s' are not within the allowed gains for '%s'", current_gains.c_str(),
+     518             :                           estimation_diagnostics->current_state_estimator.c_str());
+     519             : 
+     520         108 :         if (setGains(it->second)) {
+     521             : 
+     522         108 :           last_estimator_name = estimation_diagnostics->current_state_estimator;
+     523             : 
+     524         108 :           ROS_INFO_THROTTLE(1.0, "[GainManager]: gains set to default: '%s'", it->second.c_str());
+     525             : 
+     526             :         } else {
+     527             : 
+     528           0 :           ROS_WARN_THROTTLE(1.0, "[GainManager]: could not set gains!");
+     529             :         }
+     530             :       }
+     531             :     }
+     532             :   }
+     533             : 
+     534       18653 :   mrs_lib::set_mutexed(mutex_last_estimator_name_, last_estimator_name, last_estimator_name_);
+     535             : }
+     536             : 
+     537             : //}
+     538             : 
+     539             : /* timerDiagnostics() //{ */
+     540             : 
+     541        2371 : void GainManager::timerDiagnostics(const ros::TimerEvent& event) {
+     542             : 
+     543        2371 :   if (!is_initialized_) {
+     544         543 :     return;
+     545             :   }
+     546             : 
+     547        4742 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerDiagnostics", _diagnostics_rate_, 0.01, event);
+     548        4742 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("GainManager::timerDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+     549             : 
+     550        2371 :   if (!sh_estimation_diag_.hasMsg()) {
+     551         539 :     ROS_WARN_THROTTLE(10.0, "[GainManager]: can not do gain management, missing estimator diagnostics!");
+     552         539 :     return;
+     553             :   }
+     554             : 
+     555        1832 :   if (!sh_control_manager_diag_.hasMsg()) {
+     556           0 :     ROS_WARN_THROTTLE(10.0, "[GainManager]: can not do gain management, missing control manager diagnostics!");
+     557           0 :     return;
+     558             :   }
+     559             : 
+     560        1832 :   auto current_gains = mrs_lib::get_mutexed(mutex_current_gains_, current_gains_);
+     561             : 
+     562        1832 :   if (current_gains == "") { // this could happend just before timerGainManagement() finishes
+     563           4 :     return;
+     564             :   }
+     565             : 
+     566        1828 :   auto estimation_diagnostics = sh_estimation_diag_.getMsg();
+     567             : 
+     568        1828 :   mrs_msgs::GainManagerDiagnostics diagnostics;
+     569             : 
+     570        1828 :   diagnostics.stamp        = ros::Time::now();
+     571        1828 :   diagnostics.current_name = current_gains;
+     572        1828 :   diagnostics.loaded       = _gain_names_;
+     573             : 
+     574             :   // get the available gains
+     575             :   {
+     576        1828 :     std::map<std::string, std::vector<std::string>>::iterator it;
+     577        1828 :     it = _map_type_allowed_gains_.find(estimation_diagnostics->current_state_estimator);
+     578             : 
+     579        1828 :     if (it == _map_type_allowed_gains_.end()) {
+     580           0 :       ROS_WARN_THROTTLE(1.0, "[GainManager]: the estimator name '%s' was not specified in the gain_manager's config!",
+     581             :                         estimation_diagnostics->current_state_estimator.c_str());
+     582             :     } else {
+     583        1828 :       diagnostics.available = it->second;
+     584             :     }
+     585             :   }
+     586             : 
+     587             :   // get the current gain values
+     588             :   {
+     589        1828 :     std::map<std::string, Gains_t>::iterator it;
+     590        1828 :     it = _gains_.find(current_gains);
+     591             : 
+     592        1828 :     if (it == _gains_.end()) {
+     593           0 :       ROS_ERROR("[GainManager]: current gains '%s' not found in the gain list!", current_gains.c_str());
+     594           0 :       return;
+     595             :     }
+     596             : 
+     597        1828 :     diagnostics.current_values.kpxy = it->second.kpxy;
+     598        1828 :     diagnostics.current_values.kvxy = it->second.kvxy;
+     599        1828 :     diagnostics.current_values.kaxy = it->second.kaxy;
+     600             : 
+     601        1828 :     diagnostics.current_values.kqrp = it->second.kqrp;
+     602             : 
+     603        1828 :     diagnostics.current_values.kibxy     = it->second.kibxy;
+     604        1828 :     diagnostics.current_values.kibxy_lim = it->second.kibxy_lim;
+     605             : 
+     606        1828 :     diagnostics.current_values.kiwxy     = it->second.kiwxy;
+     607        1828 :     diagnostics.current_values.kiwxy_lim = it->second.kiwxy_lim;
+     608             : 
+     609        1828 :     diagnostics.current_values.kpz = it->second.kpz;
+     610        1828 :     diagnostics.current_values.kvz = it->second.kvz;
+     611        1828 :     diagnostics.current_values.kaz = it->second.kaz;
+     612             : 
+     613        1828 :     diagnostics.current_values.kqy = it->second.kqy;
+     614             : 
+     615        1828 :     diagnostics.current_values.km     = it->second.km;
+     616        1828 :     diagnostics.current_values.km_lim = it->second.km_lim;
+     617             :   }
+     618             : 
+     619        1828 :   ph_diagnostics_.publish(diagnostics);
+     620             : }
+     621             : 
+     622             : //}
+     623             : 
+     624             : // --------------------------------------------------------------
+     625             : // |                          routines                          |
+     626             : // --------------------------------------------------------------
+     627             : 
+     628             : /* stringInVector() //{ */
+     629             : 
+     630        2384 : bool GainManager::stringInVector(const std::string& value, const std::vector<std::string>& vector) {
+     631             : 
+     632        2384 :   if (std::find(vector.begin(), vector.end(), value) == vector.end()) {
+     633         109 :     return false;
+     634             :   } else {
+     635        2275 :     return true;
+     636             :   }
+     637             : }
+     638             : 
+     639             : //}
+     640             : 
+     641             : }  // namespace gain_manager
+     642             : 
+     643             : }  // namespace mrs_uav_managers
+     644             : 
+     645             : #include <pluginlib/class_list_macros.h>
+     646         108 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::gain_manager::GainManager, nodelet::Nodelet)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/gain_manager.cpp.gcov.overview.html b/mrs_uav_managers/src/gain_manager.cpp.gcov.overview.html new file mode 100644 index 0000000000..dedda4d668 --- /dev/null +++ b/mrs_uav_managers/src/gain_manager.cpp.gcov.overview.html @@ -0,0 +1,182 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/gain_manager.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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Test:MRS UAV System - Test coverage reportLines:1245171872.5 %
Date:2024-08-07 22:18:19Functions:647387.7 %
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null_tracker.cpp +
69.5%69.5%
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gain_manager.cpp +
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constraint_manager.cpp +
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uav_manager.cpp +
67.2%67.2%
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Test:MRS UAV System - Test coverage reportLines:1245171872.5 %
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uav_manager.cpp +
67.2%67.2%
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<unnamed>67.2 %785 / 1169100.0 %38 / 38
null_tracker.cpp +
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+ 		69.5 %41 / 5955.0 %11 / 20
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constraint_manager.cpp +
84.1%84.1%
+ 		84.1 %195 / 232100.0 %8 / 8
<unnamed>84.1 %195 / 232100.0 %8 / 8
gain_manager.cpp +
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<unnamed>86.8 %224 / 258100.0 %7 / 7
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<unnamed>84.1 %195 / 232100.0 %8 / 8
gain_manager.cpp +
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+ 		86.8 %224 / 258100.0 %7 / 7
<unnamed>86.8 %224 / 258100.0 %7 / 7
null_tracker.cpp +
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uav_manager.cpp +
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null_tracker.cpp +
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gain_manager.cpp +
86.8%86.8%
+ 		86.8 %224 / 258100.0 %7 / 7
constraint_manager.cpp +
84.1%84.1%
+ 		84.1 %195 / 232100.0 %8 / 8
uav_manager.cpp +
67.2%67.2%
+ 		67.2 %785 / 1169100.0 %38 / 38
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Test:MRS UAV System - Test coverage reportLines:1245171872.5 %
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uav_manager.cpp +
67.2%67.2%
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null_tracker.cpp +
69.5%69.5%
+ 		69.5 %41 / 5955.0 %11 / 20
constraint_manager.cpp +
84.1%84.1%
+ 		84.1 %195 / 232100.0 %8 / 8
gain_manager.cpp +
86.8%86.8%
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Test:MRS UAV System - Test coverage reportLines:1245171872.5 %
Date:2024-08-07 22:18:19Functions:647387.7 %
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constraint_manager.cpp +
84.1%84.1%
+ 		84.1 %195 / 232100.0 %8 / 8
gain_manager.cpp +
86.8%86.8%
+ 		86.8 %224 / 258100.0 %7 / 7
null_tracker.cpp +
69.5%69.5%
+ 		69.5 %41 / 5955.0 %11 / 20
uav_manager.cpp +
67.2%67.2%
+ 		67.2 %785 / 1169100.0 %38 / 38
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Current view:top level - mrs_uav_managers/src - null_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:415969.5 %
Date:2024-08-07 22:18:19Functions:112055.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::NullTracker::resetStatic()0
mrs_uav_managers::NullTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_managers::NullTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)6
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_managers::NullTracker::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)108
mrs_uav_managers::NullTracker::~NullTracker()108
mrs_uav_managers::NullTracker::~NullTracker().2108
mrs_uav_managers::NullTracker::deactivate()239
mrs_uav_managers::NullTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)243
mrs_uav_managers::NullTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)312
mrs_uav_managers::NullTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)379
mrs_uav_managers::NullTracker::getStatus()7259
mrs_uav_managers::NullTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)138752
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Current view:top level - mrs_uav_managers/src - null_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:415969.5 %
Date:2024-08-07 22:18:19Functions:112055.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_managers::NullTracker::deactivate()239
mrs_uav_managers::NullTracker::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)108
mrs_uav_managers::NullTracker::resetStatic()0
mrs_uav_managers::NullTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)379
mrs_uav_managers::NullTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)312
mrs_uav_managers::NullTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_managers::NullTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)6
mrs_uav_managers::NullTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)138752
mrs_uav_managers::NullTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)243
mrs_uav_managers::NullTracker::getStatus()7259
mrs_uav_managers::NullTracker::~NullTracker()108
mrs_uav_managers::NullTracker::~NullTracker().2108
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src - null_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:415969.5 %
Date:2024-08-07 22:18:19Functions:112055.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #include <ros/ros.h>
+       2             : 
+       3             : #include <mrs_uav_managers/tracker.h>
+       4             : 
+       5             : namespace mrs_uav_managers
+       6             : {
+       7             : 
+       8             : /* //{ class NullTracker */
+       9             : 
+      10             : class NullTracker : public mrs_uav_managers::Tracker {
+      11             : 
+      12             : public:
+      13         216 :   ~NullTracker(){};
+      14             : 
+      15             :   bool initialize(const ros::NodeHandle &parent_nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      16             :                   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
+      17             : 
+      18             :   std::tuple<bool, std::string> activate([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd);
+      19             :   void                          deactivate(void);
+      20             :   bool                          resetStatic(void);
+      21             : 
+      22             :   std::optional<mrs_msgs::TrackerCommand>   update(const mrs_msgs::UavState &uav_state, const Controller::ControlOutput &last_control_output);
+      23             :   const mrs_msgs::TrackerStatus             getStatus();
+      24             :   const std_srvs::SetBoolResponse::ConstPtr enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd);
+      25             :   const std_srvs::TriggerResponse::ConstPtr switchOdometrySource(const mrs_msgs::UavState &new_uav_state);
+      26             : 
+      27             :   const mrs_msgs::ReferenceSrvResponse::ConstPtr           setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd);
+      28             :   const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr   setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd);
+      29             :   const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr setTrajectoryReference(const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd);
+      30             : 
+      31             :   const std_srvs::TriggerResponse::ConstPtr hover(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      32             :   const std_srvs::TriggerResponse::ConstPtr startTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      33             :   const std_srvs::TriggerResponse::ConstPtr stopTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      34             :   const std_srvs::TriggerResponse::ConstPtr resumeTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      35             :   const std_srvs::TriggerResponse::ConstPtr gotoTrajectoryStart(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      36             : 
+      37             :   const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd);
+      38             : 
+      39             : private:
+      40             :   ros::NodeHandle nh_;
+      41             :   bool            is_active         = false;
+      42             :   bool            is_initialized    = false;
+      43             :   bool            callbacks_enabled = false;
+      44             : 
+      45             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers;
+      46             : };
+      47             : 
+      48             : //}
+      49             : 
+      50             : // | ------------------- trackers interface ------------------- |
+      51             : 
+      52             : /* //{ initialize() */
+      53             : 
+      54         108 : bool NullTracker::initialize(const ros::NodeHandle &                                                                parent_nh,
+      55             :                              [[maybe_unused]] std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>  common_handlers,
+      56             :                              [[maybe_unused]] std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers) {
+      57             : 
+      58         216 :   ros::NodeHandle nh_(parent_nh, "null_tracker");
+      59             : 
+      60         108 :   ros::Time::waitForValid();
+      61             : 
+      62         108 :   is_initialized = true;
+      63             : 
+      64         108 :   this->common_handlers = common_handlers;
+      65             : 
+      66         108 :   ROS_INFO("[NullTracker]: initialized");
+      67             : 
+      68         216 :   return true;
+      69             : }
+      70             : 
+      71             : //}
+      72             : 
+      73             : /* //{ activate() */
+      74             : 
+      75         243 : std::tuple<bool, std::string> NullTracker::activate([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd) {
+      76             : 
+      77         243 :   std::stringstream ss;
+      78         243 :   ss << "activated";
+      79             : 
+      80         243 :   ROS_INFO_STREAM("[NullTracker]: " << ss.str());
+      81         243 :   is_active = true;
+      82             : 
+      83         486 :   return std::tuple(true, ss.str());
+      84             : }
+      85             : 
+      86             : //}
+      87             : 
+      88             : /* //{ deactivate() */
+      89             : 
+      90         239 : void NullTracker::deactivate(void) {
+      91             : 
+      92         239 :   ROS_INFO("[NullTracker]: deactivated");
+      93         239 :   is_active = false;
+      94         239 : }
+      95             : 
+      96             : //}
+      97             : 
+      98             : /* //{ resetStatic() */
+      99             : 
+     100           0 : bool NullTracker::resetStatic(void) {
+     101           0 :   return false;
+     102             : }
+     103             : 
+     104             : //}
+     105             : 
+     106             : /* switchOdometrySource() //{ */
+     107             : 
+     108           0 : const std_srvs::TriggerResponse::ConstPtr NullTracker::switchOdometrySource([[maybe_unused]] const mrs_msgs::UavState &new_uav_state) {
+     109           0 :   return std_srvs::TriggerResponse::Ptr();
+     110             : }
+     111             : 
+     112             : //}
+     113             : 
+     114             : /* //{ update() */
+     115             : 
+     116      138752 : std::optional<mrs_msgs::TrackerCommand> NullTracker::update([[maybe_unused]] const mrs_msgs::UavState &       uav_state,
+     117             :                                                             [[maybe_unused]] const Controller::ControlOutput &last_control_output) {
+     118             : 
+     119      138752 :   return {};
+     120             : }
+     121             : 
+     122             : //}
+     123             : 
+     124             : /* //{ getStatus() */
+     125             : 
+     126        7259 : const mrs_msgs::TrackerStatus NullTracker::getStatus() {
+     127             : 
+     128        7259 :   mrs_msgs::TrackerStatus tracker_status;
+     129             : 
+     130        7259 :   tracker_status.active            = is_active;
+     131        7259 :   tracker_status.callbacks_enabled = callbacks_enabled;
+     132             : 
+     133        7259 :   return tracker_status;
+     134             : }
+     135             : 
+     136             : //}
+     137             : 
+     138             : /* //{ enableCallbacks() */
+     139             : 
+     140         312 : const std_srvs::SetBoolResponse::ConstPtr NullTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     141             : 
+     142         624 :   std_srvs::SetBoolResponse res;
+     143             : 
+     144         312 :   std::stringstream ss;
+     145             : 
+     146         312 :   if (cmd->data != callbacks_enabled) {
+     147             : 
+     148          13 :     callbacks_enabled = cmd->data;
+     149             : 
+     150          13 :     ss << "callbacks " << (callbacks_enabled ? "enabled" : "disabled");
+     151             : 
+     152          13 :     ROS_DEBUG_STREAM("[NullTracker]: " << ss.str());
+     153             : 
+     154             :   } else {
+     155             : 
+     156         299 :     ss << "callbacks were already " << (callbacks_enabled ? "enabled" : "disabled");
+     157             :   }
+     158             : 
+     159         312 :   res.message = ss.str();
+     160         312 :   res.success = true;
+     161             : 
+     162         936 :   return std_srvs::SetBoolResponse::ConstPtr(std::make_unique<std_srvs::SetBoolResponse>(res));
+     163             : }
+     164             : 
+     165             : //}
+     166             : 
+     167             : /* //{ setReference() */
+     168             : 
+     169           0 : const mrs_msgs::ReferenceSrvResponse::ConstPtr NullTracker::setReference([[maybe_unused]] const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd) {
+     170           0 :   return mrs_msgs::ReferenceSrvResponse::Ptr();
+     171             : }
+     172             : 
+     173             : //}
+     174             : 
+     175             : /* //{ setVelocityReference() */
+     176             : 
+     177           0 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr NullTracker::setVelocityReference([
+     178             :     [maybe_unused]] const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd) {
+     179           0 :   return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+     180             : }
+     181             : 
+     182             : //}
+     183             : 
+     184             : /* //{ setTrajectoryReference() */
+     185             : 
+     186           6 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr NullTracker::setTrajectoryReference([
+     187             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     188           6 :   return mrs_msgs::TrajectoryReferenceSrvResponse::Ptr();
+     189             : }
+     190             : 
+     191             : //}
+     192             : 
+     193             : // | --------------------- other services --------------------- |
+     194             : 
+     195             : /* //{ hover() */
+     196             : 
+     197           0 : const std_srvs::TriggerResponse::ConstPtr NullTracker::hover([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     198           0 :   return std_srvs::TriggerResponse::Ptr();
+     199             : }
+     200             : 
+     201             : //}
+     202             : 
+     203             : /* //{ startTrajectoryTracking() */
+     204             : 
+     205           0 : const std_srvs::TriggerResponse::ConstPtr NullTracker::startTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     206           0 :   return std_srvs::TriggerResponse::Ptr();
+     207             : }
+     208             : 
+     209             : //}
+     210             : 
+     211             : /* //{ stopTrajectoryTracking() */
+     212             : 
+     213           0 : const std_srvs::TriggerResponse::ConstPtr NullTracker::stopTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     214           0 :   return std_srvs::TriggerResponse::Ptr();
+     215             : }
+     216             : 
+     217             : //}
+     218             : 
+     219             : /* //{ resumeTrajectoryTracking() */
+     220             : 
+     221           0 : const std_srvs::TriggerResponse::ConstPtr NullTracker::resumeTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     222           0 :   return std_srvs::TriggerResponse::Ptr();
+     223             : }
+     224             : 
+     225             : //}
+     226             : 
+     227             : /* //{ gotoTrajectoryStart() */
+     228             : 
+     229           0 : const std_srvs::TriggerResponse::ConstPtr NullTracker::gotoTrajectoryStart([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     230           0 :   return std_srvs::TriggerResponse::Ptr();
+     231             : }
+     232             : 
+     233             : //}
+     234             : 
+     235             : /* //{ setConstraints() */
+     236             : 
+     237         379 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr NullTracker::setConstraints([
+     238             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     239             : 
+     240         379 :   return mrs_msgs::DynamicsConstraintsSrvResponse::Ptr();
+     241             : }
+     242             : 
+     243             : //}
+     244             : 
+     245             : }  // namespace mrs_uav_managers
+     246             : 
+     247             : #include <pluginlib/class_list_macros.h>
+     248         108 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::NullTracker, mrs_uav_managers::Tracker)
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::transform_manager::TransformManager::getName[abi:cxx11]() const0
mrs_uav_managers::transform_manager::TransformManager::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const8
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_managers::transform_manager::TransformManager::publishLocalTf()108
mrs_uav_managers::transform_manager::TransformManager::onInit()108
mrs_uav_managers::transform_manager::TransformManager::TransformManager()108
mrs_uav_managers::transform_manager::TransformManager::getPrintName[abi:cxx11]() const1757
mrs_uav_managers::transform_manager::TransformManager::callbackRtkGps(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)2694
mrs_uav_managers::transform_manager::TransformManager::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)80482
mrs_uav_managers::transform_manager::TransformManager::callbackAltitudeAmsl(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>)106141
mrs_uav_managers::transform_manager::TransformManager::callbackHeightAgl(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>)156970
mrs_uav_managers::transform_manager::TransformManager::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)172661
mrs_uav_managers::transform_manager::TransformManager::publishFcuUntiltedTf(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)232711
mrs_uav_managers::transform_manager::TransformManager::callbackHwApiOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)232711
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/transform_manager - transform_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:35543082.6 %
Date:2024-08-07 22:18:19Functions:131492.9 %
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_managers::transform_manager::TransformManager::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)80482
mrs_uav_managers::transform_manager::TransformManager::callbackRtkGps(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)2694
mrs_uav_managers::transform_manager::TransformManager::publishLocalTf()108
mrs_uav_managers::transform_manager::TransformManager::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)172661
mrs_uav_managers::transform_manager::TransformManager::callbackHeightAgl(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>)156970
mrs_uav_managers::transform_manager::TransformManager::callbackAltitudeAmsl(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>)106141
mrs_uav_managers::transform_manager::TransformManager::publishFcuUntiltedTf(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)232711
mrs_uav_managers::transform_manager::TransformManager::callbackHwApiOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)232711
mrs_uav_managers::transform_manager::TransformManager::onInit()108
mrs_uav_managers::transform_manager::TransformManager::TransformManager()108
mrs_uav_managers::transform_manager::TransformManager::getPrintName[abi:cxx11]() const1757
mrs_uav_managers::transform_manager::TransformManager::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const8
mrs_uav_managers::transform_manager::TransformManager::getName[abi:cxx11]() const0
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Current view:top level - mrs_uav_managers/src/transform_manager - transform_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:35543082.6 %
Date:2024-08-07 22:18:19Functions:131492.9 %
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+
          Line data    Source code
+
+       1             : /* //{ includes */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <nodelet/nodelet.h>
+       5             : 
+       6             : #include <mrs_lib/param_loader.h>
+       7             : #include <mrs_lib/subscribe_handler.h>
+       8             : #include <mrs_lib/publisher_handler.h>
+       9             : #include <mrs_lib/attitude_converter.h>
+      10             : #include <mrs_lib/transformer.h>
+      11             : #include <mrs_lib/transform_broadcaster.h>
+      12             : #include <mrs_lib/gps_conversions.h>
+      13             : 
+      14             : #include <mrs_msgs/UavState.h>
+      15             : #include <mrs_msgs/Float64Stamped.h>
+      16             : #include <mrs_msgs/HwApiAltitude.h>
+      17             : #include <mrs_msgs/RtkGps.h>
+      18             : 
+      19             : #include <tf2_ros/transform_broadcaster.h>
+      20             : #include <tf2_ros/static_transform_broadcaster.h>
+      21             : #include <geometry_msgs/TransformStamped.h>
+      22             : 
+      23             : #include <sensor_msgs/NavSatFix.h>
+      24             : 
+      25             : #include <nav_msgs/Odometry.h>
+      26             : 
+      27             : #include <memory>
+      28             : #include <string>
+      29             : 
+      30             : #include <mrs_uav_managers/estimation_manager/support.h>
+      31             : #include <mrs_uav_managers/estimation_manager/common_handlers.h>
+      32             : #include <transform_manager/tf_source.h>
+      33             : #include <transform_manager/tf_mapping_origin.h>
+      34             : 
+      35             : /*//}*/
+      36             : 
+      37             : namespace mrs_uav_managers
+      38             : {
+      39             : 
+      40             : namespace transform_manager
+      41             : {
+      42             : 
+      43             : /*//{ class TransformManager */
+      44             : class TransformManager : public nodelet::Nodelet {
+      45             : 
+      46             :   using Support = estimation_manager::Support;
+      47             : 
+      48             : public:
+      49         108 :   TransformManager() {
+      50         108 :     ch_ = std::make_shared<estimation_manager::CommonHandlers_t>();
+      51             : 
+      52         108 :     ch_->nodelet_name = nodelet_name_;
+      53         108 :     ch_->package_name = package_name_;
+      54         108 :   }
+      55             : 
+      56             :   void onInit();
+      57             :   bool is_initialized_ = false;
+      58             : 
+      59             :   std::string getName() const;
+      60             : 
+      61             :   std::string getPrintName() const;
+      62             : 
+      63             : private:
+      64             :   std::string _custom_config_;
+      65             :   std::string _platform_config_;
+      66             :   std::string _world_config_;
+      67             : 
+      68             :   const std::string package_name_ = "mrs_uav_managers";
+      69             :   const std::string nodelet_name_ = "TransformManager";
+      70             :   const std::string name_         = "transform_manager";
+      71             : 
+      72             :   bool publish_fcu_untilted_tf_;
+      73             : 
+      74             :   std::string ns_local_origin_parent_frame_id_;
+      75             :   std::string ns_local_origin_child_frame_id_;
+      76             :   bool        publish_local_origin_tf_;
+      77             : 
+      78             :   std::string ns_stable_origin_parent_frame_id_;
+      79             :   std::string ns_stable_origin_child_frame_id_;
+      80             :   bool        publish_stable_origin_tf_;
+      81             : 
+      82             :   std::string         ns_fixed_origin_parent_frame_id_;
+      83             :   std::string         ns_fixed_origin_child_frame_id_;
+      84             :   bool                publish_fixed_origin_tf_;
+      85             :   geometry_msgs::PoseStamped pose_first_;
+      86             :   geometry_msgs::Pose pose_fixed_;
+      87             :   geometry_msgs::Pose pose_fixed_diff_;
+      88             : 
+      89             :   std::string ns_amsl_origin_parent_frame_id_;
+      90             :   std::string ns_amsl_origin_child_frame_id_;
+      91             :   bool        publish_amsl_origin_tf_;
+      92             : 
+      93             :   std::string          world_origin_units_;
+      94             :   geometry_msgs::Point world_origin_;
+      95             : 
+      96             :   std::vector<std::string>               tf_source_names_, estimator_names_;
+      97             :   std::vector<std::unique_ptr<TfSource>> tf_sources_;
+      98             : 
+      99             :   std::vector<std::string> utm_source_priority_list_;
+     100             :   std::string              utm_source_name_;
+     101             : 
+     102             :   std::mutex mtx_broadcast_utm_origin_;
+     103             :   std::mutex mtx_broadcast_world_origin_;
+     104             : 
+     105             :   ros::NodeHandle nh_;
+     106             : 
+     107             :   std::shared_ptr<estimation_manager::CommonHandlers_t> ch_;
+     108             : 
+     109             :   std::shared_ptr<mrs_lib::TransformBroadcaster> broadcaster_;
+     110             :   tf2_ros::StaticTransformBroadcaster            static_broadcaster_;
+     111             : 
+     112             :   std::unique_ptr<TfMappingOrigin> tf_mapping_origin_;
+     113             : 
+     114             :   void timeoutCallback(const std::string& topic, const ros::Time& last_msg);
+     115             : 
+     116             :   mrs_lib::SubscribeHandler<mrs_msgs::UavState> sh_uav_state_;
+     117             :   void                                          callbackUavState(const mrs_msgs::UavState::ConstPtr msg);
+     118             :   std::string                                   first_frame_id_;
+     119             :   std::string                                   last_frame_id_;
+     120             :   bool                                          is_first_frame_id_set_        = false;
+     121             :   bool                                          is_local_static_tf_published_ = false;
+     122             : 
+     123             :   mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped> sh_height_agl_;
+     124             :   void                                                callbackHeightAgl(const mrs_msgs::Float64Stamped::ConstPtr msg);
+     125             : 
+     126             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude> sh_altitude_amsl_;
+     127             :   void                                               callbackAltitudeAmsl(const mrs_msgs::HwApiAltitude::ConstPtr msg);
+     128             : 
+     129             :   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_hw_api_orientation_;
+     130             :   void                                                        callbackHwApiOrientation(const geometry_msgs::QuaternionStamped::ConstPtr msg);
+     131             : 
+     132             :   mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix> sh_gnss_;
+     133             :   void                                              callbackGnss(const sensor_msgs::NavSatFix::ConstPtr msg);
+     134             :   std::atomic<bool>                                 got_utm_offset_ = false;
+     135             : 
+     136             :   mrs_lib::SubscribeHandler<mrs_msgs::RtkGps> sh_rtk_gps_;
+     137             :   void                                        callbackRtkGps(const mrs_msgs::RtkGps::ConstPtr msg);
+     138             : 
+     139             :   std::optional<geometry_msgs::Pose> transformRtkToFcu(const geometry_msgs::PoseStamped& pose_in) const;
+     140             : 
+     141             :   void publishFcuUntiltedTf(const geometry_msgs::QuaternionStampedConstPtr& msg);
+     142             : 
+     143             :   void publishLocalTf();
+     144             : };
+     145             : /*//}*/
+     146             : 
+     147             : 
+     148             : /*//{ onInit() */
+     149         108 : void TransformManager::onInit() {
+     150             : 
+     151         108 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     152             : 
+     153         108 :   ros::Time::waitForValid();
+     154             : 
+     155         108 :   ROS_INFO("[%s]: initializing", getPrintName().c_str());
+     156             : 
+     157         108 :   broadcaster_ = std::make_shared<mrs_lib::TransformBroadcaster>();
+     158             : 
+     159         108 :   ch_->transformer = std::make_shared<mrs_lib::Transformer>(nh_, getPrintName());
+     160         108 :   ch_->transformer->retryLookupNewest(true);
+     161             : 
+     162         216 :   mrs_lib::ParamLoader param_loader(nh_, getPrintName());
+     163             : 
+     164         108 :   param_loader.loadParam("custom_config", _custom_config_);
+     165         108 :   param_loader.loadParam("platform_config", _platform_config_);
+     166         108 :   param_loader.loadParam("world_config", _world_config_);
+     167             : 
+     168         108 :   if (_custom_config_ != "") {
+     169         108 :     param_loader.addYamlFile(_custom_config_);
+     170             :   }
+     171             : 
+     172         108 :   if (_platform_config_ != "") {
+     173         108 :     param_loader.addYamlFile(_platform_config_);
+     174             :   }
+     175             : 
+     176         108 :   if (_world_config_ != "") {
+     177         108 :     param_loader.addYamlFile(_world_config_);
+     178             :   }
+     179             : 
+     180         108 :   param_loader.addYamlFileFromParam("private_config");
+     181         108 :   param_loader.addYamlFileFromParam("public_config");
+     182         108 :   param_loader.addYamlFileFromParam("estimators_config");
+     183             : 
+     184         216 :   const std::string yaml_prefix = "mrs_uav_managers/transform_manager/";
+     185             : 
+     186         108 :   param_loader.loadParam("uav_name", ch_->uav_name);
+     187             : 
+     188             :   /*//{ initialize scope timer */
+     189         108 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", ch_->scope_timer.enabled);
+     190         216 :   std::string       filepath;
+     191         216 :   const std::string time_logger_filepath = ros::package::getPath(package_name_) + "/scope_timer/transform_manager_scope_timer.txt";
+     192         108 :   ch_->scope_timer.logger                = std::make_shared<mrs_lib::ScopeTimerLogger>(time_logger_filepath, ch_->scope_timer.enabled);
+     193             :   /*//}*/
+     194             : 
+     195             :   /*//{ load world_origin parameters */
+     196             : 
+     197         108 :   bool   is_origin_param_ok = true;
+     198         108 :   double world_origin_x     = 0;
+     199         108 :   double world_origin_y     = 0;
+     200             : 
+     201         108 :   param_loader.loadParam("world_origin/units", world_origin_units_);
+     202             : 
+     203         108 :   if (Support::toLowercase(world_origin_units_) == "utm") {
+     204             : 
+     205           0 :     ROS_INFO("[%s]: Loading world origin in UTM units.", getPrintName().c_str());
+     206             : 
+     207           0 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_x", world_origin_x);
+     208           0 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_y", world_origin_y);
+     209             : 
+     210         108 :   } else if (Support::toLowercase(world_origin_units_) == "latlon") {
+     211             : 
+     212         108 :     ROS_INFO("[%s]: Loading world origin in LatLon units.", getPrintName().c_str());
+     213             : 
+     214             :     double lat, lon;
+     215         108 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_x", lat);
+     216         108 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_y", lon);
+     217             : 
+     218         108 :     mrs_lib::UTM(lat, lon, &world_origin_x, &world_origin_y);
+     219             : 
+     220         108 :     ROS_INFO("[%s]: Converted to UTM x: %f, y: %f.", getPrintName().c_str(), world_origin_x, world_origin_y);
+     221             : 
+     222             :   } else {
+     223           0 :     ROS_ERROR("[%s]: world_origin/units must be (\"UTM\"|\"LATLON\"). Got '%s'", getPrintName().c_str(), world_origin_units_.c_str());
+     224           0 :     ros::shutdown();
+     225             :   }
+     226             : 
+     227         108 :   world_origin_.x = world_origin_x;
+     228         108 :   world_origin_.y = world_origin_y;
+     229         108 :   world_origin_.z = 0;
+     230             : 
+     231         108 :   if (!is_origin_param_ok) {
+     232           0 :     ROS_ERROR("[%s]: Could not load all mandatory parameters from world file. Please check your world file.", getPrintName().c_str());
+     233           0 :     ros::shutdown();
+     234             :   }
+     235             : 
+     236             :   /*//}*/
+     237             : 
+     238             :   /*//{ load local_origin parameters */
+     239         216 :   std::string local_origin_parent_frame_id;
+     240         108 :   param_loader.loadParam(yaml_prefix + "local_origin_tf/parent", local_origin_parent_frame_id);
+     241         108 :   ns_local_origin_parent_frame_id_ = ch_->uav_name + "/" + local_origin_parent_frame_id;
+     242             : 
+     243         216 :   std::string local_origin_child_frame_id;
+     244         108 :   param_loader.loadParam(yaml_prefix + "local_origin_tf/child", local_origin_child_frame_id);
+     245         108 :   ns_local_origin_child_frame_id_ = ch_->uav_name + "/" + local_origin_child_frame_id;
+     246             : 
+     247         108 :   param_loader.loadParam(yaml_prefix + "local_origin_tf/enabled", publish_local_origin_tf_);
+     248             :   /*//}*/
+     249             : 
+     250             :   /*//{ load stable_origin parameters */
+     251         216 :   std::string stable_origin_parent_frame_id;
+     252         108 :   param_loader.loadParam(yaml_prefix + "stable_origin_tf/parent", stable_origin_parent_frame_id);
+     253         108 :   ns_stable_origin_parent_frame_id_ = ch_->uav_name + "/" + stable_origin_parent_frame_id;
+     254             : 
+     255         216 :   std::string stable_origin_child_frame_id;
+     256         108 :   param_loader.loadParam(yaml_prefix + "stable_origin_tf/child", stable_origin_child_frame_id);
+     257         108 :   ns_stable_origin_child_frame_id_ = ch_->uav_name + "/" + stable_origin_child_frame_id;
+     258             : 
+     259         108 :   param_loader.loadParam(yaml_prefix + "stable_origin_tf/enabled", publish_stable_origin_tf_);
+     260             :   /*//}*/
+     261             : 
+     262             :   /*//{ load fixed_origin parameters */
+     263         216 :   std::string fixed_origin_parent_frame_id;
+     264         108 :   param_loader.loadParam(yaml_prefix + "fixed_origin_tf/parent", fixed_origin_parent_frame_id);
+     265         108 :   ns_fixed_origin_parent_frame_id_ = ch_->uav_name + "/" + fixed_origin_parent_frame_id;
+     266             : 
+     267         216 :   std::string fixed_origin_child_frame_id;
+     268         108 :   param_loader.loadParam(yaml_prefix + "fixed_origin_tf/child", fixed_origin_child_frame_id);
+     269         108 :   ns_fixed_origin_child_frame_id_ = ch_->uav_name + "/" + fixed_origin_child_frame_id;
+     270             : 
+     271         108 :   param_loader.loadParam(yaml_prefix + "fixed_origin_tf/enabled", publish_fixed_origin_tf_);
+     272             :   /*//}*/
+     273             : 
+     274             :   /*//{ load fcu_untilted parameters */
+     275         216 :   std::string fcu_frame_id;
+     276         108 :   param_loader.loadParam(yaml_prefix + "fcu_untilted_tf/parent", fcu_frame_id);
+     277         108 :   ch_->frames.fcu    = fcu_frame_id;
+     278         108 :   ch_->frames.ns_fcu = ch_->uav_name + "/" + fcu_frame_id;
+     279             : 
+     280         216 :   std::string fcu_untilted_frame_id;
+     281         108 :   param_loader.loadParam(yaml_prefix + "fcu_untilted_tf/child", fcu_untilted_frame_id);
+     282         108 :   ch_->frames.fcu_untilted    = fcu_untilted_frame_id;
+     283         108 :   ch_->frames.ns_fcu_untilted = ch_->uav_name + "/" + fcu_untilted_frame_id;
+     284             : 
+     285         108 :   param_loader.loadParam(yaml_prefix + "fcu_untilted_tf/enabled", publish_fcu_untilted_tf_);
+     286             :   /*//}*/
+     287             : 
+     288             :   /*//{ load amsl_origin parameters*/
+     289         216 :   std::string amsl_parent_frame_id, amsl_child_frame_id;
+     290         108 :   param_loader.loadParam(yaml_prefix + "altitude_amsl_tf/enabled", publish_amsl_origin_tf_);
+     291         108 :   param_loader.loadParam(yaml_prefix + "altitude_amsl_tf/parent", amsl_parent_frame_id);
+     292         108 :   param_loader.loadParam(yaml_prefix + "altitude_amsl_tf/child", amsl_child_frame_id);
+     293         108 :   ch_->frames.amsl                = amsl_child_frame_id;
+     294         108 :   ch_->frames.ns_amsl             = ch_->uav_name + "/" + amsl_child_frame_id;
+     295         108 :   ns_amsl_origin_parent_frame_id_ = ch_->uav_name + "/" + amsl_parent_frame_id;
+     296         108 :   ns_amsl_origin_child_frame_id_  = ch_->uav_name + "/" + amsl_child_frame_id;
+     297             : 
+     298             :   /*//}*/
+     299             : 
+     300         108 :   param_loader.loadParam(yaml_prefix + "rtk_antenna/frame_id", ch_->frames.rtk_antenna);
+     301         108 :   ch_->frames.ns_rtk_antenna = ch_->uav_name + "/" + ch_->frames.rtk_antenna;
+     302             : 
+     303         108 :   param_loader.loadParam("mrs_uav_managers/estimation_manager/state_estimators", estimator_names_);
+     304         108 :   param_loader.loadParam(yaml_prefix + "tf_sources", tf_source_names_);
+     305             : 
+     306         108 :   param_loader.loadParam(yaml_prefix + "utm_source_priority", utm_source_priority_list_);
+     307         337 :   for (auto utm_source : utm_source_priority_list_) {
+     308         336 :     if (Support::isStringInVector(utm_source, estimator_names_)) {
+     309         107 :       ROS_INFO("[%s]: the source for utm_origin and world origin is: %s", getPrintName().c_str(), utm_source.c_str());
+     310         107 :       utm_source_name_ = utm_source;
+     311         107 :       break;
+     312             :     }
+     313             :   }
+     314             : 
+     315             :   /*//{ initialize tf sources */
+     316         108 :   for (size_t i = 0; i < tf_source_names_.size(); i++) {
+     317             : 
+     318           0 :     const std::string tf_source_name = tf_source_names_[i];
+     319           0 :     const bool        is_utm_source  = tf_source_name == utm_source_name_;
+     320             : 
+     321           0 :     ROS_INFO("[%s]: loading tf source: %s", getPrintName().c_str(), tf_source_name.c_str());
+     322             : 
+     323           0 :     auto source_param_loader = std::make_shared<mrs_lib::ParamLoader>(nh_, "TransformManager/" + tf_source_name);
+     324             : 
+     325           0 :     if (_custom_config_ != "") {
+     326           0 :       source_param_loader->addYamlFile(_custom_config_);
+     327             :     }
+     328             : 
+     329           0 :     if (_platform_config_ != "") {
+     330           0 :       source_param_loader->addYamlFile(_platform_config_);
+     331             :     }
+     332             : 
+     333           0 :     if (_world_config_ != "") {
+     334           0 :       source_param_loader->addYamlFile(_world_config_);
+     335             :     }
+     336             : 
+     337           0 :     source_param_loader->addYamlFileFromParam("private_config");
+     338           0 :     source_param_loader->addYamlFileFromParam("public_config");
+     339           0 :     source_param_loader->addYamlFileFromParam("estimators_config");
+     340             : 
+     341           0 :     tf_sources_.push_back(std::make_unique<TfSource>(tf_source_name, nh_, source_param_loader, broadcaster_, ch_, is_utm_source));
+     342             :   }
+     343             : 
+     344             :   // additionally publish tf of all available estimators
+     345         224 :   for (int i = 0; i < int(estimator_names_.size()); i++) {
+     346             : 
+     347         232 :     const std::string estimator_name = estimator_names_[i];
+     348         116 :     const bool        is_utm_source  = estimator_name == utm_source_name_;
+     349         116 :     ROS_INFO("[%s]: loading tf source of estimator: %s", getPrintName().c_str(), estimator_name.c_str());
+     350             : 
+     351         116 :     auto estimator_param_loader = std::make_shared<mrs_lib::ParamLoader>(nh_, "TransformManager/" + estimator_name);
+     352             : 
+     353         116 :     if (_custom_config_ != "") {
+     354         116 :       estimator_param_loader->addYamlFile(_custom_config_);
+     355             :     }
+     356             : 
+     357         116 :     if (_platform_config_ != "") {
+     358         116 :       estimator_param_loader->addYamlFile(_platform_config_);
+     359             :     }
+     360             : 
+     361         116 :     if (_world_config_ != "") {
+     362         116 :       estimator_param_loader->addYamlFile(_world_config_);
+     363             :     }
+     364             : 
+     365         116 :     estimator_param_loader->addYamlFileFromParam("private_config");
+     366         116 :     estimator_param_loader->addYamlFileFromParam("public_config");
+     367         116 :     estimator_param_loader->addYamlFileFromParam("estimators_config");
+     368             : 
+     369         116 :     tf_sources_.push_back(std::make_unique<TfSource>(estimator_name, nh_, estimator_param_loader, broadcaster_, ch_, is_utm_source));
+     370             :   }
+     371             : 
+     372             :   // initialize mapping_origin tf
+     373             :   bool mapping_origin_tf_enabled;
+     374         108 :   param_loader.loadParam(yaml_prefix + "mapping_origin_tf/enabled", mapping_origin_tf_enabled, false);
+     375             : 
+     376         108 :   if (mapping_origin_tf_enabled) {
+     377             : 
+     378           0 :     auto mapping_param_loader = std::make_shared<mrs_lib::ParamLoader>(nh_, "TransformManager/mapping_origin_tf");
+     379             : 
+     380           0 :     if (_custom_config_ != "") {
+     381           0 :       mapping_param_loader->addYamlFile(_custom_config_);
+     382             :     }
+     383             : 
+     384           0 :     if (_platform_config_ != "") {
+     385           0 :       mapping_param_loader->addYamlFile(_platform_config_);
+     386             :     }
+     387             : 
+     388           0 :     if (_world_config_ != "") {
+     389           0 :       mapping_param_loader->addYamlFile(_world_config_);
+     390             :     }
+     391             : 
+     392           0 :     mapping_param_loader->addYamlFileFromParam("private_config");
+     393           0 :     mapping_param_loader->addYamlFileFromParam("public_config");
+     394           0 :     mapping_param_loader->addYamlFileFromParam("estimators_config");
+     395             : 
+     396           0 :     tf_mapping_origin_ = std::make_unique<TfMappingOrigin>(nh_, mapping_param_loader, broadcaster_, ch_);
+     397             :   }
+     398             : 
+     399             :   //}
+     400             : 
+     401             :   /*//{ initialize subscribers */
+     402         216 :   mrs_lib::SubscribeHandlerOptions shopts;
+     403         108 :   shopts.nh                 = nh_;
+     404         108 :   shopts.node_name          = getPrintName();
+     405         108 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     406         108 :   shopts.threadsafe         = true;
+     407         108 :   shopts.autostart          = true;
+     408         108 :   shopts.queue_size         = 10;
+     409         108 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     410             : 
+     411         108 :   sh_uav_state_ = mrs_lib::SubscribeHandler<mrs_msgs::UavState>(shopts, "uav_state_in", &TransformManager::callbackUavState, this);
+     412             : 
+     413         108 :   sh_height_agl_ = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "height_agl_in", &TransformManager::callbackHeightAgl, this);
+     414             : 
+     415         108 :   sh_altitude_amsl_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude>(shopts, "altitude_amsl_in", &TransformManager::callbackAltitudeAmsl, this);
+     416             : 
+     417             :   sh_hw_api_orientation_ =
+     418         108 :       mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, "orientation_in", &TransformManager::callbackHwApiOrientation, this);
+     419             : 
+     420         108 :   if (utm_source_name_ == "rtk" || utm_source_name_ == "rtk_garmin") {
+     421           3 :     sh_rtk_gps_ = mrs_lib::SubscribeHandler<mrs_msgs::RtkGps>(shopts, "rtk_gps_in", &TransformManager::callbackRtkGps, this);
+     422             :   } else {
+     423         105 :     sh_gnss_ = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, "gnss_in", &TransformManager::callbackGnss, this);
+     424             :   }
+     425             :   /*//}*/
+     426             : 
+     427         108 :   if (!param_loader.loadedSuccessfully()) {
+     428           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+     429           0 :     ros::shutdown();
+     430             :   }
+     431             : 
+     432         108 :   is_initialized_ = true;
+     433         108 :   ROS_INFO("[%s]: initialized", getPrintName().c_str());
+     434         108 : }
+     435             : /*//}*/
+     436             : 
+     437             : /*//{ callbackUavState() */
+     438             : 
+     439      172661 : void TransformManager::callbackUavState(const mrs_msgs::UavState::ConstPtr msg) {
+     440             : 
+     441      172661 :   if (!is_initialized_) {
+     442        1052 :     return;
+     443             :   }
+     444             : 
+     445      345322 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::publishFcuUntilted", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     446             : 
+     447             :   // obtain first frame_id
+     448      172661 :   if (!is_first_frame_id_set_) {
+     449         108 :     first_frame_id_                = msg->header.frame_id;
+     450         108 :     last_frame_id_                 = msg->header.frame_id;
+     451         108 :     pose_fixed_                    = msg->pose;
+     452         108 :     pose_first_.pose               = msg->pose;
+     453         108 :     pose_first_.header             = msg->header;
+     454         108 :     pose_fixed_diff_.orientation.w = 1;
+     455             : 
+     456         108 :     is_first_frame_id_set_ = true;
+     457             :   }
+     458             : 
+     459             :   // publish static tf from fixed_origin to local_origin based on the first message
+     460      172661 :   if (publish_local_origin_tf_ && !is_local_static_tf_published_) {
+     461         108 :     publishLocalTf();
+     462             :   }
+     463             : 
+     464      172661 :   if (publish_stable_origin_tf_) {
+     465             :     /*//{ publish stable_origin tf*/
+     466      172661 :     geometry_msgs::TransformStamped tf_msg;
+     467      172661 :     tf_msg.header.stamp    = msg->header.stamp;
+     468      172661 :     tf_msg.header.frame_id = ns_stable_origin_parent_frame_id_;
+     469      172661 :     tf_msg.child_frame_id  = ns_stable_origin_child_frame_id_;
+     470             : 
+     471             :     // transform pose to first frame_id
+     472      172661 :     geometry_msgs::PoseStamped pose;
+     473      172661 :     pose.header = msg->header;
+     474      172661 :     pose.pose   = msg->pose;
+     475      172661 :     if (pose.pose.orientation.w == 0 && pose.pose.orientation.z == 0 && pose.pose.orientation.y == 0 && pose.pose.orientation.x == 0) {
+     476           1 :       ROS_WARN_ONCE("[%s]: Uninitialized quaternion detected during publishing stable_origin tf of %s. Setting w=1", getPrintName().c_str(),
+     477             :                     pose.header.frame_id.c_str());
+     478           1 :       pose.pose.orientation.w = 1.0;
+     479             :     }
+     480             : 
+     481      172661 :     auto res = ch_->transformer->transformSingle(pose, first_frame_id_);
+     482             : 
+     483      172661 :     if (res) {
+     484      171609 :       const tf2::Transform      tf       = Support::tf2FromPose(res->pose);
+     485      171609 :       const tf2::Transform      tf_inv   = tf.inverse();
+     486      171609 :       const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     487      171609 :       tf_msg.transform.translation       = Support::pointToVector3(pose_inv.position);
+     488      171609 :       tf_msg.transform.rotation          = pose_inv.orientation;
+     489             : 
+     490      171609 :       if (Support::noNans(tf_msg)) {
+     491             :         try {
+     492      171609 :           broadcaster_->sendTransform(tf_msg);
+     493             :         }
+     494           0 :         catch (...) {
+     495           0 :           ROS_ERROR("exception caught ");
+     496             :         }
+     497             :       } else {
+     498           0 :         ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     499             :                           tf_msg.child_frame_id.c_str());
+     500             :       }
+     501      171609 :       ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     502             :                     tf_msg.child_frame_id.c_str());
+     503             :     } else {
+     504        1052 :       ROS_ERROR_THROTTLE(1.0, "[%s]: Could not transform pose to %s. Not publishing stable_origin transform.", getPrintName().c_str(), first_frame_id_.c_str());
+     505        1052 :       return;
+     506             :     }
+     507             :     /*//}*/
+     508             :   }
+     509             : 
+     510      171609 :   if (publish_fixed_origin_tf_) {
+     511             :     /*//{ publish fixed_origin tf*/
+     512      171609 :     if (msg->header.frame_id != last_frame_id_) {
+     513           5 :       ROS_WARN("[%s]: Detected estimator change from %s to %s. Updating offset for fixed origin.", getPrintName().c_str(), last_frame_id_.c_str(),
+     514             :                msg->header.frame_id.c_str());
+     515             : 
+     516           5 :       pose_fixed_diff_ = Support::getPoseDiff(msg->pose, pose_fixed_);
+     517             :     }
+     518             : 
+     519             : 
+     520      171609 :     pose_fixed_ = Support::applyPoseDiff(msg->pose, pose_fixed_diff_);
+     521             : 
+     522      343218 :     geometry_msgs::TransformStamped tf_msg;
+     523      171609 :     tf_msg.header.stamp    = msg->header.stamp;
+     524      171609 :     tf_msg.header.frame_id = ns_fixed_origin_parent_frame_id_;
+     525      171609 :     tf_msg.child_frame_id  = ns_fixed_origin_child_frame_id_;
+     526             : 
+     527      171609 :     const tf2::Transform      tf       = Support::tf2FromPose(pose_fixed_);
+     528      171609 :     const tf2::Transform      tf_inv   = tf.inverse();
+     529      171609 :     const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     530      171609 :     tf_msg.transform.translation       = Support::pointToVector3(pose_inv.position);
+     531      171609 :     tf_msg.transform.rotation          = pose_inv.orientation;
+     532             : 
+     533      171609 :     if (Support::noNans(tf_msg)) {
+     534             :       try {
+     535      171609 :         broadcaster_->sendTransform(tf_msg);
+     536             :       }
+     537           0 :       catch (...) {
+     538           0 :         ROS_ERROR("exception caught ");
+     539             :       }
+     540             :     } else {
+     541           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     542             :                         tf_msg.child_frame_id.c_str());
+     543             :     }
+     544      171609 :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     545             :                   tf_msg.child_frame_id.c_str());
+     546             :     /*//}*/
+     547             :   }
+     548             : 
+     549             :   /*//{ choose another source of utm and world tfs after estimator switch */
+     550      171609 :   if (msg->header.frame_id != last_frame_id_) {
+     551             : 
+     552          10 :     const std::string last_estimator_name    = Support::frameIdToEstimatorName(last_frame_id_);
+     553          10 :     const std::string current_estimator_name = Support::frameIdToEstimatorName(msg->header.frame_id);
+     554             : 
+     555           5 :     ROS_INFO("[%s]: Detected estimator switch: %s -> %s", getPrintName().c_str(), last_estimator_name.c_str(), current_estimator_name.c_str());
+     556             : 
+     557           5 :     bool   valid_utm_source_found = false;
+     558             :     size_t potential_utm_source_index;
+     559             : 
+     560          12 :     for (size_t i = 0; i < tf_sources_.size(); i++) {
+     561             : 
+     562             :       // first check if tf source can publish utm origin and is not the switched-from estimator
+     563          12 :       if (tf_sources_.at(i)->getIsUtmBased() && tf_sources_.at(i)->getName() != last_estimator_name) {
+     564             : 
+     565           8 :         valid_utm_source_found     = true;
+     566           8 :         potential_utm_source_index = i;
+     567             : 
+     568             :         // check if switched-to estimator is utm_based, if so, use it
+     569           8 :         if (tf_sources_.at(i)->getIsUtmBased() && tf_sources_.at(i)->getName() == current_estimator_name) {
+     570           5 :           potential_utm_source_index = i;
+     571           5 :           break;
+     572             :         }
+     573             :       }
+     574             :     }
+     575             : 
+     576             : 
+     577             :     // if we found a valid utm source, use it, otherwise stay with the switched-from estimator
+     578           5 :     if (valid_utm_source_found) {
+     579             : 
+     580             :       // stop all estimators from publishing utm source
+     581          23 :       for (size_t i = 0; i < tf_sources_.size(); i++) {
+     582          18 :         if (tf_sources_.at(i)->getIsUtmSource()) {
+     583           5 :           tf_sources_.at(i)->setIsUtmSource(false);
+     584           5 :           ROS_INFO("[%s]: setting is_utm_source of estimator %s to false", getPrintName().c_str(), last_estimator_name.c_str());
+     585             :         }
+     586             :       }
+     587             : 
+     588           5 :       tf_sources_.at(potential_utm_source_index)->setIsUtmSource(true);
+     589           5 :       ROS_INFO("[%s]: setting is_utm_source of estimator %s to true", getPrintName().c_str(), current_estimator_name.c_str());
+     590             :     }
+     591             :   }
+     592             :   /*//}*/
+     593             : 
+     594      171609 :   last_frame_id_ = msg->header.frame_id;
+     595             : }
+     596             : /*//}*/
+     597             : 
+     598             : /*//{ callbackHeightAgl() */
+     599             : 
+     600      156970 : void TransformManager::callbackHeightAgl(const mrs_msgs::Float64Stamped::ConstPtr msg) {
+     601             : 
+     602      156970 :   if (!is_initialized_) {
+     603           0 :     return;
+     604             :   }
+     605             : 
+     606      470910 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackHeightAgl", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     607             : 
+     608      313940 :   geometry_msgs::TransformStamped tf_msg;
+     609      156970 :   tf_msg.header.stamp    = msg->header.stamp;
+     610      156970 :   tf_msg.header.frame_id = ch_->frames.ns_fcu_untilted;
+     611      156970 :   tf_msg.child_frame_id  = msg->header.frame_id;
+     612             : 
+     613      156970 :   tf_msg.transform.translation.x = 0;
+     614      156970 :   tf_msg.transform.translation.y = 0;
+     615      156970 :   tf_msg.transform.translation.z = -msg->value;
+     616      156970 :   tf_msg.transform.rotation.x    = 0;
+     617      156970 :   tf_msg.transform.rotation.y    = 0;
+     618      156970 :   tf_msg.transform.rotation.z    = 0;
+     619      156970 :   tf_msg.transform.rotation.w    = 1;
+     620             : 
+     621      156970 :   if (Support::noNans(tf_msg)) {
+     622             :     try {
+     623      156970 :       broadcaster_->sendTransform(tf_msg);
+     624             :     }
+     625           0 :     catch (...) {
+     626           0 :       ROS_ERROR("exception caught ");
+     627             :     }
+     628             :   } else {
+     629           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     630             :                       tf_msg.child_frame_id.c_str());
+     631             :   }
+     632      156970 :   ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     633             :                 tf_msg.child_frame_id.c_str());
+     634             : }
+     635             : /*//}*/
+     636             : 
+     637             : /*//{ callbackAltitudeAmsl() */
+     638             : 
+     639      106141 : void TransformManager::callbackAltitudeAmsl(const mrs_msgs::HwApiAltitude::ConstPtr msg) {
+     640             : 
+     641      106141 :   if (!is_initialized_) {
+     642           0 :     return;
+     643             :   }
+     644             : 
+     645      318423 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackAltitudeAmsl", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     646             : 
+     647      212282 :   geometry_msgs::TransformStamped tf_msg;
+     648      106141 :   tf_msg.header.stamp    = msg->stamp;
+     649      106141 :   tf_msg.header.frame_id = ch_->frames.ns_fcu_untilted;
+     650      106141 :   tf_msg.child_frame_id  = ch_->frames.ns_amsl;
+     651             : 
+     652      106141 :   tf_msg.transform.translation.x = 0;
+     653      106141 :   tf_msg.transform.translation.y = 0;
+     654      106141 :   tf_msg.transform.translation.z = -msg->amsl;
+     655      106141 :   tf_msg.transform.rotation.x    = 0;
+     656      106141 :   tf_msg.transform.rotation.y    = 0;
+     657      106141 :   tf_msg.transform.rotation.z    = 0;
+     658      106141 :   tf_msg.transform.rotation.w    = 1;
+     659             : 
+     660      106141 :   if (Support::noNans(tf_msg)) {
+     661             :     try {
+     662      106105 :       broadcaster_->sendTransform(tf_msg);
+     663             :     }
+     664           0 :     catch (...) {
+     665           0 :       ROS_ERROR("exception caught ");
+     666             :     }
+     667             :   } else {
+     668          36 :     ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     669             :                       tf_msg.child_frame_id.c_str());
+     670             :   }
+     671      106141 :   ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     672             :                 tf_msg.child_frame_id.c_str());
+     673             : }
+     674             : /*//}*/
+     675             : 
+     676             : /*//{ callbackHwApiOrientation() */
+     677      232711 : void TransformManager::callbackHwApiOrientation(const geometry_msgs::QuaternionStamped::ConstPtr msg) {
+     678             : 
+     679      232711 :   if (!is_initialized_) {
+     680           0 :     return;
+     681             :   }
+     682             : 
+     683      698133 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::publishFcuUntilted", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     684             : 
+     685      232711 :   if (publish_fcu_untilted_tf_) {
+     686      232711 :     publishFcuUntiltedTf(msg);
+     687             :   }
+     688             : }
+     689             : /*//}*/
+     690             : 
+     691             : /*//{ callbackGnss() */
+     692       80482 : void TransformManager::callbackGnss(const sensor_msgs::NavSatFix::ConstPtr msg) {
+     693             : 
+     694       80482 :   if (!is_initialized_) {
+     695       80377 :     return;
+     696             :   }
+     697             : 
+     698       80482 :   if (got_utm_offset_) {
+     699       80377 :     return;
+     700             :   }
+     701             : 
+     702         210 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackGnss", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     703             : 
+     704             :   double out_x;
+     705             :   double out_y;
+     706             : 
+     707         105 :   mrs_lib::UTM(msg->latitude, msg->longitude, &out_x, &out_y);
+     708             : 
+     709         105 :   if (!std::isfinite(out_x)) {
+     710           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_x\"!!!", getPrintName().c_str());
+     711           0 :     return;
+     712             :   }
+     713             : 
+     714         105 :   if (!std::isfinite(out_y)) {
+     715           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_y\"!!!", getPrintName().c_str());
+     716           0 :     return;
+     717             :   }
+     718             : 
+     719         105 :   geometry_msgs::Point utm_origin;
+     720         105 :   utm_origin.x = out_x;
+     721         105 :   utm_origin.y = out_y;
+     722         105 :   utm_origin.z = msg->altitude;
+     723             : 
+     724         105 :   ROS_INFO("[%s]: utm_origin position calculated as: x: %.2f, y: %.2f, z: %.2f from GNSS", getPrintName().c_str(), utm_origin.x, utm_origin.y, utm_origin.z);
+     725             : 
+     726         215 :   for (size_t i = 0; i < tf_sources_.size(); i++) {
+     727         110 :     tf_sources_[i]->setUtmOrigin(utm_origin);
+     728         110 :     tf_sources_[i]->setWorldOrigin(world_origin_);
+     729             :   }
+     730         105 :   got_utm_offset_ = true;
+     731             : }
+     732             : /*//}*/
+     733             : 
+     734             : /*//{ callbackRtkGps() */
+     735        2694 : void TransformManager::callbackRtkGps(const mrs_msgs::RtkGps::ConstPtr msg) {
+     736             : 
+     737        2694 :   if (!is_initialized_) {
+     738        2691 :     return;
+     739             :   }
+     740             : 
+     741        2694 :   if (got_utm_offset_) {
+     742        2686 :     return;
+     743             :   }
+     744             : 
+     745          16 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackRtkGps", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     746             : 
+     747             :   double out_x;
+     748             :   double out_y;
+     749             : 
+     750           8 :   geometry_msgs::PoseStamped rtk_pos;
+     751             : 
+     752           8 :   if (!std::isfinite(msg->gps.latitude)) {
+     753           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->latitude\"!!!", getPrintName().c_str());
+     754           0 :     return;
+     755             :   }
+     756             : 
+     757           8 :   if (!std::isfinite(msg->gps.longitude)) {
+     758           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->longitude\"!!!", getPrintName().c_str());
+     759           0 :     return;
+     760             :   }
+     761             : 
+     762           8 :   if (!std::isfinite(msg->gps.altitude)) {
+     763           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->altitude\"!!!", getPrintName().c_str());
+     764           0 :     return;
+     765             :   }
+     766             : 
+     767           8 :   if (msg->fix_type.fix_type != mrs_msgs::RtkFixType::RTK_FIX) {
+     768           0 :     ROS_INFO_THROTTLE(1.0, "[%s] %s RTK FIX", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     769           0 :     return;
+     770             :   }
+     771             : 
+     772           8 :   rtk_pos.header = msg->header;
+     773           8 :   mrs_lib::UTM(msg->gps.latitude, msg->gps.longitude, &rtk_pos.pose.position.x, &rtk_pos.pose.position.y);
+     774           8 :   rtk_pos.pose.position.z  = msg->gps.altitude;
+     775           8 :   rtk_pos.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+     776             : 
+     777           8 :   rtk_pos.pose.position.x -= ch_->world_origin.x;
+     778           8 :   rtk_pos.pose.position.y -= ch_->world_origin.y;
+     779             : 
+     780             : 
+     781             :   // transform the RTK position from antenna to FCU
+     782           8 :   auto res = transformRtkToFcu(rtk_pos);
+     783           8 :   if (res) {
+     784           3 :     rtk_pos.pose = res.value();
+     785             :   } else {
+     786           5 :     ROS_ERROR_THROTTLE(1.0, "[%s]: transform to fcu failed", getPrintName().c_str());
+     787           5 :     return;
+     788             :   }
+     789             : 
+     790           3 :   mrs_lib::UTM(msg->gps.latitude, msg->gps.longitude, &out_x, &out_y);
+     791             : 
+     792           3 :   if (!std::isfinite(out_x)) {
+     793           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_x\"!!!", getPrintName().c_str());
+     794           0 :     return;
+     795             :   }
+     796             : 
+     797           3 :   if (!std::isfinite(out_y)) {
+     798           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_y\"!!!", getPrintName().c_str());
+     799           0 :     return;
+     800             :   }
+     801             : 
+     802           3 :   geometry_msgs::Point utm_origin;
+     803           3 :   utm_origin.x = out_x;
+     804           3 :   utm_origin.y = out_y;
+     805           3 :   utm_origin.z = msg->gps.altitude;
+     806             : 
+     807           3 :   ROS_INFO("[%s]: utm_origin position calculated as: x: %.2f, y: %.2f, z: %.2f from RTK msg", getPrintName().c_str(), utm_origin.x, utm_origin.y, utm_origin.z);
+     808             : 
+     809           9 :   for (size_t i = 0; i < tf_sources_.size(); i++) {
+     810           6 :     tf_sources_[i]->setUtmOrigin(utm_origin);
+     811           6 :     tf_sources_[i]->setWorldOrigin(world_origin_);
+     812             :   }
+     813           3 :   got_utm_offset_ = true;
+     814             : }
+     815             : /*//}*/
+     816             : 
+     817             : /*//{ publishFcuUntiltedTf() */
+     818      232711 : void TransformManager::publishFcuUntiltedTf(const geometry_msgs::QuaternionStampedConstPtr& msg) {
+     819             : 
+     820      465422 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::publishFcuUntilted", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     821             : 
+     822             :   double heading;
+     823             : 
+     824             :   try {
+     825      232711 :     heading = mrs_lib::AttitudeConverter(msg->quaternion).getHeading();
+     826             :   }
+     827           0 :   catch (...) {
+     828           0 :     ROS_ERROR("[%s]: Exception caught during getting heading", getPrintName().c_str());
+     829           0 :     return;
+     830             :   }
+     831      232711 :   scope_timer.checkpoint("heading");
+     832             : 
+     833      232711 :   const Eigen::Matrix3d odom_pixhawk_R = mrs_lib::AttitudeConverter(msg->quaternion);
+     834      232711 :   const Eigen::Matrix3d undo_heading_R = mrs_lib::AttitudeConverter(Eigen::AngleAxis(-heading, Eigen::Vector3d(0, 0, 1)));
+     835             : 
+     836      232711 :   const tf2::Quaternion q     = mrs_lib::AttitudeConverter(undo_heading_R * odom_pixhawk_R);
+     837      232711 :   const tf2::Quaternion q_inv = q.inverse();
+     838             : 
+     839      232711 :   scope_timer.checkpoint("q inverse");
+     840             : 
+     841      232711 :   geometry_msgs::TransformStamped tf;
+     842      232711 :   tf.header.stamp            = msg->header.stamp;  // TODO(petrlmat) ros::Time::now()?
+     843      232711 :   tf.header.frame_id         = ch_->frames.ns_fcu;
+     844      232711 :   tf.child_frame_id          = ch_->frames.ns_fcu_untilted;
+     845      232711 :   tf.transform.translation.x = 0.0;
+     846      232711 :   tf.transform.translation.y = 0.0;
+     847      232711 :   tf.transform.translation.z = 0.0;
+     848      232711 :   tf.transform.rotation      = mrs_lib::AttitudeConverter(q_inv);
+     849             : 
+     850      232711 :   scope_timer.checkpoint("tf fill");
+     851      232711 :   if (Support::noNans(tf)) {
+     852      232711 :     broadcaster_->sendTransform(tf);
+     853             :   } else {
+     854           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN encountered in fcu_untilted tf", getPrintName().c_str());
+     855             :   }
+     856      232711 :   scope_timer.checkpoint("tf pub");
+     857             : }
+     858             : /*//}*/
+     859             : 
+     860             : /* publishLocalTf() //{*/
+     861         108 : void TransformManager::publishLocalTf() {
+     862             : 
+     863         324 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishLocalTf", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     864             : 
+     865         108 :   geometry_msgs::TransformStamped tf_msg;
+     866         108 :   tf_msg.header.stamp = pose_first_.header.stamp;
+     867             : 
+     868         108 :   tf_msg.header.frame_id       = ns_fixed_origin_child_frame_id_;
+     869         108 :   tf_msg.child_frame_id        = ns_local_origin_child_frame_id_;
+     870         108 :   tf_msg.transform.translation = Support::pointToVector3(pose_first_.pose.position);
+     871         108 :   tf_msg.transform.rotation    = pose_first_.pose.orientation;
+     872             : 
+     873         108 :   if (Support::noNans(tf_msg)) {
+     874             : 
+     875             :     try {
+     876         108 :       static_broadcaster_.sendTransform(tf_msg);
+     877             :     }
+     878           0 :     catch (...) {
+     879           0 :       ROS_ERROR("[%s]: exception caught while publishing tf from %s to %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     880             :                 tf_msg.child_frame_id.c_str());
+     881             :     }
+     882             : 
+     883             :   } else {
+     884           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     885             :                       tf_msg.child_frame_id.c_str());
+     886             :   }
+     887         108 :   ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     888             :                 tf_msg.child_frame_id.c_str());
+     889         108 :   is_local_static_tf_published_ = true;
+     890         108 : }
+     891             : /*//}*/
+     892             : 
+     893             : /*//{ transformRtkToFcu() */
+     894           8 : std::optional<geometry_msgs::Pose> TransformManager::transformRtkToFcu(const geometry_msgs::PoseStamped& pose_in) const {
+     895             : 
+     896          16 :   geometry_msgs::PoseStamped pose_tmp = pose_in;
+     897             : 
+     898             :   // inject current orientation into rtk pose
+     899          16 :   auto res1 = ch_->transformer->getTransform(ch_->frames.ns_fcu_untilted, ch_->frames.ns_fcu, ros::Time::now());
+     900           8 :   if (res1) {
+     901           3 :     pose_tmp.pose.orientation = res1.value().transform.rotation;
+     902             :   } else {
+     903           5 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Could not obtain transform from %s to %s.", getPrintName().c_str(), ch_->frames.ns_fcu_untilted.c_str(),
+     904             :                        ch_->frames.ns_fcu.c_str());
+     905           5 :     return {};
+     906             :   }
+     907             : 
+     908             :   // invert tf
+     909           3 :   tf2::Transform             tf_utm_to_antenna = Support::tf2FromPose(pose_tmp.pose);
+     910           6 :   geometry_msgs::PoseStamped utm_in_antenna;
+     911           3 :   utm_in_antenna.pose            = Support::poseFromTf2(tf_utm_to_antenna.inverse());
+     912           3 :   utm_in_antenna.header.stamp    = pose_in.header.stamp;
+     913           3 :   utm_in_antenna.header.frame_id = ch_->frames.ns_rtk_antenna;
+     914             : 
+     915             :   // transform to fcu
+     916           6 :   geometry_msgs::PoseStamped utm_in_fcu;
+     917           3 :   utm_in_fcu.header.frame_id = ch_->frames.ns_fcu;
+     918           3 :   utm_in_fcu.header.stamp    = pose_in.header.stamp;
+     919           6 :   auto res2                  = ch_->transformer->transformSingle(utm_in_antenna, ch_->frames.ns_fcu);
+     920             : 
+     921           3 :   if (res2) {
+     922           3 :     utm_in_fcu = res2.value();
+     923             :   } else {
+     924           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Could not transform RTK pose from %s to %s.", getPrintName().c_str(), utm_in_antenna.header.frame_id.c_str(),
+     925             :                        ch_->frames.ns_fcu.c_str());
+     926           0 :     return {};
+     927             :   }
+     928             : 
+     929             :   // invert tf
+     930           3 :   tf2::Transform      tf_fcu_to_utm = Support::tf2FromPose(utm_in_fcu.pose);
+     931           3 :   geometry_msgs::Pose fcu_in_utm    = Support::poseFromTf2(tf_fcu_to_utm.inverse());
+     932             : 
+     933           3 :   return fcu_in_utm;
+     934             : }
+     935             : /*//}*/
+     936             : 
+     937             : /*//{ getName() */
+     938           0 : std::string TransformManager::getName() const {
+     939           0 :   return name_;
+     940             : }
+     941             : /*//}*/
+     942             : 
+     943             : /*//{ getPrintName() */
+     944        1757 : std::string TransformManager::getPrintName() const {
+     945        1757 :   return nodelet_name_;
+     946             : }
+     947             : /*//}*/
+     948             : 
+     949             : }  // namespace transform_manager
+     950             : 
+     951             : }  // namespace mrs_uav_managers
+     952             : 
+     953             : #include <pluginlib/class_list_macros.h>
+     954         108 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::transform_manager::TransformManager, nodelet::Nodelet)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.overview.html b/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.overview.html new file mode 100644 index 0000000000..c43d32dcaf --- /dev/null +++ b/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.overview.html @@ -0,0 +1,259 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/transform_manager/transform_manager.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.png b/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..0547e52ddd60ed3d077211ec2b8e06dbee6515a3 GIT binary patch literal 3381 zcmV-54a)L~P) ze7~L5Uer9vdy8ZN8o-^bLz}HYk^cyg=T3pKt4M{$^5q1YU#8Q9I5Yi1w4_wWnd_VU1+$Mb}dD$wco+OhOdx;r)&p_TqFvX<2(-ZKLHE;a39aL z>y^M|f$~6>VuqhIJv?iMcgJ98A4g?bI5pVIK(>z*D9uc2lOpj#q%mX)ylM)qK#qGo zg@auLGc&220n_Om>2SlC2oFYO;m;3up(Z5^9e#-Vbhx#7ioj8kCo1PyRzQ(yN0|uZ zrb_ZPNB?m{i+fm)$Ixj0rX-jBX-dzX#6@A(;%WVUbn*mQ)kD{TGyJ5*djEE|0C&PY z^T>+_NNCPL1BtGTp2#|@z}#SMO73*Ah9eJiZ6b35>zR&0O=}f7mG9Y<(LH*e9X%BK z$aw>DP7CyKOgt0&+(i+qi7>Wf6m^`P;Mv(3bBh8|G8wVGVt*9KOHp)3XfNdo90l4b z!lnUxDW;CDLN~i9u1K0=DU$S?0?qU(5sxgULjqsv!;pBeL>P(lgDLvtRN!bI^Y6c& zHjVx8!5d#VRoG|jGNK|Ceku~_7$ z;x1(iaAJr3VAecnCz{O;ps`6y0f@YxB5MQpEfDQ6c8XtL-=RIj|NEE6(|`GXe3$kD z+FGIL3GwY2D4Kyr)~{LH_gYryE+|T`z@dla!WU0!-Oz&T*ePy)muS1>z$yr13O(up z_Ktf0z2Xd{2M9bO$6&HuP+O?bYmXdf<7s12vj@;BsBurKk1Y*<8uhVfHw)5nm5hlT z4***;V-z^rdz6DxEbzzczqp+|<7dyf(Y#aOmsAYcOx%K3lQ@kHS3wJW67KaC{z|Xq zB7KyBVjnYw3YZkwIqc94IdM3Ihpex2XHw?YKG$qW+A|o7AP49ABlS^cop`^~b^Ukb z__wZ4ool5J*10ahnad$rlOm%H2-qiZI9bOABPhilO9`Y2MM-xCL;H7Vk9r(k2^>6j z4F+v{=22_Fdhbb{Y4_0~AeqE^Fv4uR3Mf;wD#iKUUPF%gnE-_i{3W{KtU}e4K9?=^puzIR)&Go*9UU_8(=YGc~`8NKqro3Uwuh zc8aC<51800?a@gwQQ3R=P=H@7HyZZ7fVL>tt~{WRYA4k`eq-Q;ecaQIB6+QkPXfH4 zk7@&~Rov4G%+NzwSD`&(mg|CCO7WQIeW#j>|BP^clX~q>jvnEVU8*mwhz~!&?&oUY z{v3apfUX#z1k40OUOibFWU2c42(6@06wpV}bV3VlA;S>?ttQUe7UK!6-bb8kzOaw# z39a5o47{L^dMou54d7x0M(B~_0;wh6?DX^N8!Vh`+*q=e(=}tRxPFfx+G$I{MiIL+ zPyX=i`Qz@)69Yffox!f_C%Q8~;1;Sa@jK1$$dirKxWoWV5BIQUT&~kwIAg&(AW}1?NX=zQGbd= zE`SU_K9F?Lub%cCodY|l9-%J=U%_>;2DWf@(D}|!YXmN>F}pZwn&J>ydy4wJtXr3t zazR>=Dcs`DkfbyAg0gV&0+%{Wozr)dlmGz^wYoTpi z=98YytzBh1Amq{oZan_n#v@0-!K$*>W*Z{0hCbw z;p=ZDpv5WORnk@rj5$Zv{wWoxK73*c=P79JfwDHPnQ8-wrO;{huRa8lHvoEV&|CqH zNyXyzcz(WyZo-FD;cgZaR;lp7kE)K?)oBY+;yI!xh;HA+{zRo8V7R=F=@y&cm)VGFF{j$_90}U z7PhXDW+B$DD|u+Sg#Fe4JR#qchYeo%H>Y!Vzb@t^aNDq%=!5TM1~&V+|6{G@w(b@0 zdS}UP7k9{cq#Y-1Kk?>he6G?D<1a1oyptN|9NSdCD04BcE=egW122W7b>IVmC@r=| zZSz}J+@#J{3S$$7QVom53fxfAIoJ7B$d^^c3u*AuNAp3>Mb|V_5zr~`z2gsZ>JKkC z$nmb5!GpZ;bnm=_9AglNube1B9HvOCxFn#{l=t{x1S>oQ8@<8K`YYYoX(U%++_7r{fzXd@J3sLG*3k$#OcE%VMmYsskO|9YYvvA0KoKp!P zn2+k#_@DV`jk=bf)qJ!m9x)#yIRG-4%gjd$_-8(9)?3wh;4d;CI3K>nOPJ}cO8H;| zl{FF>k)+F?`A`jrWEH4g__GS;QL7`TXCDehYa!4_s9D29;nb{>`7bO&ELF%l>)%x< zY5jvYW?=tdpn~O$7ZkX0FnC=nFR4XgjDNdfERKHUB57|<-@EPos=N#V`Z zOaITr{d^zsbo?R{w~9hN?7E6`Sy_dW+rzK%{Tve~FP?vPFu!DGs+$rkKbS`vMg3l$ zPjEh@!x6B!h%Pcu`!@*a)RI9YHKHJExz>6t2?$EtMstzj+?Y73OMd zi~$71Xyh#G)^&_83ow;QLY@@tJ`YtdStZkl|C_gQS+vSE?-( z$&Xl9hfj|)&`L4AI_REnHtks~Mgf)(R11h8n*%*NnWk_0*Tw| z>zDNAIU6>w?N{Vq^`alk^^66{tDJdJZDX{D(;aLy15LpqG1ZFo^bv||=b*r?a*SEm zI?XDG2acMhSb5FdNGMPqa{vP0TYm3er@ii2T>4+qSq8o4 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/uav_manager.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src - uav_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:785116967.2 %
Date:2024-08-07 22:18:19Functions:3838100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::uav_manager::UavManager::callbackLandThere(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)1
mrs_uav_managers::uav_manager::UavManager::elandSrv()1
mrs_uav_managers::uav_manager::UavManager::callbackLand(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)2
mrs_uav_managers::uav_manager::UavManager::callbackLandHome(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)2
mrs_uav_managers::uav_manager::UavManager::callbackMinHeightCheck(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)2
mrs_uav_managers::uav_manager::UavManager::ehoverSrv()2
mrs_uav_managers::uav_manager::UavManager::landSrv()5
mrs_uav_managers::uav_manager::UavManager::landImpl[abi:cxx11]()5
mrs_uav_managers::uav_manager::UavManager::disarmSrv()7
mrs_uav_managers::uav_manager::UavManager::landWithDescendImpl[abi:cxx11]()9
mrs_uav_managers::uav_manager::UavManager::changeLandingState(mrs_uav_managers::uav_manager::LandingStates_t)17
mrs_uav_managers::uav_manager::UavManager::takeoffSrv()20
mrs_uav_managers::uav_manager::UavManager::callbackTakeoff(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)22
mrs_uav_managers::uav_manager::UavManager::ungripSrv()23
mrs_uav_managers::uav_manager::UavManager::timerMidairActivation(ros::TimerEvent const&)80
mrs_uav_managers::uav_manager::UavManager::offboardSrv(bool)81
mrs_uav_managers::uav_manager::UavManager::midairActivationImpl[abi:cxx11]()82
mrs_uav_managers::uav_manager::UavManager::callbackMidairActivation(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)82
mrs_uav_managers::uav_manager::UavManager::toggleControlOutput(bool const&)85
mrs_uav_managers::uav_manager::UavManager::emergencyReferenceSrv(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)101
mrs_uav_managers::uav_manager::UavManager::setControlCallbacksSrv(bool const&)102
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_managers::uav_manager::UavManager::initialize()108
mrs_uav_managers::uav_manager::UavManager::preinitialize()108
mrs_uav_managers::uav_manager::UavManager::onInit()108
mrs_uav_managers::uav_manager::UavManager::timerHwApiCapabilities(ros::TimerEvent const&)111
mrs_uav_managers::uav_manager::UavManager::setOdometryCallbacksSrv(bool const&)127
mrs_uav_managers::uav_manager::UavManager::switchControllerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)211
mrs_uav_managers::uav_manager::UavManager::switchTrackerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)212
mrs_uav_managers::uav_manager::UavManager::timerFlightTime(ros::TimerEvent const&)283
mrs_uav_managers::uav_manager::UavManager::timerLanding(ros::TimerEvent const&)776
mrs_uav_managers::uav_manager::UavManager::timerTakeoff(ros::TimerEvent const&)987
mrs_uav_managers::uav_manager::UavManager::timerDiagnostics(ros::TimerEvent const&)2255
mrs_uav_managers::uav_manager::UavManager::timerMinHeight(ros::TimerEvent const&)22680
mrs_uav_managers::uav_manager::UavManager::timerMaxHeight(ros::TimerEvent const&)22754
mrs_uav_managers::uav_manager::UavManager::timerMaxthrottle(ros::TimerEvent const&)57828
mrs_uav_managers::uav_manager::UavManager::callbackHwApiGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)79950
mrs_uav_managers::uav_manager::UavManager::callbackOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)172625
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/uav_manager.cpp.func.html b/mrs_uav_managers/src/uav_manager.cpp.func.html new file mode 100644 index 0000000000..6176a0d956 --- /dev/null +++ b/mrs_uav_managers/src/uav_manager.cpp.func.html @@ -0,0 +1,232 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/uav_manager.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src - uav_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:785116967.2 %
Date:2024-08-07 22:18:19Functions:3838100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_managers::uav_manager::UavManager::initialize()108
mrs_uav_managers::uav_manager::UavManager::takeoffSrv()20
mrs_uav_managers::uav_manager::UavManager::offboardSrv(bool)81
mrs_uav_managers::uav_manager::UavManager::callbackLand(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)2
mrs_uav_managers::uav_manager::UavManager::timerLanding(ros::TimerEvent const&)776
mrs_uav_managers::uav_manager::UavManager::timerTakeoff(ros::TimerEvent const&)987
mrs_uav_managers::uav_manager::UavManager::preinitialize()108
mrs_uav_managers::uav_manager::UavManager::timerMaxHeight(ros::TimerEvent const&)22754
mrs_uav_managers::uav_manager::UavManager::timerMinHeight(ros::TimerEvent const&)22680
mrs_uav_managers::uav_manager::UavManager::callbackTakeoff(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)22
mrs_uav_managers::uav_manager::UavManager::timerFlightTime(ros::TimerEvent const&)283
mrs_uav_managers::uav_manager::UavManager::callbackLandHome(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)2
mrs_uav_managers::uav_manager::UavManager::callbackOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)172625
mrs_uav_managers::uav_manager::UavManager::switchTrackerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)212
mrs_uav_managers::uav_manager::UavManager::timerDiagnostics(ros::TimerEvent const&)2255
mrs_uav_managers::uav_manager::UavManager::timerMaxthrottle(ros::TimerEvent const&)57828
mrs_uav_managers::uav_manager::UavManager::callbackHwApiGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)79950
mrs_uav_managers::uav_manager::UavManager::callbackLandThere(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)1
mrs_uav_managers::uav_manager::UavManager::changeLandingState(mrs_uav_managers::uav_manager::LandingStates_t)17
mrs_uav_managers::uav_manager::UavManager::landWithDescendImpl[abi:cxx11]()9
mrs_uav_managers::uav_manager::UavManager::switchControllerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)211
mrs_uav_managers::uav_manager::UavManager::toggleControlOutput(bool const&)85
mrs_uav_managers::uav_manager::UavManager::midairActivationImpl[abi:cxx11]()82
mrs_uav_managers::uav_manager::UavManager::emergencyReferenceSrv(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)101
mrs_uav_managers::uav_manager::UavManager::timerMidairActivation(ros::TimerEvent const&)80
mrs_uav_managers::uav_manager::UavManager::callbackMinHeightCheck(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)2
mrs_uav_managers::uav_manager::UavManager::setControlCallbacksSrv(bool const&)102
mrs_uav_managers::uav_manager::UavManager::timerHwApiCapabilities(ros::TimerEvent const&)111
mrs_uav_managers::uav_manager::UavManager::setOdometryCallbacksSrv(bool const&)127
mrs_uav_managers::uav_manager::UavManager::callbackMidairActivation(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)82
mrs_uav_managers::uav_manager::UavManager::onInit()108
mrs_uav_managers::uav_manager::UavManager::landSrv()5
mrs_uav_managers::uav_manager::UavManager::elandSrv()1
mrs_uav_managers::uav_manager::UavManager::landImpl[abi:cxx11]()5
mrs_uav_managers::uav_manager::UavManager::disarmSrv()7
mrs_uav_managers::uav_manager::UavManager::ehoverSrv()2
mrs_uav_managers::uav_manager::UavManager::ungripSrv()23
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/uav_manager.cpp.gcov.frameset.html b/mrs_uav_managers/src/uav_manager.cpp.gcov.frameset.html new file mode 100644 index 0000000000..f6c3894100 --- /dev/null +++ b/mrs_uav_managers/src/uav_manager.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/uav_manager.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/src/uav_manager.cpp.gcov.html b/mrs_uav_managers/src/uav_manager.cpp.gcov.html new file mode 100644 index 0000000000..98a1fd06b9 --- /dev/null +++ b/mrs_uav_managers/src/uav_manager.cpp.gcov.html @@ -0,0 +1,2765 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/uav_manager.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src - uav_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:785116967.2 %
Date:2024-08-07 22:18:19Functions:3838100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <nodelet/nodelet.h>
+       5             : 
+       6             : #include <std_srvs/SetBool.h>
+       7             : #include <std_srvs/Trigger.h>
+       8             : #include <std_msgs/String.h>
+       9             : #include <std_msgs/Float64.h>
+      10             : 
+      11             : #include <geometry_msgs/Vector3Stamped.h>
+      12             : 
+      13             : #include <nav_msgs/Odometry.h>
+      14             : #include <mrs_msgs/Vec1.h>
+      15             : #include <mrs_msgs/Vec4.h>
+      16             : #include <mrs_msgs/String.h>
+      17             : #include <mrs_msgs/TrackerCommand.h>
+      18             : #include <mrs_msgs/Float64Stamped.h>
+      19             : #include <mrs_msgs/Float64.h>
+      20             : #include <mrs_msgs/BoolStamped.h>
+      21             : #include <mrs_msgs/ControlManagerDiagnostics.h>
+      22             : #include <mrs_msgs/ReferenceStampedSrv.h>
+      23             : #include <mrs_msgs/ConstraintManagerDiagnostics.h>
+      24             : #include <mrs_msgs/GainManagerDiagnostics.h>
+      25             : #include <mrs_msgs/UavManagerDiagnostics.h>
+      26             : #include <mrs_msgs/EstimationDiagnostics.h>
+      27             : #include <mrs_msgs/HwApiStatus.h>
+      28             : #include <mrs_msgs/ControllerDiagnostics.h>
+      29             : #include <mrs_msgs/HwApiCapabilities.h>
+      30             : 
+      31             : #include <sensor_msgs/NavSatFix.h>
+      32             : 
+      33             : #include <mrs_lib/profiler.h>
+      34             : #include <mrs_lib/scope_timer.h>
+      35             : #include <mrs_lib/param_loader.h>
+      36             : #include <mrs_lib/mutex.h>
+      37             : #include <mrs_lib/transformer.h>
+      38             : #include <mrs_lib/attitude_converter.h>
+      39             : #include <mrs_lib/subscribe_handler.h>
+      40             : #include <mrs_lib/publisher_handler.h>
+      41             : #include <mrs_lib/service_client_handler.h>
+      42             : #include <mrs_lib/msg_extractor.h>
+      43             : #include <mrs_lib/geometry/cyclic.h>
+      44             : #include <mrs_lib/geometry/misc.h>
+      45             : #include <mrs_lib/quadratic_throttle_model.h>
+      46             : 
+      47             : //}
+      48             : 
+      49             : /* using //{ */
+      50             : 
+      51             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+      52             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+      53             : 
+      54             : using radians  = mrs_lib::geometry::radians;
+      55             : using sradians = mrs_lib::geometry::sradians;
+      56             : 
+      57             : //}
+      58             : 
+      59             : namespace mrs_uav_managers
+      60             : {
+      61             : 
+      62             : namespace uav_manager
+      63             : {
+      64             : 
+      65             : /* //{ class UavManager */
+      66             : 
+      67             : // state machine
+      68             : typedef enum
+      69             : {
+      70             : 
+      71             :   IDLE_STATE,
+      72             :   GOTO_STATE,
+      73             :   LANDING_STATE,
+      74             : 
+      75             : } LandingStates_t;
+      76             : 
+      77             : const char* state_names[3] = {
+      78             : 
+      79             :     "IDLING", "GOTO", "LANDING"};
+      80             : 
+      81             : class UavManager : public nodelet::Nodelet {
+      82             : 
+      83             : private:
+      84             :   ros::NodeHandle nh_;
+      85             :   bool            is_initialized_ = false;
+      86             :   std::string     _uav_name_;
+      87             : 
+      88             : public:
+      89             :   std::shared_ptr<mrs_lib::Transformer> transformer_;
+      90             : 
+      91             : public:
+      92             :   bool                                       scope_timer_enabled_ = false;
+      93             :   std::shared_ptr<mrs_lib::ScopeTimerLogger> scope_timer_logger_;
+      94             : 
+      95             : public:
+      96             :   virtual void onInit();
+      97             : 
+      98             :   // | ------------------------- HW API ------------------------- |
+      99             : 
+     100             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities> sh_hw_api_capabilities_;
+     101             : 
+     102             :   // this timer will check till we already got the hardware api diagnostics
+     103             :   // then it will trigger the initialization of the controllers and finish
+     104             :   // the initialization of the ControlManager
+     105             :   ros::Timer timer_hw_api_capabilities_;
+     106             :   void       timerHwApiCapabilities(const ros::TimerEvent& event);
+     107             : 
+     108             :   void preinitialize(void);
+     109             :   void initialize(void);
+     110             : 
+     111             :   mrs_msgs::HwApiCapabilities hw_api_capabilities_;
+     112             : 
+     113             :   // | ----------------------- subscribers ---------------------- |
+     114             : 
+     115             :   mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics>        sh_controller_diagnostics_;
+     116             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry>                     sh_odometry_;
+     117             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>        sh_estimation_diagnostics_;
+     118             :   mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>    sh_control_manager_diag_;
+     119             :   mrs_lib::SubscribeHandler<std_msgs::Float64>                      sh_mass_estimate_;
+     120             :   mrs_lib::SubscribeHandler<std_msgs::Float64>                      sh_throttle_;
+     121             :   mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>               sh_height_;
+     122             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>                  sh_hw_api_status_;
+     123             :   mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics>       sh_gains_diag_;
+     124             :   mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics> sh_constraints_diag_;
+     125             :   mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>                 sh_hw_api_gnss_;
+     126             :   mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>               sh_max_height_;
+     127             :   mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand>               sh_tracker_cmd_;
+     128             : 
+     129             :   void callbackHwApiGNSS(const sensor_msgs::NavSatFix::ConstPtr msg);
+     130             :   void callbackOdometry(const nav_msgs::Odometry::ConstPtr msg);
+     131             : 
+     132             :   // service servers
+     133             :   ros::ServiceServer service_server_takeoff_;
+     134             :   ros::ServiceServer service_server_land_;
+     135             :   ros::ServiceServer service_server_land_home_;
+     136             :   ros::ServiceServer service_server_land_there_;
+     137             :   ros::ServiceServer service_server_midair_activation_;
+     138             :   ros::ServiceServer service_server_min_height_check_;
+     139             : 
+     140             :   // service callbacks
+     141             :   bool callbackTakeoff(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     142             :   bool callbackLand(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     143             :   bool callbackLandHome(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     144             :   bool callbackLandThere(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res);
+     145             : 
+     146             :   // service clients
+     147             :   mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>                sch_takeoff_;
+     148             :   mrs_lib::ServiceClientHandler<mrs_msgs::String>              sch_switch_tracker_;
+     149             :   mrs_lib::ServiceClientHandler<mrs_msgs::String>              sch_switch_controller_;
+     150             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger>             sch_land_;
+     151             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger>             sch_eland_;
+     152             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger>             sch_ehover_;
+     153             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool>             sch_control_callbacks_;
+     154             :   mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv> sch_emergency_reference_;
+     155             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool>             sch_arm_;
+     156             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool>             sch_odometry_callbacks_;
+     157             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger>             sch_ungrip_;
+     158             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool>             sch_toggle_control_output_;
+     159             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger>             sch_offboard_;
+     160             : 
+     161             :   // service client wrappers
+     162             :   bool takeoffSrv(void);
+     163             :   bool switchTrackerSrv(const std::string& tracker);
+     164             :   bool switchControllerSrv(const std::string& controller);
+     165             :   bool landSrv(void);
+     166             :   bool elandSrv(void);
+     167             :   bool ehoverSrv(void);
+     168             :   void disarmSrv(void);
+     169             :   bool emergencyReferenceSrv(const mrs_msgs::ReferenceStamped& goal);
+     170             :   void setOdometryCallbacksSrv(const bool& input);
+     171             :   void setControlCallbacksSrv(const bool& input);
+     172             :   void ungripSrv(void);
+     173             :   bool toggleControlOutput(const bool& input);
+     174             :   bool offboardSrv(const bool in);
+     175             : 
+     176             :   ros::Timer timer_takeoff_;
+     177             :   ros::Timer timer_max_height_;
+     178             :   ros::Timer timer_min_height_;
+     179             :   ros::Timer timer_landing_;
+     180             :   ros::Timer timer_maxthrottle_;
+     181             :   ros::Timer timer_flighttime_;
+     182             :   ros::Timer timer_diagnostics_;
+     183             :   ros::Timer timer_midair_activation_;
+     184             : 
+     185             :   // timer callbacks
+     186             :   void timerLanding(const ros::TimerEvent& event);
+     187             :   void timerTakeoff(const ros::TimerEvent& event);
+     188             :   void timerMaxHeight(const ros::TimerEvent& event);
+     189             :   void timerMinHeight(const ros::TimerEvent& event);
+     190             :   void timerFlightTime(const ros::TimerEvent& event);
+     191             :   void timerMaxthrottle(const ros::TimerEvent& event);
+     192             :   void timerDiagnostics(const ros::TimerEvent& event);
+     193             : 
+     194             :   // publishers
+     195             :   mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics> ph_diag_;
+     196             : 
+     197             :   // max height checking
+     198             :   bool              _max_height_enabled_ = false;
+     199             :   double            _max_height_checking_rate_;
+     200             :   double            _max_height_offset_;
+     201             :   std::atomic<bool> fixing_max_height_ = false;
+     202             : 
+     203             :   // min height checking
+     204             :   std::atomic<bool> min_height_check_ = false;
+     205             :   double            _min_height_checking_rate_;
+     206             :   double            _min_height_offset_;
+     207             :   double            _min_height_;
+     208             :   std::atomic<bool> fixing_min_height_ = false;
+     209             : 
+     210             :   // mass estimation during landing
+     211             :   double    throttle_mass_estimate_;
+     212             :   bool      throttle_under_threshold_ = false;
+     213             :   ros::Time throttle_mass_estimate_first_time_;
+     214             : 
+     215             :   // velocity during landing
+     216             :   bool      velocity_under_threshold_ = false;
+     217             :   ros::Time velocity_under_threshold_first_time_;
+     218             : 
+     219             :   bool _gain_manager_required_       = false;
+     220             :   bool _constraint_manager_required_ = false;
+     221             : 
+     222             :   std::tuple<bool, std::string> landImpl(void);
+     223             :   std::tuple<bool, std::string> landWithDescendImpl(void);
+     224             :   std::tuple<bool, std::string> midairActivationImpl(void);
+     225             : 
+     226             :   // saved takeoff coordinates and allows to land there again
+     227             :   mrs_msgs::ReferenceStamped land_there_reference_;
+     228             :   std::mutex                 mutex_land_there_reference_;
+     229             : 
+     230             :   // to which height to takeoff
+     231             :   double _takeoff_height_;
+     232             : 
+     233             :   std::atomic<bool> takeoff_successful_ = false;
+     234             : 
+     235             :   // names of important trackers
+     236             :   std::string _null_tracker_name_;
+     237             : 
+     238             :   // takeoff timer
+     239             :   double     _takeoff_timer_rate_;
+     240             :   bool       takingoff_            = false;
+     241             :   int        number_of_takeoffs_   = 0;
+     242             :   double     last_mass_difference_ = 0;
+     243             :   std::mutex mutex_last_mass_difference_;
+     244             :   bool       waiting_for_takeoff_ = false;
+     245             : 
+     246             :   // after takeoff
+     247             :   std::string _after_takeoff_tracker_name_;
+     248             :   std::string _after_takeoff_controller_name_;
+     249             :   std::string _takeoff_tracker_name_;
+     250             :   std::string _takeoff_controller_name_;
+     251             : 
+     252             :   // Landing timer
+     253             :   std::string _landing_tracker_name_;
+     254             :   std::string _landing_controller_name_;
+     255             :   double      _landing_cutoff_mass_factor_;
+     256             :   double      _landing_cutoff_mass_timeout_;
+     257             :   double      _landing_timer_rate_;
+     258             :   double      _landing_descend_height_;
+     259             :   bool        landing_ = false;
+     260             :   double      _uav_mass_;
+     261             :   double      _g_;
+     262             :   double      landing_uav_mass_;
+     263             :   bool        _landing_disarm_ = false;
+     264             :   double      _landing_tracking_tolerance_translation_;
+     265             :   double      _landing_tracking_tolerance_heading_;
+     266             : 
+     267             :   // diagnostics timer
+     268             :   double _diagnostics_timer_rate_;
+     269             : 
+     270             :   mrs_lib::quadratic_throttle_model::MotorParams_t _throttle_model_;
+     271             : 
+     272             :   // landing state machine states
+     273             :   LandingStates_t current_state_landing_  = IDLE_STATE;
+     274             :   LandingStates_t previous_state_landing_ = IDLE_STATE;
+     275             : 
+     276             :   // timer for checking max flight time
+     277             :   double     _flighttime_timer_rate_;
+     278             :   double     _flighttime_max_time_;
+     279             :   bool       _flighttime_timer_enabled_ = false;
+     280             :   double     flighttime_                = 0;
+     281             :   std::mutex mutex_flighttime_;
+     282             : 
+     283             :   // timer for checking maximum throttle
+     284             :   bool      _maxthrottle_timer_enabled_ = false;
+     285             :   double    _maxthrottle_timer_rate_;
+     286             :   double    _maxthrottle_max_throttle_;
+     287             :   double    _maxthrottle_eland_timeout_;
+     288             :   double    _maxthrottle_ungrip_timeout_;
+     289             :   bool      maxthrottle_above_threshold_ = false;
+     290             :   ros::Time maxthrottle_first_time_;
+     291             : 
+     292             :   // profiler
+     293             :   mrs_lib::Profiler profiler_;
+     294             :   bool              _profiler_enabled_ = false;
+     295             : 
+     296             :   // midair activation
+     297             :   void      timerMidairActivation(const ros::TimerEvent& event);
+     298             :   bool      callbackMidairActivation(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     299             :   ros::Time midair_activation_started_;
+     300             : 
+     301             :   bool callbackMinHeightCheck(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     302             : 
+     303             :   double      _midair_activation_timer_rate_;
+     304             :   std::string _midair_activation_during_controller_;
+     305             :   std::string _midair_activation_during_tracker_;
+     306             :   std::string _midair_activation_after_controller_;
+     307             :   std::string _midair_activation_after_tracker_;
+     308             : 
+     309             :   void changeLandingState(LandingStates_t new_state);
+     310             : };
+     311             : 
+     312             : //}
+     313             : 
+     314             : /* onInit() //{ */
+     315             : 
+     316         108 : void UavManager::onInit() {
+     317         108 :   preinitialize();
+     318         108 : }
+     319             : 
+     320             : //}
+     321             : 
+     322             : /* preinitialize() //{ */
+     323             : 
+     324         108 : void UavManager::preinitialize(void) {
+     325             : 
+     326         108 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     327             : 
+     328         108 :   ros::Time::waitForValid();
+     329             : 
+     330         108 :   mrs_lib::SubscribeHandlerOptions shopts;
+     331         108 :   shopts.nh                 = nh_;
+     332         108 :   shopts.node_name          = "UavManager";
+     333         108 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     334         108 :   shopts.threadsafe         = true;
+     335         108 :   shopts.autostart          = true;
+     336         108 :   shopts.queue_size         = 10;
+     337         108 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     338             : 
+     339         108 :   sh_hw_api_capabilities_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>(shopts, "hw_api_capabilities_in");
+     340             : 
+     341         108 :   timer_hw_api_capabilities_ = nh_.createTimer(ros::Rate(1.0), &UavManager::timerHwApiCapabilities, this);
+     342         108 : }
+     343             : 
+     344             : //}
+     345             : 
+     346             : /* initialize() //{ */
+     347             : 
+     348         108 : void UavManager::initialize() {
+     349             : 
+     350         108 :   ROS_INFO("[UavManager]: initializing");
+     351             : 
+     352         216 :   mrs_lib::ParamLoader param_loader(nh_, "UavManager");
+     353             : 
+     354         216 :   std::string custom_config_path;
+     355         216 :   std::string platform_config_path;
+     356         216 :   std::string world_config_path;
+     357             : 
+     358         108 :   param_loader.loadParam("custom_config", custom_config_path);
+     359         108 :   param_loader.loadParam("platform_config", platform_config_path);
+     360         108 :   param_loader.loadParam("world_config", world_config_path);
+     361             : 
+     362         108 :   if (custom_config_path != "") {
+     363         108 :     param_loader.addYamlFile(custom_config_path);
+     364             :   }
+     365             : 
+     366         108 :   if (platform_config_path != "") {
+     367         108 :     param_loader.addYamlFile(platform_config_path);
+     368             :   }
+     369             : 
+     370         108 :   if (world_config_path != "") {
+     371         108 :     param_loader.addYamlFile(world_config_path);
+     372             :   }
+     373             : 
+     374         108 :   param_loader.addYamlFileFromParam("private_config");
+     375         108 :   param_loader.addYamlFileFromParam("public_config");
+     376             : 
+     377         216 :   const std::string yaml_prefix = "mrs_uav_managers/uav_manager/";
+     378             : 
+     379             :   // params passed from the launch file are not prefixed
+     380         108 :   param_loader.loadParam("uav_name", _uav_name_);
+     381         108 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     382         108 :   param_loader.loadParam("uav_mass", _uav_mass_);
+     383         108 :   param_loader.loadParam("g", _g_);
+     384             : 
+     385             :   // motor params are also not prefixed, since they are common to more nodes
+     386         108 :   param_loader.loadParam("motor_params/n_motors", _throttle_model_.n_motors);
+     387         108 :   param_loader.loadParam("motor_params/a", _throttle_model_.A);
+     388         108 :   param_loader.loadParam("motor_params/b", _throttle_model_.B);
+     389             : 
+     390         108 :   param_loader.loadParam(yaml_prefix + "null_tracker", _null_tracker_name_);
+     391             : 
+     392         108 :   param_loader.loadParam(yaml_prefix + "takeoff/rate", _takeoff_timer_rate_);
+     393         108 :   param_loader.loadParam(yaml_prefix + "takeoff/after_takeoff/tracker", _after_takeoff_tracker_name_);
+     394         108 :   param_loader.loadParam(yaml_prefix + "takeoff/after_takeoff/controller", _after_takeoff_controller_name_);
+     395         108 :   param_loader.loadParam(yaml_prefix + "takeoff/during_takeoff/controller", _takeoff_controller_name_);
+     396         108 :   param_loader.loadParam(yaml_prefix + "takeoff/during_takeoff/tracker", _takeoff_tracker_name_);
+     397         108 :   param_loader.loadParam(yaml_prefix + "takeoff/takeoff_height", _takeoff_height_);
+     398             : 
+     399         108 :   if (_takeoff_height_ < 0.5 || _takeoff_height_ > 10.0) {
+     400           0 :     ROS_ERROR("[UavManager]: the takeoff height (%.2f m) has to be between 0.5 and 10 meters", _takeoff_height_);
+     401           0 :     ros::shutdown();
+     402             :   }
+     403             : 
+     404         108 :   param_loader.loadParam(yaml_prefix + "landing/rate", _landing_timer_rate_);
+     405         108 :   param_loader.loadParam(yaml_prefix + "landing/landing_tracker", _landing_tracker_name_);
+     406         108 :   param_loader.loadParam(yaml_prefix + "landing/landing_controller", _landing_controller_name_);
+     407         108 :   param_loader.loadParam(yaml_prefix + "landing/landing_cutoff_mass_factor", _landing_cutoff_mass_factor_);
+     408         108 :   param_loader.loadParam(yaml_prefix + "landing/landing_cutoff_timeout", _landing_cutoff_mass_timeout_);
+     409         108 :   param_loader.loadParam(yaml_prefix + "landing/disarm", _landing_disarm_);
+     410         108 :   param_loader.loadParam(yaml_prefix + "landing/descend_height", _landing_descend_height_);
+     411         108 :   param_loader.loadParam(yaml_prefix + "landing/tracking_tolerance/translation", _landing_tracking_tolerance_translation_);
+     412         108 :   param_loader.loadParam(yaml_prefix + "landing/tracking_tolerance/heading", _landing_tracking_tolerance_heading_);
+     413             : 
+     414         108 :   param_loader.loadParam(yaml_prefix + "midair_activation/rate", _midair_activation_timer_rate_);
+     415         108 :   param_loader.loadParam(yaml_prefix + "midair_activation/during_activation/controller", _midair_activation_during_controller_);
+     416         108 :   param_loader.loadParam(yaml_prefix + "midair_activation/during_activation/tracker", _midair_activation_during_tracker_);
+     417         108 :   param_loader.loadParam(yaml_prefix + "midair_activation/after_activation/controller", _midair_activation_after_controller_);
+     418         108 :   param_loader.loadParam(yaml_prefix + "midair_activation/after_activation/tracker", _midair_activation_after_tracker_);
+     419             : 
+     420         108 :   param_loader.loadParam(yaml_prefix + "max_height_checking/enabled", _max_height_enabled_);
+     421         108 :   param_loader.loadParam(yaml_prefix + "max_height_checking/rate", _max_height_checking_rate_);
+     422         108 :   param_loader.loadParam(yaml_prefix + "max_height_checking/safety_height_offset", _max_height_offset_);
+     423             : 
+     424             :   {
+     425             :     bool tmp;
+     426             : 
+     427         108 :     param_loader.loadParam(yaml_prefix + "min_height_checking/enabled", tmp);
+     428             : 
+     429         108 :     min_height_check_ = tmp;
+     430             :   }
+     431             : 
+     432         108 :   param_loader.loadParam(yaml_prefix + "min_height_checking/rate", _min_height_checking_rate_);
+     433         108 :   param_loader.loadParam(yaml_prefix + "min_height_checking/safety_height_offset", _min_height_offset_);
+     434         108 :   param_loader.loadParam(yaml_prefix + "min_height_checking/min_height", _min_height_);
+     435             : 
+     436         108 :   param_loader.loadParam(yaml_prefix + "require_gain_manager", _gain_manager_required_);
+     437         108 :   param_loader.loadParam(yaml_prefix + "require_constraint_manager", _constraint_manager_required_);
+     438             : 
+     439         108 :   param_loader.loadParam(yaml_prefix + "flight_timer/enabled", _flighttime_timer_enabled_);
+     440         108 :   param_loader.loadParam(yaml_prefix + "flight_timer/rate", _flighttime_timer_rate_);
+     441         108 :   param_loader.loadParam(yaml_prefix + "flight_timer/max_time", _flighttime_max_time_);
+     442             : 
+     443         108 :   param_loader.loadParam(yaml_prefix + "max_throttle/enabled", _maxthrottle_timer_enabled_);
+     444         108 :   param_loader.loadParam(yaml_prefix + "max_throttle/rate", _maxthrottle_timer_rate_);
+     445         108 :   param_loader.loadParam(yaml_prefix + "max_throttle/max_throttle", _maxthrottle_max_throttle_);
+     446         108 :   param_loader.loadParam(yaml_prefix + "max_throttle/eland_timeout", _maxthrottle_eland_timeout_);
+     447         108 :   param_loader.loadParam(yaml_prefix + "max_throttle/ungrip_timeout", _maxthrottle_ungrip_timeout_);
+     448             : 
+     449         108 :   param_loader.loadParam(yaml_prefix + "diagnostics/rate", _diagnostics_timer_rate_);
+     450             : 
+     451             :   // | ------------------- scope timer logger ------------------- |
+     452             : 
+     453         108 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     454         324 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     455         108 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     456             : 
+     457         108 :   if (!param_loader.loadedSuccessfully()) {
+     458           0 :     ROS_ERROR("[UavManager]: Could not load all parameters!");
+     459           0 :     ros::shutdown();
+     460             :   }
+     461             : 
+     462             :   // | --------------------- tf transformer --------------------- |
+     463             : 
+     464         108 :   transformer_ = std::make_shared<mrs_lib::Transformer>(nh_, "ControlManager");
+     465         108 :   transformer_->setDefaultPrefix(_uav_name_);
+     466         108 :   transformer_->retryLookupNewest(true);
+     467             : 
+     468             :   // | ----------------------- subscribers ---------------------- |
+     469             : 
+     470         216 :   mrs_lib::SubscribeHandlerOptions shopts;
+     471         108 :   shopts.nh                 = nh_;
+     472         108 :   shopts.node_name          = "UavManager";
+     473         108 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     474         108 :   shopts.threadsafe         = true;
+     475         108 :   shopts.autostart          = true;
+     476         108 :   shopts.queue_size         = 10;
+     477         108 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     478             : 
+     479         108 :   sh_controller_diagnostics_ = mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics>(shopts, "controller_diagnostics_in");
+     480         108 :   sh_odometry_               = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "odometry_in", &UavManager::callbackOdometry, this);
+     481         108 :   sh_estimation_diagnostics_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "odometry_diagnostics_in");
+     482         108 :   sh_control_manager_diag_   = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     483         108 :   sh_mass_estimate_          = mrs_lib::SubscribeHandler<std_msgs::Float64>(shopts, "mass_estimate_in");
+     484         108 :   sh_throttle_               = mrs_lib::SubscribeHandler<std_msgs::Float64>(shopts, "throttle_in");
+     485         108 :   sh_height_                 = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "height_in");
+     486         108 :   sh_hw_api_status_          = mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>(shopts, "hw_api_status_in");
+     487         108 :   sh_gains_diag_             = mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics>(shopts, "gain_manager_diagnostics_in");
+     488         108 :   sh_constraints_diag_       = mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics>(shopts, "constraint_manager_diagnostics_in");
+     489         108 :   sh_hw_api_gnss_            = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, "hw_api_gnss_in", &UavManager::callbackHwApiGNSS, this);
+     490         108 :   sh_max_height_             = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "max_height_in");
+     491         108 :   sh_tracker_cmd_            = mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand>(shopts, "tracker_cmd_in");
+     492             : 
+     493             :   // | ----------------------- publishers ----------------------- |
+     494             : 
+     495         108 :   ph_diag_ = mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics>(nh_, "diagnostics_out", 1);
+     496             : 
+     497             :   // | --------------------- service servers -------------------- |
+     498             : 
+     499         108 :   service_server_takeoff_           = nh_.advertiseService("takeoff_in", &UavManager::callbackTakeoff, this);
+     500         108 :   service_server_land_              = nh_.advertiseService("land_in", &UavManager::callbackLand, this);
+     501         108 :   service_server_land_home_         = nh_.advertiseService("land_home_in", &UavManager::callbackLandHome, this);
+     502         108 :   service_server_land_there_        = nh_.advertiseService("land_there_in", &UavManager::callbackLandThere, this);
+     503         108 :   service_server_midair_activation_ = nh_.advertiseService("midair_activation_in", &UavManager::callbackMidairActivation, this);
+     504         108 :   service_server_min_height_check_  = nh_.advertiseService("enable_min_height_check_in", &UavManager::callbackMinHeightCheck, this);
+     505             : 
+     506             :   // | --------------------- service clients -------------------- |
+     507             : 
+     508         108 :   sch_takeoff_               = mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>(nh_, "takeoff_out");
+     509         108 :   sch_land_                  = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "land_out");
+     510         108 :   sch_eland_                 = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "eland_out");
+     511         108 :   sch_ehover_                = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "ehover_out");
+     512         108 :   sch_switch_tracker_        = mrs_lib::ServiceClientHandler<mrs_msgs::String>(nh_, "switch_tracker_out");
+     513         108 :   sch_switch_controller_     = mrs_lib::ServiceClientHandler<mrs_msgs::String>(nh_, "switch_controller_out");
+     514         108 :   sch_emergency_reference_   = mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>(nh_, "emergency_reference_out");
+     515         108 :   sch_control_callbacks_     = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "enable_callbacks_out");
+     516         108 :   sch_arm_                   = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "arm_out");
+     517         108 :   sch_odometry_callbacks_    = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "set_odometry_callbacks_out");
+     518         108 :   sch_ungrip_                = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "ungrip_out");
+     519         108 :   sch_toggle_control_output_ = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "toggle_control_output_out");
+     520         108 :   sch_offboard_              = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "offboard_out");
+     521             : 
+     522             :   // | ---------------------- state machine --------------------- |
+     523             : 
+     524         108 :   current_state_landing_ = IDLE_STATE;
+     525             : 
+     526             :   // | ------------------------ profiler ------------------------ |
+     527             : 
+     528         108 :   profiler_ = mrs_lib::Profiler(nh_, "UavManager", _profiler_enabled_);
+     529             : 
+     530             :   // | ------------------------- timers ------------------------- |
+     531             : 
+     532         108 :   timer_landing_           = nh_.createTimer(ros::Rate(_landing_timer_rate_), &UavManager::timerLanding, this, false, false);
+     533         108 :   timer_takeoff_           = nh_.createTimer(ros::Rate(_takeoff_timer_rate_), &UavManager::timerTakeoff, this, false, false);
+     534         108 :   timer_flighttime_        = nh_.createTimer(ros::Rate(_flighttime_timer_rate_), &UavManager::timerFlightTime, this, false, false);
+     535         108 :   timer_diagnostics_       = nh_.createTimer(ros::Rate(_diagnostics_timer_rate_), &UavManager::timerDiagnostics, this);
+     536         108 :   timer_midair_activation_ = nh_.createTimer(ros::Rate(_midair_activation_timer_rate_), &UavManager::timerMidairActivation, this, false, false);
+     537         216 :   timer_max_height_        = nh_.createTimer(ros::Rate(_max_height_checking_rate_), &UavManager::timerMaxHeight, this, false,
+     538         216 :                                       _max_height_enabled_ && hw_api_capabilities_.produces_distance_sensor);
+     539         216 :   timer_min_height_        = nh_.createTimer(ros::Rate(_min_height_checking_rate_), &UavManager::timerMinHeight, this, false,
+     540         216 :                                       min_height_check_ && hw_api_capabilities_.produces_distance_sensor);
+     541             : 
+     542         105 :   bool should_check_throttle = hw_api_capabilities_.accepts_actuator_cmd || hw_api_capabilities_.accepts_control_group_cmd ||
+     543         213 :                                hw_api_capabilities_.accepts_attitude_rate_cmd || hw_api_capabilities_.accepts_attitude_cmd;
+     544             : 
+     545             :   timer_maxthrottle_ =
+     546         108 :       nh_.createTimer(ros::Rate(_maxthrottle_timer_rate_), &UavManager::timerMaxthrottle, this, false, _maxthrottle_timer_enabled_ && should_check_throttle);
+     547             : 
+     548             :   // | ----------------------- finish init ---------------------- |
+     549             : 
+     550         108 :   is_initialized_ = true;
+     551             : 
+     552         108 :   ROS_INFO("[UavManager]: initialized");
+     553             : 
+     554         108 :   ROS_DEBUG("[UavManager]: debug output is enabled");
+     555         108 : }
+     556             : 
+     557             : //}
+     558             : 
+     559             : //}
+     560             : 
+     561             : // | ---------------------- state machine --------------------- |
+     562             : 
+     563             : /* //{ changeLandingState() */
+     564             : 
+     565          17 : void UavManager::changeLandingState(LandingStates_t new_state) {
+     566             : 
+     567          17 :   previous_state_landing_ = current_state_landing_;
+     568          17 :   current_state_landing_  = new_state;
+     569             : 
+     570          17 :   switch (current_state_landing_) {
+     571             : 
+     572           5 :     case LANDING_STATE: {
+     573             : 
+     574           5 :       if (sh_mass_estimate_.hasMsg() && (ros::Time::now() - sh_mass_estimate_.lastMsgTime()).toSec() < 1.0) {
+     575             : 
+     576             :         // copy member variables
+     577           5 :         auto mass_esimtate = sh_mass_estimate_.getMsg();
+     578             : 
+     579           5 :         landing_uav_mass_ = mass_esimtate->data;
+     580             :       }
+     581             : 
+     582           5 :       break;
+     583             :     };
+     584             : 
+     585          12 :     default: {
+     586          12 :       break;
+     587             :     }
+     588             :   }
+     589             : 
+     590             :   // just for ROS_INFO
+     591          17 :   ROS_INFO("[UavManager]: Switching landing state %s -> %s", state_names[previous_state_landing_], state_names[current_state_landing_]);
+     592          17 : }
+     593             : 
+     594             : //}
+     595             : 
+     596             : // --------------------------------------------------------------
+     597             : // |                           timers                           |
+     598             : // --------------------------------------------------------------
+     599             : 
+     600             : /* timerHwApiCapabilities() //{ */
+     601             : 
+     602         111 : void UavManager::timerHwApiCapabilities(const ros::TimerEvent& event) {
+     603             : 
+     604         222 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerHwApiCapabilities", 1.0, 1.0, event);
+     605         222 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerHwApiCapabilities", scope_timer_logger_, scope_timer_enabled_);
+     606             : 
+     607         111 :   if (!sh_hw_api_capabilities_.hasMsg()) {
+     608           3 :     ROS_INFO_THROTTLE(1.0, "[UavManager]: waiting for HW API capabilities");
+     609           3 :     return;
+     610             :   }
+     611             : 
+     612         108 :   hw_api_capabilities_ = *sh_hw_api_capabilities_.getMsg();
+     613             : 
+     614         108 :   ROS_INFO("[UavManager]: got HW API capabilities, initializing");
+     615             : 
+     616         108 :   initialize();
+     617             : 
+     618         108 :   timer_hw_api_capabilities_.stop();
+     619             : }
+     620             : 
+     621             : //}
+     622             : 
+     623             : /* //{ timerLanding() */
+     624             : 
+     625         776 : void UavManager::timerLanding(const ros::TimerEvent& event) {
+     626             : 
+     627         776 :   if (!is_initialized_)
+     628           0 :     return;
+     629             : 
+     630        1552 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerLanding", _landing_timer_rate_, 0.1, event);
+     631        1552 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerLanding", scope_timer_logger_, scope_timer_enabled_);
+     632             : 
+     633         776 :   auto land_there_reference = mrs_lib::get_mutexed(mutex_land_there_reference_, land_there_reference_);
+     634             : 
+     635             :   // copy member variables
+     636         776 :   auto control_manager_diagnostics = sh_control_manager_diag_.getMsg();
+     637         776 :   auto odometry                    = sh_odometry_.getMsg();
+     638         776 :   auto tracker_cmd                 = sh_tracker_cmd_.getMsg();
+     639             : 
+     640         776 :   std::optional<double> desired_throttle;
+     641             : 
+     642         776 :   if (sh_throttle_.hasMsg() && (ros::Time::now() - sh_throttle_.lastMsgTime()).toSec() < 1.0) {
+     643         776 :     desired_throttle = sh_throttle_.getMsg()->data;
+     644             :   }
+     645             : 
+     646         776 :   auto res = transformer_->transformSingle(land_there_reference, odometry->header.frame_id);
+     647             : 
+     648         776 :   mrs_msgs::ReferenceStamped land_there_current_frame;
+     649             : 
+     650         776 :   if (res) {
+     651         776 :     land_there_current_frame = res.value();
+     652             :   } else {
+     653             : 
+     654           0 :     ROS_ERROR("[UavManager]: could not transform the reference into the current frame! land by yourself pls.");
+     655           0 :     return;
+     656             :   }
+     657             : 
+     658         776 :   if (current_state_landing_ == IDLE_STATE) {
+     659             : 
+     660           0 :     return;
+     661             : 
+     662         776 :   } else if (current_state_landing_ == GOTO_STATE) {
+     663             : 
+     664         344 :     auto [pos_x, pos_y, pos_z] = mrs_lib::getPosition(*tracker_cmd);
+     665         344 :     auto [ref_x, ref_y, ref_z] = mrs_lib::getPosition(land_there_current_frame);
+     666             : 
+     667         344 :     double pos_heading = tracker_cmd->heading;
+     668             : 
+     669         344 :     double ref_heading = 0;
+     670             :     try {
+     671         344 :       ref_heading = mrs_lib::getHeading(land_there_current_frame);
+     672             :     }
+     673           0 :     catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+     674           0 :       ROS_ERROR_THROTTLE(1.0, "[UavManager]: exception caught: '%s'", e.what());
+     675           0 :       return;
+     676             :     }
+     677             : 
+     678         351 :     if (mrs_lib::geometry::dist(vec3_t(pos_x, pos_y, pos_z), vec3_t(ref_x, ref_y, ref_z)) < _landing_tracking_tolerance_translation_ &&
+     679           7 :         fabs(radians::diff(pos_heading, ref_heading)) < _landing_tracking_tolerance_heading_) {
+     680             : 
+     681          14 :       auto [success, message] = landWithDescendImpl();
+     682             : 
+     683           7 :       if (!success) {
+     684             : 
+     685           0 :         ROS_ERROR_THROTTLE(1.0, "[UavManager]: call for landing failed: '%s'", message.c_str());
+     686             :       }
+     687             : 
+     688         337 :     } else if (!control_manager_diagnostics->tracker_status.have_goal && control_manager_diagnostics->flying_normally) {
+     689             : 
+     690           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: the tracker does not have a goal while flying home, setting the reference again");
+     691             : 
+     692           0 :       mrs_msgs::ReferenceStamped reference_out;
+     693             : 
+     694             :       {
+     695           0 :         std::scoped_lock lock(mutex_land_there_reference_);
+     696             : 
+     697             :         // get the current altitude in land_there_reference_.header.frame_id;
+     698           0 :         geometry_msgs::PoseStamped current_pose;
+     699           0 :         current_pose.header.stamp     = ros::Time::now();
+     700           0 :         current_pose.header.frame_id  = _uav_name_ + "/fcu";
+     701           0 :         current_pose.pose.position.x  = 0;
+     702           0 :         current_pose.pose.position.y  = 0;
+     703           0 :         current_pose.pose.position.z  = 0;
+     704           0 :         current_pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+     705             : 
+     706           0 :         auto response = transformer_->transformSingle(current_pose, land_there_reference_.header.frame_id);
+     707             : 
+     708           0 :         if (response) {
+     709             : 
+     710           0 :           land_there_reference_.reference.position.z = response.value().pose.position.z;
+     711           0 :           ROS_DEBUG("[UavManager]: current altitude is %.2f m", land_there_reference_.reference.position.z);
+     712             : 
+     713             :         } else {
+     714             : 
+     715           0 :           std::stringstream ss;
+     716           0 :           ss << "could not transform current height to " << land_there_reference_.header.frame_id;
+     717           0 :           ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+     718             :         }
+     719             : 
+     720           0 :         reference_out.header.frame_id = land_there_reference_.header.frame_id;
+     721           0 :         reference_out.header.stamp    = ros::Time::now();
+     722           0 :         reference_out.reference       = land_there_reference_.reference;
+     723             :       }
+     724             : 
+     725           0 :       emergencyReferenceSrv(reference_out);
+     726             :     }
+     727             : 
+     728         432 :   } else if (current_state_landing_ == LANDING_STATE) {
+     729             : 
+     730             :     // we should not attempt to finish the landing if some other tracked was activated
+     731         432 :     if (_landing_tracker_name_ == sh_control_manager_diag_.getMsg()->active_tracker) {
+     732             : 
+     733         431 :       if (desired_throttle) {
+     734             : 
+     735             :         // recalculate the mass based on the throttle
+     736         431 :         throttle_mass_estimate_ = mrs_lib::quadratic_throttle_model::throttleToForce(_throttle_model_, desired_throttle.value()) / _g_;
+     737         431 :         ROS_INFO_THROTTLE(1.0, "[UavManager]: landing: initial mass: %.2f throttle_mass_estimate: %.2f", landing_uav_mass_, throttle_mass_estimate_);
+     738             : 
+     739             :         // condition for automatic motor turn off
+     740         431 :         if (((throttle_mass_estimate_ < _landing_cutoff_mass_factor_ * landing_uav_mass_) || desired_throttle < 0.01)) {
+     741             : 
+     742         110 :           if (!throttle_under_threshold_) {
+     743             : 
+     744           5 :             throttle_mass_estimate_first_time_ = ros::Time::now();
+     745           5 :             throttle_under_threshold_          = true;
+     746             :           }
+     747             : 
+     748         110 :           ROS_INFO_THROTTLE(0.5, "[UavManager]: throttle is under cutoff factor for %.2f s", (ros::Time::now() - throttle_mass_estimate_first_time_).toSec());
+     749             : 
+     750             :         } else {
+     751             : 
+     752         321 :           throttle_under_threshold_ = false;
+     753             :         }
+     754             : 
+     755         431 :         if (throttle_under_threshold_ && ((ros::Time::now() - throttle_mass_estimate_first_time_).toSec() > _landing_cutoff_mass_timeout_)) {
+     756             : 
+     757           5 :           switchTrackerSrv(_null_tracker_name_);
+     758             : 
+     759           5 :           setControlCallbacksSrv(true);
+     760             : 
+     761           5 :           if (_landing_disarm_) {
+     762             : 
+     763           5 :             ROS_INFO("[UavManager]: disarming after landing");
+     764             : 
+     765           5 :             disarmSrv();
+     766             :           }
+     767             : 
+     768           5 :           changeLandingState(IDLE_STATE);
+     769             : 
+     770           5 :           ROS_INFO("[UavManager]: landing finished");
+     771             : 
+     772           5 :           timer_landing_.stop();
+     773             :         }
+     774             : 
+     775             :       } else {
+     776             : 
+     777           0 :         auto odometry = sh_odometry_.getMsg();
+     778             : 
+     779           0 :         double z_vel = odometry->twist.twist.linear.z;
+     780             : 
+     781           0 :         ROS_INFO_THROTTLE(1.0, "[UavManager]: landing: z-velocity: %.2f", z_vel);
+     782             : 
+     783             :         // condition for automatic motor turn off
+     784           0 :         if (z_vel > -0.1) {
+     785             : 
+     786           0 :           if (!velocity_under_threshold_) {
+     787             : 
+     788           0 :             velocity_under_threshold_first_time_ = ros::Time::now();
+     789           0 :             velocity_under_threshold_            = true;
+     790             :           }
+     791             : 
+     792           0 :           ROS_INFO_THROTTLE(0.5, "[UavManager]: velocity over threshold for %.2f s", (ros::Time::now() - velocity_under_threshold_first_time_).toSec());
+     793             : 
+     794             :         } else {
+     795             : 
+     796           0 :           velocity_under_threshold_ = false;
+     797             :         }
+     798             : 
+     799           0 :         if (velocity_under_threshold_ && ((ros::Time::now() - velocity_under_threshold_first_time_).toSec() > 3.0)) {
+     800             : 
+     801           0 :           switchTrackerSrv(_null_tracker_name_);
+     802             : 
+     803           0 :           setControlCallbacksSrv(true);
+     804             : 
+     805           0 :           if (_landing_disarm_) {
+     806             : 
+     807           0 :             ROS_INFO("[UavManager]: disarming after landing");
+     808             : 
+     809           0 :             disarmSrv();
+     810             :           }
+     811             : 
+     812           0 :           changeLandingState(IDLE_STATE);
+     813             : 
+     814           0 :           ROS_INFO("[UavManager]: landing finished");
+     815             : 
+     816           0 :           timer_landing_.stop();
+     817             :         }
+     818             :       }
+     819             : 
+     820             :     } else {
+     821             : 
+     822           1 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: incorrect tracker detected during landing!");
+     823             :     }
+     824             :   }
+     825             : }
+     826             : 
+     827             : //}
+     828             : 
+     829             : /* //{ timerTakeoff() */
+     830             : 
+     831         987 : void UavManager::timerTakeoff(const ros::TimerEvent& event) {
+     832             : 
+     833         987 :   if (!is_initialized_)
+     834           0 :     return;
+     835             : 
+     836        1974 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerTakeoff", _takeoff_timer_rate_, 0.1, event);
+     837        1974 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerTakeoff", scope_timer_logger_, scope_timer_enabled_);
+     838             : 
+     839         987 :   auto control_manager_diagnostics = sh_control_manager_diag_.getMsg();
+     840             : 
+     841         987 :   if (waiting_for_takeoff_) {
+     842             : 
+     843          20 :     if (control_manager_diagnostics->active_tracker == _takeoff_tracker_name_ && control_manager_diagnostics->tracker_status.have_goal) {
+     844             : 
+     845          20 :       waiting_for_takeoff_ = false;
+     846             :     } else {
+     847             : 
+     848           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: waiting for takeoff confirmation from the ControlManager");
+     849           0 :       return;
+     850             :     }
+     851             :   }
+     852             : 
+     853         987 :   if (takingoff_) {
+     854             : 
+     855         987 :     if (control_manager_diagnostics->active_tracker != _takeoff_tracker_name_ || !control_manager_diagnostics->tracker_status.have_goal) {
+     856             : 
+     857          20 :       ROS_INFO("[UavManager]: take off finished, switching to %s", _after_takeoff_tracker_name_.c_str());
+     858             : 
+     859          20 :       switchTrackerSrv(_after_takeoff_tracker_name_);
+     860             : 
+     861          20 :       switchControllerSrv(_after_takeoff_controller_name_);
+     862             : 
+     863          20 :       setOdometryCallbacksSrv(true);
+     864             : 
+     865          20 :       timer_takeoff_.stop();
+     866             :     }
+     867             :   }
+     868             : }
+     869             : 
+     870             : //}
+     871             : 
+     872             : /* //{ timerMaxHeight() */
+     873             : 
+     874       22754 : void UavManager::timerMaxHeight(const ros::TimerEvent& event) {
+     875             : 
+     876       22754 :   if (!is_initialized_)
+     877       15036 :     return;
+     878             : 
+     879       45508 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerMaxHeight", _max_height_checking_rate_, 0.1, event);
+     880       45508 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerMaxHeight", scope_timer_logger_, scope_timer_enabled_);
+     881             : 
+     882       22754 :   if (!sh_max_height_.hasMsg() || !sh_height_.hasMsg() || !sh_odometry_.hasMsg()) {
+     883        8335 :     ROS_WARN_THROTTLE(10.0, "[UavManager]: maxHeightTimer() not spinning, missing data");
+     884        8335 :     return;
+     885             :   }
+     886             : 
+     887       14419 :   auto control_manager_diag = sh_control_manager_diag_.getMsg();
+     888             : 
+     889       14419 :   if (!fixing_max_height_ && !control_manager_diag->flying_normally) {
+     890        6701 :     return;
+     891             :   }
+     892             : 
+     893        7718 :   auto   odometry = sh_odometry_.getMsg();
+     894        7718 :   double height   = sh_height_.getMsg()->value;
+     895             : 
+     896             :   // transform max z to the height frame
+     897        7718 :   geometry_msgs::PointStamped point;
+     898        7718 :   point.header  = sh_max_height_.getMsg()->header;
+     899        7718 :   point.point.z = sh_max_height_.getMsg()->value;
+     900             : 
+     901        7718 :   auto res = transformer_->transformSingle(point, sh_height_.getMsg()->header.frame_id);
+     902             : 
+     903             :   double max_z_in_height;
+     904             : 
+     905        7718 :   if (res) {
+     906        7718 :     max_z_in_height = res->point.z;
+     907             :   } else {
+     908           0 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: timerMaxHeight() not working, cannot transform max z to the height frame");
+     909           0 :     return;
+     910             :   }
+     911             : 
+     912        7718 :   auto [odometry_x, odometry_y, odometry_z] = mrs_lib::getPosition(odometry);
+     913             : 
+     914        7718 :   double odometry_heading = 0;
+     915             :   try {
+     916        7718 :     odometry_heading = mrs_lib::getHeading(odometry);
+     917             :   }
+     918           0 :   catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+     919           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: exception caught: '%s'", e.what());
+     920           0 :     return;
+     921             :   }
+     922             : 
+     923        7718 :   if (height > max_z_in_height) {
+     924             : 
+     925          54 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: max height exceeded: %.2f >  %.2f, triggering safety goto", height, max_z_in_height);
+     926             : 
+     927         108 :     mrs_msgs::ReferenceStamped reference_out;
+     928          54 :     reference_out.header.frame_id = odometry->header.frame_id;
+     929          54 :     reference_out.header.stamp    = ros::Time::now();
+     930             : 
+     931          54 :     reference_out.reference.position.x = odometry_x;
+     932          54 :     reference_out.reference.position.y = odometry_y;
+     933          54 :     reference_out.reference.position.z = odometry_z + ((max_z_in_height - _max_height_offset_) - height);
+     934             : 
+     935          54 :     reference_out.reference.heading = odometry_heading;
+     936             : 
+     937          54 :     setControlCallbacksSrv(false);
+     938             : 
+     939          54 :     bool success = emergencyReferenceSrv(reference_out);
+     940             : 
+     941          54 :     if (success) {
+     942             : 
+     943          54 :       ROS_INFO("[UavManager]: descending");
+     944             : 
+     945          54 :       fixing_max_height_ = true;
+     946             : 
+     947             :     } else {
+     948             : 
+     949           0 :       ROS_ERROR_THROTTLE(1.0, "[UavManager]: could not descend");
+     950             : 
+     951           0 :       setControlCallbacksSrv(true);
+     952             :     }
+     953             :   }
+     954             : 
+     955        7718 :   if (fixing_max_height_ && height < max_z_in_height) {
+     956             : 
+     957           1 :     setControlCallbacksSrv(true);
+     958             : 
+     959           1 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: safe height reached");
+     960             : 
+     961           1 :     fixing_max_height_ = false;
+     962             :   }
+     963             : }
+     964             : 
+     965             : //}
+     966             : 
+     967             : /* //{ timerMinHeight() */
+     968             : 
+     969       22680 : void UavManager::timerMinHeight(const ros::TimerEvent& event) {
+     970             : 
+     971       22680 :   if (!is_initialized_)
+     972       15050 :     return;
+     973             : 
+     974       22680 :   ROS_INFO_ONCE("[UavManager]: min height timer spinning");
+     975             : 
+     976       45360 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerMinHeight", _min_height_checking_rate_, 0.1, event);
+     977       45360 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerMinHeight", scope_timer_logger_, scope_timer_enabled_);
+     978             : 
+     979       22680 :   if (!sh_odometry_.hasMsg() || !sh_height_.hasMsg() || !sh_control_manager_diag_.hasMsg()) {
+     980        8323 :     ROS_WARN_THROTTLE(10.0, "[UavManager]: minHeightTimer() not spinning, missing data");
+     981        8323 :     return;
+     982             :   }
+     983             : 
+     984       14357 :   auto control_manager_diag = sh_control_manager_diag_.getMsg();
+     985             : 
+     986       14357 :   if (!fixing_min_height_ && !control_manager_diag->flying_normally) {
+     987        6727 :     return;
+     988             :   }
+     989             : 
+     990        7630 :   auto   odometry = sh_odometry_.getMsg();
+     991        7630 :   double height   = sh_height_.getMsg()->value;
+     992             : 
+     993        7630 :   auto [odometry_x, odometry_y, odometry_z] = mrs_lib::getPosition(odometry);
+     994             : 
+     995        7630 :   double odometry_heading = 0;
+     996             : 
+     997             :   try {
+     998        7630 :     odometry_heading = mrs_lib::getHeading(odometry);
+     999             :   }
+    1000           0 :   catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+    1001           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: exception caught: '%s'", e.what());
+    1002           0 :     return;
+    1003             :   }
+    1004             : 
+    1005        7630 :   if (height < _min_height_) {
+    1006             : 
+    1007          40 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: min height breached: %.2f < %.2f, triggering safety goto", height, _min_height_);
+    1008             : 
+    1009          80 :     mrs_msgs::ReferenceStamped reference_out;
+    1010          40 :     reference_out.header.frame_id = odometry->header.frame_id;
+    1011          40 :     reference_out.header.stamp    = ros::Time::now();
+    1012             : 
+    1013          40 :     reference_out.reference.position.x = odometry_x;
+    1014          40 :     reference_out.reference.position.y = odometry_y;
+    1015          40 :     reference_out.reference.position.z = odometry_z + ((_min_height_ + _min_height_offset_) - height);
+    1016             : 
+    1017          40 :     reference_out.reference.heading = odometry_heading;
+    1018             : 
+    1019          40 :     setControlCallbacksSrv(false);
+    1020             : 
+    1021          40 :     bool success = emergencyReferenceSrv(reference_out);
+    1022             : 
+    1023          40 :     if (success) {
+    1024             : 
+    1025          40 :       ROS_INFO("[UavManager]: ascending");
+    1026             : 
+    1027          40 :       fixing_min_height_ = true;
+    1028             : 
+    1029             :     } else {
+    1030             : 
+    1031           0 :       ROS_ERROR_THROTTLE(1.0, "[UavManager]: could not ascend");
+    1032             : 
+    1033           0 :       setControlCallbacksSrv(true);
+    1034             :     }
+    1035             :   }
+    1036             : 
+    1037        7630 :   if (fixing_min_height_ && height > _min_height_) {
+    1038             : 
+    1039           2 :     setControlCallbacksSrv(true);
+    1040             : 
+    1041           2 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: safe height reached");
+    1042             : 
+    1043           2 :     fixing_min_height_ = false;
+    1044             :   }
+    1045             : }
+    1046             : 
+    1047             : //}
+    1048             : 
+    1049             : /* //{ timerFlightTime() */
+    1050             : 
+    1051         283 : void UavManager::timerFlightTime(const ros::TimerEvent& event) {
+    1052             : 
+    1053         283 :   if (!is_initialized_)
+    1054           0 :     return;
+    1055             : 
+    1056         849 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerFlightTime", _flighttime_timer_rate_, 0.1, event);
+    1057         849 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerFlightTime", scope_timer_logger_, scope_timer_enabled_);
+    1058             : 
+    1059         283 :   auto flighttime = mrs_lib::get_mutexed(mutex_flighttime_, flighttime_);
+    1060             : 
+    1061         283 :   flighttime += 1.0 / _flighttime_timer_rate_;
+    1062             : 
+    1063         283 :   mrs_msgs::Float64 flight_time;
+    1064         283 :   flight_time.value = flighttime;
+    1065             : 
+    1066             :   // if enabled, start the timer for measuring the flight time
+    1067         283 :   if (_flighttime_timer_enabled_) {
+    1068             : 
+    1069           0 :     if (flighttime > _flighttime_max_time_) {
+    1070             : 
+    1071           0 :       flighttime = 0;
+    1072           0 :       timer_flighttime_.stop();
+    1073             : 
+    1074           0 :       ROS_INFO("[UavManager]: max flight time reached, landing");
+    1075             : 
+    1076           0 :       landImpl();
+    1077             :     }
+    1078             :   }
+    1079             : 
+    1080         283 :   mrs_lib::set_mutexed(mutex_flighttime_, flighttime, flighttime_);
+    1081             : }
+    1082             : 
+    1083             : //}
+    1084             : 
+    1085             : /* //{ timerMaxthrottle() */
+    1086             : 
+    1087       57828 : void UavManager::timerMaxthrottle(const ros::TimerEvent& event) {
+    1088             : 
+    1089       57828 :   if (!is_initialized_)
+    1090       18235 :     return;
+    1091             : 
+    1092       57828 :   if (!sh_throttle_.hasMsg() || (ros::Time::now() - sh_throttle_.lastMsgTime()).toSec() > 1.0) {
+    1093       18235 :     return;
+    1094             :   }
+    1095             : 
+    1096       39593 :   ROS_INFO_ONCE("[UavManager]: max throttle timer spinning");
+    1097             : 
+    1098      118779 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerMaxthrottle", _maxthrottle_timer_rate_, 0.03, event);
+    1099      118779 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerMaxthrottle", scope_timer_logger_, scope_timer_enabled_);
+    1100             : 
+    1101       39593 :   auto desired_throttle = sh_throttle_.getMsg()->data;
+    1102             : 
+    1103       39593 :   if (desired_throttle >= _maxthrottle_max_throttle_) {
+    1104             : 
+    1105          32 :     if (!maxthrottle_above_threshold_) {
+    1106             : 
+    1107           1 :       maxthrottle_first_time_      = ros::Time::now();
+    1108           1 :       maxthrottle_above_threshold_ = true;
+    1109           1 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: max throttle exceeded threshold (%.2f/%.2f)", desired_throttle, _maxthrottle_max_throttle_);
+    1110             : 
+    1111             :     } else {
+    1112             : 
+    1113          31 :       ROS_WARN_THROTTLE(0.1, "[UavManager]: throttle over threshold (%.2f/%.2f) for %.2f s", desired_throttle, _maxthrottle_max_throttle_,
+    1114             :                         (ros::Time::now() - maxthrottle_first_time_).toSec());
+    1115             :     }
+    1116             : 
+    1117             :   } else {
+    1118             : 
+    1119       39561 :     maxthrottle_above_threshold_ = false;
+    1120             :   }
+    1121             : 
+    1122       39593 :   if (maxthrottle_above_threshold_ && (ros::Time::now() - maxthrottle_first_time_).toSec() > _maxthrottle_ungrip_timeout_) {
+    1123             : 
+    1124          16 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: throttle over threshold (%.2f/%.2f) for more than %.2f s, ungripping payload", desired_throttle,
+    1125             :                       _maxthrottle_max_throttle_, _maxthrottle_ungrip_timeout_);
+    1126             : 
+    1127          16 :     ungripSrv();
+    1128             :   }
+    1129             : 
+    1130       39593 :   if (maxthrottle_above_threshold_ && (ros::Time::now() - maxthrottle_first_time_).toSec() > _maxthrottle_eland_timeout_) {
+    1131             : 
+    1132           1 :     timer_maxthrottle_.stop();
+    1133             : 
+    1134           1 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: throttle over threshold (%.2f/%.2f) for more than %.2f s, calling for emergency landing", desired_throttle,
+    1135             :                        _maxthrottle_max_throttle_, _maxthrottle_eland_timeout_);
+    1136             : 
+    1137           1 :     elandSrv();
+    1138             :   }
+    1139             : }
+    1140             : 
+    1141             : //}
+    1142             : 
+    1143             : /* //{ timerDiagnostics() */
+    1144             : 
+    1145        2255 : void UavManager::timerDiagnostics(const ros::TimerEvent& event) {
+    1146             : 
+    1147        2255 :   if (!is_initialized_)
+    1148           0 :     return;
+    1149             : 
+    1150        6765 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerDiagnostics", _maxthrottle_timer_rate_, 0.03, event);
+    1151        6765 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+    1152             : 
+    1153        2255 :   bool got_gps_est = false;
+    1154        2255 :   bool got_rtk_est = false;
+    1155             : 
+    1156        2255 :   if (sh_estimation_diagnostics_.hasMsg()) {  // get current position in lat-lon
+    1157             : 
+    1158        3722 :     auto                     estimation_diag  = sh_estimation_diagnostics_.getMsg();
+    1159        1861 :     std::vector<std::string> state_estimators = estimation_diag.get()->switchable_state_estimators;
+    1160             : 
+    1161        2268 :     got_gps_est = std::find(state_estimators.begin(), state_estimators.end(), "gps_garmin") != state_estimators.end() ||
+    1162         407 :                   std::find(state_estimators.begin(), state_estimators.end(), "gps_baro") != state_estimators.end();
+    1163        1861 :     got_rtk_est = std::find(state_estimators.begin(), state_estimators.end(), "rtk") != state_estimators.end();
+    1164             :   }
+    1165             : 
+    1166        4510 :   mrs_msgs::UavManagerDiagnostics diag;
+    1167             : 
+    1168        2255 :   diag.stamp    = ros::Time::now();
+    1169        2255 :   diag.uav_name = _uav_name_;
+    1170             : 
+    1171        2255 :   auto flighttime = mrs_lib::get_mutexed(mutex_flighttime_, flighttime_);
+    1172             : 
+    1173             :   // fill in the acumulated flight time
+    1174        2255 :   diag.flight_time = flighttime;
+    1175             : 
+    1176        2255 :   if (sh_odometry_.hasMsg()) {  // get current position in lat-lon
+    1177             : 
+    1178        1866 :     if (got_gps_est || got_rtk_est) {
+    1179             : 
+    1180        3666 :       nav_msgs::Odometry odom = *sh_odometry_.getMsg();
+    1181             : 
+    1182        3666 :       geometry_msgs::PoseStamped uav_pose;
+    1183        1833 :       uav_pose.pose = mrs_lib::getPose(odom);
+    1184             : 
+    1185        5499 :       auto res = transformer_->transformSingle(uav_pose, "latlon_origin");
+    1186             : 
+    1187        1833 :       if (res) {
+    1188        1833 :         diag.cur_latitude  = res.value().pose.position.x;
+    1189        1833 :         diag.cur_longitude = res.value().pose.position.y;
+    1190             :       }
+    1191             :     }
+    1192             :   }
+    1193             : 
+    1194        2255 :   if (takeoff_successful_) {
+    1195             : 
+    1196         325 :     if (got_gps_est || got_rtk_est) {
+    1197             : 
+    1198         650 :       auto land_there_reference = mrs_lib::get_mutexed(mutex_land_there_reference_, land_there_reference_);
+    1199             : 
+    1200         975 :       auto res = transformer_->transformSingle(land_there_reference, "latlon_origin");
+    1201             : 
+    1202         325 :       if (res) {
+    1203         325 :         diag.home_latitude  = res.value().reference.position.x;
+    1204         325 :         diag.home_longitude = res.value().reference.position.y;
+    1205             :       }
+    1206             :     }
+    1207             :   }
+    1208             : 
+    1209        2255 :   ph_diag_.publish(diag);
+    1210             : }
+    1211             : 
+    1212             : //}
+    1213             : 
+    1214             : /* //{ timerMidairActivation() */
+    1215             : 
+    1216          80 : void UavManager::timerMidairActivation([[maybe_unused]] const ros::TimerEvent& event) {
+    1217             : 
+    1218          80 :   if (!is_initialized_)
+    1219           0 :     return;
+    1220             : 
+    1221          80 :   ROS_INFO_THROTTLE(0.1, "[UavManager]: waiting for OFFBOARD");
+    1222             : 
+    1223          80 :   if (sh_hw_api_status_.getMsg()->offboard) {
+    1224             : 
+    1225          80 :     ROS_INFO("[UavManager]: OFFBOARD detected");
+    1226             : 
+    1227          80 :     setOdometryCallbacksSrv(true);
+    1228             : 
+    1229             :     {
+    1230          80 :       bool controller_switched = switchControllerSrv(_midair_activation_after_controller_);
+    1231             : 
+    1232          80 :       if (!controller_switched) {
+    1233             : 
+    1234           1 :         ROS_ERROR("[UavManager]: could not activate '%s'", _midair_activation_after_controller_.c_str());
+    1235             : 
+    1236           1 :         ehoverSrv();
+    1237             : 
+    1238           1 :         timer_midair_activation_.stop();
+    1239             : 
+    1240           1 :         return;
+    1241             :       }
+    1242             :     }
+    1243             : 
+    1244             :     {
+    1245          79 :       bool tracker_switched = switchTrackerSrv(_midair_activation_after_tracker_);
+    1246             : 
+    1247          79 :       if (!tracker_switched) {
+    1248             : 
+    1249           1 :         ROS_ERROR("[UavManager]: could not activate '%s'", _midair_activation_after_tracker_.c_str());
+    1250             : 
+    1251           1 :         ehoverSrv();
+    1252             : 
+    1253           1 :         timer_midair_activation_.stop();
+    1254             : 
+    1255           1 :         return;
+    1256             :       }
+    1257             :     }
+    1258             : 
+    1259          78 :     timer_midair_activation_.stop();
+    1260             : 
+    1261          78 :     return;
+    1262             :   }
+    1263             : 
+    1264           0 :   if ((ros::Time::now() - midair_activation_started_).toSec() > 0.5) {
+    1265             : 
+    1266           0 :     ROS_ERROR("[UavManager]: waiting for OFFBOARD timeouted, reverting");
+    1267             : 
+    1268           0 :     toggleControlOutput(false);
+    1269             : 
+    1270           0 :     timer_midair_activation_.stop();
+    1271             : 
+    1272           0 :     return;
+    1273             :   }
+    1274             : }
+    1275             : 
+    1276             : //}
+    1277             : 
+    1278             : // --------------------------------------------------------------
+    1279             : // |                          callbacks                         |
+    1280             : // --------------------------------------------------------------
+    1281             : 
+    1282             : // | --------------------- topic callbacks -------------------- |
+    1283             : 
+    1284             : /* //{ callbackHwApiGNSS() */
+    1285             : 
+    1286       79950 : void UavManager::callbackHwApiGNSS(const sensor_msgs::NavSatFix::ConstPtr msg) {
+    1287             : 
+    1288       79950 :   if (!is_initialized_)
+    1289          26 :     return;
+    1290             : 
+    1291      239772 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackHwApiGNSS");
+    1292      239772 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::callbackHwApiGNSS", scope_timer_logger_, scope_timer_enabled_);
+    1293             : 
+    1294       79924 :   transformer_->setLatLon(msg->latitude, msg->longitude);
+    1295             : }
+    1296             : 
+    1297             : //}
+    1298             : 
+    1299             : /* //{ callbackOdometry() */
+    1300             : 
+    1301      172625 : void UavManager::callbackOdometry(const nav_msgs::Odometry::ConstPtr msg) {
+    1302             : 
+    1303      172625 :   if (!is_initialized_)
+    1304           0 :     return;
+    1305             : 
+    1306      172625 :   transformer_->setDefaultFrame(msg->header.frame_id);
+    1307             : }
+    1308             : 
+    1309             : //}
+    1310             : 
+    1311             : // | -------------------- service callbacks ------------------- |
+    1312             : 
+    1313             : /* //{ callbackTakeoff() */
+    1314             : 
+    1315          22 : bool UavManager::callbackTakeoff([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1316             : 
+    1317          22 :   if (!is_initialized_)
+    1318           0 :     return false;
+    1319             : 
+    1320          22 :   ROS_INFO("[UavManager]: takeoff called by service");
+    1321             : 
+    1322             :   /* preconditions //{ */
+    1323             : 
+    1324             :   {
+    1325          22 :     std::stringstream ss;
+    1326             : 
+    1327          22 :     if (!sh_odometry_.hasMsg()) {
+    1328           0 :       ss << "can not takeoff, missing odometry!";
+    1329           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1330           0 :       res.message = ss.str();
+    1331           0 :       res.success = false;
+    1332           0 :       return true;
+    1333             :     }
+    1334             : 
+    1335          22 :     if (!sh_hw_api_status_.hasMsg() || (ros::Time::now() - sh_hw_api_status_.lastMsgTime()).toSec() > 5.0) {
+    1336           0 :       ss << "can not takeoff, missing HW API status!";
+    1337           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1338           0 :       res.message = ss.str();
+    1339           0 :       res.success = false;
+    1340           0 :       return true;
+    1341             :     }
+    1342             : 
+    1343          22 :     if (!sh_hw_api_status_.getMsg()->armed) {
+    1344           0 :       ss << "can not takeoff, UAV not armed!";
+    1345           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1346           0 :       res.message = ss.str();
+    1347           0 :       res.success = false;
+    1348           0 :       return true;
+    1349             :     }
+    1350             : 
+    1351          22 :     if (!sh_hw_api_status_.getMsg()->offboard) {
+    1352           0 :       ss << "can not takeoff, UAV not in offboard mode!";
+    1353           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1354           0 :       res.message = ss.str();
+    1355           0 :       res.success = false;
+    1356           0 :       return true;
+    1357             :     }
+    1358             : 
+    1359             :     {
+    1360          22 :       if (!sh_control_manager_diag_.hasMsg() && (ros::Time::now() - sh_control_manager_diag_.lastMsgTime()).toSec() > 5.0) {
+    1361           0 :         ss << "can not takeoff, missing control manager diagnostics!";
+    1362           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1363           0 :         res.message = ss.str();
+    1364           0 :         res.success = false;
+    1365           0 :         return true;
+    1366             :       }
+    1367             : 
+    1368          22 :       if (_null_tracker_name_ != sh_control_manager_diag_.getMsg()->active_tracker) {
+    1369           0 :         ss << "can not takeoff, need '" << _null_tracker_name_ << "' to be active!";
+    1370           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1371           0 :         res.message = ss.str();
+    1372           0 :         res.success = false;
+    1373           0 :         return true;
+    1374             :       }
+    1375             :     }
+    1376             : 
+    1377          22 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1378           0 :       ss << "can not takeoff, missing controller diagnostics!";
+    1379           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1380           0 :       res.message = ss.str();
+    1381           0 :       res.success = false;
+    1382           0 :       return true;
+    1383             :     }
+    1384             : 
+    1385          22 :     if (_gain_manager_required_ && (ros::Time::now() - sh_gains_diag_.lastMsgTime()).toSec() > 5.0) {
+    1386           0 :       ss << "can not takeoff, GainManager is not running!";
+    1387           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1388           0 :       res.message = ss.str();
+    1389           0 :       res.success = false;
+    1390           0 :       return true;
+    1391             :     }
+    1392             : 
+    1393          22 :     if (_constraint_manager_required_ && (ros::Time::now() - sh_constraints_diag_.lastMsgTime()).toSec() > 5.0) {
+    1394           0 :       ss << "can not takeoff, ConstraintManager is not running!";
+    1395           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1396           0 :       res.message = ss.str();
+    1397           0 :       res.success = false;
+    1398           0 :       return true;
+    1399             :     }
+    1400             : 
+    1401          22 :     if (!sh_control_manager_diag_.getMsg()->output_enabled) {
+    1402             : 
+    1403           0 :       ss << "can not takeoff, Control Manager's output is disabled!";
+    1404           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1405           0 :       res.message = ss.str();
+    1406           0 :       res.success = false;
+    1407           0 :       return true;
+    1408             :     }
+    1409             : 
+    1410          22 :     if (number_of_takeoffs_ > 0) {
+    1411             : 
+    1412           0 :       auto last_mass_difference = mrs_lib::get_mutexed(mutex_last_mass_difference_, last_mass_difference_);
+    1413             : 
+    1414           0 :       if (last_mass_difference > 1.0) {
+    1415             : 
+    1416           0 :         ss << std::setprecision(2);
+    1417           0 :         ss << "can not takeoff, estimated mass difference is too large: " << _null_tracker_name_ << "!";
+    1418           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1419           0 :         res.message = ss.str();
+    1420           0 :         res.success = false;
+    1421           0 :         return true;
+    1422             :       }
+    1423             :     }
+    1424             :   }
+    1425             : 
+    1426             :   //}
+    1427             : 
+    1428          44 :   auto control_manager_diagnostics = sh_control_manager_diag_.getMsg();
+    1429          44 :   auto odometry                    = sh_odometry_.getMsg();
+    1430          22 :   auto [odom_x, odom_y, odom_z]    = mrs_lib::getPosition(sh_odometry_.getMsg());
+    1431             : 
+    1432             :   double odom_heading;
+    1433             :   try {
+    1434          22 :     odom_heading = mrs_lib::getHeading(sh_odometry_.getMsg());
+    1435             :   }
+    1436           0 :   catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+    1437           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: exception caught: '%s'", e.what());
+    1438             : 
+    1439           0 :     std::stringstream ss;
+    1440           0 :     ss << "could not calculate current heading";
+    1441           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1442           0 :     res.message = ss.str();
+    1443           0 :     res.success = false;
+    1444           0 :     return true;
+    1445             :   }
+    1446             : 
+    1447          22 :   ROS_INFO("[UavManager]: taking off");
+    1448             : 
+    1449          22 :   setOdometryCallbacksSrv(false);
+    1450             : 
+    1451             :   // activating the takeoff controller
+    1452             :   {
+    1453          22 :     std::string old_controller      = sh_control_manager_diag_.getMsg()->active_controller;
+    1454          22 :     bool        controller_switched = switchControllerSrv(_takeoff_controller_name_);
+    1455             : 
+    1456             :     // if it fails, activate back the old controller
+    1457             :     // this is no big deal since the control outputs are not used
+    1458             :     // until NullTracker is active
+    1459          22 :     if (!controller_switched) {
+    1460             : 
+    1461           1 :       std::stringstream ss;
+    1462           1 :       ss << "could not activate '" << _takeoff_controller_name_ << "' for takeoff";
+    1463           1 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1464           1 :       res.success = false;
+    1465           1 :       res.message = ss.str();
+    1466             : 
+    1467           1 :       toggleControlOutput(false);
+    1468           1 :       disarmSrv();
+    1469             : 
+    1470           1 :       return true;
+    1471             :     }
+    1472             :   }
+    1473             : 
+    1474             :   // activate the takeoff tracker
+    1475             :   {
+    1476          21 :     std::string old_tracker      = sh_control_manager_diag_.getMsg()->active_tracker;
+    1477          21 :     bool        tracker_switched = switchTrackerSrv(_takeoff_tracker_name_);
+    1478             : 
+    1479             :     // if it fails, activate back the old tracker
+    1480          21 :     if (!tracker_switched) {
+    1481             : 
+    1482           1 :       std::stringstream ss;
+    1483           1 :       ss << "could not activate '" << _takeoff_tracker_name_ << "' for takeoff";
+    1484           1 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1485           1 :       res.success = false;
+    1486           1 :       res.message = ss.str();
+    1487             : 
+    1488           1 :       toggleControlOutput(false);
+    1489           1 :       disarmSrv();
+    1490             : 
+    1491           1 :       return true;
+    1492             :     }
+    1493             :   }
+    1494             : 
+    1495             :   // let's sleep before calling take off.. the motors are rumping-up anyway
+    1496             :   // this solves on-time-happening race condition in the landoff tracker
+    1497          20 :   ros::Duration(0.3).sleep();
+    1498             : 
+    1499             :   // now the takeoff tracker and controller are active
+    1500             :   // the UAV is basically hovering on the ground
+    1501             :   // (the controller is probably rumping up the throttle now)
+    1502             : 
+    1503             :   // call the takeoff service at the takeoff tracker
+    1504             :   {
+    1505          20 :     bool takeoff_successful = takeoffSrv();
+    1506             : 
+    1507             :     // if the takeoff was not successful, switch to NullTracker
+    1508          20 :     if (takeoff_successful) {
+    1509             : 
+    1510             :       // save the current spot for later landing
+    1511             :       {
+    1512          20 :         std::scoped_lock lock(mutex_land_there_reference_);
+    1513             : 
+    1514          20 :         land_there_reference_.header               = odometry->header;
+    1515          20 :         land_there_reference_.reference.position.x = odom_x;
+    1516          20 :         land_there_reference_.reference.position.y = odom_y;
+    1517          20 :         land_there_reference_.reference.position.z = odom_z;
+    1518          20 :         land_there_reference_.reference.heading    = odom_heading;
+    1519             :       }
+    1520             : 
+    1521          20 :       timer_flighttime_.start();
+    1522             : 
+    1523          40 :       std::stringstream ss;
+    1524          20 :       ss << "taking off";
+    1525          20 :       res.success = true;
+    1526          20 :       res.message = ss.str();
+    1527          20 :       ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1528             : 
+    1529          20 :       takingoff_ = true;
+    1530          20 :       number_of_takeoffs_++;
+    1531          20 :       waiting_for_takeoff_ = true;
+    1532             : 
+    1533             :       // start the takeoff timer
+    1534          20 :       timer_takeoff_.start();
+    1535             : 
+    1536          20 :       takeoff_successful_ = takeoff_successful;
+    1537             : 
+    1538             :     } else {
+    1539             : 
+    1540           0 :       std::stringstream ss;
+    1541           0 :       ss << "takeoff was not successful";
+    1542           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1543           0 :       res.success = false;
+    1544           0 :       res.message = ss.str();
+    1545             : 
+    1546             :       // if the call for takeoff fails, call for emergency landing
+    1547           0 :       elandSrv();
+    1548             :     }
+    1549             :   }
+    1550             : 
+    1551          20 :   return true;
+    1552             : }
+    1553             : 
+    1554             : //}
+    1555             : 
+    1556             : /* //{ callbackLand() */
+    1557             : 
+    1558           2 : bool UavManager::callbackLand([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1559             : 
+    1560           2 :   if (!is_initialized_)
+    1561           0 :     return false;
+    1562             : 
+    1563           2 :   ROS_INFO("[UavManager]: land called by service");
+    1564             : 
+    1565             :   /* preconditions //{ */
+    1566             : 
+    1567             :   {
+    1568           2 :     std::stringstream ss;
+    1569             : 
+    1570           2 :     if (!sh_odometry_.hasMsg()) {
+    1571           0 :       ss << "can not land, missing odometry!";
+    1572           0 :       res.message = ss.str();
+    1573           0 :       res.success = false;
+    1574           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1575           0 :       return true;
+    1576             :     }
+    1577             : 
+    1578             :     {
+    1579           2 :       if (!sh_control_manager_diag_.hasMsg()) {
+    1580           0 :         ss << "can not land, missing control manager diagnostics!";
+    1581           0 :         res.message = ss.str();
+    1582           0 :         res.success = false;
+    1583           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1584           0 :         return true;
+    1585             :       }
+    1586             : 
+    1587           2 :       if (_null_tracker_name_ == sh_control_manager_diag_.getMsg()->active_tracker) {
+    1588           0 :         ss << "can not land, '" << _null_tracker_name_ << "' is active!";
+    1589           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1590           0 :         res.message = ss.str();
+    1591           0 :         res.success = false;
+    1592           0 :         return true;
+    1593             :       }
+    1594             :     }
+    1595             : 
+    1596           2 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1597           0 :       ss << "can not land, missing controller diagnostics!";
+    1598           0 :       res.message = ss.str();
+    1599           0 :       res.success = false;
+    1600           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1601           0 :       return true;
+    1602             :     }
+    1603             : 
+    1604           2 :     if (!sh_tracker_cmd_.hasMsg()) {
+    1605           0 :       ss << "can not land, missing position cmd!";
+    1606           0 :       res.message = ss.str();
+    1607           0 :       res.success = false;
+    1608           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1609           0 :       return true;
+    1610             :     }
+    1611             :   }
+    1612             : 
+    1613             :   //}
+    1614             : 
+    1615           2 :   auto [success, message] = landWithDescendImpl();
+    1616             : 
+    1617           2 :   res.message = message;
+    1618           2 :   res.success = success;
+    1619             : 
+    1620           2 :   return true;
+    1621             : }
+    1622             : 
+    1623             : //}
+    1624             : 
+    1625             : /* //{ callbackLandHome() */
+    1626             : 
+    1627           2 : bool UavManager::callbackLandHome([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1628             : 
+    1629           2 :   if (!is_initialized_)
+    1630           0 :     return false;
+    1631             : 
+    1632           2 :   ROS_INFO("[UavManager]: land home called by service");
+    1633             : 
+    1634             :   /* preconditions //{ */
+    1635             : 
+    1636             :   {
+    1637           2 :     std::stringstream ss;
+    1638             : 
+    1639           2 :     if (number_of_takeoffs_ == 0) {
+    1640           0 :       ss << "can not land home, did not takeoff before!";
+    1641           0 :       res.message = ss.str();
+    1642           0 :       res.success = false;
+    1643           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1644           0 :       return true;
+    1645             :     }
+    1646             : 
+    1647           2 :     if (!sh_odometry_.hasMsg()) {
+    1648           0 :       ss << "can not land, missing odometry!";
+    1649           0 :       res.message = ss.str();
+    1650           0 :       res.success = false;
+    1651           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1652           0 :       return true;
+    1653             :     }
+    1654             : 
+    1655             :     {
+    1656           2 :       if (!sh_control_manager_diag_.hasMsg()) {
+    1657           0 :         ss << "can not land, missing tracker status!";
+    1658           0 :         res.message = ss.str();
+    1659           0 :         res.success = false;
+    1660           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1661           0 :         return true;
+    1662             :       }
+    1663             : 
+    1664           2 :       if (_null_tracker_name_ == sh_control_manager_diag_.getMsg()->active_tracker) {
+    1665           0 :         ss << "can not land, '" << _null_tracker_name_ << "' is active!";
+    1666           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1667           0 :         res.message = ss.str();
+    1668           0 :         res.success = false;
+    1669           0 :         return true;
+    1670             :       }
+    1671             :     }
+    1672             : 
+    1673           2 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1674           0 :       ss << "can not land, missing controller diagnostics command!";
+    1675           0 :       res.message = ss.str();
+    1676           0 :       res.success = false;
+    1677           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1678           0 :       return true;
+    1679             :     }
+    1680             : 
+    1681           2 :     if (!sh_tracker_cmd_.hasMsg()) {
+    1682           0 :       ss << "can not land, missing position cmd!";
+    1683           0 :       res.message = ss.str();
+    1684           0 :       res.success = false;
+    1685           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1686           0 :       return true;
+    1687             :     }
+    1688             : 
+    1689           2 :     if (fixing_max_height_) {
+    1690           0 :       ss << "can not land, descedning to safe height!";
+    1691           0 :       res.message = ss.str();
+    1692           0 :       res.success = false;
+    1693           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1694           0 :       return true;
+    1695             :     }
+    1696             : 
+    1697           2 :     if (current_state_landing_ != IDLE_STATE) {
+    1698           0 :       ss << "can not land, already landing!";
+    1699           0 :       res.message = ss.str();
+    1700           0 :       res.success = false;
+    1701           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1702           0 :       return true;
+    1703             :     }
+    1704             :   }
+    1705             : 
+    1706             :   //}
+    1707             : 
+    1708           2 :   ungripSrv();
+    1709             : 
+    1710           4 :   mrs_msgs::ReferenceStamped reference_out;
+    1711             : 
+    1712             :   {
+    1713           2 :     std::scoped_lock lock(mutex_land_there_reference_);
+    1714             : 
+    1715             :     // get the current altitude in land_there_reference_.header.frame_id;
+    1716           2 :     geometry_msgs::PoseStamped current_pose;
+    1717           2 :     current_pose.header.stamp     = ros::Time::now();
+    1718           2 :     current_pose.header.frame_id  = _uav_name_ + "/fcu";
+    1719           2 :     current_pose.pose.position.x  = 0;
+    1720           2 :     current_pose.pose.position.y  = 0;
+    1721           2 :     current_pose.pose.position.z  = 0;
+    1722           2 :     current_pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1723             : 
+    1724           2 :     auto response = transformer_->transformSingle(current_pose, land_there_reference_.header.frame_id);
+    1725             : 
+    1726           2 :     if (response) {
+    1727             : 
+    1728           2 :       land_there_reference_.reference.position.z = response.value().pose.position.z;
+    1729           2 :       ROS_DEBUG("[UavManager]: current altitude is %.2f m", land_there_reference_.reference.position.z);
+    1730             : 
+    1731             :     } else {
+    1732             : 
+    1733           0 :       std::stringstream ss;
+    1734           0 :       ss << "could not transform current height to " << land_there_reference_.header.frame_id;
+    1735           0 :       ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+    1736             : 
+    1737           0 :       res.success = false;
+    1738           0 :       res.message = ss.str();
+    1739           0 :       return true;
+    1740             :     }
+    1741             : 
+    1742           2 :     reference_out.header.frame_id = land_there_reference_.header.frame_id;
+    1743           2 :     reference_out.header.stamp    = ros::Time::now();
+    1744           2 :     reference_out.reference       = land_there_reference_.reference;
+    1745             : 
+    1746           2 :     land_there_reference_ = reference_out;
+    1747             :   }
+    1748             : 
+    1749           2 :   bool service_success = emergencyReferenceSrv(reference_out);
+    1750             : 
+    1751           2 :   if (service_success) {
+    1752             : 
+    1753           4 :     std::stringstream ss;
+    1754           2 :     ss << "flying home for landing";
+    1755           2 :     ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1756             : 
+    1757           2 :     res.success = true;
+    1758           2 :     res.message = ss.str();
+    1759             : 
+    1760             :     // stop the eventual takeoff
+    1761           2 :     waiting_for_takeoff_ = false;
+    1762           2 :     takingoff_           = false;
+    1763           2 :     timer_takeoff_.stop();
+    1764             : 
+    1765           2 :     throttle_under_threshold_          = false;
+    1766           2 :     throttle_mass_estimate_first_time_ = ros::Time(0);
+    1767             : 
+    1768           2 :     changeLandingState(GOTO_STATE);
+    1769             : 
+    1770           2 :     timer_landing_.start();
+    1771             : 
+    1772             :   } else {
+    1773             : 
+    1774           0 :     std::stringstream ss;
+    1775           0 :     ss << "can not fly home for landing";
+    1776           0 :     ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+    1777             : 
+    1778           0 :     res.success = false;
+    1779           0 :     res.message = ss.str();
+    1780             :   }
+    1781             : 
+    1782           2 :   return true;
+    1783             : }
+    1784             : 
+    1785             : //}
+    1786             : 
+    1787             : /* //{ callbackLandThere() */
+    1788             : 
+    1789           1 : bool UavManager::callbackLandThere(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res) {
+    1790             : 
+    1791           1 :   if (!is_initialized_)
+    1792           0 :     return false;
+    1793             : 
+    1794           1 :   ROS_INFO("[UavManager]: land there called by service");
+    1795             : 
+    1796             :   /* preconditions //{ */
+    1797             : 
+    1798             :   {
+    1799           1 :     std::stringstream ss;
+    1800             : 
+    1801           1 :     if (!sh_odometry_.hasMsg()) {
+    1802           0 :       ss << "can not land, missing odometry!";
+    1803           0 :       res.message = ss.str();
+    1804           0 :       res.success = false;
+    1805           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1806           0 :       return true;
+    1807             :     }
+    1808             : 
+    1809             :     {
+    1810           1 :       if (!sh_control_manager_diag_.hasMsg()) {
+    1811           0 :         ss << "can not land, missing tracker status!";
+    1812           0 :         res.message = ss.str();
+    1813           0 :         res.success = false;
+    1814           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1815           0 :         return true;
+    1816             :       }
+    1817             : 
+    1818           1 :       if (_null_tracker_name_ == sh_control_manager_diag_.getMsg()->active_tracker) {
+    1819           0 :         ss << "can not land, '" << _null_tracker_name_ << "' is active!";
+    1820           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1821           0 :         res.message = ss.str();
+    1822           0 :         res.success = false;
+    1823           0 :         return true;
+    1824             :       }
+    1825             :     }
+    1826             : 
+    1827           1 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1828           0 :       ss << "can not land, missing controller diagnostics!";
+    1829           0 :       res.message = ss.str();
+    1830           0 :       res.success = false;
+    1831           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1832           0 :       return true;
+    1833             :     }
+    1834             : 
+    1835           1 :     if (!sh_tracker_cmd_.hasMsg()) {
+    1836           0 :       ss << "can not land, missing position cmd!";
+    1837           0 :       res.message = ss.str();
+    1838           0 :       res.success = false;
+    1839           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1840           0 :       return true;
+    1841             :     }
+    1842             : 
+    1843           1 :     if (fixing_max_height_) {
+    1844           0 :       ss << "can not land, descedning to safe height!";
+    1845           0 :       res.message = ss.str();
+    1846           0 :       res.success = false;
+    1847           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1848           0 :       return true;
+    1849             :     }
+    1850             :   }
+    1851             : 
+    1852             :   //}
+    1853             : 
+    1854           1 :   ungripSrv();
+    1855             : 
+    1856           2 :   auto odometry = sh_odometry_.getMsg();
+    1857             : 
+    1858             :   // | ------ transform the reference to the current frame ------ |
+    1859             : 
+    1860           2 :   mrs_msgs::ReferenceStamped reference_in;
+    1861           1 :   reference_in.header    = req.header;
+    1862           1 :   reference_in.reference = req.reference;
+    1863             : 
+    1864           2 :   auto result = transformer_->transformSingle(reference_in, odometry->header.frame_id);
+    1865             : 
+    1866           1 :   if (!result) {
+    1867           0 :     std::stringstream ss;
+    1868           0 :     ss << "can not transform the reference to the current control frame!";
+    1869           0 :     res.message = ss.str();
+    1870           0 :     res.success = false;
+    1871           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1872           0 :     return true;
+    1873             :   }
+    1874             : 
+    1875             :   {
+    1876           1 :     std::scoped_lock lock(mutex_land_there_reference_);
+    1877             : 
+    1878           1 :     land_there_reference_.header               = odometry->header;
+    1879           1 :     land_there_reference_.reference            = reference_in.reference;
+    1880           1 :     land_there_reference_.reference.position.z = odometry->pose.pose.position.z;
+    1881             :   }
+    1882             : 
+    1883           1 :   bool service_success = emergencyReferenceSrv(land_there_reference_);
+    1884             : 
+    1885           1 :   if (service_success) {
+    1886             : 
+    1887           2 :     std::stringstream ss;
+    1888           1 :     ss << "flying there for landing";
+    1889           1 :     ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1890             : 
+    1891           1 :     res.success = true;
+    1892           1 :     res.message = ss.str();
+    1893             : 
+    1894             :     // stop the eventual takeoff
+    1895           1 :     waiting_for_takeoff_ = false;
+    1896           1 :     takingoff_           = false;
+    1897           1 :     timer_takeoff_.stop();
+    1898             : 
+    1899           1 :     throttle_under_threshold_          = false;
+    1900           1 :     throttle_mass_estimate_first_time_ = ros::Time(0);
+    1901             : 
+    1902           1 :     changeLandingState(GOTO_STATE);
+    1903             : 
+    1904           1 :     timer_landing_.start();
+    1905             : 
+    1906             :   } else {
+    1907             : 
+    1908           0 :     std::stringstream ss;
+    1909           0 :     ss << "can not fly there for landing";
+    1910           0 :     ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+    1911             : 
+    1912           0 :     res.success = false;
+    1913           0 :     res.message = ss.str();
+    1914             :   }
+    1915             : 
+    1916           1 :   return true;
+    1917             : }
+    1918             : 
+    1919             : //}
+    1920             : 
+    1921             : /* //{ callbackMidairActivation() */
+    1922             : 
+    1923          82 : bool UavManager::callbackMidairActivation([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1924             : 
+    1925          82 :   if (!is_initialized_)
+    1926           0 :     return false;
+    1927             : 
+    1928          82 :   ROS_INFO("[UavManager]: midair activation called by service");
+    1929             : 
+    1930             :   /* preconditions //{ */
+    1931             : 
+    1932             :   {
+    1933          82 :     std::stringstream ss;
+    1934             : 
+    1935          82 :     if (!sh_odometry_.hasMsg()) {
+    1936           0 :       ss << "can not activate, missing odometry!";
+    1937           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1938           0 :       res.message = ss.str();
+    1939           0 :       res.success = false;
+    1940           0 :       return true;
+    1941             :     }
+    1942             : 
+    1943          82 :     if (!sh_hw_api_status_.hasMsg() || (ros::Time::now() - sh_hw_api_status_.lastMsgTime()).toSec() > 5.0) {
+    1944           0 :       ss << "can not activate, missing HW API status!";
+    1945           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1946           0 :       res.message = ss.str();
+    1947           0 :       res.success = false;
+    1948           0 :       return true;
+    1949             :     }
+    1950             : 
+    1951          82 :     if (!sh_hw_api_status_.getMsg()->armed) {
+    1952           0 :       ss << "can not activate, UAV not armed!";
+    1953           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1954           0 :       res.message = ss.str();
+    1955           0 :       res.success = false;
+    1956           0 :       return true;
+    1957             :     }
+    1958             : 
+    1959          82 :     if (sh_hw_api_status_.getMsg()->offboard) {
+    1960           0 :       ss << "can not activate, UAV already in offboard mode!";
+    1961           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1962           0 :       res.message = ss.str();
+    1963           0 :       res.success = false;
+    1964           0 :       return true;
+    1965             :     }
+    1966             : 
+    1967             :     {
+    1968          82 :       if (!sh_control_manager_diag_.hasMsg()) {
+    1969           0 :         ss << "can not activate, missing control manager diagnostics!";
+    1970           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1971           0 :         res.message = ss.str();
+    1972           0 :         res.success = false;
+    1973           0 :         return true;
+    1974             :       }
+    1975             : 
+    1976          82 :       if (_null_tracker_name_ != sh_control_manager_diag_.getMsg()->active_tracker) {
+    1977           0 :         ss << "can not activate, need '" << _null_tracker_name_ << "' to be active!";
+    1978           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1979           0 :         res.message = ss.str();
+    1980           0 :         res.success = false;
+    1981           0 :         return true;
+    1982             :       }
+    1983             :     }
+    1984             : 
+    1985          82 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1986           0 :       ss << "can not activate, missing controller diagnostics!";
+    1987           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1988           0 :       res.message = ss.str();
+    1989           0 :       res.success = false;
+    1990           0 :       return true;
+    1991             :     }
+    1992             : 
+    1993          82 :     if (_gain_manager_required_ && (ros::Time::now() - sh_gains_diag_.lastMsgTime()).toSec() > 5.0) {
+    1994           0 :       ss << "can not activate, GainManager is not running!";
+    1995           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1996           0 :       res.message = ss.str();
+    1997           0 :       res.success = false;
+    1998           0 :       return true;
+    1999             :     }
+    2000             : 
+    2001          82 :     if (_constraint_manager_required_ && (ros::Time::now() - sh_constraints_diag_.lastMsgTime()).toSec() > 5.0) {
+    2002           0 :       ss << "can not activate, ConstraintManager is not running!";
+    2003           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2004           0 :       res.message = ss.str();
+    2005           0 :       res.success = false;
+    2006           0 :       return true;
+    2007             :     }
+    2008             : 
+    2009          82 :     if (number_of_takeoffs_ > 0) {
+    2010           0 :       ss << "can not activate, we flew already!";
+    2011           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2012           0 :       res.message = ss.str();
+    2013           0 :       res.success = false;
+    2014           0 :       return true;
+    2015             :     }
+    2016             :   }
+    2017             : 
+    2018             :   //}
+    2019             : 
+    2020          82 :   auto [success, message] = midairActivationImpl();
+    2021             : 
+    2022          82 :   res.message = message;
+    2023          82 :   res.success = success;
+    2024             : 
+    2025          82 :   return true;
+    2026             : }
+    2027             : 
+    2028             : //}
+    2029             : 
+    2030             : /* //{ callbackMinHeightCheck() */
+    2031             : 
+    2032           2 : bool UavManager::callbackMinHeightCheck([[maybe_unused]] std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    2033             : 
+    2034           2 :   if (!is_initialized_)
+    2035           0 :     return false;
+    2036             : 
+    2037           2 :   min_height_check_ = req.data;
+    2038             : 
+    2039           2 :   std::stringstream ss;
+    2040             : 
+    2041           2 :   ss << "min height check " << (min_height_check_ ? "enabled" : "disabled");
+    2042             : 
+    2043           2 :   if (min_height_check_) {
+    2044           1 :     timer_min_height_.start();
+    2045             :   } else {
+    2046           1 :     timer_min_height_.stop();
+    2047             :   }
+    2048             : 
+    2049           2 :   ROS_INFO_STREAM("[UavManager]: " << ss.str());
+    2050             : 
+    2051           2 :   res.message = ss.str();
+    2052           2 :   res.success = true;
+    2053             : 
+    2054           2 :   return true;
+    2055             : }
+    2056             : 
+    2057             : //}
+    2058             : 
+    2059             : // | ------------------------ routines ------------------------ |
+    2060             : 
+    2061             : /* landImpl() //{ */
+    2062             : 
+    2063           5 : std::tuple<bool, std::string> UavManager::landImpl(void) {
+    2064             : 
+    2065             :   // activating the landing controller
+    2066             :   {
+    2067           5 :     std::string old_controller      = sh_control_manager_diag_.getMsg()->active_controller;
+    2068           5 :     bool        controller_switched = switchControllerSrv(_landing_controller_name_);
+    2069             : 
+    2070             :     // if it fails, activate eland
+    2071             :     // Tomas: I pressume that its more important to get the UAV to the ground rather than
+    2072             :     // just throw out error.
+    2073           5 :     if (!controller_switched) {
+    2074             : 
+    2075           0 :       std::stringstream ss;
+    2076           0 :       ss << "could not activate '" << _takeoff_controller_name_ << "' for landing";
+    2077           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2078             : 
+    2079           0 :       elandSrv();
+    2080             : 
+    2081           0 :       return std::tuple(false, ss.str());
+    2082             :     }
+    2083             :   }
+    2084             : 
+    2085             :   // activate the landing tracker
+    2086             :   {
+    2087           5 :     std::string old_tracker      = sh_control_manager_diag_.getMsg()->active_tracker;
+    2088           5 :     bool        tracker_switched = switchTrackerSrv(_landing_tracker_name_);
+    2089             : 
+    2090             :     // if it fails, activate eland
+    2091             :     // Tomas: I pressume that its more important to get the UAV to the ground rather than
+    2092             :     // just throw out error.
+    2093           5 :     if (!tracker_switched) {
+    2094             : 
+    2095           0 :       std::stringstream ss;
+    2096           0 :       ss << "could not activate '" << _takeoff_tracker_name_ << "' for landing";
+    2097           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2098             : 
+    2099           0 :       elandSrv();
+    2100             : 
+    2101           0 :       return std::tuple(false, ss.str());
+    2102             :     }
+    2103             :   }
+    2104             : 
+    2105             :   // call the landing service
+    2106             :   {
+    2107           5 :     bool land_successful = landSrv();
+    2108             : 
+    2109           5 :     if (land_successful) {
+    2110             : 
+    2111             :       // stop the eventual takeoff
+    2112           5 :       waiting_for_takeoff_ = false;
+    2113           5 :       takingoff_           = false;
+    2114           5 :       timer_takeoff_.stop();
+    2115             : 
+    2116             :       // stop counting the flight time
+    2117           5 :       timer_flighttime_.stop();
+    2118             : 
+    2119          10 :       auto controller_diagnostics = sh_controller_diagnostics_.getMsg();
+    2120             : 
+    2121             :       // remember the last valid mass estimated
+    2122             :       // used during subsequent takeoff
+    2123           5 :       if (controller_diagnostics->mass_estimator) {
+    2124           5 :         last_mass_difference_ = controller_diagnostics->mass_difference;
+    2125             :       }
+    2126             : 
+    2127           5 :       setOdometryCallbacksSrv(false);
+    2128             : 
+    2129           5 :       changeLandingState(LANDING_STATE);
+    2130             : 
+    2131           5 :       throttle_under_threshold_          = false;
+    2132           5 :       throttle_mass_estimate_first_time_ = ros::Time(0);
+    2133             : 
+    2134           5 :       timer_landing_.start();
+    2135             : 
+    2136           5 :       std::stringstream ss;
+    2137           5 :       ss << "landing initiated";
+    2138           5 :       ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2139             : 
+    2140           5 :       return std::tuple(true, ss.str());
+    2141             : 
+    2142             :     } else {
+    2143             : 
+    2144           0 :       std::stringstream ss;
+    2145           0 :       ss << "could not land";
+    2146           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2147             : 
+    2148           0 :       elandSrv();
+    2149             : 
+    2150           0 :       return std::tuple(false, ss.str());
+    2151             :     }
+    2152             :   }
+    2153             : }
+    2154             : 
+    2155             : //}
+    2156             : 
+    2157             : /* landWithDescendImpl() //{ */
+    2158             : 
+    2159           9 : std::tuple<bool, std::string> UavManager::landWithDescendImpl(void) {
+    2160             : 
+    2161             :   // if the height information is available
+    2162           9 :   if (sh_height_.hasMsg()) {
+    2163             : 
+    2164           9 :     double height = sh_height_.getMsg()->value;
+    2165             : 
+    2166           9 :     if (height > 0 && height >= _landing_descend_height_ + 1.0) {
+    2167             : 
+    2168           4 :       auto odometry = sh_odometry_.getMsg();
+    2169             : 
+    2170           4 :       ungripSrv();
+    2171             : 
+    2172             :       {
+    2173           4 :         std::scoped_lock lock(mutex_land_there_reference_);
+    2174             : 
+    2175             :         // FOR FUTURE ME: Do not change this, we need it to be filled for the final check later
+    2176           4 :         land_there_reference_.header.frame_id      = "";
+    2177           4 :         land_there_reference_.header.stamp         = ros::Time::now();
+    2178           4 :         land_there_reference_.reference.position.x = odometry->pose.pose.position.x;
+    2179           4 :         land_there_reference_.reference.position.y = odometry->pose.pose.position.y;
+    2180           4 :         land_there_reference_.reference.position.z = odometry->pose.pose.position.z - (height - _landing_descend_height_);
+    2181           4 :         land_there_reference_.reference.heading    = mrs_lib::AttitudeConverter(odometry->pose.pose.orientation).getHeading();
+    2182             :       }
+    2183             : 
+    2184           4 :       bool service_success = emergencyReferenceSrv(land_there_reference_);
+    2185             : 
+    2186           4 :       if (service_success) {
+    2187             : 
+    2188           4 :         std::stringstream ss;
+    2189           4 :         ss << "flying down for landing";
+    2190           4 :         ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2191             : 
+    2192             :         // stop the eventual takeoff
+    2193           4 :         waiting_for_takeoff_ = false;
+    2194           4 :         takingoff_           = false;
+    2195           4 :         timer_takeoff_.stop();
+    2196             : 
+    2197           4 :         changeLandingState(GOTO_STATE);
+    2198             : 
+    2199           4 :         throttle_under_threshold_          = false;
+    2200           4 :         throttle_mass_estimate_first_time_ = ros::Time(0);
+    2201             : 
+    2202           4 :         timer_landing_.start();
+    2203             : 
+    2204           4 :         return std::tuple(true, ss.str());
+    2205             : 
+    2206             :       } else {
+    2207             : 
+    2208           0 :         std::stringstream ss;
+    2209           0 :         ss << "can not fly down for landing";
+    2210           0 :         ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+    2211             :       }
+    2212             :     }
+    2213             :   }
+    2214             : 
+    2215          10 :   auto [success, message] = landImpl();
+    2216             : 
+    2217           5 :   return std::tuple(success, message);
+    2218             : }
+    2219             : 
+    2220             : //}
+    2221             : 
+    2222             : /* midairActivationImpl() //{ */
+    2223             : 
+    2224          82 : std::tuple<bool, std::string> UavManager::midairActivationImpl(void) {
+    2225             : 
+    2226             :   // 1. activate the mid-air activation controller
+    2227             :   // the controller will output hover-like control output
+    2228         164 :   std::string old_controller;
+    2229             :   {
+    2230          82 :     old_controller           = sh_control_manager_diag_.getMsg()->active_controller;
+    2231          82 :     bool controller_switched = switchControllerSrv(_midair_activation_during_controller_);
+    2232             : 
+    2233          82 :     if (!controller_switched) {
+    2234             : 
+    2235           0 :       std::stringstream ss;
+    2236           0 :       ss << "could not activate '" << _midair_activation_during_controller_ << "' for midair activation";
+    2237           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2238             : 
+    2239           0 :       return std::tuple(false, ss.str());
+    2240             :     }
+    2241             :   }
+    2242             : 
+    2243             :   // 2. turn Control Manager's output ON
+    2244             :   {
+    2245          82 :     bool output_enabled = toggleControlOutput(true);
+    2246             : 
+    2247          82 :     if (!output_enabled) {
+    2248             : 
+    2249           1 :       switchControllerSrv(old_controller);
+    2250             : 
+    2251           1 :       std::stringstream ss;
+    2252           1 :       ss << "could not enable Control Manager's output";
+    2253           1 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2254             : 
+    2255           1 :       return std::tuple(false, ss.str());
+    2256             :     }
+    2257             :   }
+    2258             : 
+    2259             :   // 3. activate the mid-air activation tracker
+    2260             :   // this will cause the Control Manager to output something else than min-throttle
+    2261         162 :   std::string old_tracker;
+    2262             :   {
+    2263          81 :     old_tracker = sh_control_manager_diag_.getMsg()->active_tracker;
+    2264             : 
+    2265          81 :     bool tracker_switched = switchTrackerSrv(_midair_activation_during_tracker_);
+    2266             : 
+    2267          81 :     if (!tracker_switched) {
+    2268             : 
+    2269           0 :       switchControllerSrv(old_controller);
+    2270           0 :       toggleControlOutput(false);
+    2271             : 
+    2272           0 :       std::stringstream ss;
+    2273           0 :       ss << "could not activate '" << _midair_activation_during_tracker_ << "' for midair activation";
+    2274           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2275             : 
+    2276           0 :       return std::tuple(false, ss.str());
+    2277             :     }
+    2278             :   }
+    2279             : 
+    2280             :   // 4. wait for 50 ms, that should be enough for the Pixhawk to start getting data
+    2281          81 :   ros::Duration(0.05).sleep();
+    2282             : 
+    2283             :   // 5. turn on the OFFBOARD MODE
+    2284             :   // since now, the UAV should be under our control
+    2285             :   {
+    2286          81 :     bool offboard_set = offboardSrv(true);
+    2287             : 
+    2288          81 :     if (!offboard_set) {
+    2289             : 
+    2290           1 :       switchTrackerSrv(old_tracker);
+    2291           1 :       switchControllerSrv(old_controller);
+    2292           1 :       toggleControlOutput(false);
+    2293             : 
+    2294           1 :       std::stringstream ss;
+    2295           1 :       ss << "could not activate offboard mode";
+    2296           1 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2297             : 
+    2298           1 :       return std::tuple(false, ss.str());
+    2299             :     }
+    2300             :   }
+    2301             : 
+    2302             :   // remember this time, later check for timeout
+    2303          80 :   midair_activation_started_ = ros::Time::now();
+    2304             : 
+    2305             :   // start the timer which should check if the offboard is on, activate proper controller and tracker or timeout
+    2306          80 :   timer_midair_activation_.start();
+    2307             : 
+    2308          80 :   std::stringstream ss;
+    2309          80 :   ss << "midair activation initiated, starting the timer";
+    2310          80 :   ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2311             : 
+    2312          80 :   return std::tuple(true, ss.str());
+    2313             : }
+    2314             : 
+    2315             : //}
+    2316             : 
+    2317             : // | ----------------- service client wrappers ---------------- |
+    2318             : 
+    2319             : /* setOdometryCallbacksSrv() //{ */
+    2320             : 
+    2321         127 : void UavManager::setOdometryCallbacksSrv(const bool& input) {
+    2322             : 
+    2323         127 :   ROS_INFO("[UavManager]: switching odometry callbacks to %s", input ? "ON" : "OFF");
+    2324             : 
+    2325         254 :   std_srvs::SetBool srv;
+    2326             : 
+    2327         127 :   srv.request.data = input;
+    2328             : 
+    2329         127 :   bool res = sch_odometry_callbacks_.call(srv);
+    2330             : 
+    2331         127 :   if (res) {
+    2332             : 
+    2333         127 :     if (!srv.response.success) {
+    2334           0 :       ROS_WARN("[UavManager]: service call for toggle odometry callbacks returned: %s.", srv.response.message.c_str());
+    2335             :     }
+    2336             : 
+    2337             :   } else {
+    2338           0 :     ROS_ERROR("[UavManager]: service call for toggle odometry callbacks failed!");
+    2339             :   }
+    2340         127 : }
+    2341             : 
+    2342             : //}
+    2343             : 
+    2344             : /* setControlCallbacksSrv() //{ */
+    2345             : 
+    2346         102 : void UavManager::setControlCallbacksSrv(const bool& input) {
+    2347             : 
+    2348         102 :   ROS_INFO("[UavManager]: switching control callbacks to %s", input ? "ON" : "OFF");
+    2349             : 
+    2350         204 :   std_srvs::SetBool srv;
+    2351             : 
+    2352         102 :   srv.request.data = input;
+    2353             : 
+    2354         102 :   bool res = sch_control_callbacks_.call(srv);
+    2355             : 
+    2356         102 :   if (res) {
+    2357             : 
+    2358         102 :     if (!srv.response.success) {
+    2359           0 :       ROS_WARN("[UavManager]: service call for setting control callbacks returned: %s.", srv.response.message.c_str());
+    2360             :     }
+    2361             : 
+    2362             :   } else {
+    2363           0 :     ROS_ERROR("[UavManager]: service call for setting control callbacks failed!");
+    2364             :   }
+    2365         102 : }
+    2366             : 
+    2367             : //}
+    2368             : 
+    2369             : /* ungripSrv() //{ */
+    2370             : 
+    2371          23 : void UavManager::ungripSrv(void) {
+    2372             : 
+    2373          23 :   ROS_DEBUG_THROTTLE(1.0, "[UavManager]: ungripping payload");
+    2374             : 
+    2375          46 :   std_srvs::Trigger srv;
+    2376             : 
+    2377          23 :   bool res = sch_ungrip_.call(srv);
+    2378             : 
+    2379          23 :   if (res) {
+    2380             : 
+    2381           0 :     if (!srv.response.success) {
+    2382           0 :       ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for ungripping payload returned: %s.", srv.response.message.c_str());
+    2383             :     }
+    2384             : 
+    2385             :   } else {
+    2386          23 :     ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for ungripping payload failed!");
+    2387             :   }
+    2388          23 : }
+    2389             : 
+    2390             : //}
+    2391             : 
+    2392             : /* toggleControlOutput() //{ */
+    2393             : 
+    2394          85 : bool UavManager::toggleControlOutput(const bool& input) {
+    2395             : 
+    2396          85 :   ROS_DEBUG_THROTTLE(1.0, "[UavManager]: toggling control output %s", input ? "ON" : "OFF");
+    2397             : 
+    2398         170 :   std_srvs::SetBool srv;
+    2399             : 
+    2400          85 :   srv.request.data = input;
+    2401             : 
+    2402          85 :   bool res = sch_toggle_control_output_.call(srv);
+    2403             : 
+    2404          85 :   if (res) {
+    2405             : 
+    2406          84 :     if (!srv.response.success) {
+    2407           0 :       ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for control output returned: %s.", srv.response.message.c_str());
+    2408           0 :       return false;
+    2409             :     } else {
+    2410          84 :       return true;
+    2411             :     }
+    2412             : 
+    2413             :   } else {
+    2414           1 :     ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for control output failed!");
+    2415           1 :     return false;
+    2416             :   }
+    2417             : }
+    2418             : 
+    2419             : //}
+    2420             : 
+    2421             : /* offboardSrv() //{ */
+    2422             : 
+    2423          81 : bool UavManager::offboardSrv(const bool in) {
+    2424             : 
+    2425          81 :   ROS_DEBUG_THROTTLE(1.0, "[UavManager]: setting offboard to %d", in);
+    2426             : 
+    2427         162 :   std_srvs::Trigger srv;
+    2428             : 
+    2429          81 :   bool res = sch_offboard_.call(srv);
+    2430             : 
+    2431          81 :   if (!res) {
+    2432             : 
+    2433           1 :     ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for offboard failed!");
+    2434           1 :     return false;
+    2435             : 
+    2436             :   } else {
+    2437             : 
+    2438          80 :     if (!srv.response.success) {
+    2439           0 :       ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for offboard failed, returned: %s", srv.response.message.c_str());
+    2440           0 :       return false;
+    2441             :     } else {
+    2442          80 :       return true;
+    2443             :     }
+    2444             :   }
+    2445             : }
+    2446             : 
+    2447             : //}
+    2448             : 
+    2449             : /* disarmSrv() //{ */
+    2450             : 
+    2451           7 : void UavManager::disarmSrv(void) {
+    2452             : 
+    2453          14 :   std_srvs::SetBool srv;
+    2454             : 
+    2455           7 :   srv.request.data = false;
+    2456             : 
+    2457           7 :   bool res = sch_arm_.call(srv);
+    2458             : 
+    2459           7 :   if (res) {
+    2460             : 
+    2461           7 :     if (!srv.response.success) {
+    2462           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: service call disarming returned: %s.", srv.response.message.c_str());
+    2463             :     }
+    2464             : 
+    2465             :   } else {
+    2466           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: service call for disarming failed!");
+    2467             :   }
+    2468           7 : }
+    2469             : 
+    2470             : //}
+    2471             : 
+    2472             : /* switchControllerSrv() //{ */
+    2473             : 
+    2474         211 : bool UavManager::switchControllerSrv(const std::string& controller) {
+    2475             : 
+    2476         211 :   ROS_INFO_STREAM("[UavManager]: activating controller '" << controller << "'");
+    2477             : 
+    2478         422 :   mrs_msgs::String srv;
+    2479         211 :   srv.request.value = controller;
+    2480             : 
+    2481         211 :   bool res = sch_switch_controller_.call(srv);
+    2482             : 
+    2483         211 :   if (res) {
+    2484             : 
+    2485         211 :     if (!srv.response.success) {
+    2486           2 :       ROS_WARN("[UavManager]: service call for switching controller returned: '%s'", srv.response.message.c_str());
+    2487             :     }
+    2488             : 
+    2489         211 :     return srv.response.success;
+    2490             : 
+    2491             :   } else {
+    2492             : 
+    2493           0 :     ROS_ERROR("[UavManager]: service call for switching controller failed!");
+    2494             : 
+    2495           0 :     return false;
+    2496             :   }
+    2497             : }
+    2498             : 
+    2499             : //}
+    2500             : 
+    2501             : /* switchTrackerSrv() //{ */
+    2502             : 
+    2503         212 : bool UavManager::switchTrackerSrv(const std::string& tracker) {
+    2504             : 
+    2505         212 :   ROS_INFO_STREAM("[UavManager]: activating tracker '" << tracker << "'");
+    2506             : 
+    2507             : 
+    2508         424 :   mrs_msgs::String srv;
+    2509         212 :   srv.request.value = tracker;
+    2510             : 
+    2511         212 :   bool res = sch_switch_tracker_.call(srv);
+    2512             : 
+    2513         212 :   if (res) {
+    2514             : 
+    2515         212 :     if (!srv.response.success) {
+    2516           2 :       ROS_WARN("[UavManager]: service call for switching tracker returned: '%s'", srv.response.message.c_str());
+    2517             :     }
+    2518             : 
+    2519         212 :     return srv.response.success;
+    2520             : 
+    2521             :   } else {
+    2522             : 
+    2523           0 :     ROS_ERROR("[UavManager]: service call for switching tracker failed!");
+    2524             : 
+    2525           0 :     return false;
+    2526             :   }
+    2527             : }
+    2528             : 
+    2529             : //}
+    2530             : 
+    2531             : /* landSrv() //{ */
+    2532             : 
+    2533           5 : bool UavManager::landSrv(void) {
+    2534             : 
+    2535           5 :   ROS_INFO("[UavManager]: calling for landing");
+    2536             : 
+    2537          10 :   std_srvs::Trigger srv;
+    2538             : 
+    2539           5 :   bool res = sch_land_.call(srv);
+    2540             : 
+    2541           5 :   if (res) {
+    2542             : 
+    2543           5 :     if (!srv.response.success) {
+    2544           0 :       ROS_WARN("[UavManager]: service call for landing returned: '%s'", srv.response.message.c_str());
+    2545             :     }
+    2546             : 
+    2547           5 :     return srv.response.success;
+    2548             : 
+    2549             :   } else {
+    2550             : 
+    2551           0 :     ROS_ERROR("[UavManager]: service call for landing failed!");
+    2552             : 
+    2553           0 :     return false;
+    2554             :   }
+    2555             : }
+    2556             : 
+    2557             : //}
+    2558             : 
+    2559             : /* elandSrv() //{ */
+    2560             : 
+    2561           1 : bool UavManager::elandSrv(void) {
+    2562             : 
+    2563           1 :   ROS_INFO("[UavManager]: calling for eland");
+    2564             : 
+    2565           2 :   std_srvs::Trigger srv;
+    2566             : 
+    2567           1 :   bool res = sch_eland_.call(srv);
+    2568             : 
+    2569           1 :   if (res) {
+    2570             : 
+    2571           1 :     if (!srv.response.success) {
+    2572           0 :       ROS_WARN("[UavManager]: service call for eland returned: '%s'", srv.response.message.c_str());
+    2573             :     }
+    2574             : 
+    2575           1 :     return srv.response.success;
+    2576             : 
+    2577             :   } else {
+    2578             : 
+    2579           0 :     ROS_ERROR("[UavManager]: service call for eland failed!");
+    2580             : 
+    2581           0 :     return false;
+    2582             :   }
+    2583             : }
+    2584             : 
+    2585             : //}
+    2586             : 
+    2587             : /* ehoverSrv() //{ */
+    2588             : 
+    2589           2 : bool UavManager::ehoverSrv(void) {
+    2590             : 
+    2591           2 :   ROS_INFO("[UavManager]: calling for ehover");
+    2592             : 
+    2593           4 :   std_srvs::Trigger srv;
+    2594             : 
+    2595           2 :   bool res = sch_ehover_.call(srv);
+    2596             : 
+    2597           2 :   if (res) {
+    2598             : 
+    2599           2 :     if (!srv.response.success) {
+    2600           0 :       ROS_WARN("[UavManager]: service call for ehover returned: '%s'", srv.response.message.c_str());
+    2601             :     }
+    2602             : 
+    2603           2 :     return srv.response.success;
+    2604             : 
+    2605             :   } else {
+    2606             : 
+    2607           0 :     ROS_ERROR("[UavManager]: service call for ehover failed!");
+    2608             : 
+    2609           0 :     return false;
+    2610             :   }
+    2611             : }
+    2612             : 
+    2613             : //}
+    2614             : 
+    2615             : /* takeoffSrv() //{ */
+    2616             : 
+    2617          20 : bool UavManager::takeoffSrv(void) {
+    2618             : 
+    2619          20 :   ROS_INFO("[UavManager]: calling for takeoff to height '%.2f m'", _takeoff_height_);
+    2620             : 
+    2621          40 :   mrs_msgs::Vec1 srv;
+    2622             : 
+    2623          20 :   srv.request.goal = _takeoff_height_;
+    2624             : 
+    2625          20 :   bool res = sch_takeoff_.call(srv);
+    2626             : 
+    2627          20 :   if (res) {
+    2628             : 
+    2629          20 :     if (!srv.response.success) {
+    2630           0 :       ROS_WARN("[UavManager]: service call for takeoff returned: '%s'", srv.response.message.c_str());
+    2631             :     }
+    2632             : 
+    2633          20 :     return srv.response.success;
+    2634             : 
+    2635             :   } else {
+    2636             : 
+    2637           0 :     ROS_ERROR("[UavManager]: service call for takeoff failed!");
+    2638             : 
+    2639           0 :     return false;
+    2640             :   }
+    2641             : }
+    2642             : 
+    2643             : //}
+    2644             : 
+    2645             : /* emergencyReferenceSrv() //{ */
+    2646             : 
+    2647         101 : bool UavManager::emergencyReferenceSrv(const mrs_msgs::ReferenceStamped& goal) {
+    2648             : 
+    2649         101 :   ROS_INFO_THROTTLE(1.0, "[UavManager]: calling for emergency reference");
+    2650             : 
+    2651         202 :   mrs_msgs::ReferenceStampedSrv srv;
+    2652             : 
+    2653         101 :   srv.request.header    = goal.header;
+    2654         101 :   srv.request.reference = goal.reference;
+    2655             : 
+    2656         101 :   bool res = sch_emergency_reference_.call(srv);
+    2657             : 
+    2658         101 :   if (res) {
+    2659             : 
+    2660         101 :     if (!srv.response.success) {
+    2661           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: service call for emergency reference returned: '%s'", srv.response.message.c_str());
+    2662             :     }
+    2663             : 
+    2664         101 :     return srv.response.success;
+    2665             : 
+    2666             :   } else {
+    2667             : 
+    2668           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: service call for emergency reference failed!");
+    2669             : 
+    2670           0 :     return false;
+    2671             :   }
+    2672             : }
+    2673             : 
+    2674             : //}
+    2675             : 
+    2676             : }  // namespace uav_manager
+    2677             : 
+    2678             : }  // namespace mrs_uav_managers
+    2679             : 
+    2680             : #include <pluginlib/class_list_macros.h>
+    2681         108 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::uav_manager::UavManager, nodelet::Nodelet)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/uav_manager.cpp.gcov.overview.html b/mrs_uav_managers/src/uav_manager.cpp.gcov.overview.html new file mode 100644 index 0000000000..ce3c1f472f --- /dev/null +++ b/mrs_uav_managers/src/uav_manager.cpp.gcov.overview.html @@ -0,0 +1,691 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/uav_manager.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview 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+ Overview +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl - garmin_agl.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-08-07 22:18:19Functions:33100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::garmin_agl::GarminAgl::GarminAgl()87
mrs_uav_state_estimators::garmin_agl::GarminAgl::~GarminAgl()87
mrs_uav_state_estimators::garmin_agl::GarminAgl::~GarminAgl().287
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.func.html new file mode 100644 index 0000000000..356ecda136 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl - garmin_agl.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-08-07 22:18:19Functions:33100.0 %
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mrs_uav_state_estimators::garmin_agl::GarminAgl::GarminAgl()87
mrs_uav_state_estimators::garmin_agl::GarminAgl::~GarminAgl()87
mrs_uav_state_estimators::garmin_agl::GarminAgl::~GarminAgl().287
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.gcov.frameset.html new file mode 100644 index 0000000000..4e43b37ae4 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.gcov.html new file mode 100644 index 0000000000..2b073c7174 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.gcov.html @@ -0,0 +1,159 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl - garmin_agl.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-08-07 22:18:19Functions:33100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef ESTIMATORS_STATE_GARMIN_AGL_H
+       2             : #define ESTIMATORS_STATE_GARMIN_AGL_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <mrs_msgs/Float64Stamped.h>
+       9             : 
+      10             : #include <mrs_lib/lkf.h>
+      11             : #include <mrs_lib/profiler.h>
+      12             : #include <mrs_lib/param_loader.h>
+      13             : #include <mrs_lib/subscribe_handler.h>
+      14             : #include <mrs_lib/publisher_handler.h>
+      15             : #include <mrs_lib/attitude_converter.h>
+      16             : #include <mrs_lib/transformer.h>
+      17             : 
+      18             : #include <mrs_uav_managers/agl_estimator.h>
+      19             : 
+      20             : #include <mrs_uav_state_estimators/estimators/altitude/alt_generic.h>
+      21             : 
+      22             : //}
+      23             : 
+      24             : namespace mrs_uav_state_estimators
+      25             : {
+      26             : 
+      27             : namespace garmin_agl
+      28             : {
+      29             : const char name[]         = "garmin_agl";
+      30             : const char frame_id[]     = "garmin_agl_origin";
+      31             : const char package_name[] = "mrs_uav_state_estimators";
+      32             : 
+      33             : const bool is_core_plugin = true;
+      34             : 
+      35             : class GarminAgl : public mrs_uav_managers::AglEstimator {
+      36             : 
+      37             : private:
+      38             :   std::unique_ptr<AltGeneric> est_agl_garmin_;
+      39             :   const std::string           est_agl_name_ = "garmin_agl";
+      40             : 
+      41             :   const bool is_core_plugin_;
+      42             : 
+      43             :   ros::Timer timer_update_;
+      44             :   int        _update_timer_rate_;
+      45             :   void       timerUpdate(const ros::TimerEvent &event);
+      46             : 
+      47             :   ros::Timer timer_check_health_;
+      48             :   int        _check_health_timer_rate_;
+      49             :   void       timerCheckHealth(const ros::TimerEvent &event);
+      50             : 
+      51             :   bool isConverged();
+      52             : 
+      53             :   void waitForEstimationInitialization();
+      54             : 
+      55             : public:
+      56          87 :   GarminAgl() : AglEstimator(garmin_agl::name, garmin_agl::frame_id, garmin_agl::package_name), is_core_plugin_(is_core_plugin) {
+      57          87 :   }
+      58             : 
+      59         174 :   ~GarminAgl(void) {
+      60         174 :   }
+      61             : 
+      62             :   void initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) override;
+      63             :   bool start(void) override;
+      64             :   bool pause(void) override;
+      65             :   bool reset(void) override;
+      66             : 
+      67             :   mrs_msgs::Float64Stamped getUavAglHeight() const override;
+      68             :   std::vector<double>      getHeightCovariance() const override;
+      69             : };
+      70             : 
+      71             : }  // namespace garmin_agl
+      72             : 
+      73             : }  // namespace mrs_uav_state_estimators
+      74             : 
+      75             : #endif  // ESTIMATORS_STATE_GARMIN_AGL_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.gcov.overview.html new file mode 100644 index 0000000000..01180ec6c9 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.gcov.overview.html @@ -0,0 +1,39 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..1d069e474cef144181fc5cb4a7752617234f2348 GIT binary patch literal 380 zcmeAS@N?(olHy`uVBq!ia0vp^0YL1{!VDxu^<<9$DTx4|5ZC|z|E~gq{) z-+wzRyyepwr_aj9N0zi)yIA@DruK$xCbdH!RA#*~FEu*Kt+Mr|wp)bOzeHP(-D@^_ zujRkIGNJuOnSSTr%L_6h^0%b~7kbxKyUa3OW%x$$>|Ep5oPyiLY^#!;A~i6^vZ+X|Ua&y>FQExYwM!Ofs>mTmP>_Uf+f44=fmvnFp3 VG2vV8@g5jd44$rjF6*2Ung9 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl + + + + + + + + + + + + + + +
LCOV - code coverage report
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Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-08-07 22:18:19Functions:33100.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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garmin_agl.h +
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+ 		100.0 %4 / 4100.0 %3 / 3
<unnamed>100.0 %4 / 4100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
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+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/index-detail.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/index-detail.html new file mode 100644 index 0000000000..af35535601 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/index-detail.html @@ -0,0 +1,110 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl + + + + + + + + + + + + + + +
LCOV - code coverage report
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Test:MRS UAV System - Test coverage reportLines:44100.0 %
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Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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garmin_agl.h +
100.0%
+ 		100.0 %4 / 4100.0 %3 / 3
<unnamed>100.0 %4 / 4100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
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LCOV - code coverage report
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garmin_agl.h +
100.0%
+ 		100.0 %4 / 4100.0 %3 / 3
+
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Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/index-sort-l.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/index-sort-l.html new file mode 100644 index 0000000000..c8c80af242 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/index-sort-l.html @@ -0,0 +1,102 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl + + + + + + + + + + + + + + +
LCOV - code coverage report
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garmin_agl.h +
100.0%
+ 		100.0 %4 / 4100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/index.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/index.html new file mode 100644 index 0000000000..02adc4b98c --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/index.html @@ -0,0 +1,102 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/aglHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-08-07 22:18:19Functions:33100.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
garmin_agl.h +
100.0%
+ 		100.0 %4 / 4100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.func-sort-c.html new file mode 100644 index 0000000000..9fcc1646b8 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.func-sort-c.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude - alt_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-08-07 22:18:19Functions:33100.0 %
Legend: Lines: + hit + not hit +
+
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+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::AltGeneric::AltGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)202
mrs_uav_state_estimators::AltGeneric::~AltGeneric()202
mrs_uav_state_estimators::AltGeneric::~AltGeneric().2202
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.func.html new file mode 100644 index 0000000000..a8dc49182a --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude - alt_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-08-07 22:18:19Functions:33100.0 %
Legend: Lines: + hit + not hit +
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::AltGeneric::AltGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)202
mrs_uav_state_estimators::AltGeneric::~AltGeneric()202
mrs_uav_state_estimators::AltGeneric::~AltGeneric().2202
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.frameset.html new file mode 100644 index 0000000000..ffdd0b59a3 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.html new file mode 100644 index 0000000000..7302ce8d78 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.html @@ -0,0 +1,245 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude - alt_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-08-07 22:18:19Functions:33100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef ESTIMATORS_ALTITUDE_ALT_GENERIC_H
+       2             : #define ESTIMATORS_ALTITUDE_ALT_GENERIC_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <nav_msgs/Odometry.h>
+       9             : #include <sensor_msgs/Range.h>
+      10             : 
+      11             : #include <mrs_lib/lkf.h>
+      12             : #include <mrs_lib/repredictor.h>
+      13             : #include <mrs_lib/profiler.h>
+      14             : #include <mrs_lib/param_loader.h>
+      15             : #include <mrs_lib/subscribe_handler.h>
+      16             : 
+      17             : #include <functional>
+      18             : 
+      19             : #include <mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h>
+      20             : #include <mrs_uav_state_estimators/estimators/correction.h>
+      21             : 
+      22             : #include <mrs_uav_state_estimators/AltitudeEstimatorConfig.h>
+      23             : 
+      24             : //}
+      25             : 
+      26             : namespace mrs_uav_state_estimators
+      27             : {
+      28             : 
+      29             : namespace alt_generic
+      30             : {
+      31             : 
+      32             : const int n_states       = 3;
+      33             : const int n_inputs       = 1;
+      34             : const int n_measurements = 1;
+      35             : 
+      36             : }  // namespace alt_generic
+      37             : 
+      38             : class AltGeneric : public AltitudeEstimator<alt_generic::n_states> {
+      39             : 
+      40             :   const std::string package_name_ = "mrs_uav_state_estimators";
+      41             : 
+      42             :   typedef mrs_lib::DynamicReconfigureMgr<AltitudeEstimatorConfig> drmgr_t;
+      43             : 
+      44             :   using lkf_t         = mrs_lib::LKF<alt_generic::n_states, alt_generic::n_inputs, alt_generic::n_measurements>;
+      45             :   using varstep_lkf_t = mrs_lib::varstepLKF<alt_generic::n_states, alt_generic::n_inputs, alt_generic::n_measurements>;
+      46             :   using A_t           = lkf_t::A_t;
+      47             :   using B_t           = lkf_t::B_t;
+      48             :   using H_t           = lkf_t::H_t;
+      49             :   using Q_t           = lkf_t::Q_t;
+      50             :   using x_t           = lkf_t::x_t;
+      51             :   using P_t           = lkf_t::P_t;
+      52             :   using u_t           = lkf_t::u_t;
+      53             :   using z_t           = lkf_t::z_t;
+      54             :   using R_t           = lkf_t::R_t;
+      55             :   using statecov_t    = lkf_t::statecov_t;
+      56             : 
+      57             :   typedef mrs_lib::Repredictor<varstep_lkf_t> rep_lkf_t;
+      58             : 
+      59             :   using StateId_t = mrs_uav_managers::estimation_manager::StateId_t;
+      60             : 
+      61             : private:
+      62             :   std::string parent_state_est_name_;
+      63             : 
+      64             :   double                                      dt_;
+      65             :   double                                      input_coeff_, default_input_coeff_;
+      66             :   A_t                                         A_;
+      67             :   B_t                                         B_;
+      68             :   H_t                                         H_;
+      69             :   Q_t                                         Q_;
+      70             :   std::shared_ptr<lkf_t>                      lkf_;
+      71             :   std::unique_ptr<rep_lkf_t>                  lkf_rep_;
+      72             :   std::vector<std::shared_ptr<varstep_lkf_t>> models_;
+      73             :   mutable std::mutex                          mutex_lkf_;
+      74             :   statecov_t                                  sc_;
+      75             :   mutable std::mutex                          mutex_sc_;
+      76             : 
+      77             :   std::unique_ptr<drmgr_t> drmgr_;
+      78             :   void                     callbackReconfigure(AltitudeEstimatorConfig &config, [[maybe_unused]] uint32_t level);
+      79             : 
+      80             :   z_t                innovation_;
+      81             :   mutable std::mutex mtx_innovation_;
+      82             : 
+      83             :   bool          is_error_state_first_time_ = true;
+      84             :   ros::Duration error_state_duration_;
+      85             :   ros::Time     prev_time_in_error_state_;
+      86             : 
+      87             :   bool is_repredictor_enabled_;
+      88             :   int  rep_buffer_size_ = 200;
+      89             : 
+      90             :   const bool is_core_plugin_;
+      91             : 
+      92             :   std::vector<std::string>                                              correction_names_;
+      93             :   std::vector<std::shared_ptr<Correction<alt_generic::n_measurements>>> corrections_;
+      94             : 
+      95             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput> sh_control_input_;
+      96             :   void                                                timeoutCallback(const std::string &topic, const ros::Time &last_msg);
+      97             :   std::atomic<bool>                                   is_input_ready_ = false;
+      98             : 
+      99             :   ros::Timer timer_update_;
+     100             :   void       timerUpdate(const ros::TimerEvent &event);
+     101             : 
+     102             :   ros::Timer timer_check_health_;
+     103             :   void       timerCheckHealth(const ros::TimerEvent &event);
+     104             : 
+     105             :   void doCorrection(const Correction<alt_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id);
+     106             :   void doCorrection(const z_t &z, const double R, const StateId_t &H_idx, const ros::Time &meas_stamp);
+     107             : 
+     108             :   bool isConverged();
+     109             : 
+     110             :   Q_t                getQ();
+     111             :   mutable std::mutex mtx_Q_;
+     112             : 
+     113             : public:
+     114         202 :   AltGeneric(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name, const bool is_core_plugin)
+     115         202 :       : AltitudeEstimator<alt_generic::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name), is_core_plugin_(is_core_plugin) {
+     116         202 :   }
+     117             : 
+     118         404 :   ~AltGeneric(void) {
+     119         404 :   }
+     120             : 
+     121             :   void initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) override;
+     122             :   bool start(void) override;
+     123             :   bool pause(void) override;
+     124             :   bool reset(void) override;
+     125             : 
+     126             :   double getState(const int &state_idx_in) const override;
+     127             :   double getState(const int &state_id_in, const int &axis_in) const override;
+     128             : 
+     129             :   void setState(const double &state_in, const int &state_idx_in) override;
+     130             :   void setState(const double &state_in, const int &state_id_in, const int &axis_in) override;
+     131             : 
+     132             :   states_t getStates(void) const override;
+     133             :   void     setStates(const states_t &states_in) override;
+     134             : 
+     135             :   double getCovariance(const int &state_idx_in) const override;
+     136             :   double getCovariance(const int &state_id_in, const int &axis_in) const override;
+     137             : 
+     138             :   covariance_t getCovarianceMatrix(void) const override;
+     139             :   void         setCovarianceMatrix(const covariance_t &cov_in) override;
+     140             : 
+     141             :   double getInnovation(const int &state_idx) const override;
+     142             :   double getInnovation(const int &state_id_in, const int &axis_in) const override;
+     143             : 
+     144             :   void setDt(const double &dt);
+     145             :   void setInputCoeff(const double &input_coeff);
+     146             : 
+     147             :   void generateRepredictorModels(const double input_coeff);
+     148             : 
+     149             :   void generateA();
+     150             :   void generateB();
+     151             : 
+     152             :   void timeoutOdom(const std::string &topic, const ros::Time &last_msg, const int n_pubs);
+     153             :   void timeoutRange(const std::string &topic, const ros::Time &last_msg, const int n_pubs);
+     154             : 
+     155             :   std::string getNamespacedName() const;
+     156             : 
+     157             :   std::string getPrintName() const;
+     158             : };
+     159             : }  // namespace mrs_uav_state_estimators
+     160             : 
+     161             : #endif  // ESTIMATORS_ALTITUDE_ALT_GENERIC_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.overview.html new file mode 100644 index 0000000000..85adff98de --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.overview.html @@ -0,0 +1,61 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..dcf0f4a027a6ab756dec1329ddcee71c4cae2957 GIT binary patch literal 688 zcmV;h0#E&kP)bm(Ppe}^qLnGb+F$2vKD02Gn zh($1dgra5Z8E?E&cRG}^Kx#yMfS#cr8p4)R${TUN=r@|=k$axQF7Ej(BA)90}BGAm^jcLl0&P&><5?5@?l)W15 z*ceT@60t-DKw?Uo)d&Z34^8KOsIJS88X1*Zxdf%Fo*cRt+v{ zz{VnN=>k`O353Z4;lz0bk%xtVdKj)gkW5@kI5QgK1#1)T1NCV5ExZAu!6Gf-yUk(o zI_q696*4h1pK!os(Q5%Z&B8@AX`^Yse#EiF#jklyiXJZuc49O|P?=mpMt2K+B4&}! zDxRsQYO{&!#ej+FIWojMZCbMd#E!FR5=8x3=)}zT{5YwaS~4UJFz(3@Jo&slhq@gc zRlV#zM0B&hYSzt`XtsK>y-#`N|2_WR`Tsn3+qUg*EH8d=+rF8^*);g*{x-0$lK(o|Y&0b=W0s!=7T&CEV>Oy!9ePcyge|x|(9`l-aMLnFyWzjy1 z9kVSV@LD0}Sxbt6RK_&i8dzK_FLFMex4`W9Oz}Zykn(SMU9|PPztmjnaL`kYvE`jB zAM+>D)!$NuGqnlj6xLY@*6Y0R)+;pj!HIF@(PL*ABk5r>>k*&qo>xvX(Os97EA9_V W6RZS^kluj+0000 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude - altitude_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-08-07 22:18:19Functions:2366.7 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::AltitudeEstimator<3>::~AltitudeEstimator()0
mrs_uav_state_estimators::AltitudeEstimator<3>::AltitudeEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)202
mrs_uav_state_estimators::AltitudeEstimator<3>::~AltitudeEstimator().2202
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.func.html new file mode 100644 index 0000000000..e2926de671 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude - altitude_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-08-07 22:18:19Functions:2366.7 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::AltitudeEstimator<3>::AltitudeEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)202
mrs_uav_state_estimators::AltitudeEstimator<3>::~AltitudeEstimator()0
mrs_uav_state_estimators::AltitudeEstimator<3>::~AltitudeEstimator().2202
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.gcov.frameset.html new file mode 100644 index 0000000000..c89e621d6c --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.gcov.html new file mode 100644 index 0000000000..d1df56d63f --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.gcov.html @@ -0,0 +1,130 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude - altitude_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-08-07 22:18:19Functions:2366.7 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef ESTIMATORS_ALTITUDE_ALTITUDE_ESTIMATOR_H
+       3             : #define ESTIMATORS_ALTITUDE_ALTITUDE_ESTIMATOR_H
+       4             : 
+       5             : /* includes //{ */
+       6             : 
+       7             : #include <mrs_uav_state_estimators/estimators/partial_estimator.h>
+       8             : 
+       9             : //}
+      10             : 
+      11             : namespace mrs_uav_state_estimators
+      12             : {
+      13             : 
+      14             : namespace altitude
+      15             : {
+      16             : const char type[] = "ALTITUDE";
+      17             : 
+      18             : typedef enum
+      19             : {
+      20             :   ODOMETRY,
+      21             :   RANGE
+      22             : } MeasurementType_t;
+      23             : 
+      24             : }  // namespace altitude
+      25             : 
+      26             : template <int n_states>
+      27             : class AltitudeEstimator : public PartialEstimator<n_states, 1> {
+      28             : 
+      29             : protected:
+      30         202 :   AltitudeEstimator(const std::string& name, const std::string& frame_id) : PartialEstimator<n_states, 1>(altitude::type, name, frame_id) {
+      31         202 :   }
+      32             : 
+      33         202 :   virtual ~AltitudeEstimator(void) {
+      34         202 :   }
+      35             : 
+      36             : 
+      37             : private:
+      38             :   static const int _n_axes_   = 1;
+      39             :   static const int _n_states_ = n_states;
+      40             :   static const int _n_inputs_;
+      41             :   static const int _n_measurements_;
+      42             : };
+      43             : 
+      44             : }  // namespace mrs_uav_state_estimators
+      45             : 
+      46             : #endif  // ESTIMATORS_ALTITUDE_ALTITUDE_ESTIMATOR_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.gcov.overview.html new file mode 100644 index 0000000000..90f903e2e9 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.gcov.overview.html @@ -0,0 +1,32 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..073c144eb9b7fd83c98f25c4b8ee68b76b771829 GIT binary patch literal 295 zcmeAS@N?(olHy`uVBq!ia0vp^0YI$B!VDyR#hdkklth3}i0l9V|5pLQ^7pZ^ul_SI ztOAOIsdL_&mjc_7hJ zpPIm+6jaE2@rX$-yY!@v4IF1DcGzC)G&r(S?f--q#;aZk+!wv66Ek(YMkDcSrxo*i_1-pY!}fjJhOH86XRDi kH_kk+@!`k+9d9o(CNo-GFMMqo0`vfbr>mdKI;Vst08ROJ-T(jq literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-detail-sort-f.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-detail-sort-f.html new file mode 100644 index 0000000000..7bec623fdc --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-detail-sort-f.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitudeHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-08-07 22:18:19Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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+ +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
altitude_estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
<unnamed>100.0 %4 / 466.7 %2 / 3
alt_generic.h +
100.0%
+ 		100.0 %5 / 5100.0 %3 / 3
<unnamed>100.0 %5 / 5100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-detail-sort-l.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-detail-sort-l.html new file mode 100644 index 0000000000..61088ac633 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-detail-sort-l.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitudeHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-08-07 22:18:19Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
altitude_estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
<unnamed>100.0 %4 / 466.7 %2 / 3
alt_generic.h +
100.0%
+ 		100.0 %5 / 5100.0 %3 / 3
<unnamed>100.0 %5 / 5100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-detail.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-detail.html new file mode 100644 index 0000000000..805907b11b --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-detail.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitudeHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-08-07 22:18:19Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
alt_generic.h +
100.0%
+ 		100.0 %5 / 5100.0 %3 / 3
<unnamed>100.0 %5 / 5100.0 %3 / 3
altitude_estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
<unnamed>100.0 %4 / 466.7 %2 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-sort-f.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-sort-f.html new file mode 100644 index 0000000000..7fd0ad0f8d --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-sort-f.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitudeHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-08-07 22:18:19Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
altitude_estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
alt_generic.h +
100.0%
+ 		100.0 %5 / 5100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-sort-l.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-sort-l.html new file mode 100644 index 0000000000..4b889eb1ac --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-sort-l.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitudeHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-08-07 22:18:19Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
altitude_estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
alt_generic.h +
100.0%
+ 		100.0 %5 / 5100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index.html new file mode 100644 index 0000000000..0757757727 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitudeHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-08-07 22:18:19Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
alt_generic.h +
100.0%
+ 		100.0 %5 / 5100.0 %3 / 3
altitude_estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.func-sort-c.html new file mode 100644 index 0000000000..195deadd34 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.func-sort-c.html @@ -0,0 +1,364 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators - correction.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:37873151.7 %
Date:2024-08-07 22:18:19Functions:477166.2 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::Correction<1>::callbackImu(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::callbackPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getVecInFrame(geometry_msgs::Vector3_<std::allocator<void> > const&, std_msgs::Header_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)0
mrs_uav_state_estimators::Correction<1>::callbackOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::callbackPoseStamped(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::callbackToggleRange(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromImu(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromQuat(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromPoseStamped(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::callbackImu(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::callbackRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getAvgRtkInitZ(double)0
mrs_uav_state_estimators::Correction<2>::getZVelUntilted(geometry_msgs::Vector3_<std::allocator<void> > const&, std_msgs::Header_<std::allocator<void> > const&)0
mrs_uav_state_estimators::Correction<2>::resetProcessors()0
mrs_uav_state_estimators::Correction<2>::callbackOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::callbackPoseStamped(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::callbackToggleRange(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_state_estimators::Correction<2>::getCorrectionFromImu(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getCorrectionFromQuat(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getCorrectionFromRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getCorrectionFromOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getCorrectionFromPoseStamped(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getAvgRtkInitZ(double)22
mrs_uav_state_estimators::Correction<2>::createProcessorFromName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::NodeHandle&)115
mrs_uav_state_estimators::Correction<2>::Correction(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, mrs_uav_state_estimators::EstimatorType_t const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&, std::function<double (int, int)>, std::function<void (mrs_uav_state_estimators::Correction<2>::MeasurementStamped, double, mrs_uav_managers::estimation_manager::StateId_t)>)119
mrs_uav_state_estimators::Correction<2>::getName[abi:cxx11]() const238
mrs_uav_state_estimators::Correction<2>::getPrintName[abi:cxx11]() const244
mrs_uav_state_estimators::Correction<1>::createProcessorFromName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::NodeHandle&)275
mrs_uav_state_estimators::Correction<1>::Correction(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, mrs_uav_state_estimators::EstimatorType_t const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&, std::function<double (int, int)>, std::function<void (mrs_uav_state_estimators::Correction<1>::MeasurementStamped, double, mrs_uav_managers::estimation_manager::StateId_t)>)295
mrs_uav_state_estimators::Correction<2>::getNamespacedName[abi:cxx11]() const504
mrs_uav_state_estimators::Correction<1>::getName[abi:cxx11]() const590
mrs_uav_state_estimators::Correction<1>::getPrintName[abi:cxx11]() const656
mrs_uav_state_estimators::Correction<1>::getNamespacedName[abi:cxx11]() const1170
mrs_uav_state_estimators::Correction<1>::callbackRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)1790
mrs_uav_state_estimators::Correction<1>::getCorrectionFromRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)1812
mrs_uav_state_estimators::Correction<1>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const1812
mrs_uav_state_estimators::Correction<2>::callbackRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)3779
mrs_uav_state_estimators::Correction<2>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const3848
mrs_uav_state_estimators::Correction<2>::getCorrectionFromRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)3850
mrs_uav_state_estimators::Correction<2>::getRawCorrection()7126
mrs_uav_state_estimators::Correction<2>::getProcessedCorrection()7126
mrs_uav_state_estimators::Correction<1>::getRawCorrection()10238
mrs_uav_state_estimators::Correction<1>::getProcessedCorrection()10242
mrs_uav_state_estimators::Correction<2>::callbackVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)11014
mrs_uav_state_estimators::Correction<2>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)11052
mrs_uav_state_estimators::Correction<2>::getVecInFrame(geometry_msgs::Vector3_<std::allocator<void> > const&, std_msgs::Header_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)11053
mrs_uav_state_estimators::Correction<2>::callbackPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)214418
mrs_uav_state_estimators::Correction<2>::getCorrectionFromPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)218382
mrs_uav_state_estimators::Correction<2>::isMsgComing()221754
mrs_uav_state_estimators::Correction<2>::isHealthy()221760
mrs_uav_state_estimators::Correction<1>::callbackVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)224198
mrs_uav_state_estimators::Correction<1>::getZVelUntilted(geometry_msgs::Vector3_<std::allocator<void> > const&, std_msgs::Header_<std::allocator<void> > const&)224430
mrs_uav_state_estimators::Correction<1>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)224462
mrs_uav_state_estimators::Correction<2>::setR(double)225708
mrs_uav_state_estimators::Correction<2>::getStateId() const226191
mrs_uav_state_estimators::Correction<2>::applyCorrection(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, ros::Time const&)229344
mrs_uav_state_estimators::Correction<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)233267
mrs_uav_state_estimators::Correction<1>::callbackRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)308152
mrs_uav_state_estimators::Correction<1>::getCorrectionFromRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)311095
mrs_uav_state_estimators::Correction<2>::publishCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)458777
mrs_uav_state_estimators::Correction<1>::setR(double)525805
mrs_uav_state_estimators::Correction<1>::getStateId() const525834
mrs_uav_state_estimators::Correction<1>::applyCorrection(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&)530211
mrs_uav_state_estimators::Correction<1>::isMsgComing()530513
mrs_uav_state_estimators::Correction<1>::isHealthy()530645
mrs_uav_state_estimators::Correction<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)534865
mrs_uav_state_estimators::Correction<1>::publishCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)1060622
mrs_uav_state_estimators::Correction<2>::getR()1143269
mrs_uav_state_estimators::Correction<1>::getR()1586090
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.func.html new file mode 100644 index 0000000000..f80d2a57a5 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.func.html @@ -0,0 +1,364 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators - correction.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:37873151.7 %
Date:2024-08-07 22:18:19Functions:477166.2 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::Correction<1>::callbackImu(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::callbackRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)1790
mrs_uav_state_estimators::Correction<1>::isMsgComing()530513
mrs_uav_state_estimators::Correction<1>::callbackPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::callbackRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)308152
mrs_uav_state_estimators::Correction<1>::getVecInFrame(geometry_msgs::Vector3_<std::allocator<void> > const&, std_msgs::Header_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)0
mrs_uav_state_estimators::Correction<1>::callbackVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)224198
mrs_uav_state_estimators::Correction<1>::getAvgRtkInitZ(double)22
mrs_uav_state_estimators::Correction<1>::applyCorrection(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&)530211
mrs_uav_state_estimators::Correction<1>::getZVelUntilted(geometry_msgs::Vector3_<std::allocator<void> > const&, std_msgs::Header_<std::allocator<void> > const&)224430
mrs_uav_state_estimators::Correction<1>::callbackOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getRawCorrection()10238
mrs_uav_state_estimators::Correction<1>::publishCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)1060622
mrs_uav_state_estimators::Correction<1>::callbackPoseStamped(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::callbackToggleRange(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromImu(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)1812
mrs_uav_state_estimators::Correction<1>::getCorrectionFromQuat(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)311095
mrs_uav_state_estimators::Correction<1>::getProcessedCorrection()10242
mrs_uav_state_estimators::Correction<1>::createProcessorFromName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::NodeHandle&)275
mrs_uav_state_estimators::Correction<1>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)224462
mrs_uav_state_estimators::Correction<1>::getCorrectionFromOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromPoseStamped(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getR()1586090
mrs_uav_state_estimators::Correction<1>::setR(double)525805
mrs_uav_state_estimators::Correction<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)534865
mrs_uav_state_estimators::Correction<1>::isHealthy()530645
mrs_uav_state_estimators::Correction<1>::Correction(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, mrs_uav_state_estimators::EstimatorType_t const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&, std::function<double (int, int)>, std::function<void (mrs_uav_state_estimators::Correction<1>::MeasurementStamped, double, mrs_uav_managers::estimation_manager::StateId_t)>)295
mrs_uav_state_estimators::Correction<2>::callbackImu(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::callbackRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)3779
mrs_uav_state_estimators::Correction<2>::isMsgComing()221754
mrs_uav_state_estimators::Correction<2>::callbackPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)214418
mrs_uav_state_estimators::Correction<2>::callbackRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getVecInFrame(geometry_msgs::Vector3_<std::allocator<void> > const&, std_msgs::Header_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)11053
mrs_uav_state_estimators::Correction<2>::callbackVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)11014
mrs_uav_state_estimators::Correction<2>::getAvgRtkInitZ(double)0
mrs_uav_state_estimators::Correction<2>::applyCorrection(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, ros::Time const&)229344
mrs_uav_state_estimators::Correction<2>::getZVelUntilted(geometry_msgs::Vector3_<std::allocator<void> > const&, std_msgs::Header_<std::allocator<void> > const&)0
mrs_uav_state_estimators::Correction<2>::resetProcessors()0
mrs_uav_state_estimators::Correction<2>::callbackOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getRawCorrection()7126
mrs_uav_state_estimators::Correction<2>::publishCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)458777
mrs_uav_state_estimators::Correction<2>::callbackPoseStamped(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::callbackToggleRange(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_state_estimators::Correction<2>::getCorrectionFromImu(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getCorrectionFromRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)3850
mrs_uav_state_estimators::Correction<2>::getCorrectionFromQuat(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getCorrectionFromPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)218382
mrs_uav_state_estimators::Correction<2>::getCorrectionFromRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getProcessedCorrection()7126
mrs_uav_state_estimators::Correction<2>::createProcessorFromName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::NodeHandle&)115
mrs_uav_state_estimators::Correction<2>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)11052
mrs_uav_state_estimators::Correction<2>::getCorrectionFromOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getCorrectionFromPoseStamped(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getR()1143269
mrs_uav_state_estimators::Correction<2>::setR(double)225708
mrs_uav_state_estimators::Correction<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)233267
mrs_uav_state_estimators::Correction<2>::isHealthy()221760
mrs_uav_state_estimators::Correction<2>::Correction(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, mrs_uav_state_estimators::EstimatorType_t const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&, std::function<double (int, int)>, std::function<void (mrs_uav_state_estimators::Correction<2>::MeasurementStamped, double, mrs_uav_managers::estimation_manager::StateId_t)>)119
mrs_uav_state_estimators::Correction<1>::getStateId() const525834
mrs_uav_state_estimators::Correction<1>::getPrintName[abi:cxx11]() const656
mrs_uav_state_estimators::Correction<1>::getNamespacedName[abi:cxx11]() const1170
mrs_uav_state_estimators::Correction<1>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const1812
mrs_uav_state_estimators::Correction<1>::getName[abi:cxx11]() const590
mrs_uav_state_estimators::Correction<2>::getStateId() const226191
mrs_uav_state_estimators::Correction<2>::getPrintName[abi:cxx11]() const244
mrs_uav_state_estimators::Correction<2>::getNamespacedName[abi:cxx11]() const504
mrs_uav_state_estimators::Correction<2>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const3848
mrs_uav_state_estimators::Correction<2>::getName[abi:cxx11]() const238
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.frameset.html new file mode 100644 index 0000000000..3b2b9aa9cc --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.html new file mode 100644 index 0000000000..e2e0c8709a --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.html @@ -0,0 +1,1954 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators - correction.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:37873151.7 %
Date:2024-08-07 22:18:19Functions:477166.2 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef ESTIMATORS_CORRECTION_H
+       3             : #define ESTIMATORS_CORRECTION_H
+       4             : 
+       5             : #include <Eigen/Dense>
+       6             : 
+       7             : #include <mrs_lib/subscribe_handler.h>
+       8             : #include <mrs_lib/publisher_handler.h>
+       9             : #include <mrs_lib/attitude_converter.h>
+      10             : #include <mrs_lib/param_loader.h>
+      11             : #include <mrs_lib/dynamic_reconfigure_mgr.h>
+      12             : #include <mrs_lib/gps_conversions.h>
+      13             : #include <mrs_lib/mutex.h>
+      14             : #include <mrs_lib/geometry/cyclic.h>
+      15             : 
+      16             : #include <mrs_msgs/RtkGps.h>
+      17             : #include <mrs_msgs/EstimatorCorrection.h>
+      18             : #include <mrs_msgs/Float64Stamped.h>
+      19             : 
+      20             : #include <sensor_msgs/Range.h>
+      21             : #include <sensor_msgs/Imu.h>
+      22             : #include <nav_msgs/Odometry.h>
+      23             : 
+      24             : #include <std_srvs/SetBool.h>
+      25             : 
+      26             : #include <functional>
+      27             : 
+      28             : #include <mrs_uav_managers/estimation_manager/types.h>
+      29             : #include <mrs_uav_managers/estimation_manager/support.h>
+      30             : #include <mrs_uav_managers/estimation_manager/common_handlers.h>
+      31             : #include <mrs_uav_managers/estimation_manager/private_handlers.h>
+      32             : 
+      33             : #include <mrs_uav_state_estimators/processors/processor.h>
+      34             : #include <mrs_uav_state_estimators/processors/proc_median_filter.h>
+      35             : #include <mrs_uav_state_estimators/processors/proc_saturate.h>
+      36             : #include <mrs_uav_state_estimators/processors/proc_excessive_tilt.h>
+      37             : #include <mrs_uav_state_estimators/processors/proc_tf_to_world.h>
+      38             : 
+      39             : #include <mrs_uav_state_estimators/CorrectionConfig.h>
+      40             : 
+      41             : 
+      42             : namespace mrs_uav_state_estimators
+      43             : {
+      44             : 
+      45             : typedef enum
+      46             : {
+      47             :   LATERAL,
+      48             :   ALTITUDE,
+      49             :   HEADING
+      50             : } EstimatorType_t;
+      51             : const int n_EstimatorType_t = 3;
+      52             : 
+      53             : typedef enum
+      54             : {
+      55             :   UNKNOWN,
+      56             :   ODOMETRY,
+      57             :   POSE,
+      58             :   POSECOV,
+      59             :   RANGE,
+      60             :   IMU,
+      61             :   RTK_GPS,
+      62             :   POINT,
+      63             :   VECTOR,
+      64             :   QUAT,
+      65             : } MessageType_t;
+      66             : const int n_MessageType_t = 10;
+      67             : 
+      68             : const std::map<std::string, MessageType_t> map_msg_type{{"nav_msgs/Odometry", MessageType_t::ODOMETRY},
+      69             :                                                         {"geometry_msgs/PoseStamped", MessageType_t::POSE},
+      70             :                                                         {"geometry_msgs/PoseWithCovarianceStamped", MessageType_t::POSECOV},
+      71             :                                                         {"sensor_msgs/Range", MessageType_t::RANGE},
+      72             :                                                         {"sensor_msgs/Imu", MessageType_t::IMU},
+      73             :                                                         {"mrs_msgs/RtkGps", MessageType_t::RTK_GPS},
+      74             :                                                         {"geometry_msgs/PointStamped", MessageType_t::POINT},
+      75             :                                                         {"geometry_msgs/Vector3Stamped", MessageType_t::VECTOR},
+      76             :                                                         {"geometry_msgs/QuaternionStamped", MessageType_t::QUAT}};
+      77             : 
+      78             : template <int n_measurements>
+      79             : class Correction {
+      80             : 
+      81             :   using CommonHandlers_t  = mrs_uav_managers::estimation_manager::CommonHandlers_t;
+      82             :   using PrivateHandlers_t = mrs_uav_managers::estimation_manager::PrivateHandlers_t;
+      83             :   using StateId_t         = mrs_uav_managers::estimation_manager::StateId_t;
+      84             : 
+      85             : public:
+      86             :   typedef Eigen::Matrix<double, n_measurements, 1>         measurement_t;
+      87             :   typedef mrs_lib::DynamicReconfigureMgr<CorrectionConfig> drmgr_t;
+      88             : 
+      89             :   struct MeasurementStamped
+      90             :   {
+      91             :     ros::Time     stamp;
+      92             :     measurement_t value;
+      93             :   };
+      94             : 
+      95             : public:
+      96             :   Correction(ros::NodeHandle& nh, const std::string& est_name, const std::string& name, const std::string& frame_id, const EstimatorType_t& est_type,
+      97             :              const std::shared_ptr<CommonHandlers_t>& ch, const std::shared_ptr<PrivateHandlers_t>& ph, std::function<double(int, int)> fun_get_state,
+      98             :              std::function<void(MeasurementStamped, double, StateId_t)> fun_apply_correction);
+      99             : 
+     100             :   std::string getName() const;
+     101             :   std::string getNamespacedName() const;
+     102             :   std::string getPrintName() const;
+     103             : 
+     104             :   double    getR();
+     105             :   void      setR(const double R);
+     106             :   StateId_t getStateId() const;
+     107             : 
+     108             :   bool             isHealthy();
+     109             :   ros::Time        healthy_time_;
+     110             :   std::atomic_bool is_healthy_    = true;
+     111             :   std::atomic_bool is_delay_ok_   = true;
+     112             :   std::atomic_bool is_dt_ok_      = true;
+     113             :   std::atomic_bool is_nan_free_   = true;
+     114             :   std::atomic_bool got_first_msg_ = false;
+     115             : 
+     116             :   int counter_nan_ = 0;
+     117             : 
+     118             :   std::optional<MeasurementStamped> getRawCorrection();
+     119             :   std::optional<MeasurementStamped> getProcessedCorrection();
+     120             : 
+     121             :   void resetProcessors();
+     122             : 
+     123             : private:
+     124             :   std::atomic_bool is_initialized_ = false;
+     125             : 
+     126             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_odom_;
+     127             :   void                                          callbackOdometry(const nav_msgs::Odometry::ConstPtr msg);
+     128             :   std::optional<measurement_t>                  getCorrectionFromOdometry(const nav_msgs::OdometryConstPtr msg);
+     129             : 
+     130             :   mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped> sh_pose_s_;
+     131             :   void                                                  callbackPoseStamped(const geometry_msgs::PoseStamped::ConstPtr msg);
+     132             :   std::optional<measurement_t>                          getCorrectionFromPoseStamped(const geometry_msgs::PoseStampedConstPtr msg);
+     133             : 
+     134             :   mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped> sh_pose_wcs_;
+     135             : 
+     136             :   mrs_lib::SubscribeHandler<mrs_msgs::RtkGps> sh_rtk_;
+     137             :   void                                        callbackRtk(const mrs_msgs::RtkGps::ConstPtr msg);
+     138             :   std::optional<measurement_t>                getCorrectionFromRtk(const mrs_msgs::RtkGpsConstPtr msg);
+     139             :   void                                        getAvgRtkInitZ(const double rtk_z);
+     140             :   bool                                        got_avg_init_rtk_z_ = false;
+     141             :   double                                      rtk_init_z_avg_     = 0.0;
+     142             :   int                                         got_rtk_counter_    = 0;
+     143             : 
+     144             :   mrs_lib::SubscribeHandler<geometry_msgs::PointStamped> sh_point_;
+     145             :   void                                                   callbackPoint(const geometry_msgs::PointStamped::ConstPtr msg);
+     146             :   std::optional<measurement_t>                           getCorrectionFromPoint(const geometry_msgs::PointStampedConstPtr msg);
+     147             : 
+     148             :   mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped> sh_vector_;
+     149             :   std::optional<measurement_t>                             getCorrectionFromVector(const geometry_msgs::Vector3StampedConstPtr msg);
+     150             :   void                                                     callbackVector(const geometry_msgs::Vector3Stamped::ConstPtr msg);
+     151             : 
+     152             :   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_orientation_;  // for obtaining heading rate
+     153             :   std::string                                                 orientation_topic_;
+     154             : 
+     155             :   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_quat_;
+     156             :   measurement_t                                               prev_hdg_measurement_;
+     157             :   bool                                                        got_first_hdg_measurement_ = false;
+     158             : 
+     159             :   mrs_lib::SubscribeHandler<sensor_msgs::Imu> sh_imu_;
+     160             :   std::optional<measurement_t>                             getCorrectionFromImu(const sensor_msgs::ImuConstPtr msg);
+     161             :   void                                                     callbackImu(const sensor_msgs::Imu::ConstPtr msg);
+     162             : 
+     163             :   mrs_lib::SubscribeHandler<sensor_msgs::Range> sh_range_;
+     164             :   std::optional<measurement_t>                  getCorrectionFromRange(const sensor_msgs::RangeConstPtr msg);
+     165             :   void                                          callbackRange(const sensor_msgs::Range::ConstPtr msg);
+     166             :   ros::ServiceServer                            ser_toggle_range_;
+     167             :   bool                                          callbackToggleRange(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     168             :   bool                                          range_enabled_ = true;
+     169             : 
+     170             :   void applyCorrection(const measurement_t& meas, const ros::Time& stamp);
+     171             : 
+     172             :   mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection> ph_correction_raw_;
+     173             :   mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection> ph_correction_proc_;
+     174             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>      ph_delay_;
+     175             : 
+     176             :   const std::string                  est_name_;
+     177             :   const std::string                  name_;
+     178             :   const std::string                  ns_frame_id_;
+     179             :   const EstimatorType_t              est_type_;
+     180             :   std::shared_ptr<CommonHandlers_t>  ch_;
+     181             :   std::shared_ptr<PrivateHandlers_t> ph_;
+     182             : 
+     183             :   MessageType_t msg_type_;
+     184             :   std::string   msg_topic_;
+     185             :   double        msg_timeout_;
+     186             : 
+     187             :   double     R_;
+     188             :   double     default_R_;
+     189             :   double     R_coeff_;
+     190             :   std::mutex mtx_R_;
+     191             :   StateId_t  state_id_;
+     192             :   bool       is_in_body_frame_ = true;
+     193             :   double     gravity_norm_ = 9.8066;
+     194             : 
+     195             :   std::unique_ptr<drmgr_t> drmgr_;
+     196             : 
+     197             :   std::optional<measurement_t> getCorrectionFromQuat(const geometry_msgs::QuaternionStampedConstPtr msg);
+     198             :   std::optional<measurement_t> getZVelUntilted(const geometry_msgs::Vector3& msg, const std_msgs::Header& header);
+     199             :   std::optional<measurement_t> getVecInFrame(const geometry_msgs::Vector3& vec_in, const std_msgs::Header& source_header, const std::string target_frame);
+     200             : 
+     201             :   std::optional<geometry_msgs::Pose> transformRtkToFcu(const geometry_msgs::PoseStamped& pose_in) const;
+     202             : 
+     203             :   void   checkMsgDelay(const ros::Time& msg_time);
+     204             :   double msg_delay_limit_;
+     205             :   double msg_delay_warn_limit_;
+     206             : 
+     207             :   double time_since_last_msg_limit_;
+     208             : 
+     209             :   std::shared_ptr<Processor<n_measurements>> createProcessorFromName(const std::string& name, ros::NodeHandle& nh);
+     210             :   bool                                       process(measurement_t& measurement);
+     211             : 
+     212             :   bool             isTimestampOk();
+     213             :   bool             isMsgComing();
+     214             :   std::atomic_bool first_timestamp_ = true;
+     215             :   ros::Time        msg_time_;
+     216             :   ros::Time        prev_msg_time_;
+     217             :   std::mutex       mtx_msg_time_;
+     218             : 
+     219             :   std::vector<std::string>                                                    processor_names_;
+     220             :   std::unordered_map<std::string, std::shared_ptr<Processor<n_measurements>>> processors_;
+     221             : 
+     222             :   std::function<double(int, int)>                            fun_get_state_;
+     223             :   std::function<void(MeasurementStamped, double, StateId_t)> fun_apply_correction_;
+     224             : 
+     225             :   void publishCorrection(const MeasurementStamped& measurement_stamped, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection>& ph_corr);
+     226             :   void publishDelay(const double delay);
+     227             : };
+     228             : 
+     229             : /*//{ constructor */
+     230             : template <int n_measurements>
+     231         414 : Correction<n_measurements>::Correction(ros::NodeHandle& nh, const std::string& est_name, const std::string& name, const std::string& ns_frame_id,
+     232             :                                        const EstimatorType_t& est_type, const std::shared_ptr<CommonHandlers_t>& ch,
+     233             :                                        const std::shared_ptr<PrivateHandlers_t>& ph, std::function<double(int, int)> fun_get_state,
+     234             :                                        std::function<void(MeasurementStamped, double, StateId_t)> fun_apply_correction)
+     235             :     : est_name_(est_name),
+     236             :       name_(name),
+     237             :       ns_frame_id_(ns_frame_id),
+     238             :       est_type_(est_type),
+     239             :       ch_(ch),
+     240             :       ph_(ph),
+     241             :       fun_get_state_(fun_get_state),
+     242         414 :       fun_apply_correction_(fun_apply_correction) {
+     243             : 
+     244             :   // | --------------------- load parameters -------------------- |
+     245             : 
+     246         828 :   std::string msg_type_string;
+     247             : 
+     248         414 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + getNamespacedName() + "/");
+     249             : 
+     250         414 :   ph->param_loader->loadParam("message/type", msg_type_string);
+     251         414 :   if (map_msg_type.find(msg_type_string) == map_msg_type.end()) {
+     252           0 :     ROS_ERROR("[%s]: wrong message type: %s of correction %s", getPrintName().c_str(), msg_type_string.c_str(), getName().c_str());
+     253           0 :     ros::shutdown();
+     254             :   }
+     255         414 :   msg_type_ = map_msg_type.at(msg_type_string);
+     256             : 
+     257         414 :   ph->param_loader->loadParam("message/topic", msg_topic_);
+     258         414 :   msg_topic_ = "/" + ch_->uav_name + "/" + msg_topic_;
+     259         414 :   ph->param_loader->loadParam("message/limit/delay", msg_delay_limit_);
+     260         414 :   msg_delay_warn_limit_ = msg_delay_limit_ / 2;  // maybe specify this as a param?
+     261         414 :   ph->param_loader->loadParam("message/limit/time_since_last", time_since_last_msg_limit_);
+     262             : 
+     263             :   int state_id_tmp;
+     264         414 :   ph->param_loader->loadParam("state_id", state_id_tmp);
+     265         414 :   if (state_id_tmp < n_StateId_t) {
+     266         414 :     state_id_ = static_cast<StateId_t>(state_id_tmp);
+     267             :   } else {
+     268           0 :     ROS_ERROR("[%s]: wrong state id: %d of correction %s", getPrintName().c_str(), state_id_tmp, getName().c_str());
+     269           0 :     ros::shutdown();
+     270             :   }
+     271             : 
+     272         414 :   if (state_id_ == StateId_t::VELOCITY) {
+     273         119 :     ph->param_loader->loadParam("body_frame", is_in_body_frame_, true);
+     274             :   }
+     275             :   
+     276         414 :   if (state_id_ == StateId_t::ACCELERATION) {
+     277           0 :     ph->param_loader->loadParam("body_frame", is_in_body_frame_, true);
+     278           0 :     ph->param_loader->loadParam("gravity_norm", gravity_norm_, 9.8066);
+     279             :   }
+     280             : 
+     281         414 :   ph->param_loader->loadParam("noise", R_);
+     282         414 :   ph->param_loader->loadParam("noise_unhealthy_coeff", R_coeff_);
+     283         414 :   default_R_ = R_;
+     284             : 
+     285             :   // | --------------- processors initialization --------------- |
+     286         414 :   ph->param_loader->loadParam("processors", processor_names_);
+     287             : 
+     288         804 :   for (auto proc_name : processor_names_) {
+     289         390 :     processors_[proc_name] = createProcessorFromName(proc_name, nh);
+     290             :   }
+     291             : 
+     292             :   // | ------------- initialize dynamic reconfigure ------------- |
+     293         414 :   drmgr_               = std::make_unique<drmgr_t>(ros::NodeHandle("~/" + getNamespacedName()), getPrintName());
+     294         414 :   drmgr_->config.noise = R_;
+     295         414 :   drmgr_->update_config(drmgr_->config);
+     296             : 
+     297             :   // | -------------- initialize subscribe handlers ------------- |
+     298         828 :   mrs_lib::SubscribeHandlerOptions shopts;
+     299         414 :   shopts.nh                 = nh;
+     300         414 :   shopts.node_name          = getPrintName();
+     301         414 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     302         414 :   shopts.threadsafe         = true;
+     303         414 :   shopts.autostart          = true;
+     304         414 :   shopts.queue_size         = 10;
+     305         414 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     306             : 
+     307         414 :   switch (msg_type_) {
+     308           0 :     case MessageType_t::ODOMETRY: {
+     309           0 :       sh_odom_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, msg_topic_, &Correction::callbackOdometry, this);
+     310           0 :       break;
+     311             :     }
+     312           0 :     case MessageType_t::POSE: {
+     313           0 :       sh_pose_s_ = mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped>(shopts, msg_topic_, &Correction::callbackPoseStamped, this);
+     314           0 :       break;
+     315             :     }
+     316           0 :     case MessageType_t::POSECOV: {
+     317             :       // TODO implement
+     318             :       /* sh_pose_wcs_ = mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped>(shopts, msg_topic_); */
+     319           0 :       break;
+     320             :     }
+     321         178 :     case MessageType_t::RANGE: {
+     322         178 :       sh_range_                   = mrs_lib::SubscribeHandler<sensor_msgs::Range>(shopts, msg_topic_, &Correction::callbackRange, this);
+     323         178 :       const std::size_t found     = ros::this_node::getName().find_last_of("/");
+     324         356 :       std::string       node_name = ros::this_node::getName().substr(found + 1);
+     325         356 :       ser_toggle_range_ =
+     326         178 :           nh.advertiseService(ros::this_node::getName() + "/" + getNamespacedName() + "/toggle_range_in", &Correction::callbackToggleRange, this);
+     327         178 :       break;
+     328             :     }
+     329           0 :     case MessageType_t::IMU: {
+     330           0 :       sh_imu_ = mrs_lib::SubscribeHandler<sensor_msgs::Imu>(shopts, msg_topic_, &Correction::callbackImu, this);
+     331           0 :       break;
+     332             :     }
+     333           6 :     case MessageType_t::RTK_GPS: {
+     334           6 :       sh_rtk_ = mrs_lib::SubscribeHandler<mrs_msgs::RtkGps>(shopts, msg_topic_, &Correction::callbackRtk, this);
+     335           6 :       break;
+     336             :     }
+     337         111 :     case MessageType_t::POINT: {
+     338         111 :       sh_point_ = mrs_lib::SubscribeHandler<geometry_msgs::PointStamped>(shopts, msg_topic_, &Correction::callbackPoint, this);
+     339         111 :       break;
+     340             :     }
+     341         119 :     case MessageType_t::VECTOR: {
+     342         119 :       sh_vector_ = mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped>(shopts, msg_topic_, &Correction::callbackVector, this);
+     343         119 :       break;
+     344             :     }
+     345           0 :     case MessageType_t::QUAT: {
+     346           0 :       sh_quat_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, msg_topic_);
+     347           0 :       break;
+     348             :     }
+     349           0 :     case MessageType_t::UNKNOWN: {
+     350           0 :       ROS_ERROR("[%s]: UNKNOWN message type of correction", getPrintName().c_str());
+     351           0 :       break;
+     352             :     }
+     353           0 :     default: {
+     354           0 :       ROS_ERROR("[%s]: unhandled message type", getPrintName().c_str());
+     355             :     }
+     356             :   }
+     357             : 
+     358             :   // | ------ subscribe orientation for obtaingin hdg rate ------ |
+     359         414 :   if (est_type_ == EstimatorType_t::HEADING && state_id_ == StateId_t::VELOCITY) {
+     360           0 :     ph->param_loader->loadParam("message/orientation_topic", orientation_topic_);
+     361           0 :     orientation_topic_ = "/" + ch_->uav_name + "/" + orientation_topic_;
+     362           0 :     sh_orientation_    = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, orientation_topic_);
+     363             :   }
+     364             : 
+     365             : 
+     366             :   // | --------------- initialize publish handlers -------------- |
+     367         414 :   if (ch_->debug_topics.correction) {
+     368         414 :     ph_correction_raw_  = mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection>(nh, est_name_ + "/correction/" + getName() + "/raw", 10);
+     369         414 :     ph_correction_proc_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection>(nh, est_name_ + "/correction/" + getName() + "/proc", 10);
+     370             :   }
+     371         414 :   if (ch_->debug_topics.corr_delay) {
+     372           0 :     ph_delay_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh, est_name_ + "/correction/" + getName() + "/delay", 10);
+     373             :   }
+     374             : 
+     375             :   // | --- check whether all parameters were loaded correctly --- |
+     376         414 :   if (!ph->param_loader->loadedSuccessfully()) {
+     377           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+     378           0 :     ros::shutdown();
+     379             :   }
+     380             : 
+     381         414 :   healthy_time_ = ros::Time(0);
+     382             : 
+     383         414 :   is_initialized_ = true;
+     384         414 : }
+     385             : /*//}*/
+     386             : 
+     387             : /*//{ getName() */
+     388             : template <int n_measurements>
+     389         828 : std::string Correction<n_measurements>::getName() const {
+     390         828 :   return name_;
+     391             : }
+     392             : /*//}*/
+     393             : 
+     394             : /*//{ getNamespacedName() */
+     395             : template <int n_measurements>
+     396        1674 : std::string Correction<n_measurements>::getNamespacedName() const {
+     397        1674 :   return est_name_ + "/" + name_;
+     398             : }
+     399             : /*//}*/
+     400             : 
+     401             : /*//{ getPrintName() */
+     402             : template <int n_measurements>
+     403         900 : std::string Correction<n_measurements>::getPrintName() const {
+     404         900 :   return ch_->nodelet_name + "/" + est_name_ + "/" + name_;
+     405             : }
+     406             : /*//}*/
+     407             : 
+     408             : /*//{ getR() */
+     409             : template <int n_measurements>
+     410     2729359 : double Correction<n_measurements>::getR() {
+     411     2729359 :   std::scoped_lock lock(mtx_R_);
+     412     2728863 :   default_R_ = drmgr_->config.noise;
+     413     5456417 :   return R_;
+     414             : }
+     415             : /*//}*/
+     416             : 
+     417             : /*//{ setR() */
+     418             : template <int n_measurements>
+     419      751513 : void Correction<n_measurements>::setR(const double R) {
+     420      751513 :   std::scoped_lock lock(mtx_R_);
+     421      751579 :   R_ = R;
+     422      751580 : }
+     423             : /*//}*/
+     424             : 
+     425             : /*//{ getStateId() */
+     426             : template <int n_measurements>
+     427      752025 : StateId_t Correction<n_measurements>::getStateId() const {
+     428      752025 :   return state_id_;
+     429             : }
+     430             : /*//}*/
+     431             : 
+     432             : /*//{ isHealthy() */
+     433             : template <int n_measurements>
+     434      752405 : bool Correction<n_measurements>::isHealthy() {
+     435             : 
+     436      752405 :   if (!is_initialized_) {
+     437           0 :     return false;
+     438             :   }
+     439             : 
+     440      752221 :   is_dt_ok_ = isMsgComing();
+     441             : 
+     442      752452 :   if (!is_delay_ok_) {
+     443           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: delay not ok", getPrintName().c_str());
+     444             :   }
+     445             : 
+     446      752335 :   if (!is_healthy_) {
+     447           0 :     if (is_dt_ok_ && is_delay_ok_) {
+     448           0 :       if (healthy_time_ > ros::Time(10)) {
+     449           0 :         is_healthy_ = true;
+     450             :       }
+     451             :     } else {
+     452           0 :       healthy_time_ = ros::Time(0);
+     453             :     }
+     454             :   }
+     455             : 
+     456      752258 :   is_healthy_ = is_healthy_ && is_dt_ok_ && is_delay_ok_;
+     457             : 
+     458      752294 :   return is_healthy_;
+     459             : }
+     460             : /*//}*/
+     461             : 
+     462             : /*//{ getRawCorrection() */
+     463             : template <int n_measurements>
+     464       17364 : std::optional<typename Correction<n_measurements>::MeasurementStamped> Correction<n_measurements>::getRawCorrection() {
+     465             : 
+     466       17364 :   if (!is_initialized_) {
+     467           0 :     return {};
+     468             :   }
+     469             : 
+     470       17338 :   MeasurementStamped measurement_stamped;
+     471             : 
+     472       17335 :   switch (msg_type_) {
+     473             : 
+     474           0 :     case MessageType_t::ODOMETRY: {
+     475             : 
+     476           0 :       if (!sh_odom_.hasMsg()) {
+     477           0 :         return {};
+     478             :       }
+     479             : 
+     480           0 :       auto msg                  = sh_odom_.getMsg();
+     481           0 :       measurement_stamped.stamp = msg->header.stamp;
+     482             :       /* if (!isTimestampOk(measurement_stamped.stamp)) { */
+     483             :       /*   return {}; */
+     484             :       /* } */
+     485             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     486             : 
+     487             :       /* if (!is_delay_ok_) { */
+     488             :       /*   return {}; */
+     489             :       /* } */
+     490           0 :       auto res = getCorrectionFromOdometry(msg);
+     491           0 :       if (res) {
+     492           0 :         measurement_stamped.value = res.value();
+     493             :       } else {
+     494           0 :         return {};
+     495             :       }
+     496           0 :       break;
+     497             :     }
+     498             : 
+     499           0 :     case MessageType_t::POSE: {
+     500             : 
+     501           0 :       if (!sh_pose_s_.hasMsg()) {
+     502           0 :         return {};
+     503             :       }
+     504             : 
+     505           0 :       auto msg                  = sh_pose_s_.getMsg();
+     506           0 :       measurement_stamped.stamp = msg->header.stamp;
+     507             :       /* if (!isTimestampOk(measurement_stamped.stamp)) { */
+     508             :       /*   return {}; */
+     509             :       /* } */
+     510             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     511             : 
+     512             :       /* if (!is_delay_ok_) { */
+     513             :       /*   return {}; */
+     514             :       /* } */
+     515           0 :       auto res = getCorrectionFromPoseStamped(msg);
+     516           0 :       if (res) {
+     517           0 :         measurement_stamped.value = res.value();
+     518             :       } else {
+     519           0 :         return {};
+     520             :       }
+     521           0 :       break;
+     522             :     }
+     523             : 
+     524           0 :     case MessageType_t::POSECOV: {
+     525             :       // TODO implement
+     526             :       /* return getCorrectionFromPoseWCS(msg); */
+     527           0 :       is_healthy_ = false;
+     528           0 :       return {};
+     529             :       break;
+     530             :     }
+     531             : 
+     532        9740 :     case MessageType_t::RANGE: {
+     533             : 
+     534        9740 :       if (!range_enabled_) {
+     535           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: fusing range corrections is disabled", getPrintName().c_str());
+     536        5214 :         return {};
+     537             :       }
+     538             : 
+     539        9740 :       if (!sh_range_.hasMsg()) {
+     540        3610 :         return {};
+     541             :       }
+     542             : 
+     543        6110 :       auto msg                  = sh_range_.getMsg();
+     544        6110 :       measurement_stamped.stamp = msg->header.stamp;
+     545             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     546             : 
+     547             :       /* if (!is_delay_ok_) { */
+     548             :       /*   return {}; */
+     549             :       /* } */
+     550             : 
+     551        6114 :       auto res = getCorrectionFromRange(msg);
+     552        6114 :       if (res) {
+     553        4532 :         measurement_stamped.value = res.value();
+     554             :       } else {
+     555        1582 :         return {};
+     556             :       }
+     557        4532 :       break;
+     558             :     }
+     559             : 
+     560           0 :     case MessageType_t::IMU: {
+     561             : 
+     562           0 :       if (!sh_imu_.hasMsg()) {
+     563           0 :         ROS_ERROR_THROTTLE(1.0, " no imu msgs so far");
+     564           0 :         return {};
+     565             :       }
+     566             : 
+     567           0 :       auto msg                  = sh_imu_.getMsg();
+     568           0 :       measurement_stamped.stamp = msg->header.stamp;
+     569             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     570             : 
+     571             :       /* if (!is_delay_ok_) { */
+     572             :       /*   ROS_ERROR("[%s]: rtk msg delay not ok", ros::this_node::getName().c_str()); */
+     573             :       /*   return {}; */
+     574             :       /* } */
+     575             : 
+     576           0 :       auto res = getCorrectionFromImu(msg);
+     577           0 :       if (res) {
+     578           0 :         measurement_stamped.value = res.value();
+     579             :       } else {
+     580           0 :         ROS_ERROR_THROTTLE(1.0, "[%s]: could not get rtk correction", ros::this_node::getName().c_str());
+     581           0 :         return {};
+     582             :       }
+     583             : 
+     584           0 :       break;
+     585             :     }
+     586             : 
+     587          90 :     case MessageType_t::RTK_GPS: {
+     588             : 
+     589          90 :       if (!sh_rtk_.hasMsg()) {
+     590           0 :         ROS_ERROR_THROTTLE(1.0, " no rtk msgs so far");
+     591          15 :         return {};
+     592             :       }
+     593             : 
+     594          90 :       auto msg                  = sh_rtk_.getMsg();
+     595          90 :       measurement_stamped.stamp = msg->header.stamp;
+     596             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     597             : 
+     598             :       /* if (!is_delay_ok_) { */
+     599             :       /*   ROS_ERROR("[%s]: rtk msg delay not ok", ros::this_node::getName().c_str()); */
+     600             :       /*   return {}; */
+     601             :       /* } */
+     602             : 
+     603          90 :       auto res = getCorrectionFromRtk(msg);
+     604          90 :       if (res) {
+     605          75 :         measurement_stamped.value = res.value();
+     606             :       } else {
+     607          15 :         ROS_ERROR_THROTTLE(1.0, "[%s]: could not get rtk correction", ros::this_node::getName().c_str());
+     608          15 :         return {};
+     609             :       }
+     610             : 
+     611          75 :       break;
+     612             :     }
+     613             : 
+     614        6992 :     case MessageType_t::POINT: {
+     615             : 
+     616        6992 :       if (!sh_point_.hasMsg()) {
+     617        3255 :         return {};
+     618             :       }
+     619             : 
+     620        3737 :       auto msg                  = sh_point_.getMsg();
+     621        3737 :       measurement_stamped.stamp = msg->header.stamp;
+     622             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     623             : 
+     624             :       /* if (!is_delay_ok_) { */
+     625             :       /*   return {}; */
+     626             :       /* } */
+     627        3737 :       auto res = getCorrectionFromPoint(msg);
+     628        3737 :       if (res) {
+     629        3737 :         measurement_stamped.value = res.value();
+     630             :       } else {
+     631           0 :         return {};
+     632             :       }
+     633        3737 :       break;
+     634             :     }
+     635             : 
+     636         538 :     case MessageType_t::VECTOR: {
+     637             : 
+     638         538 :       if (!sh_vector_.hasMsg()) {
+     639         419 :         return {};
+     640             :       }
+     641             : 
+     642         150 :       auto msg                  = sh_vector_.getMsg();
+     643         150 :       measurement_stamped.stamp = msg->header.stamp;
+     644             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     645             : 
+     646             :       /* if (!is_delay_ok_) { */
+     647             :       /*   return {}; */
+     648             :       /* } */
+     649         150 :       auto res = getCorrectionFromVector(msg);
+     650         150 :       if (res) {
+     651         119 :         measurement_stamped.value = res.value();
+     652             :       } else {
+     653          31 :         return {};
+     654             :       }
+     655         119 :       break;
+     656             :     }
+     657             : 
+     658           0 :     case MessageType_t::QUAT: {
+     659             : 
+     660           0 :       if (!sh_quat_.newMsg()) {
+     661           0 :         return {};
+     662             :       }
+     663             : 
+     664           0 :       auto msg                  = sh_quat_.getMsg();
+     665           0 :       measurement_stamped.stamp = msg->header.stamp;
+     666             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     667             : 
+     668             :       /* if (!is_delay_ok_) { */
+     669             :       /*   return {}; */
+     670             :       /* } */
+     671           0 :       auto res = getCorrectionFromQuat(msg);
+     672           0 :       if (res) {
+     673           0 :         measurement_stamped.value = res.value();
+     674             :       } else {
+     675           0 :         return {};
+     676             :       }
+     677           0 :       break;
+     678             :     }
+     679             : 
+     680           0 :     default: {
+     681           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: this type of correction is not implemented in getCorrectionFromMessage()", getPrintName().c_str());
+     682           0 :       is_healthy_ = false;
+     683           0 :       return {};
+     684             :     }
+     685             :   }
+     686             : 
+     687             :   // check for nans
+     688        8462 :   is_nan_free_ = true;
+     689       20734 :   for (int i = 0; i < measurement_stamped.value.rows(); i++) {
+     690       12271 :     if (!std::isfinite(measurement_stamped.value(i))) {
+     691           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in correction. Total NaNs: %d", getPrintName().c_str(), ++counter_nan_);
+     692           0 :       is_nan_free_ = false;
+     693           0 :       return {};
+     694             :     }
+     695             :   }
+     696             : 
+     697        8462 :   got_first_msg_ = true;
+     698        8463 :   publishCorrection(measurement_stamped, ph_correction_raw_);
+     699             : 
+     700        8463 :   return measurement_stamped;
+     701             : }
+     702             : /*//}*/
+     703             : 
+     704             : /*//{ getProcessedCorrection() */
+     705             : template <int n_measurements>
+     706       17368 : std::optional<typename Correction<n_measurements>::MeasurementStamped> Correction<n_measurements>::getProcessedCorrection() {
+     707             : 
+     708       17368 :   MeasurementStamped measurement_stamped;
+     709       17342 :   auto               res = getRawCorrection();
+     710       17318 :   if (res) {
+     711        8462 :     MeasurementStamped measurement_stamped = res.value();
+     712        8462 :     if (process(measurement_stamped.value)) {
+     713         483 :       publishCorrection(measurement_stamped, ph_correction_proc_);
+     714         483 :       return measurement_stamped;
+     715             :     } else {
+     716        7980 :       return {};  // invalid correction
+     717             :     }
+     718             :   } else {
+     719        8889 :     return {};  // invalid correction
+     720             :   }
+     721             : }  // namespace mrs_uav_state_estimation
+     722             : /*//}*/
+     723             : 
+     724             : /*//{ callbackOdometry() */
+     725             : template <int n_measurements>
+     726           0 : void Correction<n_measurements>::callbackOdometry(const nav_msgs::Odometry::ConstPtr msg) {
+     727             : 
+     728           0 :   if (!is_initialized_) {
+     729           0 :     return;
+     730             :   }
+     731             : 
+     732           0 :   auto res = getCorrectionFromOdometry(msg);
+     733           0 :   if (res) {
+     734           0 :     applyCorrection(res.value(), msg->header.stamp);
+     735             :   }
+     736             : }
+     737             : /*//}*/
+     738             : 
+     739             : /*//{ getCorrectionFromOdometry() */
+     740             : template <int n_measurements>
+     741           0 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromOdometry(const nav_msgs::OdometryConstPtr msg) {
+     742             : 
+     743           0 :   switch (est_type_) {
+     744             : 
+     745             :     // handle lateral estimators
+     746           0 :     case EstimatorType_t::LATERAL: {
+     747             : 
+     748           0 :       switch (state_id_) {
+     749             : 
+     750           0 :         case StateId_t::POSITION: {
+     751           0 :           measurement_t measurement;
+     752           0 :           measurement(0) = msg->pose.pose.position.x;
+     753           0 :           measurement(1) = msg->pose.pose.position.y;
+     754           0 :           return measurement;
+     755             :           break;
+     756             :         }
+     757             : 
+     758           0 :         case StateId_t::VELOCITY: {
+     759           0 :           if (is_in_body_frame_) {
+     760           0 :             std_msgs::Header header = msg->header;
+     761           0 :             header.frame_id         = ch_->frames.ns_fcu;  // message in odometry is published in body frame
+     762           0 :             auto res                = getVecInFrame(msg->twist.twist.linear, header, ns_frame_id_ + "_att_only");
+     763           0 :             if (res) {
+     764           0 :               measurement_t measurement;
+     765           0 :               measurement = res.value();
+     766           0 :               return measurement;
+     767             :             } else {
+     768           0 :               ROS_WARN_THROTTLE(1.0, "[%s]: could not transform vel from odom", ros::this_node::getName().c_str());
+     769           0 :               return {};
+     770             :             }
+     771             :           } else {
+     772           0 :             measurement_t measurement;
+     773           0 :             measurement(0) = msg->twist.twist.linear.x;
+     774           0 :             measurement(1) = msg->twist.twist.linear.y;
+     775           0 :             return measurement;
+     776             :           }
+     777             :           break;
+     778             :         }
+     779             : 
+     780           0 :         default: {
+     781           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+     782           0 :           return {};
+     783             :         }
+     784             :       }
+     785             :       break;
+     786             :     }
+     787             : 
+     788             :     // handle altitude estimators
+     789           0 :     case EstimatorType_t::ALTITUDE: {
+     790             : 
+     791           0 :       switch (state_id_) {
+     792             : 
+     793           0 :         case StateId_t::POSITION: {
+     794           0 :           measurement_t measurement;
+     795           0 :           measurement(0) = msg->pose.pose.position.z;
+     796           0 :           return measurement;
+     797             :           break;
+     798             :         }
+     799             : 
+     800           0 :         case StateId_t::VELOCITY: {
+     801           0 :           if (is_in_body_frame_) {
+     802           0 :             std_msgs::Header header = msg->header;
+     803           0 :             header.frame_id         = ch_->frames.ns_fcu;
+     804           0 :             auto res                = getZVelUntilted(msg->twist.twist.linear, header);
+     805           0 :             if (res) {
+     806           0 :               measurement_t measurement;
+     807           0 :               measurement = res.value();
+     808           0 :               return measurement;
+     809             :             } else {
+     810           0 :               return {};
+     811             :             }
+     812             :           } else {
+     813           0 :             measurement_t measurement;
+     814           0 :             measurement(0) = msg->twist.twist.linear.z;
+     815           0 :             return measurement;
+     816             :           }
+     817             :           break;
+     818             :         }
+     819             : 
+     820           0 :         default: {
+     821           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+     822           0 :           return {};
+     823             :         }
+     824             :       }
+     825             :       break;
+     826             :     }
+     827             : 
+     828             :     // handle heading estimators
+     829           0 :     case EstimatorType_t::HEADING: {
+     830             : 
+     831           0 :       switch (state_id_) {
+     832             : 
+     833           0 :         case StateId_t::POSITION: {
+     834           0 :           measurement_t measurement;
+     835             :           try {
+     836             :             // obtain heading from orientation
+     837           0 :             measurement(StateId_t::POSITION) = mrs_lib::AttitudeConverter(msg->pose.pose.orientation).getHeading();
+     838             :             // unwrap heading wrt previous measurement
+     839           0 :             if (got_first_hdg_measurement_) {
+     840           0 :               measurement(StateId_t::POSITION) = mrs_lib::geometry::radians::unwrap(measurement(POSITION), prev_hdg_measurement_(POSITION));
+     841             :             } else {
+     842           0 :               got_first_hdg_measurement_ = true;
+     843             :             }
+     844           0 :             prev_hdg_measurement_ = measurement;
+     845           0 :             return measurement;
+     846             :           }
+     847           0 :           catch (...) {
+     848           0 :             ROS_ERROR_THROTTLE(1.0, "[%s]: failed to obtain heading", getPrintName().c_str());
+     849           0 :             return {};
+     850             :           }
+     851             :           break;
+     852             :         }
+     853             : 
+     854             :           /* case StateId_t::VELOCITY: { */
+     855             :           /*   try { */
+     856             :           /*     measurement_t measurement; */
+     857             :           /*     measurement(0) = mrs_lib::AttitudeConverter(msg->pose.pose.orientation).getHeadingRate(msg->twist.twist.angular); */
+     858             :           /*     return measurement; */
+     859             :           /*   } */
+     860             :           /*   catch (...) { */
+     861             :           /*     ROS_ERROR_THROTTLE(1.0, "[%s]: Exception caught during getting heading rate (getCorrectionFromOdometry())", getPrintName().c_str()); */
+     862             :           /*     return {}; */
+     863             :           /*   } */
+     864             :           /*   break; */
+     865             :           /* } */
+     866             : 
+     867           0 :         default: {
+     868           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+     869           0 :           return {};
+     870             :         }
+     871             :       }
+     872             :       break;
+     873             :     }
+     874             :   }
+     875             : 
+     876           0 :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+     877           0 :   return {};
+     878             : }
+     879             : /*//}*/
+     880             : 
+     881             : /*//{ callbackPoseStamped() */
+     882             : template <int n_measurements>
+     883           0 : void Correction<n_measurements>::callbackPoseStamped(const geometry_msgs::PoseStamped::ConstPtr msg) {
+     884             : 
+     885           0 :   if (!is_initialized_) {
+     886           0 :     return;
+     887             :   }
+     888             : 
+     889           0 :   auto res = getCorrectionFromPoseStamped(msg);
+     890           0 :   if (res) {
+     891           0 :     applyCorrection(res.value(), msg->header.stamp);
+     892             :   }
+     893             : }
+     894             : /*//}*/
+     895             : 
+     896             : /*//{ getCorrectionFromPoseStamped() */
+     897             : template <int n_measurements>
+     898           0 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromPoseStamped(
+     899             :     const geometry_msgs::PoseStampedConstPtr msg) {
+     900             : 
+     901           0 :   switch (est_type_) {
+     902             : 
+     903             :     // handle lateral estimators
+     904           0 :     case EstimatorType_t::LATERAL: {
+     905             : 
+     906           0 :       switch (state_id_) {
+     907             : 
+     908           0 :         case StateId_t::POSITION: {
+     909           0 :           measurement_t measurement;
+     910           0 :           measurement(0) = msg->pose.position.x;
+     911           0 :           measurement(1) = msg->pose.position.y;
+     912           0 :           return measurement;
+     913             :           break;
+     914             :         }
+     915             : 
+     916           0 :         default: {
+     917           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromPoseStamped() switch", getPrintName().c_str());
+     918           0 :           return {};
+     919             :         }
+     920             :       }
+     921             :       break;
+     922             :     }
+     923             : 
+     924             :     // handle altitude estimators
+     925           0 :     case EstimatorType_t::ALTITUDE: {
+     926             : 
+     927           0 :       switch (state_id_) {
+     928             : 
+     929           0 :         case StateId_t::POSITION: {
+     930           0 :           measurement_t measurement;
+     931           0 :           measurement(0) = msg->pose.position.z;
+     932           0 :           return measurement;
+     933             :           break;
+     934             :         }
+     935             : 
+     936           0 :         default: {
+     937           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromPoseStamped() switch", getPrintName().c_str());
+     938           0 :           return {};
+     939             :         }
+     940             :       }
+     941             :       break;
+     942             :     }
+     943             : 
+     944             :     // handle heading estimators
+     945           0 :     case EstimatorType_t::HEADING: {
+     946             : 
+     947           0 :       switch (state_id_) {
+     948             : 
+     949           0 :         case StateId_t::POSITION: {
+     950           0 :           measurement_t measurement;
+     951             :           try {
+     952             :             // obtain heading from orientation
+     953           0 :             measurement(StateId_t::POSITION) = mrs_lib::AttitudeConverter(msg->pose.orientation).getHeading();
+     954             :             // unwrap heading wrt previous measurement
+     955           0 :             if (got_first_hdg_measurement_) {
+     956           0 :               measurement(StateId_t::POSITION) = mrs_lib::geometry::radians::unwrap(measurement(POSITION), prev_hdg_measurement_(POSITION));
+     957             :             } else {
+     958           0 :               got_first_hdg_measurement_ = true;
+     959             :             }
+     960           0 :             prev_hdg_measurement_ = measurement;
+     961           0 :             return measurement;
+     962             :           }
+     963           0 :           catch (...) {
+     964           0 :             ROS_ERROR_THROTTLE(1.0, "[%s]: failed to obtain heading", getPrintName().c_str());
+     965           0 :             return {};
+     966             :           }
+     967             :           break;
+     968             :         }
+     969             : 
+     970           0 :         default: {
+     971           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromPoseStamped() switch", getPrintName().c_str());
+     972           0 :           return {};
+     973             :         }
+     974             :       }
+     975             :       break;
+     976             :     }
+     977             :   }
+     978             : 
+     979           0 :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+     980           0 :   return {};
+     981             : }
+     982             : /*//}*/
+     983             : 
+     984             : /*//{ callbackRange() */
+     985             : template <int n_measurements>
+     986      308152 : void Correction<n_measurements>::callbackRange(const sensor_msgs::Range::ConstPtr msg) {
+     987             : 
+     988      308152 :   if (!is_initialized_) {
+     989           0 :     return;
+     990             :   }
+     991             : 
+     992      307174 :   auto res = getCorrectionFromRange(msg);
+     993      309248 :   if (res) {
+     994      304019 :     applyCorrection(res.value(), msg->header.stamp);
+     995             :   }
+     996             : }
+     997             : /*//}*/
+     998             : 
+     999             : /*//{ getCorrectionFromRange() */
+    1000             : template <int n_measurements>
+    1001      311095 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromRange(const sensor_msgs::RangeConstPtr msg) {
+    1002             : 
+    1003      311095 :   if (!range_enabled_) {
+    1004           0 :     ROS_INFO_THROTTLE(1.0, "[%s]: fusing range corrections is disabled", getPrintName().c_str());
+    1005           0 :     return {};
+    1006             :   }
+    1007             : 
+    1008      311095 :   if (!std::isfinite(msg->range)) {
+    1009           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: received value: %f. Not using this correction.", getPrintName().c_str(), msg->range);
+    1010           0 :     return {};
+    1011             :   }
+    1012             : 
+    1013      310782 :   const double eps = 1e-3;
+    1014      310782 :   if (msg->range <= msg->min_range + eps ||  msg->range >= msg->max_range - eps) {
+    1015        4801 :     ROS_WARN_THROTTLE(1.0, "[%s]: range measurement %.2f outside of its valid range (%.2f, %.2f)", ros::this_node::getName().c_str(), msg->range, msg->min_range, msg->max_range);
+    1016        4819 :     return {};
+    1017             :   }
+    1018             : 
+    1019      617384 :   geometry_msgs::PoseStamped range_point;
+    1020             : 
+    1021      304811 :   range_point.header           = msg->header;
+    1022      309725 :   range_point.pose.position.x  = msg->range;
+    1023      305645 :   range_point.pose.position.y  = 0;
+    1024      305645 :   range_point.pose.position.z  = 0;
+    1025      305645 :   range_point.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1026             : 
+    1027      617702 :   auto res = ch_->transformer->transformSingle(range_point, ch_->frames.ns_fcu_untilted);
+    1028             : 
+    1029      310565 :   Correction::measurement_t measurement;
+    1030             : 
+    1031      310566 :   if (res) {
+    1032      308554 :     measurement(0) = -res.value().pose.position.z;
+    1033      308553 :     return measurement;
+    1034             :   } else {
+    1035        2011 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Could not transform range measurement to %s. Not using this correction.", getPrintName().c_str(),
+    1036             :                        ch_->frames.ns_fcu_untilted.c_str());
+    1037        2011 :     return {};
+    1038             :   }
+    1039             : }
+    1040             : /*//}*/
+    1041             : 
+    1042             : /*//{ callbackImu() */
+    1043             : template <int n_measurements>
+    1044           0 : void Correction<n_measurements>::callbackImu(const sensor_msgs::Imu::ConstPtr msg) {
+    1045             : 
+    1046           0 :   if (!is_initialized_) {
+    1047           0 :     return;
+    1048             :   }
+    1049             : 
+    1050           0 :   auto res = getCorrectionFromImu(msg);
+    1051           0 :   if (res) {
+    1052           0 :     applyCorrection(res.value(), msg->header.stamp);
+    1053             :   } else {
+    1054           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: Could not obtain correction from Imu msg", getPrintName().c_str());
+    1055             :   }
+    1056             : }
+    1057             : /*//}*/
+    1058             : 
+    1059             : /*//{ getCorrectionFromImu() */
+    1060             : template <int n_measurements>
+    1061           0 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromImu(
+    1062             :     const sensor_msgs::ImuConstPtr msg) {
+    1063             : 
+    1064           0 :   switch (est_type_) {
+    1065             : 
+    1066             :     // handle lateral estimators
+    1067           0 :     case EstimatorType_t::LATERAL: {
+    1068             : 
+    1069           0 :       switch (state_id_) {
+    1070             : 
+    1071           0 :         case StateId_t::ACCELERATION: {
+    1072           0 :           if (is_in_body_frame_) {
+    1073           0 :             auto res = getVecInFrame(msg->linear_acceleration, msg->header, ns_frame_id_ + "_att_only");
+    1074           0 :             if (res) {
+    1075           0 :               measurement_t measurement;
+    1076           0 :               measurement = res.value();
+    1077           0 :               return measurement;
+    1078             :             } else {
+    1079           0 :               ROS_WARN_THROTTLE(1.0, "[%s]: Could not obtain IMU acceleration in frame: %s", getPrintName().c_str(), (ns_frame_id_+"_att_only").c_str());
+    1080           0 :               return {};
+    1081             :             }
+    1082             :           } else {
+    1083           0 :             measurement_t measurement;
+    1084           0 :             measurement(0) = msg->linear_acceleration.x;
+    1085           0 :             measurement(1) = msg->linear_acceleration.y;
+    1086           0 :             return measurement;
+    1087             :           }
+    1088             :           break;
+    1089             :         }
+    1090             : 
+    1091           0 :         default: {
+    1092           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromImu() switch", getPrintName().c_str());
+    1093           0 :           return {};
+    1094             :         }
+    1095             :       }
+    1096             :       break;
+    1097             :     }
+    1098             : 
+    1099             :     // handle altitude estimators
+    1100           0 :     case EstimatorType_t::ALTITUDE: {
+    1101             : 
+    1102           0 :       switch (state_id_) {
+    1103             : 
+    1104           0 :         case StateId_t::ACCELERATION: {
+    1105           0 :           if (is_in_body_frame_) {
+    1106           0 :             auto res = getZVelUntilted(msg->linear_acceleration, msg->header);
+    1107           0 :             if (res) {
+    1108           0 :               measurement_t measurement;
+    1109           0 :               measurement = res.value();
+    1110           0 :               measurement(0) -= gravity_norm_;
+    1111           0 :               return measurement;
+    1112             :             } else {
+    1113           0 :               ROS_WARN_THROTTLE(1.0, "[%s]: Could not obtain IMU Z acceleration", getPrintName().c_str());
+    1114           0 :               return {};
+    1115             :             }
+    1116             :           } else {
+    1117           0 :             measurement_t measurement;
+    1118           0 :             measurement(0) = msg->linear_acceleration.z - gravity_norm_;
+    1119           0 :             return measurement;
+    1120             :           }
+    1121             :           break;
+    1122             :         }
+    1123             : 
+    1124           0 :         default: {
+    1125           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromImu() switch", getPrintName().c_str());
+    1126           0 :           return {};
+    1127             :         }
+    1128             :       }
+    1129             :       break;
+    1130             :     }
+    1131             : 
+    1132             :     // handle heading estimators
+    1133           0 :     case EstimatorType_t::HEADING: {
+    1134             : 
+    1135           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: EstimatorType_t::HEADING in getCorrectionFromImu() not implemented", getPrintName().c_str());
+    1136           0 :       return {};
+    1137             :       break;
+    1138             :     }
+    1139             :   }
+    1140             : 
+    1141           0 :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1142           0 :   return {};
+    1143             : }
+    1144             : /*//}*/
+    1145             : 
+    1146             : /*//{ callbackRtk() */
+    1147             : template <int n_measurements>
+    1148        5569 : void Correction<n_measurements>::callbackRtk(const mrs_msgs::RtkGps::ConstPtr msg) {
+    1149             : 
+    1150        5569 :   if (!is_initialized_) {
+    1151           1 :     return;
+    1152             :   }
+    1153             : 
+    1154        5564 :   auto res = getCorrectionFromRtk(msg);
+    1155        5578 :   if (res) {
+    1156        5571 :     applyCorrection(res.value(), msg->header.stamp);
+    1157             :   }
+    1158             : }
+    1159             : /*//}*/
+    1160             : 
+    1161             : /*//{ getCorrectionFromRtk() */
+    1162             : template <int n_measurements>
+    1163        5662 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromRtk(const mrs_msgs::RtkGpsConstPtr msg) {
+    1164             : 
+    1165       11330 :   geometry_msgs::PoseStamped rtk_pos;
+    1166             : 
+    1167        5657 :   if (!std::isfinite(msg->gps.latitude)) {
+    1168           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->latitude\"!!!", getPrintName().c_str());
+    1169           0 :     return {};
+    1170             :   }
+    1171             : 
+    1172        5641 :   if (!std::isfinite(msg->gps.longitude)) {
+    1173           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->longitude\"!!!", getPrintName().c_str());
+    1174           0 :     return {};
+    1175             :   }
+    1176             : 
+    1177        5654 :   if (!std::isfinite(msg->gps.altitude)) {
+    1178           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->altitude\"!!!", getPrintName().c_str());
+    1179           0 :     return {};
+    1180             :   }
+    1181             : 
+    1182        5647 :   if (msg->fix_type.fix_type != mrs_msgs::RtkFixType::RTK_FIX) {
+    1183           0 :     ROS_INFO_THROTTLE(1.0, "[%s] %s RTK FIX", getPrintName().c_str(), Support::waiting_for_string.c_str());
+    1184           0 :     return {};
+    1185             :   }
+    1186             : 
+    1187        5652 :   rtk_pos.header = msg->header;
+    1188        5660 :   mrs_lib::UTM(msg->gps.latitude, msg->gps.longitude, &rtk_pos.pose.position.x, &rtk_pos.pose.position.y);
+    1189        5621 :   rtk_pos.pose.position.z  = msg->gps.altitude;
+    1190        5626 :   rtk_pos.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1191             : 
+    1192        5654 :   rtk_pos.pose.position.x -= ch_->world_origin.x;
+    1193        5652 :   rtk_pos.pose.position.y -= ch_->world_origin.y;
+    1194             : 
+    1195        5652 :   Correction::measurement_t measurement;
+    1196             : 
+    1197             :   // transform the RTK position from antenna to FCU
+    1198        5655 :   auto res = transformRtkToFcu(rtk_pos);
+    1199        5668 :   if (res) {
+    1200        5668 :     rtk_pos.pose = res.value();
+    1201             :   } else {
+    1202           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: transform to fcu failed", getPrintName().c_str());
+    1203           0 :     return {};
+    1204             :   }
+    1205             : 
+    1206        5668 :   switch (est_type_) {
+    1207             : 
+    1208             :     // handle lateral estimators
+    1209        3856 :     case EstimatorType_t::LATERAL: {
+    1210             : 
+    1211        3856 :       switch (state_id_) {
+    1212             : 
+    1213        3856 :         case StateId_t::POSITION: {
+    1214        3856 :           measurement(0) = rtk_pos.pose.position.x;
+    1215        3856 :           measurement(1) = rtk_pos.pose.position.y;
+    1216        3856 :           return measurement;
+    1217             :           break;
+    1218             :         }
+    1219             : 
+    1220           0 :         default: {
+    1221           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromRtk() switch", getPrintName().c_str());
+    1222           0 :           return {};
+    1223             :         }
+    1224             :       }
+    1225             :       break;
+    1226             :     }
+    1227             : 
+    1228             :     // handle altitude estimators
+    1229        1812 :     case EstimatorType_t::ALTITUDE: {
+    1230             : 
+    1231        1812 :       switch (state_id_) {
+    1232             : 
+    1233        1812 :         case StateId_t::POSITION: {
+    1234        1812 :           measurement(0) = rtk_pos.pose.position.z;
+    1235        1812 :           if (!got_avg_init_rtk_z_) {
+    1236          22 :             getAvgRtkInitZ(measurement(0));
+    1237          22 :             return {};
+    1238             :           }
+    1239        1790 :           measurement(0) -= rtk_init_z_avg_;
+    1240        1790 :           return measurement;
+    1241             :           break;
+    1242             :         }
+    1243             : 
+    1244           0 :         default: {
+    1245           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromRtk() switch", getPrintName().c_str());
+    1246           0 :           return {};
+    1247             :         }
+    1248             :       }
+    1249             :       break;
+    1250             :     }
+    1251             : 
+    1252           0 :     case EstimatorType_t::HEADING: {
+    1253           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: should not be possible to get into this branch of getCorrectionFromRtk() switch", getPrintName().c_str());
+    1254           0 :       return {};
+    1255             :       break;
+    1256             :     }
+    1257             :   }
+    1258             : 
+    1259           0 :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1260           0 :   return {};
+    1261             : }
+    1262             : /*//}*/
+    1263             : 
+    1264             : /*//{ callbackPoint() */
+    1265             : template <int n_measurements>
+    1266      214418 : void Correction<n_measurements>::callbackPoint(const geometry_msgs::PointStamped::ConstPtr msg) {
+    1267             : 
+    1268      214418 :   if (!is_initialized_) {
+    1269           0 :     return;
+    1270             :   }
+    1271             : 
+    1272      214470 :   auto res = getCorrectionFromPoint(msg);
+    1273      214202 :   if (res) {
+    1274      213769 :     applyCorrection(res.value(), msg->header.stamp);
+    1275             :   }
+    1276             : }
+    1277             : /*//}*/
+    1278             : 
+    1279             : /*//{ getCorrectionFromPoint() */
+    1280             : template <int n_measurements>
+    1281      218382 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromPoint(
+    1282             :     const geometry_msgs::PointStampedConstPtr msg) {
+    1283             : 
+    1284      218382 :   switch (est_type_) {
+    1285             : 
+    1286             :     // handle lateral estimators
+    1287      218360 :     case EstimatorType_t::LATERAL: {
+    1288             : 
+    1289      218360 :       switch (state_id_) {
+    1290             : 
+    1291      218348 :         case StateId_t::POSITION: {
+    1292      218348 :           measurement_t measurement;
+    1293      218343 :           measurement(0) = msg->point.x;
+    1294      217583 :           measurement(1) = msg->point.y;
+    1295      218034 :           return measurement;
+    1296             :           break;
+    1297             :         }
+    1298             : 
+    1299          28 :         default: {
+    1300          28 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+    1301           0 :           return {};
+    1302             :         }
+    1303             :       }
+    1304             :       break;
+    1305             :     }
+    1306             : 
+    1307             :     // handle altitude estimators
+    1308           0 :     case EstimatorType_t::ALTITUDE: {
+    1309             : 
+    1310           0 :       switch (state_id_) {
+    1311             : 
+    1312           0 :         case StateId_t::POSITION: {
+    1313           0 :           measurement_t measurement;
+    1314           0 :           measurement(0) = msg->point.z;
+    1315           0 :           return measurement;
+    1316             :           break;
+    1317             :         }
+    1318             : 
+    1319           0 :         default: {
+    1320           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+    1321           0 :           return {};
+    1322             :         }
+    1323             :       }
+    1324             :       break;
+    1325             :     }
+    1326             : 
+    1327          22 :     default: {
+    1328          22 :       ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+    1329           0 :       return {};
+    1330             :     }
+    1331             :   }
+    1332             : 
+    1333             : 
+    1334             :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1335             :   return {};
+    1336             : }
+    1337             : /*//}*/
+    1338             : 
+    1339             : /*//{ callbackVector() */
+    1340             : template <int n_measurements>
+    1341      235212 : void Correction<n_measurements>::callbackVector(const geometry_msgs::Vector3Stamped::ConstPtr msg) {
+    1342             : 
+    1343      235212 :   if (!is_initialized_) {
+    1344           0 :     return;
+    1345             :   }
+    1346             : 
+    1347      235174 :   auto res = getCorrectionFromVector(msg);
+    1348      235436 :   if (res) {
+    1349      235396 :     applyCorrection(res.value(), msg->header.stamp);
+    1350             :   } else {
+    1351          36 :     ROS_WARN_THROTTLE(1.0, "[%s]: Could not obtain correction from Vector3Stamped msg", getPrintName().c_str());
+    1352             :   }
+    1353             : }
+    1354             : /*//}*/
+    1355             : 
+    1356             : /*//{ getCorrectionFromVector() */
+    1357             : template <int n_measurements>
+    1358      235514 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromVector(
+    1359             :     const geometry_msgs::Vector3StampedConstPtr msg) {
+    1360             : 
+    1361      235514 :   switch (est_type_) {
+    1362             : 
+    1363             :     // handle lateral estimators
+    1364       11052 :     case EstimatorType_t::LATERAL: {
+    1365             : 
+    1366       11052 :       switch (state_id_) {
+    1367             : 
+    1368       11053 :         case StateId_t::VELOCITY: {
+    1369       11053 :           auto res = getVecInFrame(msg->vector, msg->header, ns_frame_id_ + "_att_only");
+    1370       11054 :           if (res) {
+    1371       10994 :             measurement_t measurement;
+    1372       10995 :             measurement = res.value();
+    1373       10994 :             return measurement;
+    1374             :           } else {
+    1375          59 :             return {};
+    1376             :           }
+    1377             :           break;
+    1378             :         }
+    1379             : 
+    1380           0 :         default: {
+    1381           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromVector() switch", getPrintName().c_str());
+    1382           0 :           return {};
+    1383             :         }
+    1384             :       }
+    1385             :       break;
+    1386             :     }
+    1387             : 
+    1388             :     // handle altitude estimators
+    1389      224439 :     case EstimatorType_t::ALTITUDE: {
+    1390             : 
+    1391      224439 :       switch (state_id_) {
+    1392             : 
+    1393      224263 :         case StateId_t::VELOCITY: {
+    1394      224263 :           auto res = getZVelUntilted(msg->vector, msg->header);
+    1395      224536 :           if (res) {
+    1396      224526 :             measurement_t measurement;
+    1397      224525 :             measurement = res.value();
+    1398      224527 :             return measurement;
+    1399             :           } else {
+    1400           8 :             ROS_WARN_THROTTLE(1.0, "[%s]: Could not obtain untilted Z velocity", getPrintName().c_str());
+    1401           8 :             return {};
+    1402             :           }
+    1403             :           break;
+    1404             :         }
+    1405             : 
+    1406         176 :         default: {
+    1407         176 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromVector() switch", getPrintName().c_str());
+    1408           0 :           return {};
+    1409             :         }
+    1410             :       }
+    1411             :       break;
+    1412             :     }
+    1413             : 
+    1414             :     // handle heading estimators
+    1415           0 :     case EstimatorType_t::HEADING: {
+    1416             : 
+    1417           0 :       switch (state_id_) {
+    1418             : 
+    1419           0 :         case StateId_t::VELOCITY: {
+    1420             :           try {
+    1421           0 :             if (!sh_orientation_.hasMsg()) {
+    1422           0 :               ROS_INFO_THROTTLE(1.0, "[%s]: %s orientation on topic: %s", getPrintName().c_str(), Support::waiting_for_string.c_str(),
+    1423             :                                 orientation_topic_.c_str());
+    1424           0 :               return {};
+    1425             :             }
+    1426           0 :             measurement_t measurement;
+    1427           0 :             measurement(0) = mrs_lib::AttitudeConverter(sh_orientation_.getMsg()->quaternion).getHeadingRate(msg->vector);
+    1428           0 :             return measurement;
+    1429             :           }
+    1430           0 :           catch (...) {
+    1431           0 :             ROS_ERROR_THROTTLE(1.0, "[%s]: Exception caught during getting heading rate (getCorrectionFromVector())", getPrintName().c_str());
+    1432           0 :             return {};
+    1433             :           }
+    1434             :           break;
+    1435             :         }
+    1436             : 
+    1437           0 :         default: {
+    1438           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromVector() switch", getPrintName().c_str());
+    1439           0 :           return {};
+    1440             :         }
+    1441             :       }
+    1442             :       break;
+    1443             :     }
+    1444             :   }
+    1445             : 
+    1446          28 :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1447           0 :   return {};
+    1448             : }
+    1449             : /*//}*/
+    1450             : 
+    1451             : /*//{ getCorrectionFromQuat() */
+    1452             : template <int n_measurements>
+    1453           0 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromQuat([
+    1454             :     [maybe_unused]] const geometry_msgs::QuaternionStampedConstPtr msg) {
+    1455             : 
+    1456           0 :   switch (est_type_) {
+    1457             : 
+    1458             :       // handle lateral estimators
+    1459             :       /* case EstimatorType_t::LATERAL: { */
+    1460             : 
+    1461             :       /*   default: { */
+    1462             :       /*     ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str()); */
+    1463             :       /*     return {}; */
+    1464             :       /*   } break; */
+    1465             :       /* } */
+    1466             : 
+    1467             :       /* // handle altitude estimators */
+    1468             :       /* case EstimatorType_t::ALTITUDE: { */
+    1469             : 
+    1470             :       /* default: { */
+    1471             :       /*     ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str()); */
+    1472             :       /*     return {}; */
+    1473             :       /*   } break; */
+    1474             :       /* } */
+    1475             : 
+    1476             :       /* // handle heading estimators */
+    1477             :       /* case EstimatorType_t::HEADING: { */
+    1478             : 
+    1479             :       /*   switch (state_id_) { */
+    1480             : 
+    1481             :       /*     /1* default: { *1/ */
+    1482             :       /*       ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str()); */
+    1483             :       /*       return {}; */
+    1484             :       /*     } */
+    1485             :       /*   } */
+    1486             :     default: {
+    1487           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+    1488           0 :       return {};
+    1489             :     }
+    1490             :   }
+    1491             : 
+    1492             :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1493             :   return {};
+    1494             : }
+    1495             : /*//}*/
+    1496             : 
+    1497             : /*//{ applyCorrection() */
+    1498             : template <int n_measurements>
+    1499      759555 : void Correction<n_measurements>::applyCorrection(const measurement_t& meas, const ros::Time& stamp) {
+    1500             : 
+    1501             :   {
+    1502      759555 :     std::scoped_lock lock(mtx_msg_time_);
+    1503      759362 :     if (first_timestamp_) {
+    1504         406 :       prev_msg_time_   = stamp - ros::Duration(0.01);
+    1505         411 :       msg_time_        = stamp;
+    1506         411 :       healthy_time_    = ros::Time(0);
+    1507         413 :       first_timestamp_ = false;
+    1508             :     }
+    1509             : 
+    1510      759248 :     prev_msg_time_ = msg_time_;
+    1511      759248 :     msg_time_      = stamp;
+    1512      759248 :     healthy_time_ += msg_time_ - prev_msg_time_;
+    1513             :   }
+    1514             : 
+    1515      759159 :   MeasurementStamped meas_stamped;
+    1516      759187 :   meas_stamped.value = meas;
+    1517      759251 :   meas_stamped.stamp = stamp;
+    1518      759251 :   publishCorrection(meas_stamped, ph_correction_raw_);
+    1519      759677 :   if (process(meas_stamped.value)) {
+    1520      751014 :     publishCorrection(meas_stamped, ph_correction_proc_);
+    1521      751373 :     fun_apply_correction_(meas_stamped, getR(), getStateId());
+    1522             :   }
+    1523      758793 : }
+    1524             : /*//}*/
+    1525             : 
+    1526             : /* //{ callbackToggleRange() */
+    1527             : template <int n_measurements>
+    1528           0 : bool Correction<n_measurements>::callbackToggleRange(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    1529             : 
+    1530           0 :   if (!is_initialized_) {
+    1531           0 :     return false;
+    1532             :   }
+    1533             : 
+    1534           0 :   if (!range_enabled_ && req.data) {
+    1535           0 :     processors_["saturate"]->toggle(true);
+    1536             :   }
+    1537             : 
+    1538           0 :   range_enabled_ = req.data;
+    1539             : 
+    1540             :   // after enabling range we want to start correcting the altitude slowly
+    1541             : 
+    1542           0 :   res.success = true;
+    1543           0 :   res.message = (range_enabled_ ? "Range enabled" : "Range disabled");
+    1544             : 
+    1545           0 :   if (range_enabled_) {
+    1546             : 
+    1547           0 :     ROS_INFO("[%s]: Range enabled.", getPrintName().c_str());
+    1548             : 
+    1549             :   } else {
+    1550             : 
+    1551           0 :     ROS_INFO("[%s]: Range disabled", getPrintName().c_str());
+    1552             :   }
+    1553             : 
+    1554           0 :   return true;
+    1555             : }
+    1556             : 
+    1557             : //}
+    1558             : 
+    1559             : /*//{ getZVelUntilted() */
+    1560             : template <int n_measurements>
+    1561      224430 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getZVelUntilted(const geometry_msgs::Vector3& msg,
+    1562             :                                                                                                               const std_msgs::Header&       header) {
+    1563             : 
+    1564             :   // untilt the desired vector
+    1565      448965 :   geometry_msgs::PointStamped vel;
+    1566      224245 :   vel.point.x = msg.x;
+    1567      224245 :   vel.point.y = msg.y;
+    1568      224245 :   vel.point.z = msg.z;
+    1569      224245 :   vel.header  = header;
+    1570             :   /* vel.header.frame_id = ch_->frames.ns_fcu; */
+    1571      224367 :   vel.header.stamp = header.stamp;
+    1572             : 
+    1573      448900 :   auto res = ch_->transformer->transformSingle(vel, ch_->frames.ns_fcu_untilted);
+    1574      224538 :   if (res) {
+    1575      224530 :     measurement_t measurement;
+    1576      224530 :     measurement(0) = res.value().point.z;
+    1577      224529 :     return measurement;
+    1578             :   } else {
+    1579           8 :     ROS_WARN_THROTTLE(1.0, "[%s]: Transform from %s to %s failed", getPrintName().c_str(), vel.header.frame_id.c_str(), ch_->frames.ns_fcu_untilted.c_str());
+    1580           8 :     return {};
+    1581             :   }
+    1582             : }
+    1583             : /*//}*/
+    1584             : 
+    1585             : /*//{ getVecInFrame() */
+    1586             : template <int n_measurements>
+    1587       11053 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getVecInFrame(const geometry_msgs::Vector3& vec_in,
+    1588             :                                                                                                             const std_msgs::Header&       source_header,
+    1589             :                                                                                                             const std::string             target_frame) {
+    1590             : 
+    1591       11053 :   measurement_t measurement;
+    1592             : 
+    1593       22107 :   geometry_msgs::Vector3Stamped vec;
+    1594       11050 :   vec.header = source_header;
+    1595       11051 :   vec.vector = vec_in;
+    1596             : 
+    1597       22103 :   geometry_msgs::Vector3Stamped transformed_vel;
+    1598       22095 :   auto                          res = ch_->transformer->transformSingle(vec, target_frame);
+    1599       11054 :   if (res) {
+    1600       10995 :     transformed_vel = res.value();
+    1601       10995 :     measurement(0)  = transformed_vel.vector.x;
+    1602       10994 :     measurement(1)  = transformed_vel.vector.y;
+    1603       10994 :     return measurement;
+    1604             :   } else {
+    1605          59 :     ROS_WARN_THROTTLE(1.0, "[%s]: Transform of velocity from %s to %s failed.", getPrintName().c_str(), vec.header.frame_id.c_str(), target_frame.c_str());
+    1606          59 :     return {};
+    1607             :   }
+    1608             : }
+    1609             : /*//}*/
+    1610             : 
+    1611             : /*//{ transformRtkToFcu() */
+    1612             : template <int n_measurements>
+    1613        5660 : std::optional<geometry_msgs::Pose> Correction<n_measurements>::transformRtkToFcu(const geometry_msgs::PoseStamped& pose_in) const {
+    1614             : 
+    1615       11328 :   geometry_msgs::PoseStamped pose_tmp = pose_in;
+    1616             : 
+    1617             :   // inject current orientation into rtk pose
+    1618       11329 :   auto res1 = ch_->transformer->getTransform(ch_->frames.ns_fcu_untilted, ch_->frames.ns_fcu, ros::Time::now());
+    1619        5668 :   if (res1) {
+    1620        5668 :     pose_tmp.pose.orientation = res1.value().transform.rotation;
+    1621             :   } else {
+    1622           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Could not obtain transform from %s to %s. Not using this correction.", getPrintName().c_str(),
+    1623             :                        ch_->frames.ns_fcu_untilted.c_str(), ch_->frames.ns_fcu.c_str());
+    1624           0 :     return {};
+    1625             :   }
+    1626             : 
+    1627             :   // invert tf
+    1628        5668 :   tf2::Transform             tf_utm_to_antenna = Support::tf2FromPose(pose_tmp.pose);
+    1629       11335 :   geometry_msgs::PoseStamped utm_in_antenna;
+    1630        5668 :   utm_in_antenna.pose            = Support::poseFromTf2(tf_utm_to_antenna.inverse());
+    1631        5668 :   utm_in_antenna.header.stamp    = pose_in.header.stamp;
+    1632        5668 :   utm_in_antenna.header.frame_id = ch_->frames.ns_rtk_antenna;
+    1633             : 
+    1634             :   // transform to fcu
+    1635       11336 :   geometry_msgs::PoseStamped utm_in_fcu;
+    1636        5668 :   utm_in_fcu.header.frame_id = ch_->frames.ns_fcu;
+    1637        5668 :   utm_in_fcu.header.stamp    = pose_in.header.stamp;
+    1638       11336 :   auto res2                  = ch_->transformer->transformSingle(utm_in_antenna, ch_->frames.ns_fcu);
+    1639             : 
+    1640        5668 :   if (res2) {
+    1641        5668 :     utm_in_fcu = res2.value();
+    1642             :   } else {
+    1643           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Could not transform pose to %s. Not using this correction.", getPrintName().c_str(), ch_->frames.ns_fcu.c_str());
+    1644           0 :     return {};
+    1645             :   }
+    1646             : 
+    1647             :   // invert tf
+    1648        5668 :   tf2::Transform      tf_fcu_to_utm = Support::tf2FromPose(utm_in_fcu.pose);
+    1649        5668 :   geometry_msgs::Pose fcu_in_utm    = Support::poseFromTf2(tf_fcu_to_utm.inverse());
+    1650             : 
+    1651        5668 :   return fcu_in_utm;
+    1652             : }
+    1653             : /*//}*/
+    1654             : 
+    1655             : /*//{ getAvgRtkInitZ() */
+    1656             : template <int n_measurements>
+    1657          22 : void Correction<n_measurements>::getAvgRtkInitZ(const double rtk_z) {
+    1658             : 
+    1659          22 :   if (!got_avg_init_rtk_z_) {
+    1660             : 
+    1661          22 :     double rtk_avg = rtk_init_z_avg_ / got_rtk_counter_;
+    1662             : 
+    1663          22 :     if (got_rtk_counter_ < 10 || (got_rtk_counter_ < 300 && std::fabs(rtk_z - rtk_avg) > 0.1)) {
+    1664             : 
+    1665          20 :       rtk_init_z_avg_ += rtk_z;
+    1666          20 :       got_rtk_counter_++;
+    1667          20 :       rtk_avg = rtk_init_z_avg_ / got_rtk_counter_;
+    1668          20 :       ROS_INFO("[%s]: RTK ASL altitude sample #%d: %.2f; avg: %.2f", getPrintName().c_str(), got_rtk_counter_, rtk_z, rtk_avg);
+    1669          20 :       return;
+    1670             : 
+    1671             :     } else {
+    1672             : 
+    1673           2 :       rtk_init_z_avg_     = rtk_avg;
+    1674           2 :       got_avg_init_rtk_z_ = true;
+    1675           2 :       ROS_INFO("[%s]: RTK ASL altitude avg: %f", getPrintName().c_str(), rtk_avg);
+    1676             :     }
+    1677             :   }
+    1678             : }
+    1679             : /*//}*/
+    1680             : 
+    1681             : /*//{ checkMsgDelay() */
+    1682             : template <int n_measurements>
+    1683             : void Correction<n_measurements>::checkMsgDelay(const ros::Time& msg_time) {
+    1684             : 
+    1685             :   const double delay = (ros::Time::now() - msg_time).toSec();
+    1686             :   if (delay > msg_delay_warn_limit_) {
+    1687             :     if (delay > msg_delay_limit_) {
+    1688             :       ROS_ERROR_THROTTLE(1.0, "[%s]: message too delayed (%.4f s)", getPrintName().c_str(), delay);
+    1689             :       is_delay_ok_ = false;
+    1690             :     } else {
+    1691             :       ROS_WARN_THROTTLE(5.0, "[%s]: message delayed (%.4f s)", getPrintName().c_str(), delay);
+    1692             :       is_delay_ok_ = true;
+    1693             :     }
+    1694             :   } else {
+    1695             :     is_delay_ok_ = true;
+    1696             :   }
+    1697             :   publishDelay(delay);
+    1698             : }
+    1699             : /*//}*/
+    1700             : 
+    1701             : /*//{ isTimestampOk() */
+    1702             : template <int n_measurements>
+    1703             : bool Correction<n_measurements>::isTimestampOk() {
+    1704             : 
+    1705             :   if (first_timestamp_) {
+    1706             :     return true;
+    1707             :   }
+    1708             : 
+    1709             :   ros::Time msg_time, prev_msg_time;
+    1710             :   {
+    1711             :     std::scoped_lock lock(mtx_msg_time_);
+    1712             :     msg_time      = msg_time_;
+    1713             :     prev_msg_time = prev_msg_time_;
+    1714             :   }
+    1715             :   const double delta = msg_time.toSec() - prev_msg_time.toSec();
+    1716             : 
+    1717             :   if (msg_time.toSec() <= 0.0) {
+    1718             :     ROS_ERROR_THROTTLE(1.0, "[%s]: current timestamp non-positive: %f", getPrintName().c_str(), msg_time.toSec());
+    1719             :     return false;
+    1720             :   }
+    1721             : 
+    1722             :   if (delta <= 0.0) {
+    1723             :     ROS_WARN_THROTTLE(1.0, "[%s]: time delta non-positive: %f", getPrintName().c_str(), delta);
+    1724             :     return true;
+    1725             :   }
+    1726             : 
+    1727             :   if (delta < 0.001) {
+    1728             :     ROS_WARN_THROTTLE(1.0, "[%s]: time delta too small: %f", getPrintName().c_str(), delta);
+    1729             :     return true;
+    1730             :   }
+    1731             : 
+    1732             :   if (delta > time_since_last_msg_limit_) {
+    1733             :     ROS_ERROR_THROTTLE(1.0, "[%s]: time since last msg too long %f > %f", getPrintName().c_str(), delta, time_since_last_msg_limit_);
+    1734             :     return false;
+    1735             :   }
+    1736             : 
+    1737             :   return true;
+    1738             : }  // namespace mrs_uav_state_estimators
+    1739             : /*//}*/
+    1740             : 
+    1741             : /*//{ isMsgComing() */
+    1742             : template <int n_measurements>
+    1743      752267 : bool Correction<n_measurements>::isMsgComing() {
+    1744             : 
+    1745      752267 :   if (first_timestamp_) {
+    1746           0 :     return true;
+    1747             :   }
+    1748             : 
+    1749      752283 :   const ros::Time msg_time = mrs_lib::get_mutexed(mtx_msg_time_, msg_time_);
+    1750      752289 :   const double    delta    = ros::Time::now().toSec() - msg_time.toSec();
+    1751             : 
+    1752      752329 :   if (msg_time.toSec() <= 0.0) {
+    1753           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: current timestamp non-positive: %f", getPrintName().c_str(), msg_time.toSec());
+    1754           0 :     return false;
+    1755             :   }
+    1756             : 
+    1757      752369 :   if (delta > time_since_last_msg_limit_) {
+    1758           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: time since last msg too long %f > %f", getPrintName().c_str(), delta, time_since_last_msg_limit_);
+    1759           0 :     return false;
+    1760             :   }
+    1761             : 
+    1762      752369 :   return true;
+    1763             : }  // namespace mrs_uav_state_estimators
+    1764             : /*//}*/
+    1765             : 
+    1766             : /*//{ createProcessorFromName() */
+    1767             : template <int n_measurements>
+    1768         390 : std::shared_ptr<Processor<n_measurements>> Correction<n_measurements>::createProcessorFromName(const std::string& name, ros::NodeHandle& nh) {
+    1769             : 
+    1770         390 :   if (name == "median_filter") {
+    1771          91 :     return std::make_shared<ProcMedianFilter<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_);
+    1772         299 :   } else if (name == "saturate") {
+    1773          97 :     return std::make_shared<ProcSaturate<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_, state_id_, fun_get_state_);
+    1774         202 :   } else if (name == "excessive_tilt") {
+    1775          91 :     return std::make_shared<ProcExcessiveTilt<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_);
+    1776         111 :   } else if (name == "tf_to_world") {
+    1777         111 :     return std::make_shared<ProcTfToWorld<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_);
+    1778             :   } else {
+    1779           0 :     ROS_ERROR("[%s]: requested invalid processor %s", getPrintName().c_str(), name.c_str());
+    1780           0 :     ros::shutdown();
+    1781             :   }
+    1782           0 :   return std::shared_ptr<Processor<n_measurements>>(nullptr);
+    1783             : }
+    1784             : /*//}*/
+    1785             : 
+    1786             : /*//{ process() */
+    1787             : template <int n_measurements>
+    1788      768132 : bool Correction<n_measurements>::process(Correction<n_measurements>::measurement_t& measurement) {
+    1789             : 
+    1790      768132 :   bool ok_flag   = true;
+    1791      768132 :   bool fuse_flag = true;
+    1792             : 
+    1793     1470786 :   for (auto proc_name :
+    1794             :        processor_names_) {  // need to access the processors in the specific order from the config (e.g. median filter should go before saturation etc.)
+    1795             :     /* bool is_ok, should_fuse; */
+    1796      703208 :     auto [is_ok, should_fuse] = processors_[proc_name]->process(measurement);
+    1797      702513 :     ok_flag &= is_ok;
+    1798      702513 :     fuse_flag &= should_fuse;
+    1799             :   }
+    1800      767741 :   if (fuse_flag) {
+    1801      751471 :     if (!ok_flag) {
+    1802         313 :       setR(default_R_ * R_coeff_);
+    1803         313 :       ROS_INFO_THROTTLE(1.0, "[%s]: set R to %.4f", getPrintName().c_str(), default_R_ * R_coeff_);
+    1804         313 :       return true;
+    1805             :     } else {
+    1806      751158 :       setR(default_R_);
+    1807      751115 :       return true;
+    1808             :     }
+    1809             :   }
+    1810       16270 :   return false;
+    1811             : }
+    1812             : /*//}*/
+    1813             : 
+    1814             : /*//{ resetProcessors() */
+    1815             : template <int n_measurements>
+    1816           0 : void Correction<n_measurements>::resetProcessors() {
+    1817             : 
+    1818           0 :   for (auto proc_name :
+    1819             :        processor_names_) {  // need to access the processors in the specific order from the config (e.g. median filter should go before saturation etc.)
+    1820             :     /* bool is_ok, should_fuse; */
+    1821           0 :     processors_[proc_name]->reset();
+    1822             :   }
+    1823           0 : }
+    1824             : /*//}*/
+    1825             : 
+    1826             : /*//{ publishCorrection() */
+    1827             : template <int n_measurements>
+    1828     1519399 : void Correction<n_measurements>::publishCorrection(const MeasurementStamped&                                 measurement_stamped,
+    1829             :                                                    mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection>& ph_corr) {
+    1830             : 
+    1831     1519399 :   if (!ch_->debug_topics.correction) {
+    1832           0 :     return;
+    1833             :   }
+    1834             : 
+    1835     3038633 :   mrs_msgs::EstimatorCorrection msg;
+    1836     1518601 :   msg.header.stamp    = measurement_stamped.stamp;
+    1837     1518601 :   msg.header.frame_id = ns_frame_id_;
+    1838     1519523 :   msg.name            = name_;
+    1839     1519567 :   msg.estimator_name  = est_name_;
+    1840     1519623 :   msg.state_id        = state_id_;
+    1841     1519623 :   msg.covariance.resize(n_measurements * n_measurements);
+    1842     3495885 :   for (int i = 0; i < measurement_stamped.value.rows(); i++) {
+    1843     1976622 :     msg.state.push_back(measurement_stamped.value(i));
+    1844     1978057 :     msg.covariance[n_measurements * i + i] = getR();
+    1845             :   }
+    1846             : 
+    1847     1518655 :   ph_corr.publish(msg);
+    1848             : }
+    1849             : /*//}*/
+    1850             : 
+    1851             : /*//{ publishDelay() */
+    1852             : template <int n_measurements>
+    1853             : void Correction<n_measurements>::publishDelay(const double delay) {
+    1854             : 
+    1855             :   if (!ch_->debug_topics.corr_delay) {
+    1856             :     return;
+    1857             :   }
+    1858             : 
+    1859             :   mrs_msgs::Float64Stamped msg;
+    1860             :   msg.header.stamp    = ros::Time::now();
+    1861             :   msg.header.frame_id = ns_frame_id_;
+    1862             :   msg.value           = delay;
+    1863             : 
+    1864             :   ph_delay_.publish(msg);
+    1865             : }
+    1866             : /*//}*/
+    1867             : 
+    1868             : }  // namespace mrs_uav_state_estimators
+    1869             : 
+    1870             : #endif  // ESTIMATORS_CORRECTION_H
+
+
+
+ + + + +
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+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..7c1899c36e3eee1dcb69a184c6abd5534e0eb96b GIT binary patch literal 5441 zcmV-H6~5|;P)QF~k>wae+aHkTJO^auLtvzPF99tWxo)d4nj6Mg)ioocqiGb-tz~8_ zfd$4L<`%%X2R4kcXlB5>84v+$fb}ej7;9*ZeJg+!81F{FUAeBtwW90R(&1j}in_L~ zh4!w^5;KpJ6|S`o*vxbUZrdFO_)Fwy?7gOID@GgKAzd5Uw!*bWEkkPd*0NpPLSQGt zmxa|*6xwXsRsdSN)+S3m-~r6kSbjGUakM2s2h`Yc>wPE7ht?6?5MXNoT-aa%>qxAy zJ%o-sy=tIz@7baWTVwAJcOB=F_}g_xytNps#I6Eo?%LR@Mg|T{8|B~lzZ$3(4QZHK zsH+jMgbQG8rJ|)@QbdWgOM*s#%^q8ZyPIJ;riG-~uN;2>W3kT`$^ENtlfsYD)Z_r8 zvfLN5!bb}dU~2@t?T*pgNS<{|i^J0Fxz)_)3MqRY(4u>E*EaK5fw01fgCp~n=T;hW z@c<#U8KCz2UI8&CuA>^NX&TdDwh7RLgQc+q+<`_!>Q;=@LO^51{R&*84;v3C6V!y2 zLIF&cgJwN|Ek?_K#D@GF&GoxfVN4p|djMo{G~ic6?P<6ltfmpW6GGRpZ+WM=E{rJA zh`bpY^WNe?wo2y8D4rc@q^B!v_-FM)*ld?0VVM{j@y88MV}|?Aij?ZZM7jnzuZ$Lv z;9mvu56;g$IqOY9zK)S^D34$RYz4s9D@CI!-MLC3hI&^kU`xW zN+uW>H;uYVO9^PeXy~{SP^a=e67={Dc(|w`B-^{=2Cb;co%dr>ZDYEmC3EAuHq%J+ z{APOo1KL)M5!nC$`vR;_okqFep3j$Wuh=83JM$XOd z0`GIY9W?Gec9NV5>=#EP!F=mn*j zNGT-N$G%u0hS2)~`k2HMr33QdV7=~=3`zKg)EIx z=mVwP88aTxOGM!sT4)w<@EBQRpLeYS4pwFsq~$7-rmL|n7@gM0tIcA~Mrg(uqxA+{ z?A|yQmJgc9WkGtXi;>4@GmsgL9EFKSk;p%x@%^<#{R3{LIJXSU8M-&L1MwIwlgqd)WJSR=0ZdLy?ebf!9W=BsqqyZ-W z@ApW+Z$FAgX+Co_213z1uj~4V6CzCmDk|@xq<#6PK~5aCm2%&Kn976OAwfZekx8G9 zQQN?mNj(0$=_%^u0eh}WITEgYtTn`PRBZ*^rf}R2`B?Or#UFHSuTCt4eL6_N_Oi*b@&&|0(7c|c7fYwI~2YxH#0FBDi-6XmYpna&r zpz44%*%T^Zm+5-gN~sLl#bXFjRyJJdex!JE8Ks@34;{09&qs(yDbn6UJUz55U?ZMH zM9J!W@fhmYYs6DV)x zD6V_MxHuYpVlr&txRD8vV8cMc&VbJdCNMSwn)tpgbt#quxuNGsAs-JvZO85-q#>M& zHsIKGwd*5M9Y6tofHhO?eVr4BRzu3{*VU!eSu_NXyQ4MM%XbZUoX0bdl!%jENNs?Vj0Goc9v;2H!sJm?t&^A zbmCF#w1ZL<5~l!7h2ICLS+{!?iMiF3KbczQ#3>l@;yQ-vkck5PC~uGQDF{!YSW*7**JGDClwt3aGD{2Eu`lTAuT`4se#le2w_i16XEnf|}j9skrBODF^S6 zu1&=^ZYsJj*em!2X-5yB`gb z1S?LFoRjkqO#tV0#Q0ElYM4)8|NW={XdA z%GY=oOB`eO{_`d7TDd53$}1NID6d?v@mE)_Us{l^b;iw#Yn@qozP3`_+zNnVbi@G` zvgDrhd4j%yFpIr5Fr;n+F}Md1B}!7^YP^(#)QXtcb8vuh=3mWN0Q`Ks+ooB?@f}F#9T>|V3_%*D)&y3WZ60YJGm;^nYpql8pb~g zHEjp{{Fv0Wuy1cy9Cy#jbgA-N=kLocJZXQwmcZ$3~Cr$nyflScDn4Fi7q$h}~UUJ-qyC)fw4PQ8DX z{boBLS~Cl4xGt1@`(?ktgb?R53cv+`dRCeNRNvFA11!!D_u(ndDz3|O$dQut<;pj@ znN!HMG}f*P%E9UzI29vmru|uK?k1A(RTv(~H6itqMnl)%w8Uu%$nA+793%VvL=M@< zA&DFl!YAbcOldzgy~5J@g{dJSG5!asp)xDv#A9w(YDmMFQAyi@`Z8N8`5K9zUjNl` zj&$AMw^z@;HUeH{woW&GIlyLbKb!_U+>izo&(AQV3q@h+mH_|E;*M}~eXqrxpinPE z8fAGIQrPpk9%(Ty@%!*yw75o$rjfZaK6|wN;}mSh2j8rFM8;={AQ^%~$Ao7Mmj_=N zpWUJgoMOR{q7ipJJM}q1}UT3FWOjk91FEc+fGJSsYT~9MJ z1}-Md;pxnHs+DX-ar4|jd^LZA0Ec9v3(OcJn`&B@Vgo5hqVEd8HC^wMmGY0kHOqgo zdah{;D@~=?7#b_rLR~4W=__VOkx%Q>r^3Fkv6}Y^`Rg1U1$CErTiB_>h^SAiivO5!a(ToM+ItbI3o5G06<3Dw0e!8CGm}Au<;B~B;#rQLG z#%6hn=O;MJ<7|(03vk}6JLVQ0nQ&p3dp)A@Z@0F0_rU_#ScdR3d^7pBuN}4k*b)2v zEdb>=9I^#ib2cTM=Zdp-h+TZ+rh?zV{?(?U+*R0_xi%FV#;Q$4QE~!D)gNu_OfPDp z@T{~?fq>kbn;D>*w40k@ZXXaC4im?uyq6OvwU6KU{9=BljK)3iWcyJA5N&w2xO;+r z%TffMuMo-B_QPlQln{yGaxC{xc1DvRmOFd_ZoF{UL=?;*%r6q-UZ*r*hpUgf!FIsm z3y*O9RaPK5xBL%jG<1C(5Rou`yxBYK(OY(D;0S=~;kX zUj^_O{j&#NoGkua;M+;L8|D400&kSi*)ba4?u5)^yftAMMU3;$)G-8r`WVh#o5sfa zHpfDi4)!!H>viV~&r7>x9 zH|G7vZNaXnFMU-O+c;J0|lDN@9 z8~HxM3{a}Z$@CwjU~<6xkP?ScKsktj4m5xRK&!xwaNSMP7zAi;{-9DYySrRv#RmxT z1RI1I?qCZv`gNBNhY_;)D;oXQYGnFMG+Mj9H_=&d7xieO9~rU@b*pN+ zQblGT0H!ZS_=V?ijhdN4O%{yBCKuiPumYp$Qk6P^n`t~mABijWON{0aiMj3V>mB3m z<;yF*KGoC#n7L`f6mIWQ+@s4W;<^U8Fqy`q0J}k3Jdvva+|lCV-CLJKu^5ewzi~G! zEvc^<66>iUAn$=gz~k=6^#N5MLG@A9sNs(vy!Lj-gEml#yb>K@DXh(?j%!cv3&zI- z2K81q6$_x!^?Dj<{%1h+K`a|UtzTgPIrRX2nUJSo#DHL0=#!^IC zQfrFUqMvM@_{Y}Wl41)LO+`5TZ7U6$+VKGi0)?XduR97L}O``azX!O^{maNw^!+kw+b=XbfuvoG8I2 zVnz@%de;Xr(^_US%}j%B{f96El!)%7P_wXRH7@VngiP6qYGxHx)nFC`Fm^8s)MZ(PGn{oczp9H5}x* z$d>Z1{#Z~5w{R#GjA_6Mj2u#xMsUwZhLJz|EnG7+i`e$L3@(Lm$lk>;QjLbm3wJH_U}u6tdIIII{l5E`I248!~zJzjZ+7@pPF zuAAu!gsf{-Da>8#{dQGnD!fosjGvKq*{Q6NwYOQtbWP!Is9n_ycgNIQI3qQMy4U!y z#m#I0%4%+|YwLn!UT0pqkLdu{jP-8iCI&y@AsPGZ_wCG-uNTo~=Q*MKr}RAtnfjbC0Et=L%Fb`Re(B?Lkg$>9A?x+z2Bi{ zrIZEfBaFRrLe*>l*vy$Xu9aD{1!azrPly=>blfpkFDD%^MD1CUli*qj%qJk0ujI;o rdxN7U!JU}CGDkGcZAO4Jje+|I2!bdDe1KWu00000NkvXXu0mjf%+5i; literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.func-sort-c.html new file mode 100644 index 0000000000..1380f7353b --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.func-sort-c.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - hdg_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:050.0 %
Date:2024-08-07 22:18:19Functions:030.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::HdgGeneric::HdgGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)0
mrs_uav_state_estimators::HdgGeneric::~HdgGeneric()0
mrs_uav_state_estimators::HdgGeneric::~HdgGeneric().20
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.func.html new file mode 100644 index 0000000000..f258515299 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - hdg_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:050.0 %
Date:2024-08-07 22:18:19Functions:030.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::HdgGeneric::HdgGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)0
mrs_uav_state_estimators::HdgGeneric::~HdgGeneric()0
mrs_uav_state_estimators::HdgGeneric::~HdgGeneric().20
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+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.frameset.html new file mode 100644 index 0000000000..d9b5d32060 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.html new file mode 100644 index 0000000000..c0ae2fbb1f --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.html @@ -0,0 +1,243 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - hdg_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:050.0 %
Date:2024-08-07 22:18:19Functions:030.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef ESTIMATORS_HEADING_HDG_GENERIC_H
+       2             : #define ESTIMATORS_HEADING_HDG_GENERIC_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <nav_msgs/Odometry.h>
+       9             : 
+      10             : #include <mrs_lib/lkf.h>
+      11             : #include <mrs_lib/repredictor.h>
+      12             : #include <mrs_lib/profiler.h>
+      13             : #include <mrs_lib/param_loader.h>
+      14             : #include <mrs_lib/subscribe_handler.h>
+      15             : #include <mrs_lib/geometry/cyclic.h>
+      16             : 
+      17             : #include <mrs_uav_state_estimators/estimators/heading/heading_estimator.h>
+      18             : #include <mrs_uav_state_estimators/estimators/correction.h>
+      19             : 
+      20             : #include <mrs_uav_state_estimators/HeadingEstimatorConfig.h>
+      21             : 
+      22             : //}
+      23             : 
+      24             : namespace mrs_uav_state_estimators
+      25             : {
+      26             : 
+      27             : namespace hdg_generic
+      28             : {
+      29             : 
+      30             : const int n_states       = 2;
+      31             : const int n_inputs       = 1;
+      32             : const int n_measurements = 1;
+      33             : 
+      34             : }  // namespace hdg_generic
+      35             : 
+      36             : class HdgGeneric : public HeadingEstimator<hdg_generic::n_states> {
+      37             : 
+      38             :   const std::string package_name_ = "mrs_uav_state_estimators";
+      39             : 
+      40             :   typedef mrs_lib::DynamicReconfigureMgr<HeadingEstimatorConfig> drmgr_t;
+      41             : 
+      42             :   using lkf_t         = mrs_lib::LKF<hdg_generic::n_states, hdg_generic::n_inputs, hdg_generic::n_measurements>;
+      43             :   using varstep_lkf_t = mrs_lib::varstepLKF<hdg_generic::n_states, hdg_generic::n_inputs, hdg_generic::n_measurements>;
+      44             :   using A_t           = lkf_t::A_t;
+      45             :   using B_t           = lkf_t::B_t;
+      46             :   using H_t           = lkf_t::H_t;
+      47             :   using Q_t           = lkf_t::Q_t;
+      48             :   using x_t           = lkf_t::x_t;
+      49             :   using P_t           = lkf_t::P_t;
+      50             :   using u_t           = lkf_t::u_t;
+      51             :   using z_t           = lkf_t::z_t;
+      52             :   using R_t           = lkf_t::R_t;
+      53             :   using statecov_t    = lkf_t::statecov_t;
+      54             : 
+      55             :   typedef mrs_lib::Repredictor<varstep_lkf_t> rep_lkf_t;
+      56             : 
+      57             :   using StateId_t = mrs_uav_managers::estimation_manager::StateId_t;
+      58             : 
+      59             : private:
+      60             :   std::string parent_state_est_name_;
+      61             : 
+      62             :   double                                      dt_;
+      63             :   double                                      input_coeff_;
+      64             :   double                                      default_input_coeff_;
+      65             :   A_t                                         A_;
+      66             :   B_t                                         B_;
+      67             :   H_t                                         H_;
+      68             :   Q_t                                         Q_;
+      69             :   std::shared_ptr<lkf_t>                      lkf_;
+      70             :   std::unique_ptr<rep_lkf_t>                  lkf_rep_;
+      71             :   std::vector<std::shared_ptr<varstep_lkf_t>> models_;
+      72             :   mutable std::mutex                          mutex_lkf_;
+      73             :   statecov_t                                  sc_;
+      74             :   mutable std::mutex                          mutex_sc_;
+      75             : 
+      76             :   std::unique_ptr<drmgr_t> drmgr_;
+      77             :   void                     callbackReconfigure(HeadingEstimatorConfig &config, [[maybe_unused]] uint32_t level);
+      78             : 
+      79             :   z_t                innovation_;
+      80             :   mutable std::mutex mtx_innovation_;
+      81             : 
+      82             :   bool is_repredictor_enabled_;
+      83             :   int  rep_buffer_size_ = 200;
+      84             : 
+      85             :   const bool is_core_plugin_;
+      86             : 
+      87             :   std::vector<std::string>                                              correction_names_;
+      88             :   std::vector<std::shared_ptr<Correction<hdg_generic::n_measurements>>> corrections_;
+      89             : 
+      90             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput> sh_control_input_;
+      91             :   void                                                timeoutCallback(const std::string &topic, const ros::Time &last_msg);
+      92             :   std::atomic<bool>                                   is_input_ready_ = false;
+      93             : 
+      94             :   ros::Timer timer_update_;
+      95             :   void       timerUpdate(const ros::TimerEvent &event);
+      96             : 
+      97             :   ros::Timer timer_check_health_;
+      98             :   void       timerCheckHealth(const ros::TimerEvent &event);
+      99             : 
+     100             :   void doCorrection(const Correction<hdg_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id);
+     101             :   void doCorrection(const z_t &z, const double R, const StateId_t &H_idx, const ros::Time &meas_stamp);
+     102             : 
+     103             :   bool isConverged();
+     104             : 
+     105             :   Q_t                getQ();
+     106             :   mutable std::mutex mtx_Q_;
+     107             : 
+     108             :   mutable std::mutex mutex_last_valid_hdg_;
+     109             :   double             last_valid_hdg_;
+     110             : 
+     111             : public:
+     112           0 :   HdgGeneric(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name, const bool is_core_plugin)
+     113           0 :       : HeadingEstimator<hdg_generic::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name), is_core_plugin_(is_core_plugin) {
+     114           0 :   }
+     115             : 
+     116           0 :   ~HdgGeneric(void) {
+     117           0 :   }
+     118             : 
+     119             :   void initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) override;
+     120             :   bool start(void) override;
+     121             :   bool pause(void) override;
+     122             :   bool reset(void) override;
+     123             : 
+     124             :   double getState(const int &state_idx_in) const override;
+     125             :   double getState(const int &state_id_in, const int &axis_in) const override;
+     126             : 
+     127             :   void setState(const double &state_in, const int &state_idx_in) override;
+     128             :   void setState(const double &state_in, const int &state_id_in, const int &axis_in) override;
+     129             : 
+     130             :   states_t getStates(void) const override;
+     131             :   void     setStates(const states_t &states_in) override;
+     132             : 
+     133             :   double getCovariance(const int &state_idx_in) const override;
+     134             :   double getCovariance(const int &state_id_in, const int &axis_in) const override;
+     135             : 
+     136             :   covariance_t getCovarianceMatrix(void) const override;
+     137             :   void         setCovarianceMatrix(const covariance_t &cov_in) override;
+     138             : 
+     139             :   double getInnovation(const int &state_idx) const override;
+     140             :   double getInnovation(const int &state_id_in, const int &axis_in) const override;
+     141             : 
+     142             :   double getLastValidHdg() const override;
+     143             : 
+     144             :   void setDt(const double &dt);
+     145             :   void setInputCoeff(const double &input_coeff);
+     146             : 
+     147             :   void generateRepredictorModels(const double input_coeff);
+     148             : 
+     149             :   void generateA();
+     150             :   void generateB();
+     151             : 
+     152             : 
+     153             :   std::string getNamespacedName() const;
+     154             : 
+     155             :   std::string getPrintName() const;
+     156             : };
+     157             : }  // namespace mrs_uav_state_estimators
+     158             : 
+     159             : #endif  // ESTIMATORS_HEADING_HDG_GENERIC_H
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Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.overview.html new file mode 100644 index 0000000000..f648f9d8d0 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.overview.html @@ -0,0 +1,60 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ Overview +
+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..c826730ad70614286d57a68cb29d1eed954df391 GIT binary patch literal 663 zcmV;I0%-k-P)4zK6(s~1FktrePxJa#)*WXO@}bs+5PYc2AyWg@7ASK1 zmo$>`V`ShNVzi=_j5E@Ga0&E!#xAr5cGX+pFeHTm>DC^BgH2eKUSeGGUW|YR z7&{Nn{v{A*73@1M0FWYBF}}EpfuKx5)^W|@6!sV!tj=T%G@_9|!6&8Y7|lqhO`wNH z;HZh3g-;(@)7!jR#8}J%xfo%I*N{%(K31_-x+M}G^;wH+^4D%7$DuvpqLY;~ z-0$njF*!iuxSFPdXk6j0=qfLdi_%n+A*+D#!T7|JPxr`>pUGyW&0YqINimidlfp*2 zo;|&|SkS7s)fC%t+fVx3t7C + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - hdg_passthrough.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-08-07 22:18:19Functions:33100.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::HdgPassthrough::HdgPassthrough(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)115
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough()115
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough().2115
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.func.html new file mode 100644 index 0000000000..0b88b34584 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - hdg_passthrough.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-08-07 22:18:19Functions:33100.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::HdgPassthrough::HdgPassthrough(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)115
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough()115
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough().2115
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.gcov.frameset.html new file mode 100644 index 0000000000..b8c92e1d37 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.gcov.html new file mode 100644 index 0000000000..e35bd77c3c --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.gcov.html @@ -0,0 +1,191 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - hdg_passthrough.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-08-07 22:18:19Functions:33100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef ESTIMATORS_HEADING_HDG_PASSTHROUGH_H
+       2             : #define ESTIMATORS_HEADING_HDG_PASSTHROUGH_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <nav_msgs/Odometry.h>
+       9             : 
+      10             : #include <mrs_lib/lkf.h>
+      11             : #include <mrs_lib/profiler.h>
+      12             : #include <mrs_lib/param_loader.h>
+      13             : #include <mrs_lib/subscribe_handler.h>
+      14             : #include <mrs_lib/geometry/cyclic.h>
+      15             : 
+      16             : #include <mrs_uav_state_estimators/estimators/heading/heading_estimator.h>
+      17             : 
+      18             : //}
+      19             : 
+      20             : namespace mrs_uav_state_estimators
+      21             : {
+      22             : 
+      23             : namespace hdg_passthrough
+      24             : {
+      25             : const int n_states = 2;
+      26             : }  // namespace hdg_passthrough
+      27             : 
+      28             : using namespace mrs_uav_managers::estimation_manager;
+      29             : 
+      30             : class HdgPassthrough : public HeadingEstimator<hdg_passthrough::n_states> {
+      31             : 
+      32             :   using CommonHandlers_t = mrs_uav_managers::estimation_manager::CommonHandlers_t;
+      33             : 
+      34             : private:
+      35             :   const std::string package_name_ = "mrs_uav_state_estimators";
+      36             : 
+      37             :   std::string parent_state_est_name_;
+      38             : 
+      39             :   states_t           hdg_state_;
+      40             :   mutable std::mutex mtx_hdg_state_;
+      41             :   states_t           prev_hdg_state_;
+      42             :   mutable std::mutex mtx_prev_hdg_state_;
+      43             : 
+      44             :   covariance_t       hdg_covariance_;
+      45             :   mutable std::mutex mtx_hdg_covariance_;
+      46             : 
+      47             :   states_t           innovation_;
+      48             :   mutable std::mutex mtx_innovation_;
+      49             : 
+      50             :   const bool is_core_plugin_;
+      51             : 
+      52             :   std::string                                                 orient_topic_;
+      53             :   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_orientation_;
+      54             :   void                                                        callbackOrientation(const geometry_msgs::QuaternionStamped::ConstPtr msg);
+      55             :   std::atomic<bool>                                           is_orient_ready_ = false;
+      56             : 
+      57             :   std::string                                              ang_vel_topic_;
+      58             :   mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped> sh_ang_vel_;
+      59             :   void                                                     callbackAngularVelocity(const geometry_msgs::Vector3Stamped::ConstPtr msg);
+      60             :   std::atomic<bool>                                        is_ang_vel_ready_ = false;
+      61             : 
+      62             :   ros::Timer timer_update_;
+      63             :   void       timerUpdate(const ros::TimerEvent &event);
+      64             : 
+      65             :   ros::Timer timer_check_health_;
+      66             :   void       timerCheckHealth(const ros::TimerEvent &event);
+      67             : 
+      68             : public:
+      69         115 :   HdgPassthrough(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name, const bool is_core_plugin)
+      70         115 :       : HeadingEstimator<hdg_passthrough::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name), is_core_plugin_(is_core_plugin) {
+      71         115 :   }
+      72             : 
+      73         230 :   ~HdgPassthrough(void) {
+      74         230 :   }
+      75             : 
+      76             :   void initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) override;
+      77             :   bool start(void) override;
+      78             :   bool pause(void) override;
+      79             :   bool reset(void) override;
+      80             : 
+      81             :   double getState(const int &state_idx_in) const override;
+      82             :   double getState(const int &state_id_in, const int &axis_in) const override;
+      83             : 
+      84             :   void setState(const double &state_in, const int &state_idx_in) override;
+      85             :   void setState(const double &state_in, const int &state_id_in, const int &axis_in) override;
+      86             : 
+      87             :   states_t getStates(void) const override;
+      88             :   void     setStates(const states_t &states_in) override;
+      89             : 
+      90             :   double getCovariance(const int &state_idx_in) const override;
+      91             :   double getCovariance(const int &state_id_in, const int &axis_in) const override;
+      92             : 
+      93             :   covariance_t getCovarianceMatrix(void) const override;
+      94             :   void         setCovarianceMatrix(const covariance_t &cov_in) override;
+      95             : 
+      96             :   double getInnovation(const int &state_idx) const override;
+      97             :   double getInnovation(const int &state_id_in, const int &axis_in) const override;
+      98             : 
+      99             :   double getLastValidHdg() const override;
+     100             : 
+     101             :   std::string getNamespacedName() const;
+     102             : 
+     103             :   std::string getPrintName() const;
+     104             : };
+     105             : }  // namespace mrs_uav_state_estimators
+     106             : 
+     107             : #endif  // ESTIMATORS_HEADING_HDG_PASSTHROUGH_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.gcov.overview.html new file mode 100644 index 0000000000..3a0362ef13 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.gcov.overview.html @@ -0,0 +1,47 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..59c70c2f6a8a81135bd8dca6f6b93ea23cdae157 GIT binary patch literal 506 zcmVD=e3=CiAy9U z<2PVAFPU){EoYpNMstpRXbtRU&;m`?%w{?<$Eftk`yA1d&vxZPT4gs&-<5UsI_S?J zpjq86U3cXgc_sr8i7)Osaz+En#GE0tqLVbH#FzVs)9o2Wax+>^NqDrTRgC={8^&cj zl-U1B#|8}88tDx~h#T3S90$A0<5nmnHaAlv0*87xQXh`=FKjYX%w^3>F{+xG;tZjg zAs|ef0mD!iWk9n7Mvob#Rhm+o?Ksra^UAiQ!%6W;*CT$;bdC2egm9dlIM|m9M=*u6 z!7dpF07*qoM6N<$g7Y-qe*gdg literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.func-sort-c.html new file mode 100644 index 0000000000..c1a6aa83dd --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.func-sort-c.html @@ -0,0 +1,84 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - heading_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:22100.0 %
Date:2024-08-07 22:18:19Functions:11100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::HeadingEstimator<2>::HeadingEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)115
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.func.html new file mode 100644 index 0000000000..a70c0c412e --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.func.html @@ -0,0 +1,84 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - heading_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:22100.0 %
Date:2024-08-07 22:18:19Functions:11100.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::HeadingEstimator<2>::HeadingEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)115
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.gcov.frameset.html new file mode 100644 index 0000000000..efa10b4b9b --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.gcov.html new file mode 100644 index 0000000000..9df655e4cc --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.gcov.html @@ -0,0 +1,124 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - heading_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:22100.0 %
Date:2024-08-07 22:18:19Functions:11100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef ESTIMATORS_HEADING_HEADING_ESTIMATOR_H
+       2             : #define ESTIMATORS_HEADING_HEADING_ESTIMATOR_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <mrs_uav_state_estimators/estimators/partial_estimator.h>
+       7             : 
+       8             : //}
+       9             : 
+      10             : namespace mrs_uav_state_estimators
+      11             : {
+      12             : 
+      13             : namespace heading
+      14             : {
+      15             : const char type[] = "HEADING";
+      16             : }
+      17             : 
+      18             : template <int n_states>
+      19             : class HeadingEstimator : public PartialEstimator<n_states, 1> {
+      20             : 
+      21             : protected:
+      22         115 :   HeadingEstimator(const std::string& name, const std::string& frame_id) : PartialEstimator<n_states, 1>(heading::type, name, frame_id) {
+      23         115 :   }
+      24             : 
+      25             :   mutable std::mutex mutex_last_valid_hdg_;
+      26             :   double             last_valid_hdg_;
+      27             : 
+      28             : private:
+      29             :   static const int _n_axes_   = 1;
+      30             :   static const int _n_states_ = n_states;
+      31             :   static const int _n_inputs_;
+      32             :   static const int _n_measurements_;
+      33             : 
+      34             : public:
+      35             :   virtual double getLastValidHdg() const = 0;
+      36             : };
+      37             : 
+      38             : }  // namespace mrs_uav_state_estimators
+      39             : 
+      40             : #endif  // ESTIMATORS_HEADING_HEADING_ESTIMATOR_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.gcov.overview.html new file mode 100644 index 0000000000..4cc90f7128 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.gcov.overview.html @@ -0,0 +1,30 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ Overview +
+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..3fa1a030f3bdb9d4e5e4354fd133a23a3d84dca9 GIT binary patch literal 293 zcmeAS@N?(olHy`uVBq!ia0vp^0YI$5!VDy5`z06wDTx4|5ZC|z|E~gq#sJy z_!d=lu%pyiZdT`(8i5lD0#}Z_-Sjn9u0vVe{n2K}X{;w7Y_kv6QkQ>GW1X*;rZGj% iUS^U*{*!sPE144yXqeA-@c#>RK7*&LpUXO@geCwTJ$YaN literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index-detail-sort-f.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index-detail-sort-f.html new file mode 100644 index 0000000000..39392befc5 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index-detail-sort-f.html @@ -0,0 +1,138 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/headingHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71258.3 %
Date:2024-08-07 22:18:19Functions:4757.1 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
hdg_generic.h +
0.0%
+ 		0.0 %0 / 50.0 %0 / 3
heading_estimator.h +
100.0%
+ 		100.0 %2 / 2100.0 %1 / 1
<unnamed>100.0 %2 / 2100.0 %1 / 1
hdg_passthrough.h +
100.0%
+ 		100.0 %5 / 5100.0 %3 / 3
<unnamed>100.0 %5 / 5100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index-detail-sort-l.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index-detail-sort-l.html new file mode 100644 index 0000000000..f44293f2fc --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index-detail-sort-l.html @@ -0,0 +1,138 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/headingHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71258.3 %
Date:2024-08-07 22:18:19Functions:4757.1 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
hdg_generic.h +
0.0%
+ 		0.0 %0 / 50.0 %0 / 3
heading_estimator.h +
100.0%
+ 		100.0 %2 / 2100.0 %1 / 1
<unnamed>100.0 %2 / 2100.0 %1 / 1
hdg_passthrough.h +
100.0%
+ 		100.0 %5 / 5100.0 %3 / 3
<unnamed>100.0 %5 / 5100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index-detail.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index-detail.html new file mode 100644 index 0000000000..4d18f2255b --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index-detail.html @@ -0,0 +1,138 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/headingHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71258.3 %
Date:2024-08-07 22:18:19Functions:4757.1 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
hdg_generic.h +
0.0%
+ 		0.0 %0 / 50.0 %0 / 3
hdg_passthrough.h +
100.0%
+ 		100.0 %5 / 5100.0 %3 / 3
<unnamed>100.0 %5 / 5100.0 %3 / 3
heading_estimator.h +
100.0%
+ 		100.0 %2 / 2100.0 %1 / 1
<unnamed>100.0 %2 / 2100.0 %1 / 1
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index-sort-f.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index-sort-f.html new file mode 100644 index 0000000000..50f30314e4 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index-sort-f.html @@ -0,0 +1,122 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/headingHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71258.3 %
Date:2024-08-07 22:18:19Functions:4757.1 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
hdg_generic.h +
0.0%
+ 		0.0 %0 / 50.0 %0 / 3
heading_estimator.h +
100.0%
+ 		100.0 %2 / 2100.0 %1 / 1
hdg_passthrough.h +
100.0%
+ 		100.0 %5 / 5100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index-sort-l.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index-sort-l.html new file mode 100644 index 0000000000..3f672d1c56 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index-sort-l.html @@ -0,0 +1,122 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/headingHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71258.3 %
Date:2024-08-07 22:18:19Functions:4757.1 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
hdg_generic.h +
0.0%
+ 		0.0 %0 / 50.0 %0 / 3
heading_estimator.h +
100.0%
+ 		100.0 %2 / 2100.0 %1 / 1
hdg_passthrough.h +
100.0%
+ 		100.0 %5 / 5100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index.html new file mode 100644 index 0000000000..f8d3bfca38 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index.html @@ -0,0 +1,122 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/headingHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71258.3 %
Date:2024-08-07 22:18:19Functions:4757.1 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
hdg_generic.h +
0.0%
+ 		0.0 %0 / 50.0 %0 / 3
hdg_passthrough.h +
100.0%
+ 		100.0 %5 / 5100.0 %3 / 3
heading_estimator.h +
100.0%
+ 		100.0 %2 / 2100.0 %1 / 1
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-detail-sort-f.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-detail-sort-f.html new file mode 100644 index 0000000000..977e9bbe43 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-detail-sort-f.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimatorsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:41276753.7 %
Date:2024-08-07 22:18:19Functions:669569.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
correction.h +
51.7%51.7%
+ 		51.7 %378 / 73166.2 %47 / 71
<unnamed>51.7 %378 / 73166.2 %47 / 71
partial_estimator.h +
94.4%94.4%
+ 		94.4 %34 / 3679.2 %19 / 24
<unnamed>94.4 %34 / 3679.2 %19 / 24
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-detail-sort-l.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-detail-sort-l.html new file mode 100644 index 0000000000..f6226f5073 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-detail-sort-l.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimatorsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:41276753.7 %
Date:2024-08-07 22:18:19Functions:669569.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
correction.h +
51.7%51.7%
+ 		51.7 %378 / 73166.2 %47 / 71
<unnamed>51.7 %378 / 73166.2 %47 / 71
partial_estimator.h +
94.4%94.4%
+ 		94.4 %34 / 3679.2 %19 / 24
<unnamed>94.4 %34 / 3679.2 %19 / 24
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-detail.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-detail.html new file mode 100644 index 0000000000..6940db5681 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-detail.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimatorsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:41276753.7 %
Date:2024-08-07 22:18:19Functions:669569.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
correction.h +
51.7%51.7%
+ 		51.7 %378 / 73166.2 %47 / 71
<unnamed>51.7 %378 / 73166.2 %47 / 71
partial_estimator.h +
94.4%94.4%
+ 		94.4 %34 / 3679.2 %19 / 24
<unnamed>94.4 %34 / 3679.2 %19 / 24
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-sort-f.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-sort-f.html new file mode 100644 index 0000000000..8fe0e9805f --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-sort-f.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimatorsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:41276753.7 %
Date:2024-08-07 22:18:19Functions:669569.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
correction.h +
51.7%51.7%
+ 		51.7 %378 / 73166.2 %47 / 71
partial_estimator.h +
94.4%94.4%
+ 		94.4 %34 / 3679.2 %19 / 24
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-sort-l.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-sort-l.html new file mode 100644 index 0000000000..6fa60d2f73 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-sort-l.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimatorsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:41276753.7 %
Date:2024-08-07 22:18:19Functions:669569.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
correction.h +
51.7%51.7%
+ 		51.7 %378 / 73166.2 %47 / 71
partial_estimator.h +
94.4%94.4%
+ 		94.4 %34 / 3679.2 %19 / 24
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index.html new file mode 100644 index 0000000000..7c6ded06e0 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimatorsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:41276753.7 %
Date:2024-08-07 22:18:19Functions:669569.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
correction.h +
51.7%51.7%
+ 		51.7 %378 / 73166.2 %47 / 71
partial_estimator.h +
94.4%94.4%
+ 		94.4 %34 / 3679.2 %19 / 24
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-detail-sort-f.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-detail-sort-f.html new file mode 100644 index 0000000000..65449028af --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-detail-sort-f.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateralHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1010100.0 %
Date:2024-08-07 22:18:19Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
lateral_estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
<unnamed>100.0 %4 / 466.7 %2 / 3
lat_generic.h +
100.0%
+ 		100.0 %6 / 6100.0 %3 / 3
<unnamed>100.0 %6 / 6100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
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Test:MRS UAV System - Test coverage reportLines:1010100.0 %
Date:2024-08-07 22:18:19Functions:5683.3 %
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Test:MRS UAV System - Test coverage reportLines:1010100.0 %
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateralHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1010100.0 %
Date:2024-08-07 22:18:19Functions:5683.3 %
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Test:MRS UAV System - Test coverage reportLines:1010100.0 %
Date:2024-08-07 22:18:19Functions:5683.3 %
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateralHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1010100.0 %
Date:2024-08-07 22:18:19Functions:5683.3 %
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral - lat_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:66100.0 %
Date:2024-08-07 22:18:19Functions:33100.0 %
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mrs_uav_state_estimators::LatGeneric::LatGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, std::function<std::optional<double> ()>)115
mrs_uav_state_estimators::LatGeneric::~LatGeneric()115
mrs_uav_state_estimators::LatGeneric::~LatGeneric().2115
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.func.html new file mode 100644 index 0000000000..3564f7b901 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral - lat_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:66100.0 %
Date:2024-08-07 22:18:19Functions:33100.0 %
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mrs_uav_state_estimators::LatGeneric::LatGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, std::function<std::optional<double> ()>)115
mrs_uav_state_estimators::LatGeneric::~LatGeneric()115
mrs_uav_state_estimators::LatGeneric::~LatGeneric().2115
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.frameset.html new file mode 100644 index 0000000000..7be2806e41 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.html new file mode 100644 index 0000000000..eb61a9fa6d --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.html @@ -0,0 +1,250 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral - lat_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:66100.0 %
Date:2024-08-07 22:18:19Functions:33100.0 %
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+
          Line data    Source code
+
+       1             : #ifndef ESTIMATORS_LATERAL_LAT_GENERIC_H
+       2             : #define ESTIMATORS_LATERAL_LAT_GENERIC_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <nav_msgs/Odometry.h>
+       9             : 
+      10             : #include <sensor_msgs/Imu.h>
+      11             : 
+      12             : #include <mrs_lib/lkf.h>
+      13             : #include <mrs_lib/repredictor.h>
+      14             : #include <mrs_lib/profiler.h>
+      15             : #include <mrs_lib/param_loader.h>
+      16             : #include <mrs_lib/subscribe_handler.h>
+      17             : 
+      18             : #include <mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h>
+      19             : #include <mrs_uav_state_estimators/estimators/correction.h>
+      20             : 
+      21             : #include <mrs_uav_state_estimators/LateralEstimatorConfig.h>
+      22             : 
+      23             : //}
+      24             : 
+      25             : namespace mrs_uav_state_estimators
+      26             : {
+      27             : 
+      28             : namespace lat_generic
+      29             : {
+      30             : 
+      31             : const int n_states       = 6;
+      32             : const int n_inputs       = 2;
+      33             : const int n_measurements = 2;
+      34             : 
+      35             : }  // namespace lat_generic
+      36             : 
+      37             : class LatGeneric : public LateralEstimator<lat_generic::n_states> {
+      38             : 
+      39             :   typedef mrs_lib::DynamicReconfigureMgr<LateralEstimatorConfig> drmgr_t;
+      40             : 
+      41             :   using lkf_t         = mrs_lib::LKF<lat_generic::n_states, lat_generic::n_inputs, lat_generic::n_measurements>;
+      42             :   using varstep_lkf_t = mrs_lib::varstepLKF<lat_generic::n_states, lat_generic::n_inputs, lat_generic::n_measurements>;
+      43             :   using A_t           = lkf_t::A_t;
+      44             :   using B_t           = lkf_t::B_t;
+      45             :   using H_t           = lkf_t::H_t;
+      46             :   using Q_t           = lkf_t::Q_t;
+      47             :   using x_t           = lkf_t::x_t;
+      48             :   using P_t           = lkf_t::P_t;
+      49             :   using u_t           = lkf_t::u_t;
+      50             :   using z_t           = lkf_t::z_t;
+      51             :   using R_t           = lkf_t::R_t;
+      52             :   using statecov_t    = lkf_t::statecov_t;
+      53             : 
+      54             :   typedef mrs_lib::Repredictor<varstep_lkf_t> rep_lkf_t;
+      55             : 
+      56             : private:
+      57             :   const std::string package_name_ = "mrs_uav_state_estimators";
+      58             : 
+      59             :   std::string parent_state_est_name_;
+      60             : 
+      61             :   double                                      dt_;
+      62             :   double                                      input_coeff_, default_input_coeff_;
+      63             :   A_t                                         A_;
+      64             :   B_t                                         B_;
+      65             :   H_t                                         H_;
+      66             :   Q_t                                         Q_;
+      67             :   std::shared_ptr<lkf_t>                      lkf_;
+      68             :   std::unique_ptr<rep_lkf_t>                  lkf_rep_;
+      69             :   std::vector<std::shared_ptr<varstep_lkf_t>> models_;
+      70             :   mutable std::mutex                          mutex_lkf_;
+      71             :   statecov_t                                  sc_;
+      72             :   mutable std::mutex                          mutex_sc_;
+      73             : 
+      74             :   std::unique_ptr<drmgr_t> drmgr_;
+      75             :   void                     callbackReconfigure(LateralEstimatorConfig &config, [[maybe_unused]] uint32_t level);
+      76             : 
+      77             :   z_t                innovation_;
+      78             :   mutable std::mutex mtx_innovation_;
+      79             : 
+      80             :   bool          is_error_state_first_time_ = true;
+      81             :   ros::Duration error_state_duration_;
+      82             :   ros::Time     prev_time_in_error_state_;
+      83             : 
+      84             :   bool is_repredictor_enabled_;
+      85             :   int  rep_buffer_size_ = 200;
+      86             : 
+      87             :   const bool is_core_plugin_;
+      88             : 
+      89             :   std::vector<std::string>                                              correction_names_;
+      90             :   std::vector<std::shared_ptr<Correction<lat_generic::n_measurements>>> corrections_;
+      91             : 
+      92             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput> sh_control_input_;
+      93             :   void                                                timeoutCallback(const std::string &topic, const ros::Time &last_msg);
+      94             :   std::atomic<bool>                                   is_input_ready_ = false;
+      95             : 
+      96             : 
+      97             :   std::function<std::optional<double>()>               fun_get_hdg_;
+      98             :   std::string                                          hdg_source_topic_;
+      99             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput> sh_hdg_state_;
+     100             :   std::atomic<bool>                                    is_hdg_state_ready_ = false;
+     101             : 
+     102             :   ros::Timer timer_update_;
+     103             :   void       timerUpdate(const ros::TimerEvent &event);
+     104             : 
+     105             :   ros::Timer timer_check_health_;
+     106             :   void       timerCheckHealth(const ros::TimerEvent &event);
+     107             : 
+     108             : 
+     109             :   void doCorrection(const Correction<lat_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id);
+     110             :   void doCorrection(const z_t &z, const double R, const StateId_t &H_idx, const ros::Time &meas_stamp);
+     111             : 
+     112             :   bool isConverged();
+     113             : 
+     114             :   Q_t                getQ();
+     115             :   mutable std::mutex mtx_Q_;
+     116             : 
+     117             : public:
+     118         115 :   LatGeneric(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name, const bool is_core_plugin,
+     119             :              std::function<std::optional<double>()> fun_get_hdg)
+     120         115 :       : LateralEstimator<lat_generic::n_states>(name, ns_frame_id),
+     121             :         parent_state_est_name_(parent_state_est_name),
+     122             :         is_core_plugin_(is_core_plugin),
+     123         115 :         fun_get_hdg_(fun_get_hdg) {
+     124         115 :   }
+     125             : 
+     126         230 :   ~LatGeneric(void) {
+     127         230 :   }
+     128             : 
+     129             :   void initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) override;
+     130             :   bool start(void) override;
+     131             :   bool pause(void) override;
+     132             :   bool reset(void) override;
+     133             : 
+     134             :   double getState(const int &state_idx_in) const override;
+     135             :   double getState(const int &state_id_in, const int &axis_in) const override;
+     136             : 
+     137             :   void setState(const double &state_in, const int &state_idx_in) override;
+     138             :   void setState(const double &state_in, const int &state_id_in, const int &axis_in) override;
+     139             : 
+     140             :   states_t getStates(void) const override;
+     141             :   void     setStates(const states_t &states_in) override;
+     142             : 
+     143             :   double getCovariance(const int &state_idx_in) const override;
+     144             :   double getCovariance(const int &state_id_in, const int &axis_in) const override;
+     145             : 
+     146             :   covariance_t getCovarianceMatrix(void) const override;
+     147             :   void         setCovarianceMatrix(const covariance_t &cov_in) override;
+     148             : 
+     149             :   double getInnovation(const int &state_idx) const override;
+     150             :   double getInnovation(const int &state_id_in, const int &axis_in) const override;
+     151             : 
+     152             :   void setDt(const double &dt);
+     153             :   void setInputCoeff(const double &input_coeff);
+     154             : 
+     155             :   void generateRepredictorModels(const double input_coeff);
+     156             : 
+     157             :   void generateA();
+     158             :   void generateB();
+     159             : 
+     160             :   std::string getNamespacedName() const;
+     161             : 
+     162             :   std::string getPrintName() const;
+     163             : };
+     164             : }  // namespace mrs_uav_state_estimators
+     165             : 
+     166             : #endif  // ESTIMATORS_LATERAL_LAT_GENERIC_H
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.overview.html new file mode 100644 index 0000000000..f10b1f5fd4 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.overview.html @@ -0,0 +1,62 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..6fa70431bbed0c82bdfc8693d0379281e7228df2 GIT binary patch literal 708 zcmV;#0z3VQP)00{{R3zw{NF0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vpKi;y_O zOB%{}8Z7WkVq8Vb85a;TMu+qO%z?qqs6t!d`_Ki(-X4L2*k+}t7^nPr@-bN4TCPl_ zAGp6E9d7CK7+_eqUf?z7BcRy=1apRLR>%N^9({@URod!l4E(Mq!gNnhOh#%nr`xJF z0&gcCa`_Kj2fR~XXGX)?Of0kTg4lj1u0XNaX4Yj}%I_Dq9E>oi0UM9B2aPcLmq6+; z8SRj4#@J{W09l#!j6(GZlPQ;|JTn?&hqW1v0Y)_RlK8rk90QMZNdi37H%47_7c7NB zOri%l;k@Xz1ZB76BAWEk^e%km5%UsOeFKDr$-Ws)8B`WmUuTojJrVIpXJz-)Q?=Qo z_U~}{q)@~Zrvmbe*OZrB)>9@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral - lateral_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-08-07 22:18:19Functions:2366.7 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::LateralEstimator<6>::~LateralEstimator()0
mrs_uav_state_estimators::LateralEstimator<6>::LateralEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)115
mrs_uav_state_estimators::LateralEstimator<6>::~LateralEstimator().2115
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.func.html new file mode 100644 index 0000000000..8f53e0c3e4 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral - lateral_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-08-07 22:18:19Functions:2366.7 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::LateralEstimator<6>::LateralEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)115
mrs_uav_state_estimators::LateralEstimator<6>::~LateralEstimator()0
mrs_uav_state_estimators::LateralEstimator<6>::~LateralEstimator().2115
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+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.frameset.html new file mode 100644 index 0000000000..421acedc4b --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.html new file mode 100644 index 0000000000..af92f6f22a --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.html @@ -0,0 +1,122 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral - lateral_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-08-07 22:18:19Functions:2366.7 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef ESTIMATORS_LATERAL_LATERAL_ESTIMATOR_H
+       2             : #define ESTIMATORS_LATERAL_LATERAL_ESTIMATOR_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <mrs_uav_state_estimators/estimators/partial_estimator.h>
+       7             : 
+       8             : //}
+       9             : 
+      10             : namespace mrs_uav_state_estimators
+      11             : {
+      12             : 
+      13             : namespace lateral
+      14             : {
+      15             : const char type[] = "LATERAL";
+      16             : const int  n_axes = 2;
+      17             : }  // namespace lateral
+      18             : 
+      19             : template <int n_states>
+      20             : class LateralEstimator : public PartialEstimator<n_states, lateral::n_axes> {
+      21             : 
+      22             : protected:
+      23         115 :   LateralEstimator(const std::string& name, const std::string& frame_id) : PartialEstimator<n_states, lateral::n_axes>(lateral::type, name, frame_id) {
+      24         115 :   }
+      25             : 
+      26         115 :   ~LateralEstimator(void) {
+      27         115 :   }
+      28             : 
+      29             : private:
+      30             :   static const int _n_axes_   = lateral::n_axes;
+      31             :   static const int _n_states_ = n_states;
+      32             :   static const int _n_inputs_;
+      33             :   static const int _n_measurements_;
+      34             : };
+      35             : 
+      36             : }  // namespace mrs_uav_state_estimation
+      37             : 
+      38             : #endif  // ESTIMATORS_LATERAL_LATERAL_ESTIMATOR_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.overview.html new file mode 100644 index 0000000000..e5433d137d --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.overview.html @@ -0,0 +1,30 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..463fd4e692090c58e2404f8d94bb0a27bf35e9a1 GIT binary patch literal 284 zcmeAS@N?(olHy`uVBq!ia0vp^0YI$A!VDxAx-dEcDTx4|5ZC|z|E~gqo(Lf);IkB zKih&OP$28bu>u3%=xv5Up%7}X91nEC!(6qssq(S1+&l+1@+JxwXI-pyIterm(k zm#tmhJg2gI`;Ii4a?1#x-QnJ|iaF^W_vhMMmm^Nj4*76q=hq`i%l+g3ZEcx6r(A$z z@!KPZZk1oD-*7BGC5Pd7uj5YR+DC>{-?qhe>=g-rWL$nv%v)pLp`KFjGVv_k6V;t& ZA77ZC+PdV^7oe*dJYD@<);T3K0RRatb^`za literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.func-sort-c.html new file mode 100644 index 0000000000..f90cb1ab6c --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.func-sort-c.html @@ -0,0 +1,176 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators - partial_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:343694.4 %
Date:2024-08-07 22:18:19Functions:192479.2 %
Legend: Lines: + hit + not hit +
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+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::PartialEstimator<2, 1>::~PartialEstimator()0
mrs_uav_state_estimators::PartialEstimator<3, 1>::~PartialEstimator()0
mrs_uav_state_estimators::PartialEstimator<6, 2>::~PartialEstimator()0
void mrs_uav_state_estimators::PartialEstimator<2, 1>::publishInput<Eigen::Matrix<double, 1, 1, 0, 1, 1> >(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&) const0
mrs_uav_state_estimators::PartialEstimator<2, 1>::stateIdToIndex(int const&, int const&) const0
mrs_uav_state_estimators::PartialEstimator<2, 1>::PartialEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)115
mrs_uav_state_estimators::PartialEstimator<2, 1>::~PartialEstimator().2115
mrs_uav_state_estimators::PartialEstimator<6, 2>::PartialEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)115
mrs_uav_state_estimators::PartialEstimator<6, 2>::~PartialEstimator().2115
mrs_uav_state_estimators::PartialEstimator<3, 1>::PartialEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)202
mrs_uav_state_estimators::PartialEstimator<3, 1>::~PartialEstimator().2202
mrs_uav_state_estimators::PartialEstimator<3, 1>::stateIdToIndex(int const&, int const&) const161479
mrs_uav_state_estimators::PartialEstimator<6, 2>::getCovarianceAsVector() const194598
void mrs_uav_state_estimators::PartialEstimator<6, 2>::publishInput<Eigen::Matrix<double, 2, 1, 0, 2, 1> >(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, ros::Time const&) const194607
mrs_uav_state_estimators::PartialEstimator<6, 2>::publishOutput() const194615
mrs_uav_state_estimators::PartialEstimator<6, 2>::getStatesAsVector() const194616
mrs_uav_state_estimators::PartialEstimator<2, 1>::getCovarianceAsVector() const214336
mrs_uav_state_estimators::PartialEstimator<2, 1>::getStatesAsVector() const214351
mrs_uav_state_estimators::PartialEstimator<2, 1>::publishOutput() const214365
void mrs_uav_state_estimators::PartialEstimator<3, 1>::publishInput<Eigen::Matrix<double, 1, 1, 0, 1, 1> >(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&) const333739
mrs_uav_state_estimators::PartialEstimator<3, 1>::getCovarianceAsVector() const333976
mrs_uav_state_estimators::PartialEstimator<3, 1>::publishOutput() const334442
mrs_uav_state_estimators::PartialEstimator<3, 1>::getStatesAsVector() const334514
mrs_uav_state_estimators::PartialEstimator<6, 2>::stateIdToIndex(int const&, int const&) const2918984
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.func.html new file mode 100644 index 0000000000..a43967ce75 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.func.html @@ -0,0 +1,176 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators - partial_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:343694.4 %
Date:2024-08-07 22:18:19Functions:192479.2 %
Legend: Lines: + hit + not hit +
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+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::PartialEstimator<2, 1>::PartialEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)115
mrs_uav_state_estimators::PartialEstimator<2, 1>::~PartialEstimator()0
mrs_uav_state_estimators::PartialEstimator<2, 1>::~PartialEstimator().2115
mrs_uav_state_estimators::PartialEstimator<3, 1>::PartialEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)202
mrs_uav_state_estimators::PartialEstimator<3, 1>::~PartialEstimator()0
mrs_uav_state_estimators::PartialEstimator<3, 1>::~PartialEstimator().2202
mrs_uav_state_estimators::PartialEstimator<6, 2>::PartialEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)115
mrs_uav_state_estimators::PartialEstimator<6, 2>::~PartialEstimator()0
mrs_uav_state_estimators::PartialEstimator<6, 2>::~PartialEstimator().2115
void mrs_uav_state_estimators::PartialEstimator<2, 1>::publishInput<Eigen::Matrix<double, 1, 1, 0, 1, 1> >(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&) const0
mrs_uav_state_estimators::PartialEstimator<2, 1>::publishOutput() const214365
mrs_uav_state_estimators::PartialEstimator<2, 1>::stateIdToIndex(int const&, int const&) const0
mrs_uav_state_estimators::PartialEstimator<2, 1>::getStatesAsVector() const214351
mrs_uav_state_estimators::PartialEstimator<2, 1>::getCovarianceAsVector() const214336
void mrs_uav_state_estimators::PartialEstimator<3, 1>::publishInput<Eigen::Matrix<double, 1, 1, 0, 1, 1> >(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&) const333739
mrs_uav_state_estimators::PartialEstimator<3, 1>::publishOutput() const334442
mrs_uav_state_estimators::PartialEstimator<3, 1>::stateIdToIndex(int const&, int const&) const161479
mrs_uav_state_estimators::PartialEstimator<3, 1>::getStatesAsVector() const334514
mrs_uav_state_estimators::PartialEstimator<3, 1>::getCovarianceAsVector() const333976
void mrs_uav_state_estimators::PartialEstimator<6, 2>::publishInput<Eigen::Matrix<double, 2, 1, 0, 2, 1> >(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, ros::Time const&) const194607
mrs_uav_state_estimators::PartialEstimator<6, 2>::publishOutput() const194615
mrs_uav_state_estimators::PartialEstimator<6, 2>::stateIdToIndex(int const&, int const&) const2918984
mrs_uav_state_estimators::PartialEstimator<6, 2>::getStatesAsVector() const194616
mrs_uav_state_estimators::PartialEstimator<6, 2>::getCovarianceAsVector() const194598
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.gcov.frameset.html new file mode 100644 index 0000000000..c351510cb2 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.gcov.html new file mode 100644 index 0000000000..24b607e5c2 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.gcov.html @@ -0,0 +1,264 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators - partial_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:343694.4 %
Date:2024-08-07 22:18:19Functions:192479.2 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef ESTIMATORS_PARTIAL_ESTIMATOR_H
+       2             : #define ESTIMATORS_PARTIAL_ESTIMATOR_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <Eigen/Dense>
+       9             : 
+      10             : #include <mrs_msgs/Float64Stamped.h>
+      11             : #include <mrs_msgs/Float64ArrayStamped.h>
+      12             : 
+      13             : #include <mrs_msgs/EstimatorOutput.h>
+      14             : 
+      15             : #include <mrs_uav_managers/estimation_manager/estimator.h>
+      16             : 
+      17             : //}
+      18             : 
+      19             : namespace mrs_uav_state_estimators
+      20             : {
+      21             : 
+      22             : typedef enum
+      23             : {
+      24             :   ELAND,
+      25             :   SWITCH,
+      26             :   MITIGATE,
+      27             :   NONE
+      28             : } ExcInnoAction_t;
+      29             : const int n_ExcInnoAction = 4;
+      30             : 
+      31             : const std::map<std::string, ExcInnoAction_t> map_exc_inno_action{{"eland", ExcInnoAction_t::ELAND},
+      32             :                                                         {"switch", ExcInnoAction_t::SWITCH},
+      33             :                                                         {"mitigate", ExcInnoAction_t::MITIGATE},
+      34             : {"none", ExcInnoAction_t::NONE}};
+      35             : 
+      36             : template <int n_states, int n_axes>
+      37             : class PartialEstimator : public mrs_uav_managers::Estimator {
+      38             : 
+      39             : public:
+      40             :   typedef Eigen::Matrix<double, n_states, 1>        states_t;
+      41             :   typedef Eigen::Matrix<double, n_states, n_states> covariance_t;
+      42             : 
+      43             : protected:
+      44             :   mutable mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput>     ph_output_;
+      45             :   mutable mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped> ph_input_;
+      46             : 
+      47             :   bool first_iter_ = true;
+      48             : 
+      49             :   double pos_innovation_limit_;
+      50             :   ExcInnoAction_t exc_innovation_action_;
+      51             :   std::string exc_innovation_action_name_;
+      52             :   bool innovation_ok_ = true;
+      53             : 
+      54             : private:
+      55             :   static const int _n_axes_   = n_axes;
+      56             :   static const int _n_states_ = n_states;
+      57             :   static const int _n_inputs_;
+      58             :   static const int _n_measurements_;
+      59             : 
+      60             : public:
+      61         432 :   PartialEstimator(const std::string &type, const std::string &name, const std::string &frame_id) : Estimator(type, name, frame_id) {
+      62         432 :   }
+      63             : 
+      64         432 :   ~PartialEstimator(void) {
+      65         432 :   }
+      66             : 
+      67             :   //  methods
+      68             :   virtual double getState(const int &state_idx_in) const                    = 0;
+      69             :   virtual double getState(const int &state_id_in, const int &axis_in) const = 0;
+      70             : 
+      71             :   virtual void setState(const double &state_in, const int &state_idx_in)                    = 0;
+      72             :   virtual void setState(const double &state_in, const int &state_id_in, const int &axis_in) = 0;
+      73             : 
+      74             :   virtual states_t getStates(void) const                = 0;
+      75             :   virtual void     setStates(const states_t &states_in) = 0;
+      76             : 
+      77             :   virtual double getCovariance(const int &state_idx_in) const                    = 0;
+      78             :   virtual double getCovariance(const int &state_id_in, const int &axis_in) const = 0;
+      79             : 
+      80             :   virtual covariance_t getCovarianceMatrix(void) const                 = 0;
+      81             :   virtual void         setCovarianceMatrix(const covariance_t &cov_in) = 0;
+      82             : 
+      83             :   virtual double getInnovation(const int &state_idx) const                       = 0;
+      84             :   virtual double getInnovation(const int &state_id_in, const int &axis_in) const = 0;
+      85             : 
+      86             :   // implemented methods
+      87             :   // access methods
+      88             :   std::vector<double> getStatesAsVector(void) const;
+      89             :   std::vector<double> getCovarianceAsVector(void) const;
+      90             : 
+      91             :   int stateIdToIndex(const int &state_id_in, const int &axis_in) const;
+      92             : 
+      93             :   template <typename u_t>
+      94             :   void publishInput(const u_t &u, const ros::Time& stamp) const;
+      95             :   void publishOutput() const;
+      96             : };
+      97             : 
+      98             : /*//{ method implementations */
+      99             : 
+     100             : /*//{ getStatesAsvector() */
+     101             : template <int n_states, int n_axes>
+     102      743481 : std::vector<double> PartialEstimator<n_states, n_axes>::getStatesAsVector(void) const {
+     103      743481 :   const states_t      states = getStates();
+     104      742796 :   std::vector<double> states_vec;
+     105             :   /* for (auto st : Eigen::MatrixXd::Map(states, states.size(), 1).rowwise()) { */
+     106             :   /*   states_vec.push_back(*st); */
+     107             :   /* } */
+     108     3340504 :   for (int i = 0; i < states.size(); i++) {
+     109     2595883 :     states_vec.push_back(states(i));
+     110             :   }
+     111     1485170 :   return states_vec;
+     112             : }
+     113             : /*//}*/
+     114             : 
+     115             : /*//{ getCovarianceAsvector() */
+     116             : template <int n_states, int n_axes>
+     117      742910 : std::vector<double> PartialEstimator<n_states, n_axes>::getCovarianceAsVector(void) const {
+     118      742910 :   const covariance_t  covariance = getCovarianceMatrix();
+     119      742630 :   std::vector<double> covariance_vec;
+     120             :   /* for (auto cov : covariance.reshaped<Eigen::RowMajor>(covariance.size())) { */
+     121             :   /*   covariance_vec.push_back(*cov); */
+     122             :   /* } */
+     123     3339010 :   for (int i = 0; i < covariance.rows(); i++) {
+     124    13463245 :     for (int j = 0; j < covariance.cols(); j++) {
+     125    10864571 :       covariance_vec.push_back(covariance(i, j));
+     126             :     }
+     127             :   }
+     128     1485498 :   return covariance_vec;
+     129             : }
+     130             : /*//}*/
+     131             : 
+     132             : /*//{ stateIdToIndex() */
+     133             : template <int n_states, int n_axes>
+     134     3080463 : int PartialEstimator<n_states, n_axes>::stateIdToIndex(const int &state_id_in, const int &axis_in) const {
+     135     3080463 :   return state_id_in * _n_axes_ + axis_in;
+     136             : }
+     137             : /*//}*/
+     138             : 
+     139             : /*//{ publishOutput() */
+     140             : template <int n_states, int n_axes>
+     141      743422 : void PartialEstimator<n_states, n_axes>::publishOutput() const {
+     142             : 
+     143      743422 :   if (!ch_->debug_topics.output) {
+     144           0 :     return;
+     145             :   }
+     146             : 
+     147     1486510 :   mrs_msgs::EstimatorOutput msg;
+     148      742696 :   msg.header.stamp    = ros::Time::now();
+     149      743569 :   msg.header.frame_id = getFrameId();
+     150      743444 :   msg.state           = getStatesAsVector();
+     151      741573 :   msg.covariance      = getCovarianceAsVector();
+     152             : 
+     153      742572 :   ph_output_.publish(msg);
+     154             : }
+     155             : /*//}*/
+     156             : 
+     157             : /*//{ publishInput() */
+     158             : template <int n_states, int n_axes>
+     159             : template <typename u_t>
+     160      528346 : void PartialEstimator<n_states, n_axes>::publishInput(const u_t &u, const ros::Time& stamp) const {
+     161             : 
+     162      528346 :   if (!ch_->debug_topics.input) {
+     163           0 :     return;
+     164             :   }
+     165             : 
+     166     1053796 :   mrs_msgs::Float64ArrayStamped msg;
+     167      525622 :   msg.header.stamp = stamp;
+     168     1247728 :   for (int i = 0; i < u.rows(); i++) {
+     169      716916 :     msg.values.push_back(u(i));
+     170             :   }
+     171             : 
+     172      525897 :   ph_input_.publish(msg);
+     173             : }
+     174             : /*//}*/
+     175             : 
+     176             : /*//}*/
+     177             : 
+     178             : }  // namespace mrs_uav_state_estimators
+     179             : 
+     180             : #endif  // ESTIMATORS_PARTIAL_ESTIMATOR_H
+
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mrs_uav_state_estimators::passthrough::Passthrough::~Passthrough()1
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mrs_uav_state_estimators::passthrough::Passthrough::Passthrough()1
mrs_uav_state_estimators::passthrough::Passthrough::~Passthrough()1
mrs_uav_state_estimators::passthrough::Passthrough::~Passthrough().21
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.frameset.html new file mode 100644 index 0000000000..bf04eeb1cb --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.html new file mode 100644 index 0000000000..71e96205b2 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.html @@ -0,0 +1,173 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state - passthrough.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-08-07 22:18:19Functions:33100.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef ESTIMATORS_STATE_PASSTHROUGH_H
+       2             : #define ESTIMATORS_STATE_PASSTHROUGH_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <nav_msgs/Odometry.h>
+       9             : 
+      10             : #include <mrs_lib/lkf.h>
+      11             : #include <mrs_lib/profiler.h>
+      12             : #include <mrs_lib/param_loader.h>
+      13             : #include <mrs_lib/subscribe_handler.h>
+      14             : #include <mrs_lib/publisher_handler.h>
+      15             : #include <mrs_lib/attitude_converter.h>
+      16             : #include <mrs_lib/transformer.h>
+      17             : 
+      18             : #include <mrs_uav_managers/state_estimator.h>
+      19             : 
+      20             : //}
+      21             : 
+      22             : namespace mrs_uav_state_estimators
+      23             : {
+      24             : 
+      25             : namespace passthrough
+      26             : {
+      27             : const char name[]         = "passthrough";
+      28             : const char frame_id[]     = "passthrough_origin";
+      29             : const char package_name[] = "mrs_uav_state_estimators";
+      30             : 
+      31             : const bool is_core_plugin = true;
+      32             : 
+      33             : using namespace mrs_uav_managers::estimation_manager;
+      34             : 
+      35             : class Passthrough : public mrs_uav_managers::StateEstimator {
+      36             : 
+      37             :   using CommonHandlers_t = mrs_uav_managers::estimation_manager::CommonHandlers_t;
+      38             : 
+      39             : private:
+      40             :   const std::string package_name_ = "mrs_uav_state_estimators";
+      41             : 
+      42             :   const std::string est_lat_name_ = "lat_passthrough";
+      43             : 
+      44             :   const std::string est_alt_name_ = "alt_passthrough";
+      45             : 
+      46             :   const std::string est_hdg_name_ = "hdg_passthrough";
+      47             : 
+      48             :   const bool is_core_plugin_;
+      49             : 
+      50             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_passthrough_odom_;
+      51             :   double                                        _critical_timeout_passthrough_odom_;
+      52             :   std::string                                   msg_topic_;
+      53             : 
+      54             :   ros::Timer                 timer_update_;
+      55             :   void                       timerUpdate(const ros::TimerEvent &event);
+      56             :   nav_msgs::OdometryConstPtr prev_msg_;
+      57             :   bool                       first_iter_ = true;
+      58             :   ros::Timer                 timer_check_health_;
+      59             :   void                       timerCheckHealth(const ros::TimerEvent &event);
+      60             : 
+      61             :   bool isConverged();
+      62             : 
+      63             :   void waitForEstimationInitialization();
+      64             : 
+      65             : public:
+      66           1 :   Passthrough() : StateEstimator(passthrough::name, passthrough::frame_id, passthrough::package_name), is_core_plugin_(is_core_plugin) {
+      67           1 :   }
+      68             : 
+      69           2 :   ~Passthrough(void) {
+      70           2 :   }
+      71             : 
+      72             :   void initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) override;
+      73             :   bool start(void) override;
+      74             :   bool pause(void) override;
+      75             :   bool reset(void) override;
+      76             : 
+      77             :   /* mrs_msgs::UavState  getUavState() override; */
+      78             :   /* nav_msgs::Odometry  getInnovation() const override; */
+      79             :   /* std::vector<double> getPoseCovariance() const override; */
+      80             :   /* std::vector<double> getTwistCovariance() const override; */
+      81             : 
+      82             :   bool setUavState(const mrs_msgs::UavState &uav_state) override;
+      83             : };
+      84             : 
+      85             : }  // namespace passthrough
+      86             : 
+      87             : }  // namespace mrs_uav_state_estimators
+      88             : 
+      89             : #endif  // ESTIMATORS_STATE_PASSTHROUGH_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.overview.html new file mode 100644 index 0000000000..88d95237e0 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.overview.html @@ -0,0 +1,43 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..e44c5c845709562b6df9a8255e423f99ae0ac942 GIT binary patch literal 431 zcmV;g0Z{&lP)0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vpfO*y3~prpJEFVmUx_krB1ErfufwoNp%&};z`6IVHe zcp7+wCJ?=_l=#9mnq$p<=SVIGyJdG{!>EreX941!LoLd-1=^Nd$^p8)B+kWgO+ibE+Soi~>yX!XLzaeKefFguZm-q|K zRsu&L69)Xr&V>2cwV0%$x?)mMi23O}bC|&P2;J)0x8LW + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state - state_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-08-07 22:18:19Functions:2366.7 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::StateGeneric::~StateGeneric()0
mrs_uav_state_estimators::StateGeneric::StateGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)115
mrs_uav_state_estimators::StateGeneric::~StateGeneric().2115
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.func.html new file mode 100644 index 0000000000..b7ac48d69c --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state - state_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-08-07 22:18:19Functions:2366.7 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::StateGeneric::StateGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)115
mrs_uav_state_estimators::StateGeneric::~StateGeneric()0
mrs_uav_state_estimators::StateGeneric::~StateGeneric().2115
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+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.frameset.html new file mode 100644 index 0000000000..fa3e046124 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.html new file mode 100644 index 0000000000..c5054b9937 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.html @@ -0,0 +1,183 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state - state_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-08-07 22:18:19Functions:2366.7 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef ESTIMATORS_STATE_STATE_GENERIC_H
+       2             : #define ESTIMATORS_STATE_STATE_GENERIC_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <nav_msgs/Odometry.h>
+       9             : 
+      10             : #include <mrs_lib/lkf.h>
+      11             : #include <mrs_lib/profiler.h>
+      12             : #include <mrs_lib/param_loader.h>
+      13             : #include <mrs_lib/subscribe_handler.h>
+      14             : #include <mrs_lib/publisher_handler.h>
+      15             : #include <mrs_lib/attitude_converter.h>
+      16             : #include <mrs_lib/transformer.h>
+      17             : 
+      18             : #include <mrs_uav_managers/state_estimator.h>
+      19             : 
+      20             : #include <mrs_uav_state_estimators/estimators/lateral/lat_generic.h>
+      21             : #include <mrs_uav_state_estimators/estimators/altitude/alt_generic.h>
+      22             : #include <mrs_uav_state_estimators/estimators/heading/heading_estimator.h>
+      23             : #include <mrs_uav_state_estimators/estimators/heading/hdg_generic.h>
+      24             : #include <mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h>
+      25             : 
+      26             : //}
+      27             : 
+      28             : namespace mrs_uav_state_estimators
+      29             : {
+      30             : 
+      31             : namespace hdg_estimator
+      32             : {
+      33             : const int n_states = 2;
+      34             : }  // namespace hdg_estimator
+      35             : 
+      36             : namespace state_generic
+      37             : {
+      38             : const char package_name[] = "mrs_uav_state_estimators";
+      39             : }
+      40             : 
+      41             : class StateGeneric : public mrs_uav_managers::StateEstimator {
+      42             : 
+      43             : private:
+      44             :   std::unique_ptr<LatGeneric> est_lat_;
+      45             :   std::string                 est_lat_name_;
+      46             : 
+      47             :   std::unique_ptr<AltGeneric> est_alt_;
+      48             :   std::string                 est_alt_name_;
+      49             : 
+      50             :   bool                                                       is_hdg_passthrough_;
+      51             :   std::unique_ptr<HeadingEstimator<hdg_estimator::n_states>> est_hdg_;
+      52             :   std::string                                                est_hdg_name_;
+      53             : 
+      54             :   bool is_override_frame_id_;
+      55             : 
+      56             :   const bool is_core_plugin_;
+      57             : 
+      58             :   std::string                                                 topic_orientation_;
+      59             :   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_hw_api_orient_;
+      60             : 
+      61             :   std::string                                              topic_angular_velocity_;
+      62             :   mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped> sh_hw_api_ang_vel_;
+      63             : 
+      64             :   ros::Timer timer_update_;
+      65             :   void       timerUpdate(const ros::TimerEvent &event);
+      66             : 
+      67             :   ros::Timer timer_check_health_;
+      68             :   void       timerCheckHealth(const ros::TimerEvent &event);
+      69             : 
+      70             :   ros::Timer timer_pub_attitude_;
+      71             :   void       timerPubAttitude(const ros::TimerEvent &event);
+      72             : 
+      73             :   bool isConverged();
+      74             : 
+      75             :   void waitForEstimationInitialization();
+      76             : 
+      77             : public:
+      78         115 :   StateGeneric(const std::string &name, const bool is_core_plugin)
+      79         115 :       : StateEstimator(name, name + "_origin", state_generic::package_name), is_core_plugin_(is_core_plugin) {
+      80         115 :   }
+      81             : 
+      82         115 :   ~StateGeneric(void) {
+      83         115 :   }
+      84             : 
+      85             :   void initialize(ros::NodeHandle &parent_nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) override;
+      86             :   bool start(void) override;
+      87             :   bool pause(void) override;
+      88             :   bool reset(void) override;
+      89             : 
+      90             :   bool setUavState(const mrs_msgs::UavState &uav_state) override;
+      91             : 
+      92             :   std::optional<double> getHeading() const;
+      93             : 
+      94             :   void updateUavState();
+      95             : };
+      96             : 
+      97             : }  // namespace mrs_uav_state_estimators
+      98             : 
+      99             : #endif  // ESTIMATORS_STATE_STATE_GENERIC_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.overview.html new file mode 100644 index 0000000000..e38bed99a7 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.overview.html @@ -0,0 +1,45 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processorsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13518473.4 %
Date:2024-08-07 22:18:19Functions:173450.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
proc_median_filter.h +
63.9%63.9%
+ 		63.9 %23 / 3633.3 %2 / 6
<unnamed>63.9 %23 / 3633.3 %2 / 6
proc_excessive_tilt.h +
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+ 		75.6 %31 / 4133.3 %2 / 6
<unnamed>75.6 %31 / 4133.3 %2 / 6
proc_tf_to_world.h +
78.9%78.9%
+ 		78.9 %45 / 5737.5 %3 / 8
<unnamed>78.9 %45 / 5737.5 %3 / 8
proc_saturate.h +
72.5%72.5%
+ 		72.5 %29 / 4066.7 %4 / 6
<unnamed>72.5 %29 / 4066.7 %4 / 6
processor.h +
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+ 		70.0 %7 / 1075.0 %6 / 8
<unnamed>70.0 %7 / 1075.0 %6 / 8
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Test:MRS UAV System - Test coverage reportLines:13518473.4 %
Date:2024-08-07 22:18:19Functions:173450.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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proc_median_filter.h +
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+ 		63.9 %23 / 3633.3 %2 / 6
<unnamed>63.9 %23 / 3633.3 %2 / 6
processor.h +
70.0%70.0%
+ 		70.0 %7 / 1075.0 %6 / 8
<unnamed>70.0 %7 / 1075.0 %6 / 8
proc_saturate.h +
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+ 		72.5 %29 / 4066.7 %4 / 6
<unnamed>72.5 %29 / 4066.7 %4 / 6
proc_excessive_tilt.h +
75.6%75.6%
+ 		75.6 %31 / 4133.3 %2 / 6
<unnamed>75.6 %31 / 4133.3 %2 / 6
proc_tf_to_world.h +
78.9%78.9%
+ 		78.9 %45 / 5737.5 %3 / 8
<unnamed>78.9 %45 / 5737.5 %3 / 8
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-detail.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-detail.html new file mode 100644 index 0000000000..bca2f18657 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-detail.html @@ -0,0 +1,182 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors + + + + + + + + + + + + + + +
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Test:MRS UAV System - Test coverage reportLines:13518473.4 %
Date:2024-08-07 22:18:19Functions:173450.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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proc_excessive_tilt.h +
75.6%75.6%
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proc_median_filter.h +
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+ 		63.9 %23 / 3633.3 %2 / 6
<unnamed>63.9 %23 / 3633.3 %2 / 6
proc_saturate.h +
72.5%72.5%
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<unnamed>72.5 %29 / 4066.7 %4 / 6
proc_tf_to_world.h +
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processor.h +
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-sort-f.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-sort-f.html new file mode 100644 index 0000000000..0e38522a4c --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-sort-f.html @@ -0,0 +1,142 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors + + + + + + + + + + + + + + +
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Test:MRS UAV System - Test coverage reportLines:13518473.4 %
Date:2024-08-07 22:18:19Functions:173450.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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proc_median_filter.h +
63.9%63.9%
+ 		63.9 %23 / 3633.3 %2 / 6
proc_excessive_tilt.h +
75.6%75.6%
+ 		75.6 %31 / 4133.3 %2 / 6
proc_tf_to_world.h +
78.9%78.9%
+ 		78.9 %45 / 5737.5 %3 / 8
proc_saturate.h +
72.5%72.5%
+ 		72.5 %29 / 4066.7 %4 / 6
processor.h +
70.0%70.0%
+ 		70.0 %7 / 1075.0 %6 / 8
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-sort-l.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-sort-l.html new file mode 100644 index 0000000000..ce5053e9af --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-sort-l.html @@ -0,0 +1,142 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors + + + + + + + + + + + + + + +
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Test:MRS UAV System - Test coverage reportLines:13518473.4 %
Date:2024-08-07 22:18:19Functions:173450.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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proc_median_filter.h +
63.9%63.9%
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processor.h +
70.0%70.0%
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proc_saturate.h +
72.5%72.5%
+ 		72.5 %29 / 4066.7 %4 / 6
proc_excessive_tilt.h +
75.6%75.6%
+ 		75.6 %31 / 4133.3 %2 / 6
proc_tf_to_world.h +
78.9%78.9%
+ 		78.9 %45 / 5737.5 %3 / 8
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index.html new file mode 100644 index 0000000000..2e7ed52f16 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index.html @@ -0,0 +1,142 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processorsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13518473.4 %
Date:2024-08-07 22:18:19Functions:173450.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
proc_excessive_tilt.h +
75.6%75.6%
+ 		75.6 %31 / 4133.3 %2 / 6
proc_median_filter.h +
63.9%63.9%
+ 		63.9 %23 / 3633.3 %2 / 6
proc_saturate.h +
72.5%72.5%
+ 		72.5 %29 / 4066.7 %4 / 6
proc_tf_to_world.h +
78.9%78.9%
+ 		78.9 %45 / 5737.5 %3 / 8
processor.h +
70.0%70.0%
+ 		70.0 %7 / 1075.0 %6 / 8
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.func-sort-c.html new file mode 100644 index 0000000000..d6ce220968 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.func-sort-c.html @@ -0,0 +1,104 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_excessive_tilt.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:314175.6 %
Date:2024-08-07 22:18:19Functions:2633.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcExcessiveTilt<1>::reset()0
mrs_uav_state_estimators::ProcExcessiveTilt<2>::reset()0
mrs_uav_state_estimators::ProcExcessiveTilt<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)0
mrs_uav_state_estimators::ProcExcessiveTilt<2>::ProcExcessiveTilt(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)0
mrs_uav_state_estimators::ProcExcessiveTilt<1>::ProcExcessiveTilt(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)91
mrs_uav_state_estimators::ProcExcessiveTilt<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)159731
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+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.func.html new file mode 100644 index 0000000000..2c37ef1128 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.func.html @@ -0,0 +1,104 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_excessive_tilt.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:314175.6 %
Date:2024-08-07 22:18:19Functions:2633.3 %
Legend: Lines: + hit + not hit +
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+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcExcessiveTilt<1>::reset()0
mrs_uav_state_estimators::ProcExcessiveTilt<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)159731
mrs_uav_state_estimators::ProcExcessiveTilt<1>::ProcExcessiveTilt(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)91
mrs_uav_state_estimators::ProcExcessiveTilt<2>::reset()0
mrs_uav_state_estimators::ProcExcessiveTilt<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)0
mrs_uav_state_estimators::ProcExcessiveTilt<2>::ProcExcessiveTilt(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)0
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.frameset.html new file mode 100644 index 0000000000..73cb0ae2b8 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.html new file mode 100644 index 0000000000..e802ea9703 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.html @@ -0,0 +1,206 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_excessive_tilt.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:314175.6 %
Date:2024-08-07 22:18:19Functions:2633.3 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef PROCESSORS_PROC_EXCESSIVE_TILT_H
+       3             : #define PROCESSORS_PROC_EXCESSIVE_TILT_H
+       4             : 
+       5             : #include <mrs_uav_state_estimators/processors/processor.h>
+       6             : 
+       7             : #include <mrs_lib/param_loader.h>
+       8             : #include <mrs_lib/subscribe_handler.h>
+       9             : #include <mrs_lib/attitude_converter.h>
+      10             : 
+      11             : #include <Eigen/Dense>
+      12             : 
+      13             : #include <limits>
+      14             : 
+      15             : namespace mrs_uav_state_estimators
+      16             : {
+      17             : 
+      18             : using namespace mrs_uav_managers::estimation_manager;
+      19             : 
+      20             : template <int n_measurements>
+      21             : class ProcExcessiveTilt : public Processor<n_measurements> {
+      22             : 
+      23             : public:
+      24             :   typedef Eigen::Matrix<double, n_measurements, 1> measurement_t;
+      25             : 
+      26             : public:
+      27             :   ProcExcessiveTilt(ros::NodeHandle& nh, const std::string& correction_name, const std::string& name, const std::shared_ptr<CommonHandlers_t>& ch,
+      28             :                     const std::shared_ptr<PrivateHandlers_t>& ph);
+      29             : 
+      30             :   std::tuple<bool, bool> process(measurement_t& measurement) override;
+      31             :   void                   reset();
+      32             : 
+      33             : private:
+      34             :   double max_tilt_sq_;
+      35             : 
+      36             :   std::string                                                 orientation_topic_;
+      37             :   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_orientation_;
+      38             : };
+      39             : 
+      40             : /*//{ constructor */
+      41             : template <int n_measurements>
+      42          91 : ProcExcessiveTilt<n_measurements>::ProcExcessiveTilt(ros::NodeHandle& nh, const std::string& correction_name, const std::string& name,
+      43             :                                                      const std::shared_ptr<CommonHandlers_t>& ch, const std::shared_ptr<PrivateHandlers_t>& ph)
+      44          91 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph) {
+      45             : 
+      46             :   // | --------------------- load parameters -------------------- |
+      47          91 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      48             : 
+      49          91 :   ph->param_loader->loadParam("orientation_topic", orientation_topic_);
+      50             :   double max_tilt;
+      51          91 :   ph->param_loader->loadParam("max_tilt", max_tilt);
+      52             : 
+      53          91 :   max_tilt = M_PI * (max_tilt / 180.0);
+      54             : 
+      55          91 :   max_tilt_sq_ = std::pow(max_tilt, 2);
+      56             : 
+      57          91 :   if (!ph->param_loader->loadedSuccessfully()) {
+      58           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", Processor<n_measurements>::getPrintName().c_str());
+      59           0 :     ros::shutdown();
+      60             :   }
+      61             : 
+      62             :   // | -------------- initialize subscribe handlers ------------- |
+      63          91 :   mrs_lib::SubscribeHandlerOptions shopts;
+      64          91 :   shopts.nh                 = nh;
+      65          91 :   shopts.node_name          = Processor<n_measurements>::getPrintName();
+      66          91 :   shopts.no_message_timeout = ros::Duration(1.0);
+      67          91 :   shopts.threadsafe         = true;
+      68          91 :   shopts.autostart          = true;
+      69          91 :   shopts.queue_size         = 10;
+      70          91 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      71             : 
+      72          91 :   sh_orientation_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, "/" + ch->uav_name + "/" + orientation_topic_);
+      73          91 : }
+      74             : /*//}*/
+      75             : 
+      76             : /*//{ process() */
+      77             : template <int n_measurements>
+      78      159731 : std::tuple<bool, bool> ProcExcessiveTilt<n_measurements>::process([[maybe_unused]] measurement_t& measurement) {
+      79             : 
+      80      159731 :   if (!Processor<n_measurements>::enabled_) {
+      81           0 :     return {true, true};
+      82             :   }
+      83             : 
+      84      159731 :   if (!sh_orientation_.hasMsg()) {
+      85           0 :     return {false, false};
+      86             :   }
+      87             : 
+      88      159730 :   bool ok_flag     = true;
+      89      159730 :   bool should_fuse = true;
+      90             : 
+      91             :   try {
+      92      159730 :     Eigen::Matrix3d orientation_R = mrs_lib::AttitudeConverter(sh_orientation_.getMsg()->quaternion);
+      93             : 
+      94      159722 :     const double tilt = mrs_lib::geometry::angleBetween(Eigen::Vector3d(0, 0, 1), orientation_R.col(2));
+      95             : 
+      96      159694 :     const bool is_excessive_tilt = std::pow(tilt, 2) > max_tilt_sq_;
+      97             : 
+      98      159688 :     if (is_excessive_tilt) {
+      99           3 :       ROS_WARN_THROTTLE(1.0, "[%s]: excessive tilt of %.2f deg. Not fusing correction.", Processor<n_measurements>::getPrintName().c_str(), tilt / M_PI * 180);
+     100           4 :       ok_flag     = false;
+     101           4 :       should_fuse = false;
+     102             :     }
+     103             :   }
+     104           0 :   catch (...) {
+     105           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: failed obtaining tilt value", Processor<n_measurements>::getPrintName().c_str());
+     106           0 :     ok_flag     = false;
+     107           0 :     should_fuse = false;
+     108             :   }
+     109      159719 :   return {ok_flag, should_fuse};
+     110             : }
+     111             : /*//}*/
+     112             : 
+     113             : /*//{ reset() */
+     114             : template <int n_measurements>
+     115           0 : void ProcExcessiveTilt<n_measurements>::reset() {
+     116             :   // no need to do anything
+     117           0 : }
+     118             : /*//}*/
+     119             : 
+     120             : }  // namespace mrs_uav_state_estimators
+     121             : 
+     122             : #endif  // PROCESSORS_PROC_EXCESSIVE_TILT_H
+
+
+
+ + + + +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcMedianFilter<1>::reset()0
mrs_uav_state_estimators::ProcMedianFilter<2>::reset()0
mrs_uav_state_estimators::ProcMedianFilter<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)0
mrs_uav_state_estimators::ProcMedianFilter<2>::ProcMedianFilter(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)0
mrs_uav_state_estimators::ProcMedianFilter<1>::ProcMedianFilter(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)91
mrs_uav_state_estimators::ProcMedianFilter<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)159714
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_median_filter.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:233663.9 %
Date:2024-08-07 22:18:19Functions:2633.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcMedianFilter<1>::reset()0
mrs_uav_state_estimators::ProcMedianFilter<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)159714
mrs_uav_state_estimators::ProcMedianFilter<1>::ProcMedianFilter(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)91
mrs_uav_state_estimators::ProcMedianFilter<2>::reset()0
mrs_uav_state_estimators::ProcMedianFilter<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)0
mrs_uav_state_estimators::ProcMedianFilter<2>::ProcMedianFilter(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)0
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+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef PROCESSORS_PROC_MEDIAN_FILTER_H
+       3             : #define PROCESSORS_PROC_MEDIAN_FILTER_H
+       4             : 
+       5             : #include <mrs_uav_state_estimators/processors/processor.h>
+       6             : 
+       7             : #include <mrs_lib/median_filter.h>
+       8             : #include <mrs_lib/param_loader.h>
+       9             : 
+      10             : #include <limits>
+      11             : 
+      12             : namespace mrs_uav_state_estimators
+      13             : {
+      14             : 
+      15             : using namespace mrs_uav_managers::estimation_manager;
+      16             : 
+      17             : template <int n_measurements>
+      18             : class ProcMedianFilter : public Processor<n_measurements> {
+      19             : 
+      20             : public:
+      21             :   typedef Eigen::Matrix<double, n_measurements, 1> measurement_t;
+      22             : 
+      23             : public:
+      24             :   ProcMedianFilter(ros::NodeHandle& nh, const std::string& correction_name, const std::string& name, const std::shared_ptr<CommonHandlers_t>& ch,
+      25             :                    const std::shared_ptr<PrivateHandlers_t>& ph);
+      26             : 
+      27             :   std::tuple<bool, bool> process(measurement_t& measurement) override;
+      28             :   void                   reset();
+      29             : 
+      30             : private:
+      31             :   std::vector<mrs_lib::MedianFilter> vec_mf_;
+      32             :   int                                buffer_size_;
+      33             :   double                             max_diff_;
+      34             : };
+      35             : 
+      36             : /*//{ constructor */
+      37             : template <int n_measurements>
+      38          91 : ProcMedianFilter<n_measurements>::ProcMedianFilter(ros::NodeHandle& nh, const std::string& correction_name, const std::string& name,
+      39             :                                                    const std::shared_ptr<CommonHandlers_t>& ch, const std::shared_ptr<PrivateHandlers_t>& ph)
+      40          91 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph) {
+      41             : 
+      42             :   // | --------------------- load parameters -------------------- |
+      43          91 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      44             : 
+      45          91 :   ph->param_loader->loadParam("buffer_size", buffer_size_);
+      46          91 :   ph->param_loader->loadParam("max_diff", max_diff_);
+      47             : 
+      48          91 :   if (!ph->param_loader->loadedSuccessfully()) {
+      49           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", Processor<n_measurements>::getPrintName().c_str());
+      50           0 :     ros::shutdown();
+      51             :   }
+      52             : 
+      53             :   // min and max values are not checked by median filter, so set them to limits of double
+      54          91 :   const double min_valid = std::numeric_limits<double>::lowest();
+      55          91 :   const double max_valid = std::numeric_limits<double>::max();
+      56             : 
+      57             :   // initialize median filter
+      58         182 :   for (int i = 0; i < n_measurements; i++) {
+      59          91 :     vec_mf_.push_back(mrs_lib::MedianFilter(buffer_size_, min_valid, max_valid, max_diff_));
+      60             :   }
+      61          91 : }
+      62             : /*//}*/
+      63             : 
+      64             : /*//{ process() */
+      65             : template <int n_measurements>
+      66      159714 : std::tuple<bool, bool> ProcMedianFilter<n_measurements>::process(measurement_t& measurement) {
+      67             : 
+      68      159714 :   if (!Processor<n_measurements>::enabled_) {
+      69           0 :     return {true, true};
+      70             :   }
+      71             : 
+      72      159714 :   bool ok_flag     = true;
+      73      159714 :   bool should_fuse = true;
+      74      319425 :   for (int i = 0; i < measurement.rows(); i++) {
+      75      159673 :     vec_mf_[i].add(measurement(i));
+      76      159704 :     if (vec_mf_[i].full()) {
+      77      150682 :       if (!vec_mf_[i].check(measurement(i))) {
+      78           0 :         std::stringstream ss_measurement_string;
+      79           0 :         ss_measurement_string << measurement(i);
+      80           0 :         ss_measurement_string << " ";
+      81           0 :         ROS_WARN_THROTTLE(1.0, "[%s]: measurement[%d]: %s declined by median filter (median: %.2f, max_diff: %.2f).",
+      82             :                           Processor<n_measurements>::getPrintName().c_str(), i, ss_measurement_string.str().c_str(), vec_mf_[i].median(), max_diff_);
+      83           0 :         ok_flag     = false;
+      84           0 :         should_fuse = false;
+      85             :       }
+      86             :     } else {
+      87        9007 :       ROS_WARN_THROTTLE(1.0, "[%s]: median filter not full yet", Processor<n_measurements>::getPrintName().c_str());
+      88        9007 :       ok_flag     = false;
+      89        9007 :       should_fuse = false;
+      90             :     }
+      91             :   }
+      92             : 
+      93      159689 :   return {ok_flag, should_fuse};
+      94             : }
+      95             : /*//}*/
+      96             : 
+      97             : /*//{ reset() */
+      98             : template <int n_measurements>
+      99           0 : void ProcMedianFilter<n_measurements>::reset() {
+     100           0 :   for (auto mf : vec_mf_) {
+     101           0 :     mf.clear();
+     102             :   }
+     103           0 : }
+     104             : /*//}*/
+     105             : 
+     106             : }  // namespace mrs_uav_state_estimators
+     107             : 
+     108             : #endif  // PROCESSORS_PROC_MEDIAN_FILTER_H
+
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_saturate.h (source / functions)HitTotalCoverage
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Date:2024-08-07 22:18:19Functions:4666.7 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcSaturate<1>::reset()0
mrs_uav_state_estimators::ProcSaturate<2>::reset()0
mrs_uav_state_estimators::ProcSaturate<2>::ProcSaturate(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&, mrs_uav_managers::estimation_manager::StateId_t, std::function<double (int, int)>)4
mrs_uav_state_estimators::ProcSaturate<1>::ProcSaturate(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&, mrs_uav_managers::estimation_manager::StateId_t, std::function<double (int, int)>)93
mrs_uav_state_estimators::ProcSaturate<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)3855
mrs_uav_state_estimators::ProcSaturate<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)161512
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LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_saturate.h (source / functions)HitTotalCoverage
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Date:2024-08-07 22:18:19Functions:4666.7 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcSaturate<1>::reset()0
mrs_uav_state_estimators::ProcSaturate<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)161512
mrs_uav_state_estimators::ProcSaturate<1>::ProcSaturate(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&, mrs_uav_managers::estimation_manager::StateId_t, std::function<double (int, int)>)93
mrs_uav_state_estimators::ProcSaturate<2>::reset()0
mrs_uav_state_estimators::ProcSaturate<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)3855
mrs_uav_state_estimators::ProcSaturate<2>::ProcSaturate(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&, mrs_uav_managers::estimation_manager::StateId_t, std::function<double (int, int)>)4
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_saturate.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:294072.5 %
Date:2024-08-07 22:18:19Functions:4666.7 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef PROCESSORS_PROC_SATURATE_H
+       3             : #define PROCESSORS_PROC_SATURATE_H
+       4             : 
+       5             : #include <mrs_uav_state_estimators/processors/processor.h>
+       6             : 
+       7             : #include <mrs_lib/param_loader.h>
+       8             : 
+       9             : #include <limits>
+      10             : #include <functional>
+      11             : 
+      12             : namespace mrs_uav_state_estimators
+      13             : {
+      14             : 
+      15             : using namespace mrs_uav_managers::estimation_manager;
+      16             : 
+      17             : template <int n_measurements>
+      18             : class ProcSaturate : public Processor<n_measurements> {
+      19             : 
+      20             : public:
+      21             :   typedef Eigen::Matrix<double, n_measurements, 1> measurement_t;
+      22             : 
+      23             : public:
+      24             :   ProcSaturate(ros::NodeHandle& nh, const std::string& correction_name, const std::string& name, const std::shared_ptr<CommonHandlers_t>& ch,
+      25             :                const std::shared_ptr<PrivateHandlers_t>& ph, StateId_t state_id, std::function<double(int, int)> fun_get_state);
+      26             : 
+      27             :   std::tuple<bool, bool> process(measurement_t& measurement) override;
+      28             :   void                   reset();
+      29             : 
+      30             : private:
+      31             :   const StateId_t                 state_id_;
+      32             :   std::function<double(int, int)> fun_get_state_;
+      33             : 
+      34             :   bool   keep_enabled_;
+      35             :   double saturate_min_;
+      36             :   double saturate_max_;
+      37             :   double innovation_limit_;
+      38             : };
+      39             : 
+      40             : /*//{ constructor */
+      41             : template <int n_measurements>
+      42          97 : ProcSaturate<n_measurements>::ProcSaturate(ros::NodeHandle& nh, const std::string& correction_name, const std::string& name,
+      43             :                                            const std::shared_ptr<CommonHandlers_t>& ch, const std::shared_ptr<PrivateHandlers_t>& ph, const StateId_t state_id,
+      44             :                                            std::function<double(int, int)> fun_get_state)
+      45          97 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph), state_id_(state_id), fun_get_state_(fun_get_state) {
+      46             : 
+      47             :   // | --------------------- load parameters -------------------- |
+      48          97 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      49             : 
+      50          97 :   ph->param_loader->loadParam("start_enabled", this->start_enabled_);
+      51          97 :   this->enabled_ = this->start_enabled_;
+      52          97 :   ph->param_loader->loadParam("keep_enabled", keep_enabled_);
+      53          97 :   ph->param_loader->loadParam("min", saturate_min_);
+      54          97 :   ph->param_loader->loadParam("max", saturate_max_);
+      55          97 :   ph->param_loader->loadParam("limit", innovation_limit_);
+      56             : 
+      57          97 :   if (!ph->param_loader->loadedSuccessfully()) {
+      58           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", Processor<n_measurements>::getPrintName().c_str());
+      59           0 :     ros::shutdown();
+      60             :   }
+      61          97 : }
+      62             : /*//}*/
+      63             : 
+      64             : /*//{ process() */
+      65             : template <int n_measurements>
+      66      165367 : std::tuple<bool, bool> ProcSaturate<n_measurements>::process(measurement_t& measurement) {
+      67             : 
+      68             :   // if no saturation is required, processing is successful
+      69      165367 :   if (!this->enabled_) {
+      70           0 :     return {true, true};
+      71             :   }
+      72             : 
+      73      165367 :   bool ok_flag     = true;
+      74      165367 :   bool should_fuse = true;
+      75      327901 :   for (int i = 0; i < measurement.rows(); i++) {
+      76      169202 :     const double state = fun_get_state_(state_id_, i);
+      77      169206 :     ROS_INFO_ONCE("[%s]: first state[%d][%d]: %.2f", Processor<n_measurements>::getNamespacedName().c_str(), state_id_, i, state);
+      78             : 
+      79      169206 :     if (measurement(i) > state + innovation_limit_ || measurement(i) < state - innovation_limit_) {
+      80        6660 :       return {true, true};  // do not even try to saturate, trigger innovation-based switch to other estimator
+      81             :     }
+      82             : 
+      83      162481 :     if (measurement(i) > state + saturate_max_) {
+      84        1105 :       const double saturated = state + saturate_max_;
+      85        1105 :       ROS_WARN_THROTTLE(1.0, "[%s]: state[%d][%d]: %.2f, measurement[%d]: %.2f saturated to: %.2f.", Processor<n_measurements>::getPrintName().c_str(),
+      86             :                         state_id_, i, state, i, measurement(i), saturated);
+      87        1105 :       measurement(i) = saturated;
+      88        1105 :       ok_flag        = false;
+      89        1105 :       should_fuse    = true;
+      90      161433 :     } else if (measurement(i) < state + saturate_min_) {
+      91           0 :       const double saturated = state + saturate_min_;
+      92           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: state[%d][%d]: %.2f, measurement[%d]: %.2f saturated to: %.2f.", Processor<n_measurements>::getPrintName().c_str(),
+      93             :                         state_id_, i, state, i, measurement(i), saturated);
+      94           0 :       measurement(i) = saturated;
+      95           0 :       ok_flag        = false;
+      96           0 :       should_fuse    = true;
+      97             :     }
+      98             :   }
+      99             : 
+     100             :   // measurements are close to the state, no need to saturate until triggered externally again
+     101      158671 :   if (!this->keep_enabled_ && ok_flag) {
+     102           0 :     this->enabled_ = false;
+     103             :   }
+     104             : 
+     105      158671 :   return {ok_flag, should_fuse};  // saturated measurement is valid
+     106             : }
+     107             : /*//}*/
+     108             : 
+     109             : /*//{ reset() */
+     110             : template <int n_measurements>
+     111           0 : void ProcSaturate<n_measurements>::reset() {
+     112             :   // no need to reset anything
+     113           0 : }
+     114             : /*//}*/
+     115             : 
+     116             : }  // namespace mrs_uav_state_estimators
+     117             : 
+     118             : #endif  // PROCESSORS_PROC_MEDIAN_FILTER_H
+
+
+
+ + + + +
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+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_saturate.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_saturate.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..9849f98e369e50987231e01d23a49867fcf9bec5 GIT binary patch literal 711 zcmV;&0yzDNP)PuAm$E_Fv^0!cQUyv9+o8t9s_bg#@ixmc=cLnHvF_eGOC_ zIC=d+pc#F7gezUL=r-izK6S^=VOz^- zoTyaRs(gREA>hUbqo%&|$VMlDoalkatPzZW+4a<;8psABfO>hZ^Mt%Mz-{|Ww&S+{ z9p@(>r*AyLfZNc_c8mc92))RAgAwwNfKTgsTGr3&x>KQIGCeA;wB$OrpygAHn&rC5 zukaXCxKlpgNuk<2$#QnE&@aCnqtE)yfqy{9M(&-32O^%(+KM|qYtXE zrX~pb0OB-yBpN*L@iN4g3^{_@nsrt4AT#|K;mSiX7BvL61LR6V{h6t7ctXc2OVI|h zbLNpK?=(n2yo|tmsftIKOh{TZYe+yl#Ug+kR@agH=DyR8CX0!H#Zozz2Apm=e;R%l z0gn8YFyx$hB+9$$O+dVi!22RE9*+ndG=NRnDt_{Imfkbz0XIJNyV$HPd+0q|yjTk< zmEAsRgp7l6{iZ*rx}q>WKf;*PT-Gm|ue_N^y`!S@HB-N6)(Oumq9=Hq_P8IzClI4d t%w`5<@?i>{ZT~FL-+iN_Y2I%;xPLjP^YBqA0G9v&002ovPDHLkV1gH|QM>>E literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.func-sort-c.html new file mode 100644 index 0000000000..c2778e6e8b --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.func-sort-c.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_tf_to_world.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:455778.9 %
Date:2024-08-07 22:18:19Functions:3837.5 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcTfToWorld<1>::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::ProcTfToWorld<1>::reset()0
mrs_uav_state_estimators::ProcTfToWorld<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)0
mrs_uav_state_estimators::ProcTfToWorld<1>::ProcTfToWorld(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)0
mrs_uav_state_estimators::ProcTfToWorld<2>::reset()0
mrs_uav_state_estimators::ProcTfToWorld<2>::ProcTfToWorld(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)111
mrs_uav_state_estimators::ProcTfToWorld<2>::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)77330
mrs_uav_state_estimators::ProcTfToWorld<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)218333
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.func.html new file mode 100644 index 0000000000..b47c58e3bf --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.func.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_tf_to_world.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:455778.9 %
Date:2024-08-07 22:18:19Functions:3837.5 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcTfToWorld<1>::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::ProcTfToWorld<1>::reset()0
mrs_uav_state_estimators::ProcTfToWorld<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)0
mrs_uav_state_estimators::ProcTfToWorld<1>::ProcTfToWorld(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)0
mrs_uav_state_estimators::ProcTfToWorld<2>::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)77330
mrs_uav_state_estimators::ProcTfToWorld<2>::reset()0
mrs_uav_state_estimators::ProcTfToWorld<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)218333
mrs_uav_state_estimators::ProcTfToWorld<2>::ProcTfToWorld(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)111
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_tf_to_world.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:455778.9 %
Date:2024-08-07 22:18:19Functions:3837.5 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef PROCESSORS_PROC_TF_TO_WORLD_H
+       3             : #define PROCESSORS_PROC_TF_TO_WORLD_H
+       4             : 
+       5             : #include <mrs_uav_state_estimators/processors/processor.h>
+       6             : 
+       7             : #include <sensor_msgs/NavSatFix.h>
+       8             : 
+       9             : #include <mrs_lib/gps_conversions.h>
+      10             : #include <mrs_lib/subscribe_handler.h>
+      11             : #include <mrs_lib/param_loader.h>
+      12             : 
+      13             : namespace mrs_uav_state_estimators
+      14             : {
+      15             : 
+      16             : using namespace mrs_uav_managers::estimation_manager;
+      17             : 
+      18             : template <int n_measurements>
+      19             : class ProcTfToWorld : public Processor<n_measurements> {
+      20             : 
+      21             : public:
+      22             :   typedef Eigen::Matrix<double, n_measurements, 1> measurement_t;
+      23             : 
+      24             : public:
+      25             :   ProcTfToWorld(ros::NodeHandle& nh, const std::string& correction_name, const std::string& name, const std::shared_ptr<CommonHandlers_t>& ch,
+      26             :                 const std::shared_ptr<PrivateHandlers_t>& ph);
+      27             : 
+      28             :   std::tuple<bool, bool> process(measurement_t& measurement) override;
+      29             :   void                   reset();
+      30             : 
+      31             : private:
+      32             :   bool is_initialized_ = false;
+      33             : 
+      34             :   std::string gnss_topic_;
+      35             : 
+      36             :   std::mutex       mtx_gnss_;
+      37             :   std::atomic_bool got_gnss_                  = false;
+      38             :   std::atomic_bool is_gnss_offset_calculated_ = false;
+      39             :   double           gnss_x_;
+      40             :   double           gnss_y_;
+      41             : 
+      42             :   mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix> sh_gnss_;
+      43             :   void                                              callbackGnss(const sensor_msgs::NavSatFix::ConstPtr msg);
+      44             : };
+      45             : 
+      46             : /*//{ constructor */
+      47             : template <int n_measurements>
+      48         111 : ProcTfToWorld<n_measurements>::ProcTfToWorld(ros::NodeHandle& nh, const std::string& correction_name, const std::string& name,
+      49             :                                              const std::shared_ptr<CommonHandlers_t>& ch, const std::shared_ptr<PrivateHandlers_t>& ph)
+      50         111 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph) {
+      51             : 
+      52         111 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      53             : 
+      54         111 :   ph->param_loader->loadParam("gnss_topic", gnss_topic_);
+      55             : 
+      56         111 :   gnss_topic_ = "/" + ch->uav_name + "/" + gnss_topic_;
+      57             : 
+      58         111 :   if (!ph->param_loader->loadedSuccessfully()) {
+      59           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", Processor<n_measurements>::getPrintName().c_str());
+      60           0 :     ros::shutdown();
+      61             :   }
+      62             : 
+      63             :   // | -------------- initialize subscribe handlers ------------- |
+      64         111 :   mrs_lib::SubscribeHandlerOptions shopts;
+      65         111 :   shopts.nh                 = nh;
+      66         111 :   shopts.node_name          = Processor<n_measurements>::getPrintName();
+      67         111 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      68         111 :   shopts.threadsafe         = true;
+      69         111 :   shopts.autostart          = true;
+      70         111 :   shopts.queue_size         = 10;
+      71         111 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      72             : 
+      73         111 :   sh_gnss_ = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, gnss_topic_, &ProcTfToWorld::callbackGnss, this);
+      74             : 
+      75         111 :   is_initialized_ = true;
+      76         111 : }
+      77             : /*//}*/
+      78             : 
+      79             : /*//{ callbackGnss() */
+      80             : template <int n_measurements>
+      81       77330 : void ProcTfToWorld<n_measurements>::callbackGnss(const sensor_msgs::NavSatFix::ConstPtr msg) {
+      82             : 
+      83       77330 :   if (!is_initialized_) {
+      84       77163 :     return;
+      85             :   }
+      86             : 
+      87       77330 :   if (got_gnss_) {
+      88       77163 :     return;
+      89             :   }
+      90             : 
+      91         110 :   if (!std::isfinite(msg->latitude)) {
+      92           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in GNSS variable \"msg->latitude\"!!!", Processor<n_measurements>::getPrintName().c_str());
+      93           0 :     return;
+      94             :   }
+      95             : 
+      96         111 :   if (!std::isfinite(msg->longitude)) {
+      97           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in GNSS variable \"msg->longitude\"!!!", Processor<n_measurements>::getPrintName().c_str());
+      98           0 :     return;
+      99             :   }
+     100             : 
+     101         222 :   std::scoped_lock lock(mtx_gnss_);
+     102         111 :   mrs_lib::UTM(msg->latitude, msg->longitude, &gnss_x_, &gnss_y_);
+     103         111 :   ROS_INFO("[%s]: First GNSS obtained: %.2f %.2f", Processor<n_measurements>::getPrintName().c_str(), gnss_x_, gnss_y_);
+     104         111 :   got_gnss_ = true;
+     105             : }
+     106             : /*//}*/
+     107             : 
+     108             : /*//{ process() */
+     109             : template <int n_measurements>
+     110      218333 : std::tuple<bool, bool> ProcTfToWorld<n_measurements>::process(measurement_t& measurement) {
+     111             : 
+     112      218333 :   if (!Processor<n_measurements>::enabled_) {
+     113           0 :     return {true, true};
+     114             :   }
+     115             : 
+     116      436475 :   std::scoped_lock lock(mtx_gnss_);
+     117             : 
+     118      218357 :   if (!got_gnss_) {
+     119        7259 :     ROS_WARN_THROTTLE(1.0, "[%s]: Missing GNSS data on topic: %s", Processor<n_measurements>::getPrintName().c_str(), gnss_topic_.c_str());
+     120        7259 :     return {false, false};
+     121             :   }
+     122             : 
+     123      211043 :   if (!is_gnss_offset_calculated_) {
+     124             : 
+     125         111 :     ROS_INFO_THROTTLE(1.0, "[%s]: debug: gnss_x_: %.2f, measurement(0): %.2f, world_origin.x: %.2f", Processor<n_measurements>::getPrintName().c_str(), gnss_x_,
+     126             :                       measurement(0), Processor<n_measurements>::ch_->world_origin.x);
+     127         111 :     ROS_INFO_THROTTLE(1.0, "[%s]: debug: gnss_y_: %.2f, measurement(1): %.2f, world_origin.y: %.2f", Processor<n_measurements>::getPrintName().c_str(), gnss_y_,
+     128             :                       measurement(1), Processor<n_measurements>::ch_->world_origin.y);
+     129         111 :     gnss_x_                    = (gnss_x_ - measurement(0)) - Processor<n_measurements>::ch_->world_origin.x;
+     130         111 :     gnss_y_                    = (gnss_y_ - measurement(1)) - Processor<n_measurements>::ch_->world_origin.y;
+     131         111 :     is_gnss_offset_calculated_ = true;
+     132         111 :     ROS_INFO_THROTTLE(1.0, "[%s]: GNSS world offset calculated as: [%.2f %.2f]", Processor<n_measurements>::getPrintName().c_str(), gnss_x_, gnss_y_);
+     133             :   }
+     134             : 
+     135      211061 :   measurement(0) += gnss_x_;
+     136      210888 :   measurement(1) += gnss_y_;
+     137             : 
+     138      211022 :   if (measurement(0) > 10000 || measurement(0) < -10000 || measurement(1) > 10000 || measurement(1) < -10000) {
+     139           0 :     ROS_WARN_THROTTLE(
+     140             :         1.0,
+     141             :         "[%s]: debug: Not expected to fly further than 10 km. This is most likely a bug. measurement(0): %.2f measurement(1): %.2f gnss_x_: %.2f gnss_y_: %.2f",
+     142             :         Processor<n_measurements>::getPrintName().c_str(), measurement(0), measurement(1), gnss_x_, gnss_y_);
+     143             :   }
+     144      211188 :   return {true, true};
+     145             : }
+     146             : /*//}*/
+     147             : 
+     148             : /*//{ reset() */
+     149             : template <int n_measurements>
+     150           0 : void ProcTfToWorld<n_measurements>::reset() {
+     151           0 :   got_gnss_                  = false;
+     152           0 :   is_gnss_offset_calculated_ = false;
+     153           0 : }
+     154             : /*//}*/
+     155             : }  // namespace mrs_uav_state_estimators
+     156             : 
+     157             : #endif  // PROCESSORS_PROC_TF_TO_WORLD_H
+
+
+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.overview.html new file mode 100644 index 0000000000..c44e2f6583 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.overview.html @@ -0,0 +1,60 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..a324c1257ee9037e3fabf82919209845d495e4b0 GIT binary patch literal 777 zcmV+k1NQuhP)YeKPLfI%d(hdQDZ?M6>}3P z7RRBNhCIV~)54mKVqgP#1>TJ!GMcesrS7XLRhvTlJ-0ACX3Ubb8gmW3ep|KBYVL9} zHd-<7`;=p5I<1j5^pje73r1fJMaKwP|cqki8fe9uJfx;%Wbp_7N?c1i- zs@QF_{E-s~SCSwed~Wz?gRvB~){V2)?OgR8#$YEf;2a}>+b`Au2g(_3%}QGU_x&fx z;r8R_b#C!I{JIMSxOYYEuRb6FCn{HKGMaFJ=!Hy?0as+k1)&-66k6a>E;AEZ;L4wF zan%6)Zj})NV?%eTdI$umGoG|`1`<#x$Y`sjMpN*{;DWZp2<+Wtz^zY|f%0-py;1ik zkBLUwjN#i&Dm@6@IIgQKKx!36Tpq`0W6_nq&_R}6o3E|AfdR&8jjrC4u{Ct0GH1mn@RJ^unROSIn z8T0jue2Ov0(yxHhqK~ZpCV|9C+el>18JoPqcO>uJM{*ssdR4s?ih)8QW#%Gdft*0R z<-$p4uEB(~JE*Wz;QNNbE~)Wo;y-Qt-3Y9U&PVx|$~D((KRkav&y1%T`8*R}J(;}9 z#;$y-)Ai$Mtwhw$s5(I5?6E7^s^ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - processor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71070.0 %
Date:2024-08-07 22:18:19Functions:6875.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::Processor<1>::toggle(bool)0
mrs_uav_state_estimators::Processor<2>::toggle(bool)0
mrs_uav_state_estimators::Processor<2>::Processor(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)115
mrs_uav_state_estimators::Processor<2>::getNamespacedName[abi:cxx11]() const118
mrs_uav_state_estimators::Processor<1>::getPrintName[abi:cxx11]() const199
mrs_uav_state_estimators::Processor<1>::Processor(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)275
mrs_uav_state_estimators::Processor<1>::getNamespacedName[abi:cxx11]() const366
mrs_uav_state_estimators::Processor<2>::getPrintName[abi:cxx11]() const577
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LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - processor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71070.0 %
Date:2024-08-07 22:18:19Functions:6875.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::Processor<1>::toggle(bool)0
mrs_uav_state_estimators::Processor<1>::Processor(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)275
mrs_uav_state_estimators::Processor<2>::toggle(bool)0
mrs_uav_state_estimators::Processor<2>::Processor(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)115
mrs_uav_state_estimators::Processor<1>::getPrintName[abi:cxx11]() const199
mrs_uav_state_estimators::Processor<1>::getNamespacedName[abi:cxx11]() const366
mrs_uav_state_estimators::Processor<2>::getPrintName[abi:cxx11]() const577
mrs_uav_state_estimators::Processor<2>::getNamespacedName[abi:cxx11]() const118
+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.gcov.frameset.html new file mode 100644 index 0000000000..7ea1b3521d --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.gcov.html new file mode 100644 index 0000000000..5944a58425 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.gcov.html @@ -0,0 +1,156 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - processor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71070.0 %
Date:2024-08-07 22:18:19Functions:6875.0 %
Legend: Lines: + hit + not hit +
+
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+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef PROCESSORS_PROCESSOR_H
+       3             : #define PROCESSORS_PROCESSOR_H
+       4             : 
+       5             : namespace mrs_uav_state_estimators
+       6             : {
+       7             : 
+       8             : using namespace mrs_uav_managers::estimation_manager;
+       9             : 
+      10             : template <int n_measurements>
+      11             : class Processor {
+      12             : 
+      13             : public:
+      14             :   typedef Eigen::Matrix<double, n_measurements, 1> measurement_t;
+      15             : 
+      16             : public:
+      17             :   std::string getName() const;
+      18             :   std::string getNamespacedName() const;
+      19             :   std::string getPrintName() const;
+      20             : 
+      21             :   void toggle(bool enable);
+      22             : 
+      23             :   virtual std::tuple<bool, bool> process(measurement_t& measurement) = 0;
+      24             :   virtual void                   reset()                             = 0;
+      25             : 
+      26             : protected:
+      27         390 :   Processor([[maybe_unused]] ros::NodeHandle& nh, const std::string& correction_name, const std::string& name, const std::shared_ptr<CommonHandlers_t>& ch,
+      28             :             const std::shared_ptr<PrivateHandlers_t>& ph)
+      29         390 :       : correction_name_(correction_name), name_(name), ch_(ch), ph_(ph) {
+      30         390 :   }  // protected constructor to prevent instantiation
+      31             : 
+      32             :   const std::string correction_name_;
+      33             :   const std::string name_;
+      34             : 
+      35             :   const std::shared_ptr<CommonHandlers_t>  ch_;
+      36             :   const std::shared_ptr<PrivateHandlers_t> ph_;
+      37             : 
+      38             :   bool enabled_       = true;
+      39             :   bool start_enabled_ = true;
+      40             : };
+      41             : 
+      42             : /*//{ getName() */
+      43             : template <int n_measurements>
+      44             : std::string Processor<n_measurements>::getName() const {
+      45             :   return name_;
+      46             : }
+      47             : /*//}*/
+      48             : 
+      49             : /*//{ getNamespacedName() */
+      50             : template <int n_measurements>
+      51         484 : std::string Processor<n_measurements>::getNamespacedName() const {
+      52         484 :   return correction_name_ + "/" + name_;
+      53             : }
+      54             : /*//}*/
+      55             : 
+      56             : /*//{ getPrintName() */
+      57             : template <int n_measurements>
+      58         776 : std::string Processor<n_measurements>::getPrintName() const {
+      59         776 :   return ch_->nodelet_name + "/" + correction_name_ + "/" + name_;
+      60             : }
+      61             : /*//}*/
+      62             : 
+      63             : /*//{ toggle() */
+      64             : template <int n_measurements>
+      65           0 : void Processor<n_measurements>::toggle(bool enable) {
+      66           0 :   enabled_ = enable;
+      67           0 : }
+      68             : /*//}*/
+      69             : 
+      70             : }  // namespace mrs_uav_state_estimators
+      71             : 
+      72             : #endif  // PROCESSORS_PROCESSOR_H
+
+
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Current view:top level - mrs_uav_state_estimators/src/estimators/agl - garmin_agl.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:8212366.7 %
Date:2024-08-07 22:18:19Functions:61060.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::garmin_agl::GarminAgl::isConverged()0
mrs_uav_state_estimators::garmin_agl::GarminAgl::pause()0
mrs_uav_state_estimators::garmin_agl::GarminAgl::reset()0
mrs_uav_state_estimators::garmin_agl::GarminAgl::getHeightCovariance() const0
(anonymous namespace)::ProxyExec0::ProxyExec0()87
mrs_uav_state_estimators::garmin_agl::GarminAgl::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)87
mrs_uav_state_estimators::garmin_agl::GarminAgl::start()660
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerCheckHealth(ros::TimerEvent const&)1605
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerUpdate(ros::TimerEvent const&)155524
mrs_uav_state_estimators::garmin_agl::GarminAgl::getUavAglHeight() const157020
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Test:MRS UAV System - Test coverage reportLines:8212366.7 %
Date:2024-08-07 22:18:19Functions:61060.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()87
mrs_uav_state_estimators::garmin_agl::GarminAgl::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)87
mrs_uav_state_estimators::garmin_agl::GarminAgl::isConverged()0
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerUpdate(ros::TimerEvent const&)155524
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerCheckHealth(ros::TimerEvent const&)1605
mrs_uav_state_estimators::garmin_agl::GarminAgl::pause()0
mrs_uav_state_estimators::garmin_agl::GarminAgl::reset()0
mrs_uav_state_estimators::garmin_agl::GarminAgl::start()660
mrs_uav_state_estimators::garmin_agl::GarminAgl::getUavAglHeight() const157020
mrs_uav_state_estimators::garmin_agl::GarminAgl::getHeightCovariance() const0
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Current view:top level - mrs_uav_state_estimators/src/estimators/agl - garmin_agl.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:8212366.7 %
Date:2024-08-07 22:18:19Functions:61060.0 %
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+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <mrs_uav_state_estimators/estimators/agl/garmin_agl.h>
+       4             : 
+       5             : //}
+       6             : 
+       7             : namespace mrs_uav_state_estimators
+       8             : {
+       9             : 
+      10             : namespace garmin_agl
+      11             : {
+      12             : 
+      13             : /* initialize() //{*/
+      14          87 : void GarminAgl::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16          87 :   ch_ = ch;
+      17          87 :   ph_ = ph;
+      18          87 :   nh_ = nh;
+      19             : 
+      20          87 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      21             : 
+      22             :   // | --------------------- load parameters -------------------- |
+      23             : 
+      24          87 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getName() + "/");
+      25             : 
+      26          87 :   if (is_core_plugin_) {
+      27             : 
+      28          87 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      29          87 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      30             :   }
+      31             : 
+      32          87 :   if (!ph->param_loader->loadedSuccessfully()) {
+      33           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+      34           0 :     ros::shutdown();
+      35             :   }
+      36             : 
+      37             :   // | ------------------ timers initialization ----------------- |
+      38          87 :   _update_timer_rate_       = 100;                                                                                          // TODO: parametrize
+      39          87 :   timer_update_             = nh.createTimer(ros::Rate(_update_timer_rate_), &GarminAgl::timerUpdate, this, false, false);  // not running after init
+      40          87 :   _check_health_timer_rate_ = 1;                                                                                            // TODO: parametrize
+      41          87 :   timer_check_health_       = nh.createTimer(ros::Rate(_check_health_timer_rate_), &GarminAgl::timerCheckHealth, this);
+      42             : 
+      43             :   // | --------------- subscribers initialization --------------- |
+      44         174 :   mrs_lib::SubscribeHandlerOptions shopts;
+      45          87 :   shopts.nh                 = nh;
+      46          87 :   shopts.node_name          = getPrintName();
+      47          87 :   shopts.no_message_timeout = ros::Duration(0.5);
+      48          87 :   shopts.threadsafe         = true;
+      49          87 :   shopts.autostart          = true;
+      50          87 :   shopts.queue_size         = 10;
+      51          87 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      52             : 
+      53             :   // | ---------------- publishers initialization --------------- |
+      54          87 :   ph_agl_height_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh, Support::toSnakeCase(getName()) + "/agl_height", 10);
+      55          87 :   if (ch_->debug_topics.covariance) {
+      56           0 :     ph_agl_height_cov_ = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, Support::toSnakeCase(getName()) + "/agl_height_cov", 10);
+      57             :   }
+      58          87 :   if (ch_->debug_topics.diag) {
+      59           0 :     ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics>(nh, Support::toSnakeCase(getName()) + "/diagnostics", 10);
+      60             :   }
+      61             : 
+      62             :   // | ---------------- estimators initialization --------------- |
+      63             : 
+      64          87 :   est_agl_garmin_ = std::make_unique<AltGeneric>(est_agl_name_, frame_id_, getName(), is_core_plugin_);
+      65          87 :   est_agl_garmin_->initialize(nh, ch_, ph_);
+      66             : 
+      67          87 :   max_flight_z_ = est_agl_garmin_->getMaxFlightZ();
+      68             : 
+      69             :   // | ------------------ initialize published messages ------------------ |
+      70          87 :   agl_height_init_.header.frame_id     = ns_frame_id_;
+      71          87 :   agl_height_cov_init_.header.frame_id = ns_frame_id_;
+      72             : 
+      73             :   // | ------------------ finish initialization ----------------- |
+      74             : 
+      75          87 :   if (changeState(INITIALIZED_STATE)) {
+      76          87 :     ROS_INFO("[%s]: Estimator initialized", getPrintName().c_str());
+      77             :   } else {
+      78           0 :     ROS_INFO("[%s]: Estimator could not be initialized", getPrintName().c_str());
+      79             :   }
+      80          87 : }
+      81             : /*//}*/
+      82             : 
+      83             : /*//{ start() */
+      84         660 : bool GarminAgl::start(void) {
+      85             : 
+      86             : 
+      87         660 :   if (isInState(READY_STATE)) {
+      88             : 
+      89             :     bool est_agl_garmin_start_successful;
+      90             : 
+      91         660 :     if (est_agl_garmin_->isStarted() || est_agl_garmin_->isRunning()) {
+      92           0 :       est_agl_garmin_start_successful = true;
+      93             :     } else {
+      94         660 :       est_agl_garmin_start_successful = est_agl_garmin_->start();
+      95             :     }
+      96             : 
+      97         660 :     if (est_agl_garmin_start_successful) {
+      98          87 :       timer_update_.start();
+      99          87 :       changeState(STARTED_STATE);
+     100          87 :       return true;
+     101             :     }
+     102             : 
+     103             :   } else {
+     104           0 :     ROS_WARN("[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+     105           0 :     ros::Duration(1.0).sleep();
+     106             :   }
+     107         573 :   return false;
+     108             : 
+     109             :   ROS_ERROR("[%s]: Failed to start", getPrintName().c_str());
+     110             :   return false;
+     111             : }
+     112             : /*//}*/
+     113             : 
+     114             : /*//{ pause() */
+     115           0 : bool GarminAgl::pause(void) {
+     116             : 
+     117           0 :   if (isInState(RUNNING_STATE)) {
+     118           0 :     est_agl_garmin_->pause();
+     119           0 :     changeState(STOPPED_STATE);
+     120           0 :     return true;
+     121             : 
+     122             :   } else {
+     123           0 :     return false;
+     124             :   }
+     125             : }
+     126             : /*//}*/
+     127             : 
+     128             : /*//{ reset() */
+     129           0 : bool GarminAgl::reset(void) {
+     130             : 
+     131           0 :   if (!isInitialized()) {
+     132           0 :     ROS_ERROR("[%s]: Cannot reset uninitialized estimator", getPrintName().c_str());
+     133           0 :     return false;
+     134             :   }
+     135             : 
+     136           0 :   est_agl_garmin_->pause();
+     137           0 :   changeState(STOPPED_STATE);
+     138             : 
+     139           0 :   ROS_INFO("[%s]: Estimator reset", getPrintName().c_str());
+     140             : 
+     141           0 :   return true;
+     142             : }
+     143             : /*//}*/
+     144             : 
+     145             : /* timerUpdate() //{*/
+     146      155524 : void GarminAgl::timerUpdate([[maybe_unused]] const ros::TimerEvent &event) {
+     147             : 
+     148      155524 :   if (!isInitialized()) {
+     149           0 :     return;
+     150             :   }
+     151             : 
+     152      155524 :   const ros::Time time_now = ros::Time::now();
+     153             : 
+     154      311048 :   mrs_msgs::Float64Stamped agl_height = agl_height_init_;
+     155      155524 :   agl_height.header.stamp             = time_now;
+     156      155524 :   agl_height.value                    = est_agl_garmin_->getState(POSITION);
+     157             : 
+     158      311048 :   mrs_msgs::Float64ArrayStamped agl_height_cov;
+     159      155524 :   agl_height_cov.header.stamp = time_now;
+     160             : 
+     161      155524 :   const int n_states = 2;  // TODO this should be defined somewhere else
+     162      155524 :   agl_height_cov.values.resize(n_states * n_states);
+     163      155524 :   agl_height_cov.values.at(n_states * POSITION + POSITION) = est_agl_garmin_->getCovariance(POSITION);
+     164      155524 :   agl_height_cov.values.at(n_states * VELOCITY + VELOCITY) = est_agl_garmin_->getCovariance(VELOCITY);
+     165             : 
+     166      155524 :   mrs_lib::set_mutexed(mtx_agl_height_, agl_height, agl_height_);
+     167      155524 :   mrs_lib::set_mutexed(mtx_agl_height_cov_, agl_height_cov, agl_height_cov_);
+     168             : 
+     169      155524 :   publishAglHeight();
+     170      155524 :   publishCovariance();
+     171      155524 :   publishDiagnostics();
+     172             : }
+     173             : /*//}*/
+     174             : 
+     175             : /*//{ timerCheckHealth() */
+     176        1605 : void GarminAgl::timerCheckHealth([[maybe_unused]] const ros::TimerEvent &event) {
+     177             : 
+     178        1605 :   if (!isInitialized()) {
+     179           0 :     return;
+     180             :   }
+     181             : 
+     182        1605 :   switch (getCurrentSmState()) {
+     183             : 
+     184           0 :     case UNINITIALIZED_STATE: {
+     185           0 :       break;
+     186             :     }
+     187             : 
+     188          87 :     case INITIALIZED_STATE: {
+     189             : 
+     190          87 :       if (est_agl_garmin_->isInitialized()) {
+     191          87 :         changeState(READY_STATE);
+     192          87 :         ROS_INFO("[%s]: Estimator is ready to start", getPrintName().c_str());
+     193             :       } else {
+     194           0 :         ROS_INFO("[%s]: %s subestimators to be ready", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     195           0 :         return;
+     196             :       }
+     197          87 :       break;
+     198             :     }
+     199             : 
+     200           1 :     case READY_STATE: {
+     201           1 :       break;
+     202             :     }
+     203             : 
+     204          87 :     case STARTED_STATE: {
+     205             : 
+     206          87 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s for convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     207             : 
+     208          87 :       if (est_agl_garmin_->isError()) {
+     209           0 :         changeState(ERROR_STATE);
+     210             :       }
+     211             : 
+     212          87 :       if (est_agl_garmin_->isRunning()) {
+     213          87 :         ROS_INFO_THROTTLE(1.0, "[%s]: Subestimators converged", getPrintName().c_str());
+     214          87 :         changeState(RUNNING_STATE);
+     215             :       } else {
+     216           0 :         return;
+     217             :       }
+     218          87 :       break;
+     219             :     }
+     220             : 
+     221        1430 :     case RUNNING_STATE: {
+     222        1430 :       if (est_agl_garmin_->isError()) {
+     223           0 :         changeState(ERROR_STATE);
+     224             :       }
+     225        1430 :       break;
+     226             :     }
+     227             : 
+     228           0 :     case STOPPED_STATE: {
+     229           0 :       break;
+     230             :     }
+     231             : 
+     232           0 :     case ERROR_STATE: {
+     233           0 :       if (est_agl_garmin_->isReady()) {
+     234           0 :         changeState(READY_STATE);
+     235             :       }
+     236           0 :       break;
+     237             :     }
+     238             :   }
+     239             : }
+     240             : /*//}*/
+     241             : 
+     242             : /*//{ isConverged() */
+     243           0 : bool GarminAgl::isConverged() {
+     244             : 
+     245             :   // TODO: check convergence by rate of change of determinant
+     246             :   // most likely not used in top-level estimator
+     247             : 
+     248           0 :   return true;
+     249             : }
+     250             : /*//}*/
+     251             : 
+     252             : /*//{ getUavAglHeight() */
+     253      157020 : mrs_msgs::Float64Stamped GarminAgl::getUavAglHeight() const {
+     254      157020 :   return mrs_lib::get_mutexed(mtx_agl_height_, agl_height_);
+     255             : }
+     256             : /*//}*/
+     257             : 
+     258             : /*//{ getHeightCovariance() */
+     259           0 : std::vector<double> GarminAgl::getHeightCovariance() const {
+     260           0 :   return mrs_lib::get_mutexed(mtx_agl_height_cov_, agl_height_cov_.values);
+     261             : }
+     262             : /*//}*/
+     263             : 
+     264             : }  // namespace garmin_agl
+     265             : 
+     266             : }  // namespace mrs_uav_state_estimators
+     267             : 
+     268             : #include <pluginlib/class_list_macros.h>
+     269          87 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::garmin_agl::GarminAgl, mrs_uav_managers::AglEstimator)
+
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Date:2024-08-07 22:18:19Functions:61060.0 %
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Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.func-sort-c.html b/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.func-sort-c.html new file mode 100644 index 0000000000..079463a056 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.func-sort-c.html @@ -0,0 +1,212 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/src/estimators/altitude - alt_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:21339653.8 %
Date:2024-08-07 22:18:19Functions:223366.7 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::AltGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::AltGeneric::setCovarianceMatrix(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&)0
mrs_uav_state_estimators::AltGeneric::generateRepredictorModels(double)0
mrs_uav_state_estimators::AltGeneric::pause()0
mrs_uav_state_estimators::AltGeneric::reset()0
mrs_uav_state_estimators::AltGeneric::setState(double const&, int const&, int const&)0
mrs_uav_state_estimators::AltGeneric::setStates(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)0
mrs_uav_state_estimators::AltGeneric::getCovariance(int const&, int const&) const0
mrs_uav_state_estimators::AltGeneric::getInnovation(int const&, int const&) const0
mrs_uav_state_estimators::AltGeneric::generateRepredictorModels(double)::{lambda(double)#2}::operator()(double) const0
mrs_uav_state_estimators::AltGeneric::generateRepredictorModels(double)::{lambda(double)#1}::operator()(double) const0
mrs_uav_state_estimators::AltGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)202
mrs_uav_state_estimators::AltGeneric::isConverged()202
mrs_uav_state_estimators::AltGeneric::callbackReconfigure(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)202
mrs_uav_state_estimators::AltGeneric::setState(double const&, int const&)301
mrs_uav_state_estimators::AltGeneric::setInputCoeff(double const&)394
mrs_uav_state_estimators::AltGeneric::getNamespacedName[abi:cxx11]() const1305
mrs_uav_state_estimators::AltGeneric::getPrintName[abi:cxx11]() const1570
mrs_uav_state_estimators::AltGeneric::start()5700
mrs_uav_state_estimators::AltGeneric::getState(int const&, int const&) const161515
mrs_uav_state_estimators::AltGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)::{lambda(int, int)#1}::operator()(int, int) const161517
mrs_uav_state_estimators::AltGeneric::getInnovation(int const&) const206651
mrs_uav_state_estimators::AltGeneric::getCovarianceMatrix() const334206
mrs_uav_state_estimators::AltGeneric::getStates() const334379
mrs_uav_state_estimators::AltGeneric::setDt(double const&)334554
mrs_uav_state_estimators::AltGeneric::generateA()335126
mrs_uav_state_estimators::AltGeneric::generateB()335130
mrs_uav_state_estimators::AltGeneric::timerUpdate(ros::TimerEvent const&)379890
mrs_uav_state_estimators::AltGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)::{lambda(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t)#2}::operator()(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t) const525441
mrs_uav_state_estimators::AltGeneric::doCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)525485
mrs_uav_state_estimators::AltGeneric::doCorrection(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, double, mrs_uav_managers::estimation_manager::StateId_t const&, ros::Time const&)525486
mrs_uav_state_estimators::AltGeneric::getCovariance(int const&) const724332
mrs_uav_state_estimators::AltGeneric::getState(int const&) const1237793
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.func.html b/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.func.html new file mode 100644 index 0000000000..61ced07b7c --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.func.html @@ -0,0 +1,212 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/altitude - alt_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:21339653.8 %
Date:2024-08-07 22:18:19Functions:223366.7 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::AltGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)202
mrs_uav_state_estimators::AltGeneric::isConverged()202
mrs_uav_state_estimators::AltGeneric::timerUpdate(ros::TimerEvent const&)379890
mrs_uav_state_estimators::AltGeneric::doCorrection(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, double, mrs_uav_managers::estimation_manager::StateId_t const&, ros::Time const&)525486
mrs_uav_state_estimators::AltGeneric::doCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)525485
mrs_uav_state_estimators::AltGeneric::setInputCoeff(double const&)394
mrs_uav_state_estimators::AltGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::AltGeneric::callbackReconfigure(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)202
mrs_uav_state_estimators::AltGeneric::setCovarianceMatrix(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&)0
mrs_uav_state_estimators::AltGeneric::generateRepredictorModels(double)0
mrs_uav_state_estimators::AltGeneric::pause()0
mrs_uav_state_estimators::AltGeneric::reset()0
mrs_uav_state_estimators::AltGeneric::setDt(double const&)334554
mrs_uav_state_estimators::AltGeneric::start()5700
mrs_uav_state_estimators::AltGeneric::setState(double const&, int const&)301
mrs_uav_state_estimators::AltGeneric::setState(double const&, int const&, int const&)0
mrs_uav_state_estimators::AltGeneric::generateA()335126
mrs_uav_state_estimators::AltGeneric::generateB()335130
mrs_uav_state_estimators::AltGeneric::setStates(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)0
mrs_uav_state_estimators::AltGeneric::getPrintName[abi:cxx11]() const1570
mrs_uav_state_estimators::AltGeneric::getCovariance(int const&) const724332
mrs_uav_state_estimators::AltGeneric::getCovariance(int const&, int const&) const0
mrs_uav_state_estimators::AltGeneric::getInnovation(int const&) const206651
mrs_uav_state_estimators::AltGeneric::getInnovation(int const&, int const&) const0
mrs_uav_state_estimators::AltGeneric::getNamespacedName[abi:cxx11]() const1305
mrs_uav_state_estimators::AltGeneric::getCovarianceMatrix() const334206
mrs_uav_state_estimators::AltGeneric::getState(int const&) const1237793
mrs_uav_state_estimators::AltGeneric::getState(int const&, int const&) const161515
mrs_uav_state_estimators::AltGeneric::getStates() const334379
mrs_uav_state_estimators::AltGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)::{lambda(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t)#2}::operator()(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t) const525441
mrs_uav_state_estimators::AltGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)::{lambda(int, int)#1}::operator()(int, int) const161517
mrs_uav_state_estimators::AltGeneric::generateRepredictorModels(double)::{lambda(double)#2}::operator()(double) const0
mrs_uav_state_estimators::AltGeneric::generateRepredictorModels(double)::{lambda(double)#1}::operator()(double) const0
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/altitude - alt_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:21339653.8 %
Date:2024-08-07 22:18:19Functions:223366.7 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #define VERSION "0.0.6.0"
+       2             : 
+       3             : /* includes //{ */
+       4             : 
+       5             : #include <mrs_uav_state_estimators/estimators/altitude/alt_generic.h>
+       6             : 
+       7             : //}
+       8             : 
+       9             : namespace mrs_uav_state_estimators
+      10             : 
+      11             : {
+      12             : 
+      13             : /* initialize() //{*/
+      14         202 : void AltGeneric::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16         202 :   ch_ = ch;
+      17         202 :   ph_ = ph;
+      18             : 
+      19         202 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      20             : 
+      21             :   // clang-format off
+      22         202 :   dt_ = 0.01;
+      23         202 :   input_coeff_ = 10;
+      24         202 :   default_input_coeff_ = 10;
+      25             : 
+      26         202 :   generateA();
+      27         202 :   generateB();
+      28             : 
+      29         202 :   H_ <<
+      30         202 :     1, 0, 0;
+      31             : 
+      32         202 :   innovation_ << 
+      33             :     0;
+      34             : 
+      35             :   // clang-format on
+      36             : 
+      37             :   // | --------------- initialize parameter loader -------------- |
+      38             : 
+      39         202 :   if (is_core_plugin_) {
+      40             : 
+      41         202 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      42         202 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      43             :   }
+      44             : 
+      45         202 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      46             : 
+      47             :   // | --------------------- load parameters -------------------- |
+      48             : 
+      49         202 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      50         202 :   ph->param_loader->loadParam("innovation/limit", pos_innovation_limit_);
+      51         202 :   ph->param_loader->loadParam("innovation/action", exc_innovation_action_name_);
+      52         202 :   exc_innovation_action_ = map_exc_inno_action.at(exc_innovation_action_name_);
+      53         202 :   ph->param_loader->loadParam("repredictor/enabled", is_repredictor_enabled_);
+      54         202 :   if (is_repredictor_enabled_) {
+      55           0 :     ph->param_loader->loadParam("repredictor/buffer_size", rep_buffer_size_);
+      56             :   }
+      57             : 
+      58             :   // | --------------- corrections initialization --------------- |
+      59         202 :   ph->param_loader->loadParam("corrections", correction_names_);
+      60             : 
+      61         497 :   for (auto corr_name : correction_names_) {
+      62         295 :     corrections_.push_back(std::make_shared<Correction<alt_generic::n_measurements>>(
+      63      162107 :         nh, getNamespacedName(), corr_name, ns_frame_id_, EstimatorType_t::ALTITUDE, ch_, ph_, [this](int a, int b) { return this->getState(a, b); },
+      64      525441 :         [this](const Correction<alt_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t state) {
+      65      525441 :           return this->doCorrection(meas, R, state);
+      66             :         }));
+      67             :   }
+      68             : 
+      69         202 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      70             : 
+      71             :   // | ----------- initialize process noise covariance ---------- |
+      72         202 :   Q_ = Q_t::Zero();
+      73             :   double tmp_noise;
+      74         202 :   ph->param_loader->loadParam("process_noise/pos", tmp_noise);
+      75         202 :   Q_(POSITION, POSITION) = tmp_noise;
+      76         202 :   ph->param_loader->loadParam("process_noise/vel", tmp_noise);
+      77         202 :   Q_(VELOCITY, VELOCITY) = tmp_noise;
+      78         202 :   ph->param_loader->loadParam("process_noise/acc", tmp_noise);
+      79         202 :   Q_(ACCELERATION, ACCELERATION) = tmp_noise;
+      80             : 
+      81             :   // | ------- check if all parameters loaded successfully ------ |
+      82         202 :   if (!ph->param_loader->loadedSuccessfully()) {
+      83           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+      84           0 :     ros::shutdown();
+      85             :   }
+      86             : 
+      87             :   // | ------------- initialize dynamic reconfigure ------------- |
+      88             :   drmgr_ =
+      89         202 :       std::make_unique<drmgr_t>(ros::NodeHandle("~/" + getNamespacedName()), true, getPrintName(), boost::bind(&AltGeneric::callbackReconfigure, this, _1, _2));
+      90         202 :   drmgr_->config.pos = Q_(POSITION, POSITION);
+      91         202 :   drmgr_->config.vel = Q_(VELOCITY, VELOCITY);
+      92         202 :   drmgr_->config.acc = Q_(ACCELERATION, ACCELERATION);
+      93         202 :   drmgr_->update_config(drmgr_->config);
+      94             : 
+      95             :   // | --------------- Kalman filter intialization -------------- |
+      96         202 :   const x_t        x0 = x_t::Zero();
+      97         202 :   const P_t        P0 = 1e3 * P_t::Identity();
+      98         202 :   const statecov_t sc0({x0, P0});
+      99         202 :   sc_ = sc0;
+     100             : 
+     101         202 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+     102         202 :   if (is_repredictor_enabled_) {
+     103             : 
+     104           0 :     generateRepredictorModels(input_coeff_);
+     105             : 
+     106           0 :     const u_t       u0 = u_t::Zero();
+     107           0 :     const ros::Time t0 = ros::Time::now();
+     108           0 :     lkf_rep_           = std::make_unique<mrs_lib::Repredictor<varstep_lkf_t>>(x0, P0, u0, Q_, t0, models_.at(0), rep_buffer_size_);
+     109             : 
+     110           0 :     setDt(1.0 / ch_->desired_uav_state_rate);
+     111             :   }
+     112             : 
+     113             :   // | ------------------ timers initialization ----------------- |
+     114         202 :   timer_update_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &AltGeneric::timerUpdate, this);  // not running after init
+     115             :   /* timer_check_health_       = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &AltGeneric::timerCheckHealth, this); */
+     116             : 
+     117             :   // | --------------- subscribers initialization --------------- |
+     118             :   // subscriber to odometry
+     119         404 :   mrs_lib::SubscribeHandlerOptions shopts;
+     120         202 :   shopts.nh                 = nh;
+     121         202 :   shopts.node_name          = getPrintName();
+     122         202 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     123         202 :   shopts.threadsafe         = true;
+     124         202 :   shopts.autostart          = true;
+     125         202 :   shopts.queue_size         = 10;
+     126         202 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     127             : 
+     128         202 :   sh_control_input_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>(shopts, "control_input_in");
+     129             : 
+     130             :   // | ---------------- publishers initialization --------------- |
+     131         202 :   if (ch_->debug_topics.input) {
+     132         202 :     ph_input_ = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, getNamespacedName() + "/input", 10);
+     133             :   }
+     134         202 :   if (ch_->debug_topics.output) {
+     135         202 :     ph_output_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput>(nh, getNamespacedName() + "/output", 10);
+     136             :   }
+     137         202 :   if (ch_->debug_topics.diag) {
+     138           0 :     ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics>(nh, getNamespacedName() + "/diagnostics", 10);
+     139             :   }
+     140             : 
+     141             :   // | ------------------ finish initialization ----------------- |
+     142             : 
+     143         202 :   if (changeState(INITIALIZED_STATE)) {
+     144         202 :     ROS_INFO("[%s]: Estimator initialized, version %s", getPrintName().c_str(), VERSION);
+     145             :   } else {
+     146           0 :     ROS_INFO("[%s]: Estimator could not be initialized", getPrintName().c_str());
+     147             :   }
+     148         202 : }
+     149             : /*//}*/
+     150             : 
+     151             : /*//{ start() */
+     152        5700 : bool AltGeneric::start(void) {
+     153             : 
+     154        5700 :   if (isInState(READY_STATE)) {
+     155             :     /* timer_update_.start(); */
+     156         202 :     changeState(STARTED_STATE);
+     157         202 :     return true;
+     158             : 
+     159             :   } else {
+     160        5498 :     ROS_WARN_THROTTLE(1.0, "[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+     161        5498 :     return false;
+     162             :   }
+     163             : }
+     164             : /*//}*/
+     165             : 
+     166             : /*//{ pause() */
+     167           0 : bool AltGeneric::pause(void) {
+     168             : 
+     169           0 :   if (isInState(RUNNING_STATE)) {
+     170           0 :     changeState(STOPPED_STATE);
+     171           0 :     return true;
+     172             : 
+     173             :   } else {
+     174           0 :     return false;
+     175             :   }
+     176             : }
+     177             : /*//}*/
+     178             : 
+     179             : /*//{ reset() */
+     180           0 : bool AltGeneric::reset(void) {
+     181             : 
+     182           0 :   if (!isInitialized()) {
+     183           0 :     ROS_ERROR("[%s]: Cannot reset uninitialized estimator", getPrintName().c_str());
+     184           0 :     return false;
+     185             :   }
+     186             : 
+     187           0 :   changeState(STOPPED_STATE);
+     188             : 
+     189             :   // Initialize LKF state and covariance
+     190           0 :   const x_t        x0 = x_t::Zero();
+     191           0 :   const P_t        P0 = 1e6 * P_t::Identity();
+     192           0 :   const statecov_t sc0({x0, P0});
+     193           0 :   sc_ = sc0;
+     194             : 
+     195             :   // Instantiate the LKF itself
+     196           0 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+     197           0 :   if (is_repredictor_enabled_) {
+     198             : 
+     199           0 :     const u_t       u0 = u_t::Zero();
+     200           0 :     const ros::Time t0 = ros::Time(0);
+     201           0 :     lkf_rep_           = std::make_unique<mrs_lib::Repredictor<varstep_lkf_t>>(x0, P0, u0, Q_, t0, models_.at(0), rep_buffer_size_);
+     202             :   }
+     203             : 
+     204           0 :   changeState(INITIALIZED_STATE);
+     205           0 :   ROS_INFO("[%s]: Estimator reset", getPrintName().c_str());
+     206             : 
+     207           0 :   return true;
+     208             : }
+     209             : /*//}*/
+     210             : 
+     211             : /* timerUpdate() //{*/
+     212      379890 : void AltGeneric::timerUpdate(const ros::TimerEvent &event) {
+     213             : 
+     214             : 
+     215      379890 :   if (!isInitialized()) {
+     216       45276 :     return;
+     217             :   }
+     218             : 
+     219      379831 :   switch (getCurrentSmState()) {
+     220             : 
+     221           0 :     case UNINITIALIZED_STATE: {
+     222           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s initialization", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     223           0 :       break;
+     224             :     }
+     225             : 
+     226        6620 :     case READY_STATE: {
+     227        6620 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     228        6620 :       break;
+     229             :     }
+     230             : 
+     231       10136 :     case INITIALIZED_STATE: {
+     232             :       // initialize the estimator with current corrections
+     233       10447 :       for (auto correction : corrections_) {
+     234       10229 :         auto res = correction->getProcessedCorrection();
+     235       10177 :         if (res) {
+     236         301 :           auto measurement_stamped = res.value();
+     237         300 :           setState(measurement_stamped.value(0), correction->getStateId());
+     238         301 :           ROS_INFO("[%s]: Setting initial state to: %.2f", getPrintName().c_str(), measurement_stamped.value(0));
+     239             :         } else {
+     240        9880 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(),
+     241             :                             correction->getNamespacedName().c_str());
+     242        9915 :           return;
+     243             :         }
+     244             :       }
+     245         200 :       changeState(READY_STATE);
+     246         202 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     247         202 :       break;
+     248             :     }
+     249             : 
+     250         202 :     case STARTED_STATE: {
+     251         202 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s for convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     252             : 
+     253         202 :       if (isConverged()) {
+     254         202 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     255         202 :         changeState(RUNNING_STATE);
+     256             :       }
+     257         202 :       break;
+     258             :     }
+     259             : 
+     260      362917 :     case RUNNING_STATE: {
+     261      893472 :       for (auto correction : corrections_) {
+     262      530562 :         if (!correction->isHealthy()) {
+     263           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     264           0 :           changeState(ERROR_STATE);
+     265             :         }
+     266             :       }
+     267      362972 :       break;
+     268             :     }
+     269             : 
+     270           0 :     case STOPPED_STATE: {
+     271           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is stopped", getPrintName().c_str());
+     272           0 :       break;
+     273             :     }
+     274             : 
+     275           0 :     case ERROR_STATE: {
+     276           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is in ERROR state", getPrintName().c_str());
+     277           0 :       ros::Time t_now = ros::Time::now();
+     278           0 :       if (is_error_state_first_time_) {
+     279           0 :         prev_time_in_error_state_  = t_now;
+     280           0 :         is_error_state_first_time_ = false;
+     281           0 :         error_state_duration_      = ros::Duration(0.0);
+     282             :       }
+     283           0 :       error_state_duration_ += t_now - prev_time_in_error_state_;
+     284             : 
+     285             : 
+     286             :       // check if all corrections are healthy now
+     287           0 :       bool all_corrections_healthy = true;
+     288           0 :       for (auto correction : corrections_) {
+     289           0 :         if (!correction->isHealthy()) {
+     290           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     291           0 :           all_corrections_healthy = false;
+     292             :         }
+     293             :       }
+     294             : 
+     295           0 :       if (all_corrections_healthy && innovation_ok_) {
+     296             :         // initialize the estimator again if corrections become healthy
+     297           0 :         if (error_state_duration_.toSec() > 5.0) {
+     298           0 :           ROS_INFO("[%s]: corrections healthy for %.2f s", getPrintName().c_str(), error_state_duration_.toSec());
+     299           0 :           changeState(INITIALIZED_STATE);
+     300           0 :           is_error_state_first_time_ = true;
+     301           0 :         }
+     302             :       } else {
+     303           0 :         is_error_state_first_time_ = true;
+     304             :       }
+     305             : 
+     306           0 :       prev_time_in_error_state_ = t_now;
+     307             : 
+     308           0 :       break;
+     309             :     }
+     310             :   }
+     311             : 
+     312      370042 :   if (sh_control_input_.newMsg()) {
+     313      182212 :     is_input_ready_ = true;
+     314             :   }
+     315             : 
+     316             :   // check age of input
+     317      369831 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {
+     318          27 :     ROS_WARN_THROTTLE(1.0, "[%s]: input too old (%.4f), using zero input instead", getPrintName().c_str(),
+     319             :                       (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     320          27 :     is_input_ready_ = false;
+     321             :   }
+     322             : 
+     323      369738 :   if (!isRunning() && !isStarted()) {
+     324        6815 :     return;
+     325             :   }
+     326             : 
+     327      363051 :   if (first_iter_) {
+     328         202 :     first_iter_ = false;
+     329         202 :     return;
+     330             :   }
+     331             : 
+     332      362849 :   double dt = (event.current_real - event.last_real).toSec();
+     333      362788 :   if (dt <= 0.0 || dt > 1.0) {
+     334       28351 :     return;
+     335             :   }
+     336             : 
+     337      334437 :   if (!is_repredictor_enabled_) {  // repredictor calculates dt on its own
+     338      334449 :     setDt(dt);
+     339             :   }
+     340             : 
+     341             :   // prediction step
+     342      334258 :   u_t       u;
+     343      334118 :   ros::Time input_stamp;
+     344      334173 :   if (is_input_ready_) {
+     345      206596 :     mrs_msgs::EstimatorInputConstPtr msg            = sh_control_input_.getMsg();
+     346      206653 :     const tf2::Vector3               des_acc_global = getAccGlobal(msg, 0);  // we don't care about heading
+     347      206581 :     input_stamp                                     = msg->header.stamp;
+     348      205141 :     if (input_coeff_ != default_input_coeff_){
+     349         165 :       setInputCoeff(default_input_coeff_);
+     350             :     }
+     351      205141 :     u(0) = des_acc_global.getZ();
+     352             :   } else {
+     353      127256 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: not receiving control input, estimation suboptimal, potentially unstable", getPrintName().c_str());
+     354      127546 :     input_stamp = ros::Time::now();
+     355      127624 :     if (input_coeff_ != 0){
+     356         229 :       setInputCoeff(0);
+     357             :     }
+     358      127624 :     u = u_t::Zero();
+     359             :   }
+     360             : 
+     361             :   // go through available corrections and apply them
+     362             :   /* for (auto correction : corrections_) { */
+     363             :   /*   auto res = correction->getProcessedCorrection(); */
+     364             :   /*   if (res) { */
+     365             :   /*     auto measurement_stamped = res.value(); */
+     366             :   /*     doCorrection(measurement_stamped.value, correction->getR(), correction->getStateId(), measurement_stamped.stamp); */
+     367             :   /*   } */
+     368             :   /* } */
+     369             : 
+     370      332574 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     371      333358 :   Q_t        Q  = mrs_lib::get_mutexed(mtx_Q_, Q_);
+     372             : 
+     373             :   try {
+     374             :     // Apply the prediction step
+     375      666437 :     std::scoped_lock lock(mutex_lkf_);
+     376      333370 :     if (is_repredictor_enabled_) {
+     377           0 :       lkf_rep_->addInputChangeWithNoise(u, Q, input_stamp, models_[0]);
+     378           0 :       sc = lkf_rep_->predictTo(ros::Time::now());
+     379             :     } else {
+     380      333370 :       sc = lkf_->predict(sc, u, Q, dt_);
+     381             :     }
+     382             :   }
+     383           0 :   catch (const std::exception &e) {
+     384             :     // In case of error, alert the user
+     385           0 :     ROS_ERROR("[%s]: LKF prediction failed: %s", getPrintName().c_str(), e.what());
+     386             :   }
+     387             : 
+     388      330820 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     389             : 
+     390             :   // publishing
+     391      332679 :   publishInput(u, input_stamp);
+     392      334483 :   publishOutput();
+     393      334581 :   publishDiagnostics();
+     394             : }
+     395             : /*//}*/
+     396             : 
+     397             : /*//{ timerCheckHealth() */
+     398           0 : void AltGeneric::timerCheckHealth([[maybe_unused]] const ros::TimerEvent &event) {
+     399             : 
+     400           0 :   if (!isInitialized()) {
+     401           0 :     return;
+     402             :   }
+     403             : 
+     404           0 :   switch (getCurrentSmState()) {
+     405             : 
+     406           0 :     case UNINITIALIZED_STATE: {
+     407           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s initialization", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     408           0 :       break;
+     409             :     }
+     410             : 
+     411           0 :     case READY_STATE: {
+     412           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     413           0 :       break;
+     414             :     }
+     415             : 
+     416           0 :     case INITIALIZED_STATE: {
+     417             : 
+     418             :       // initialize the estimator with current corrections
+     419           0 :       for (auto correction : corrections_) {
+     420           0 :         auto res = correction->getProcessedCorrection();
+     421           0 :         if (res) {
+     422           0 :           auto measurement_stamped = res.value();
+     423           0 :           setState(measurement_stamped.value(0), correction->getStateId());
+     424           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: Setting initial state to: %.2f", getPrintName().c_str(), measurement_stamped.value(0));
+     425             :         } else {
+     426           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(),
+     427             :                             correction->getNamespacedName().c_str());
+     428           0 :           return;
+     429             :         }
+     430             :       }
+     431           0 :       changeState(READY_STATE);
+     432           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     433           0 :       break;
+     434             :     }
+     435             : 
+     436           0 :     case STARTED_STATE: {
+     437           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s for convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     438             : 
+     439           0 :       if (isConverged()) {
+     440           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     441           0 :         changeState(RUNNING_STATE);
+     442             :       }
+     443           0 :       break;
+     444             :     }
+     445             : 
+     446           0 :     case RUNNING_STATE: {
+     447           0 :       for (auto correction : corrections_) {
+     448           0 :         if (!correction->isHealthy()) {
+     449           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     450           0 :           changeState(ERROR_STATE);
+     451             :         }
+     452             :       }
+     453           0 :       break;
+     454             :     }
+     455             : 
+     456           0 :     case STOPPED_STATE: {
+     457           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is stopped", getPrintName().c_str());
+     458           0 :       break;
+     459             :     }
+     460             : 
+     461           0 :     case ERROR_STATE: {
+     462           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is in ERROR state", getPrintName().c_str());
+     463           0 :       bool all_corrections_healthy = true;
+     464           0 :       for (auto correction : corrections_) {
+     465           0 :         if (!correction->isHealthy()) {
+     466           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     467           0 :           all_corrections_healthy = false;
+     468             :         }
+     469             :       }
+     470             :       // initialize the estimator again if corrections become healthy
+     471           0 :       if (all_corrections_healthy) {
+     472           0 :         changeState(INITIALIZED_STATE);
+     473             :       }
+     474           0 :       break;
+     475             :     }
+     476             :   }
+     477             : 
+     478           0 :   if (sh_control_input_.newMsg()) {
+     479           0 :     is_input_ready_ = true;
+     480             :   }
+     481             : 
+     482             :   // check age of input
+     483           0 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {
+     484           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: input too old (%.4f), using zero input instead", getPrintName().c_str(),
+     485             :                       (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     486           0 :     is_input_ready_ = false;
+     487             :   }
+     488             : }
+     489             : /*//}*/
+     490             : 
+     491             : /*//{ doCorrection() */
+     492      525485 : void AltGeneric::doCorrection(const Correction<alt_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id) {
+     493      525485 :   doCorrection(meas.value, R, state_id, meas.stamp);
+     494      524866 : }
+     495             : /*//}*/
+     496             : 
+     497             : /*//{ doCorrection() */
+     498      525486 : void AltGeneric::doCorrection(const z_t &z, const double R, const StateId_t &H_idx, const ros::Time &meas_stamp) {
+     499             : 
+     500      525486 :   if (!isInitialized()) {
+     501        5373 :     return;
+     502             :   }
+     503             : 
+     504             :   // we do not want to perform corrections until the estimator is initialized
+     505      525350 :   if (!(isInState(SMStates_t::READY_STATE) || isInState(SMStates_t::RUNNING_STATE) || isInState(SMStates_t::STARTED_STATE))) {
+     506        5370 :     return;
+     507             :   }
+     508             : 
+     509             :   // for position state check the innovation
+     510      519767 :   if (H_idx == POSITION) {
+     511      300769 :     std::scoped_lock lock(mtx_innovation_);
+     512             : 
+     513      300835 :     is_mitigating_jump_ = false;
+     514      300937 :     innovation_(0)      = z(0) - getState(POSITION);
+     515             : 
+     516      300876 :     if (fabs(innovation_(0)) > pos_innovation_limit_) {
+     517           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: innovation too large - [%.2f] lim: %.2f", getPrintName().c_str(), innovation_(0), pos_innovation_limit_);
+     518           0 :       innovation_ok_ = false;
+     519           0 :       switch (exc_innovation_action_) {
+     520           0 :         case ExcInnoAction_t::ELAND: {
+     521           0 :           ROS_WARN_THROTTLE(1.0, "[%s]: large innovation should trigger eland in control manager", getPrintName().c_str());
+     522           0 :           changeState(ERROR_STATE);
+     523           0 :           break;
+     524             :         }
+     525           0 :         case ExcInnoAction_t::SWITCH: {
+     526           0 :           ROS_WARN_THROTTLE(1.0, "[%s]: innovation should trigger estimator switch but no eland", getPrintName().c_str());
+     527           0 :           innovation_(0) = 0.0;  // this is quite hacky but is there other way to switch estimators and not trigger eland by the large innovation?
+     528           0 :           changeState(ERROR_STATE);
+     529           0 :           break;
+     530             :         }
+     531           0 :         case ExcInnoAction_t::MITIGATE: {
+     532           0 :           ROS_WARN_THROTTLE(1.0, "[%s]: large innovation should trigger estimate jump mitigation", getPrintName().c_str());
+     533           0 :           innovation_(0)      = 0.0;  // this is quite hacky but is there other way to switch estimators and not trigger eland by the large innovation?
+     534           0 :           is_mitigating_jump_ = true;
+     535           0 :           setState(z(0), POSITION);
+     536           0 :           break;
+     537             :         }
+     538           0 :         case ExcInnoAction_t::NONE: {
+     539           0 :           ROS_WARN_THROTTLE(1.0, "[%s]: large innovation ignored", getPrintName().c_str());
+     540           0 :           break;
+     541             :         }
+     542             :       }
+     543             :     }
+     544      300888 :     innovation_ok_ = true;
+     545             :   }
+     546             : 
+     547      519855 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     548             :   try {
+     549             :     // Apply the correction step
+     550             :     {
+     551     1034974 :       std::scoped_lock lock(mutex_lkf_);
+     552      520078 :       H_        = H_t::Zero();
+     553      519940 :       H_(H_idx) = 1;
+     554      519051 :       lkf_->H   = H_;
+     555      518477 :       if (is_repredictor_enabled_) {
+     556             : 
+     557           0 :         lkf_rep_->addMeasurement(z, R_t::Ones() * R, meas_stamp, models_[H_idx]);
+     558             :       } else {
+     559      518477 :         sc = lkf_->correct(sc, z, R_t::Ones() * R);
+     560             :       }
+     561             :     }
+     562             :   }
+     563           0 :   catch (const std::exception &e) {
+     564             :     // In case of error, alert the user
+     565           0 :     ROS_ERROR("[%s]: LKF correction failed: %s", getPrintName().c_str(), e.what());
+     566             :   }
+     567             : 
+     568      516186 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     569             : }  // namespace mrs_uav_state_estimators
+     570             : /*//}*/
+     571             : 
+     572             : /*//{ isConverged() */
+     573         202 : bool AltGeneric::isConverged() {
+     574             : 
+     575             :   // TODO: check convergence by rate of change of determinant
+     576             : 
+     577         202 :   return true;
+     578             : }
+     579             : /*//}*/
+     580             : 
+     581             : /*//{ getState() */
+     582      161515 : double AltGeneric::getState(const int &state_id_in, const int &axis_in) const {
+     583      161515 :   return getState(stateIdToIndex(state_id_in, axis_in));
+     584             : }
+     585             : 
+     586     1237793 : double AltGeneric::getState(const int &state_idx_in) const {
+     587     1237793 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x(state_idx_in);
+     588             : }
+     589             : /*//}*/
+     590             : 
+     591             : /*//{ setState() */
+     592           0 : void AltGeneric::setState(const double &state_in, const int &state_id_in, const int &axis_in) {
+     593           0 :   setState(state_in, stateIdToIndex(state_id_in, axis_in));
+     594           0 : }
+     595             : 
+     596         301 : void AltGeneric::setState(const double &state_in, const int &state_idx_in) {
+     597         301 :   mrs_lib::set_mutexed(mutex_sc_, state_in, sc_.x(state_idx_in));
+     598         301 : }
+     599             : /*//}*/
+     600             : 
+     601             : /*//{ getStates() */
+     602      334379 : AltGeneric::states_t AltGeneric::getStates(void) const {
+     603      667903 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x;
+     604             : }
+     605             : /*//}*/
+     606             : 
+     607             : /*//{ setStates() */
+     608           0 : void AltGeneric::setStates(const states_t &states_in) {
+     609           0 :   mrs_lib::set_mutexed(mutex_sc_, states_in, sc_.x);
+     610           0 : }
+     611             : /*//}*/
+     612             : 
+     613             : /*//{ getCovariance() */
+     614           0 : double AltGeneric::getCovariance(const int &state_id_in, const int &axis_in) const {
+     615           0 :   return getCovariance(stateIdToIndex(state_id_in, axis_in));
+     616             : }
+     617             : 
+     618      724332 : double AltGeneric::getCovariance(const int &state_idx_in) const {
+     619      724332 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P(state_idx_in, state_idx_in);
+     620             : }
+     621             : /*//}*/
+     622             : 
+     623             : /*//{ getCovarianceMatrix() */
+     624      334206 : AltGeneric::covariance_t AltGeneric::getCovarianceMatrix(void) const {
+     625      667642 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P;
+     626             : }
+     627             : /*//}*/
+     628             : 
+     629             : /*//{ setCovarianceMatrix() */
+     630           0 : void AltGeneric::setCovarianceMatrix(const covariance_t &cov_in) {
+     631           0 :   mrs_lib::set_mutexed(mutex_sc_, cov_in, sc_.P);
+     632           0 : }
+     633             : /*//}*/
+     634             : 
+     635             : /*//{ getInnovation() */
+     636      206651 : double AltGeneric::getInnovation(const int &state_idx) const {
+     637      206651 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_)(state_idx);
+     638             : }
+     639             : 
+     640           0 : double AltGeneric::getInnovation(const int &state_id_in, const int &axis_in) const {
+     641           0 :   return getInnovation(stateIdToIndex(state_id_in, axis_in));
+     642             : }
+     643             : /*//}*/
+     644             : 
+     645             : /*//{ setDt() */
+     646      334554 : void AltGeneric::setDt(const double &dt) {
+     647      334554 :   dt_ = dt;
+     648      334554 :   generateA();
+     649      334170 :   generateB();
+     650      668236 :   std::scoped_lock lock(mutex_lkf_);
+     651      334238 :   lkf_->A = A_;
+     652      334219 :   lkf_->B = B_;
+     653      334107 : }
+     654             : /*//}*/
+     655             : 
+     656             : /*//{ setInputCoeff() */
+     657         394 : void AltGeneric::setInputCoeff(const double &input_coeff) {
+     658         394 :   input_coeff_ = input_coeff;
+     659         394 :   generateA();
+     660         391 :   generateB();
+     661         785 :   std::scoped_lock lock(mutex_lkf_);
+     662         389 :   lkf_->A = A_;
+     663         391 :   lkf_->B = B_;
+     664             : 
+     665         393 :   if (is_repredictor_enabled_) {
+     666           0 :     models_.clear();
+     667           0 :     generateRepredictorModels(input_coeff_);
+     668             :   }
+     669         390 : }
+     670             : /*//}*/
+     671             : 
+     672             : /*//{ generateRepredictorModels() */
+     673           0 : void AltGeneric::generateRepredictorModels(const double input_coeff) {
+     674             : 
+     675           0 :     for (int i = 0; i < alt_generic::n_states; i++) {
+     676             : 
+     677           0 :       auto lambda_generateA = [input_coeff](const double dt) {
+     678           0 :         A_t A;
+     679             :         // clang-format off
+     680           0 :         A <<
+     681           0 :           1, dt, 0.5 * dt * dt,
+     682           0 :           0, 1, dt,
+     683           0 :           0, 0, 1-(input_coeff * dt);
+     684             :         // clang-format on
+     685           0 :         return A;
+     686           0 :       };
+     687             : 
+     688           0 :       auto lambda_generateB = [input_coeff]([[maybe_unused]] const double dt) {
+     689           0 :         B_t B = B.Zero();
+     690             :         // clang-format off
+     691           0 :         B <<
+     692             :           0,
+     693           0 :           0,
+     694           0 :           (input_coeff * dt);
+     695             :         // clang-format on
+     696           0 :         return B;
+     697           0 :       };
+     698             : 
+     699           0 :       H_t H = H_t::Zero();
+     700           0 :       H(i)  = 1;
+     701           0 :       models_.push_back(std::make_shared<varstep_lkf_t>(lambda_generateA, lambda_generateB, H));
+     702             :     }
+     703           0 : }
+     704             : /*//}*/
+     705             : 
+     706             : /*//{ generateA() */
+     707      335126 : void AltGeneric::generateA() {
+     708             : 
+     709             :   // clang-format off
+     710      335126 :     A_ <<
+     711      334586 :       1, dt_, 0.5 * dt_ * dt_,
+     712      334792 :       0, 1, dt_,
+     713      334903 :       0, 0, 1-(input_coeff_ * dt_);
+     714             :   // clang-format on
+     715      334715 : }
+     716             : /*//}*/
+     717             : 
+     718             : /*//{ generateB() */
+     719      335130 : void AltGeneric::generateB() {
+     720             : 
+     721             :   // clang-format off
+     722      335130 :     B_ <<
+     723             :       0,
+     724      334487 :       0,
+     725      334599 :       (input_coeff_ * dt_);
+     726             :   // clang-format on
+     727      334539 : }
+     728             : /*//}*/
+     729             : 
+     730             : /*//{ callbackReconfigure() */
+     731         202 : void AltGeneric::callbackReconfigure(AltitudeEstimatorConfig &config, [[maybe_unused]] uint32_t level) {
+     732             : 
+     733         202 :   if (!isInitialized()) {
+     734         202 :     return;
+     735             :   }
+     736             : 
+     737           0 :   Q_t Q;
+     738           0 :   Q(POSITION, POSITION)         = config.pos;
+     739           0 :   Q(VELOCITY, VELOCITY)         = config.vel;
+     740           0 :   Q(ACCELERATION, ACCELERATION) = config.acc;
+     741           0 :   mrs_lib::set_mutexed(mtx_Q_, Q, Q_);
+     742             : }
+     743             : /*//}*/
+     744             : 
+     745             : /*//{ getNamespacedName() */
+     746        1305 : std::string AltGeneric::getNamespacedName() const {
+     747        2610 :   return parent_state_est_name_ + "/" + getName();
+     748             : }
+     749             : /*//}*/
+     750             : 
+     751             : /*//{ getPrintName() */
+     752        1570 : std::string AltGeneric::getPrintName() const {
+     753        3140 :   return ch_->nodelet_name + "/" + parent_state_est_name_ + "/" + getName();
+     754             : }
+     755             : /*//}*/
+     756             : };  // namespace mrs_uav_state_estimators
+
+
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::HdgGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)0
mrs_uav_state_estimators::HdgGeneric::isConverged()0
mrs_uav_state_estimators::HdgGeneric::timerUpdate(ros::TimerEvent const&)0
mrs_uav_state_estimators::HdgGeneric::doCorrection(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, double, mrs_uav_managers::estimation_manager::StateId_t const&, ros::Time const&)0
mrs_uav_state_estimators::HdgGeneric::doCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)0
mrs_uav_state_estimators::HdgGeneric::setInputCoeff(double const&)0
mrs_uav_state_estimators::HdgGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::HdgGeneric::callbackReconfigure(mrs_uav_state_estimators::HeadingEstimatorConfig&, unsigned int)0
mrs_uav_state_estimators::HdgGeneric::setCovarianceMatrix(Eigen::Matrix<double, 2, 2, 0, 2, 2> const&)0
mrs_uav_state_estimators::HdgGeneric::generateRepredictorModels(double)0
mrs_uav_state_estimators::HdgGeneric::pause()0
mrs_uav_state_estimators::HdgGeneric::reset()0
mrs_uav_state_estimators::HdgGeneric::setDt(double const&)0
mrs_uav_state_estimators::HdgGeneric::start()0
mrs_uav_state_estimators::HdgGeneric::setState(double const&, int const&)0
mrs_uav_state_estimators::HdgGeneric::setState(double const&, int const&, int const&)0
mrs_uav_state_estimators::HdgGeneric::generateA()0
mrs_uav_state_estimators::HdgGeneric::generateB()0
mrs_uav_state_estimators::HdgGeneric::setStates(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&)0
mrs_uav_state_estimators::HdgGeneric::getPrintName[abi:cxx11]() const0
mrs_uav_state_estimators::HdgGeneric::getCovariance(int const&) const0
mrs_uav_state_estimators::HdgGeneric::getCovariance(int const&, int const&) const0
mrs_uav_state_estimators::HdgGeneric::getInnovation(int const&) const0
mrs_uav_state_estimators::HdgGeneric::getInnovation(int const&, int const&) const0
mrs_uav_state_estimators::HdgGeneric::getLastValidHdg() const0
mrs_uav_state_estimators::HdgGeneric::getNamespacedName[abi:cxx11]() const0
mrs_uav_state_estimators::HdgGeneric::getCovarianceMatrix() const0
mrs_uav_state_estimators::HdgGeneric::getState(int const&) const0
mrs_uav_state_estimators::HdgGeneric::getState(int const&, int const&) const0
mrs_uav_state_estimators::HdgGeneric::getStates() const0
mrs_uav_state_estimators::HdgGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)::{lambda(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t)#2}::operator()(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t) const0
mrs_uav_state_estimators::HdgGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)::{lambda(int, int)#1}::operator()(int, int) const0
mrs_uav_state_estimators::HdgGeneric::generateRepredictorModels(double)::{lambda(double)#2}::operator()(double) const0
mrs_uav_state_estimators::HdgGeneric::generateRepredictorModels(double)::{lambda(double)#1}::operator()(double) const0
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.func.html b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.func.html new file mode 100644 index 0000000000..5a80ed246d --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.func.html @@ -0,0 +1,216 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/heading - hdg_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:03580.0 %
Date:2024-08-07 22:18:19Functions:0340.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::HdgGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)0
mrs_uav_state_estimators::HdgGeneric::isConverged()0
mrs_uav_state_estimators::HdgGeneric::timerUpdate(ros::TimerEvent const&)0
mrs_uav_state_estimators::HdgGeneric::doCorrection(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, double, mrs_uav_managers::estimation_manager::StateId_t const&, ros::Time const&)0
mrs_uav_state_estimators::HdgGeneric::doCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)0
mrs_uav_state_estimators::HdgGeneric::setInputCoeff(double const&)0
mrs_uav_state_estimators::HdgGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::HdgGeneric::callbackReconfigure(mrs_uav_state_estimators::HeadingEstimatorConfig&, unsigned int)0
mrs_uav_state_estimators::HdgGeneric::setCovarianceMatrix(Eigen::Matrix<double, 2, 2, 0, 2, 2> const&)0
mrs_uav_state_estimators::HdgGeneric::generateRepredictorModels(double)0
mrs_uav_state_estimators::HdgGeneric::pause()0
mrs_uav_state_estimators::HdgGeneric::reset()0
mrs_uav_state_estimators::HdgGeneric::setDt(double const&)0
mrs_uav_state_estimators::HdgGeneric::start()0
mrs_uav_state_estimators::HdgGeneric::setState(double const&, int const&)0
mrs_uav_state_estimators::HdgGeneric::setState(double const&, int const&, int const&)0
mrs_uav_state_estimators::HdgGeneric::generateA()0
mrs_uav_state_estimators::HdgGeneric::generateB()0
mrs_uav_state_estimators::HdgGeneric::setStates(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&)0
mrs_uav_state_estimators::HdgGeneric::getPrintName[abi:cxx11]() const0
mrs_uav_state_estimators::HdgGeneric::getCovariance(int const&) const0
mrs_uav_state_estimators::HdgGeneric::getCovariance(int const&, int const&) const0
mrs_uav_state_estimators::HdgGeneric::getInnovation(int const&) const0
mrs_uav_state_estimators::HdgGeneric::getInnovation(int const&, int const&) const0
mrs_uav_state_estimators::HdgGeneric::getLastValidHdg() const0
mrs_uav_state_estimators::HdgGeneric::getNamespacedName[abi:cxx11]() const0
mrs_uav_state_estimators::HdgGeneric::getCovarianceMatrix() const0
mrs_uav_state_estimators::HdgGeneric::getState(int const&) const0
mrs_uav_state_estimators::HdgGeneric::getState(int const&, int const&) const0
mrs_uav_state_estimators::HdgGeneric::getStates() const0
mrs_uav_state_estimators::HdgGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)::{lambda(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t)#2}::operator()(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t) const0
mrs_uav_state_estimators::HdgGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)::{lambda(int, int)#1}::operator()(int, int) const0
mrs_uav_state_estimators::HdgGeneric::generateRepredictorModels(double)::{lambda(double)#2}::operator()(double) const0
mrs_uav_state_estimators::HdgGeneric::generateRepredictorModels(double)::{lambda(double)#1}::operator()(double) const0
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.gcov.frameset.html new file mode 100644 index 0000000000..3cdb79f846 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.gcov.html new file mode 100644 index 0000000000..e4ebb40e25 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.gcov.html @@ -0,0 +1,796 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/heading - hdg_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:03580.0 %
Date:2024-08-07 22:18:19Functions:0340.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #define VERSION "0.0.6.0"
+       2             : 
+       3             : /* includes //{ */
+       4             : 
+       5             : #include <mrs_uav_state_estimators/estimators/heading/hdg_generic.h>
+       6             : 
+       7             : //}
+       8             : 
+       9             : namespace mrs_uav_state_estimators
+      10             : 
+      11             : {
+      12             : 
+      13             : /* initialize() //{*/
+      14           0 : void HdgGeneric::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16           0 :   ch_ = ch;
+      17           0 :   ph_ = ph;
+      18             : 
+      19           0 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      20             : 
+      21             :   // clang-format off
+      22           0 :   dt_ = 0.01;
+      23           0 :   input_coeff_ = 20;
+      24           0 :   default_input_coeff_ = 20;
+      25             : 
+      26           0 :   generateA();
+      27           0 :   generateB();
+      28             : 
+      29           0 :   H_ <<
+      30           0 :     1, 0;
+      31             : 
+      32           0 :   innovation_ << 
+      33             :     0;
+      34             : 
+      35             : 
+      36             :   // clang-format on
+      37             : 
+      38             :   // | --------------- initialize parameter loader -------------- |
+      39             : 
+      40           0 :   if (is_core_plugin_) {
+      41             : 
+      42           0 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      43           0 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      44             :   }
+      45             : 
+      46           0 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      47             : 
+      48             :   // | --------------------- load parameters -------------------- |
+      49           0 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      50           0 :   ph->param_loader->loadParam("position_innovation_limit", pos_innovation_limit_);
+      51           0 :   ph->param_loader->loadParam("repredictor/enabled", is_repredictor_enabled_);
+      52           0 :   if (is_repredictor_enabled_) {
+      53           0 :     ph->param_loader->loadParam("repredictor/buffer_size", rep_buffer_size_);
+      54             :   }
+      55             : 
+      56             :   // | --------------- corrections initialization --------------- |
+      57           0 :   ph->param_loader->loadParam("corrections", correction_names_);
+      58             : 
+      59           0 :   for (auto corr_name : correction_names_) {
+      60           0 :     corrections_.push_back(std::make_shared<Correction<hdg_generic::n_measurements>>(
+      61           0 :         nh, getNamespacedName(), corr_name, ns_frame_id_, EstimatorType_t::HEADING, ch_, ph_, [this](int a, int b) { return this->getState(a, b); },
+      62           0 :         [this](const Correction<hdg_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t state) {
+      63           0 :           return this->doCorrection(meas, R, state);
+      64             :         }));
+      65             :   }
+      66             : 
+      67           0 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      68             : 
+      69             :   // | ----------- initialize process noise covariance ---------- |
+      70           0 :   Q_ = Q_t::Zero();
+      71             :   double tmp_noise;
+      72           0 :   ph->param_loader->loadParam("process_noise/pos", tmp_noise);
+      73           0 :   Q_(POSITION, POSITION) = tmp_noise;
+      74           0 :   ph->param_loader->loadParam("process_noise/vel", tmp_noise);
+      75           0 :   Q_(VELOCITY, VELOCITY) = tmp_noise;
+      76             : 
+      77             :   // | ------- check if all parameters loaded successfully ------ |
+      78           0 :   if (!ph->param_loader->loadedSuccessfully()) {
+      79           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+      80           0 :     ros::shutdown();
+      81             :   }
+      82             : 
+      83             :   // | ------------- initialize dynamic reconfigure ------------- |
+      84             :   drmgr_ =
+      85           0 :       std::make_unique<drmgr_t>(ros::NodeHandle("~/" + getNamespacedName()), true, getPrintName(), boost::bind(&HdgGeneric::callbackReconfigure, this, _1, _2));
+      86           0 :   drmgr_->config.pos = Q_(POSITION, POSITION);
+      87           0 :   drmgr_->config.vel = Q_(VELOCITY, VELOCITY);
+      88           0 :   drmgr_->update_config(drmgr_->config);
+      89             : 
+      90             :   // | --------------- Kalman filter intialization -------------- |
+      91           0 :   const x_t        x0 = x_t::Zero();
+      92           0 :   const P_t        P0 = 1e3 * P_t::Identity();
+      93           0 :   const statecov_t sc0({x0, P0});
+      94           0 :   sc_ = sc0;
+      95             : 
+      96           0 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+      97           0 :   if (is_repredictor_enabled_) {
+      98             : 
+      99           0 :     generateRepredictorModels(input_coeff_);
+     100             : 
+     101           0 :     const u_t       u0 = u_t::Zero();
+     102           0 :     const ros::Time t0 = ros::Time::now();
+     103           0 :     lkf_rep_           = std::make_unique<mrs_lib::Repredictor<varstep_lkf_t>>(x0, P0, u0, Q_, t0, models_.at(0), rep_buffer_size_);
+     104             : 
+     105           0 :     setDt(1.0 / ch_->desired_uav_state_rate);
+     106             :   }
+     107             : 
+     108             :   // | ------------------ timers initialization ----------------- |
+     109           0 :   timer_update_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &HdgGeneric::timerUpdate, this);  // not running after init
+     110             :   /* timer_check_health_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &HdgGeneric::timerCheckHealth, this); */
+     111             : 
+     112             :   // | --------------- subscribers initialization --------------- |
+     113             :   // subscriber to odometry
+     114           0 :   mrs_lib::SubscribeHandlerOptions shopts;
+     115           0 :   shopts.nh                 = nh;
+     116           0 :   shopts.node_name          = getPrintName();
+     117           0 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     118           0 :   shopts.threadsafe         = true;
+     119           0 :   shopts.autostart          = true;
+     120           0 :   shopts.queue_size         = 10;
+     121           0 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     122             : 
+     123           0 :   sh_control_input_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>(shopts, "control_input_in");
+     124             : 
+     125             :   // | ---------------- publishers initialization --------------- |
+     126           0 :   if (ch_->debug_topics.input) {
+     127           0 :     ph_input_ = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, getNamespacedName() + "/input", 10);
+     128             :   }
+     129           0 :   if (ch_->debug_topics.output) {
+     130           0 :     ph_output_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput>(nh, getNamespacedName() + "/output", 10);
+     131             :   }
+     132           0 :   if (ch_->debug_topics.diag) {
+     133           0 :     ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics>(nh, getNamespacedName() + "/diagnostics", 10);
+     134             :   }
+     135             : 
+     136             :   // | ------------------ finish initialization ----------------- |
+     137             : 
+     138           0 :   if (changeState(INITIALIZED_STATE)) {
+     139           0 :     ROS_INFO("[%s]: Estimator initialized, version %s", getPrintName().c_str(), VERSION);
+     140             :   } else {
+     141           0 :     ROS_INFO("[%s]: Estimator could not be initialized", getPrintName().c_str());
+     142             :   }
+     143           0 : }
+     144             : /*//}*/
+     145             : 
+     146             : /*//{ start() */
+     147           0 : bool HdgGeneric::start(void) {
+     148             : 
+     149           0 :   if (isInState(READY_STATE)) {
+     150             :     /* timer_update_.start(); */
+     151           0 :     changeState(STARTED_STATE);
+     152           0 :     return true;
+     153             : 
+     154             :   } else {
+     155           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+     156           0 :     return false;
+     157             :   }
+     158             : }
+     159             : /*//}*/
+     160             : 
+     161             : /*//{ pause() */
+     162           0 : bool HdgGeneric::pause(void) {
+     163             : 
+     164           0 :   if (isInState(RUNNING_STATE)) {
+     165           0 :     changeState(STOPPED_STATE);
+     166           0 :     return true;
+     167             : 
+     168             :   } else {
+     169           0 :     return false;
+     170             :   }
+     171             : }
+     172             : /*//}*/
+     173             : 
+     174             : /*//{ reset() */
+     175           0 : bool HdgGeneric::reset(void) {
+     176             : 
+     177           0 :   if (!isInitialized()) {
+     178           0 :     ROS_ERROR("[%s]: Cannot reset uninitialized estimator", getPrintName().c_str());
+     179           0 :     return false;
+     180             :   }
+     181             : 
+     182           0 :   changeState(STOPPED_STATE);
+     183             : 
+     184             :   // Initialize LKF state and covariance
+     185           0 :   const x_t        x0 = x_t::Zero();
+     186           0 :   const P_t        P0 = 1e6 * P_t::Identity();
+     187           0 :   const statecov_t sc0({x0, P0});
+     188           0 :   sc_ = sc0;
+     189             : 
+     190             :   // Instantiate the LKF itself
+     191           0 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+     192           0 :   if (is_repredictor_enabled_) {
+     193             : 
+     194           0 :     const u_t       u0 = u_t::Zero();
+     195           0 :     const ros::Time t0 = ros::Time(0);
+     196           0 :     lkf_rep_           = std::make_unique<mrs_lib::Repredictor<varstep_lkf_t>>(x0, P0, u0, Q_, t0, models_.at(0), rep_buffer_size_);
+     197             :   }
+     198             : 
+     199           0 :   changeState(INITIALIZED_STATE);
+     200           0 :   ROS_INFO("[%s]: Estimator reset", getPrintName().c_str());
+     201             : 
+     202           0 :   return true;
+     203             : }
+     204             : /*//}*/
+     205             : 
+     206             : /* timerUpdate() //{*/
+     207           0 : void HdgGeneric::timerUpdate(const ros::TimerEvent &event) {
+     208             : 
+     209           0 :   if (!isInitialized()) {
+     210           0 :     return;
+     211             :   }
+     212             : 
+     213           0 :   switch (getCurrentSmState()) {
+     214             : 
+     215           0 :     case UNINITIALIZED_STATE: {
+     216           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s initialization", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     217           0 :       break;
+     218             :     }
+     219             : 
+     220           0 :     case READY_STATE: {
+     221           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     222           0 :       break;
+     223             :     }
+     224             : 
+     225           0 :     case INITIALIZED_STATE: {
+     226             :       // initialize the estimator with current corrections
+     227           0 :       for (auto correction : corrections_) {
+     228           0 :         auto res = correction->getProcessedCorrection();
+     229           0 :         if (res) {
+     230           0 :           auto measurement_stamped = res.value();
+     231           0 :           setState(measurement_stamped.value(AXIS_X), correction->getStateId(), AXIS_X);
+     232           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: Setting initial state to: %.2f", getPrintName().c_str(), measurement_stamped.value(AXIS_X));
+     233             :         } else {
+     234           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(),
+     235             :                             correction->getNamespacedName().c_str());
+     236           0 :           return;
+     237             :         }
+     238             :       }
+     239           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     240           0 :       changeState(READY_STATE);
+     241           0 :       break;
+     242             :     }
+     243             : 
+     244           0 :     case STARTED_STATE: {
+     245           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     246           0 :       if (isConverged()) {
+     247           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     248           0 :         changeState(RUNNING_STATE);
+     249             :       }
+     250           0 :       break;
+     251             :     }
+     252             : 
+     253           0 :     case RUNNING_STATE: {
+     254           0 :       for (auto correction : corrections_) {
+     255           0 :         if (!correction->isHealthy()) {
+     256           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     257           0 :           changeState(ERROR_STATE);
+     258             :         }
+     259             :       }
+     260           0 :       break;
+     261             :     }
+     262             : 
+     263           0 :     case STOPPED_STATE: {
+     264           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is stopped", getPrintName().c_str());
+     265           0 :       break;
+     266             :     }
+     267             : 
+     268           0 :     case ERROR_STATE: {
+     269           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is in ERROR state", getPrintName().c_str());
+     270           0 :       bool all_corrections_healthy = true;
+     271           0 :       for (auto correction : corrections_) {
+     272           0 :         if (!correction->isHealthy()) {
+     273           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     274           0 :           all_corrections_healthy = false;
+     275             :         }
+     276             :       }
+     277             :       // initialize the estimator again if corrections become healthy
+     278           0 :       if (all_corrections_healthy && innovation_ok_) {
+     279           0 :         changeState(INITIALIZED_STATE);
+     280             :       }
+     281           0 :       break;
+     282             :     }
+     283             :   }
+     284             : 
+     285           0 :   if (sh_control_input_.newMsg()) {
+     286           0 :     is_input_ready_ = true;
+     287             :   }
+     288             : 
+     289             :   // check age of input
+     290           0 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {
+     291           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: input too old (%.4f), using zero input instead", getPrintName().c_str(),
+     292             :                       (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     293           0 :     is_input_ready_ = false;
+     294             :   }
+     295             : 
+     296           0 :   if (!isRunning() && !isStarted()) {
+     297           0 :     return;
+     298             :   }
+     299             : 
+     300           0 :   if (first_iter_) {
+     301           0 :     first_iter_ = false;
+     302           0 :     return;
+     303             :   }
+     304             : 
+     305           0 :   double dt = (event.current_real - event.last_real).toSec();
+     306           0 :   if (dt <= 0.0 || dt > 1.0) {
+     307           0 :     return;
+     308             :   }
+     309             : 
+     310           0 :   if (!is_repredictor_enabled_) {  // repredictor calculates dt on its own
+     311           0 :     setDt(dt);
+     312             :   }
+     313             : 
+     314             :   // go through available corrections and apply them
+     315             :   /* for (auto correction : corrections_) { */
+     316             :   /*   auto res = correction->getProcessedCorrection(); */
+     317             :   /*   if (res) { */
+     318             :   /*     auto measurement_stamped = res.value(); */
+     319             :   /*     doCorrection(measurement_stamped.value, correction->getR(), correction->getStateId(), measurement_stamped.stamp); */
+     320             :   /*   } */
+     321             :   /* } */
+     322             : 
+     323             :   // prediction step
+     324           0 :   u_t       u;
+     325           0 :   ros::Time input_stamp;
+     326           0 :   if (is_input_ready_) {
+     327           0 :     input_stamp = sh_control_input_.getMsg()->header.stamp;
+     328           0 :     if (input_coeff_ != default_input_coeff_){
+     329           0 :       setInputCoeff(default_input_coeff_);
+     330             :     }
+     331           0 :     u(0) = sh_control_input_.getMsg()->control_hdg_rate;
+     332             :   } else {
+     333           0 :     input_stamp = ros::Time::now();
+     334           0 :     if (input_coeff_ != 0){
+     335           0 :       setInputCoeff(0);
+     336             :     }
+     337           0 :     u = u_t::Zero();
+     338             :   }
+     339             : 
+     340           0 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     341           0 :   Q_t        Q  = mrs_lib::get_mutexed(mtx_Q_, Q_);
+     342             :   try {
+     343             :     // Apply the prediction step
+     344           0 :     std::scoped_lock lock(mutex_lkf_);
+     345           0 :     if (is_repredictor_enabled_) {
+     346           0 :       lkf_rep_->addInputChangeWithNoise(u, Q, input_stamp, models_[0]);
+     347           0 :       sc = lkf_rep_->predictTo(ros::Time::now());
+     348             :     } else {
+     349           0 :       sc = lkf_->predict(sc, u, Q, dt_);
+     350             :     }
+     351             :   }
+     352           0 :   catch (const std::exception &e) {
+     353             :     // In case of error, alert the user
+     354           0 :     ROS_ERROR("[%s]: LKF prediction failed: %s", getPrintName().c_str(), e.what());
+     355             :   }
+     356             : 
+     357           0 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     358             : 
+     359           0 :   if (!isError()) {
+     360           0 :     mrs_lib::set_mutexed(mutex_last_valid_hdg_, sc.x(POSITION), last_valid_hdg_);
+     361             :   }
+     362             : 
+     363             :   // publishing
+     364           0 :   publishInput(u, input_stamp);
+     365           0 :   publishOutput();
+     366           0 :   publishDiagnostics();
+     367             : }
+     368             : /*//}*/
+     369             : 
+     370             : /*//{ timerCheckHealth() */
+     371           0 : void HdgGeneric::timerCheckHealth([[maybe_unused]] const ros::TimerEvent &event) {
+     372             : 
+     373           0 :   if (!isInitialized()) {
+     374           0 :     return;
+     375             :   }
+     376             : 
+     377           0 :   switch (getCurrentSmState()) {
+     378             : 
+     379           0 :     case UNINITIALIZED_STATE: {
+     380           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s initialization", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     381           0 :       break;
+     382             :     }
+     383             : 
+     384           0 :     case READY_STATE: {
+     385           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     386           0 :       break;
+     387             :     }
+     388             : 
+     389           0 :     case INITIALIZED_STATE: {
+     390             :       // initialize the estimator with current corrections
+     391           0 :       for (auto correction : corrections_) {
+     392           0 :         auto res = correction->getProcessedCorrection();
+     393           0 :         if (res) {
+     394           0 :           auto measurement_stamped = res.value();
+     395           0 :           setState(measurement_stamped.value(AXIS_X), correction->getStateId(), AXIS_X);
+     396           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: Setting initial state to: %.2f", getPrintName().c_str(), measurement_stamped.value(AXIS_X));
+     397             :         } else {
+     398           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(),
+     399             :                             correction->getNamespacedName().c_str());
+     400           0 :           return;
+     401             :         }
+     402             :       }
+     403           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     404           0 :       changeState(READY_STATE);
+     405           0 :       break;
+     406             :     }
+     407             : 
+     408           0 :     case STARTED_STATE: {
+     409           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     410           0 :       if (isConverged()) {
+     411           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     412           0 :         changeState(RUNNING_STATE);
+     413             :       }
+     414           0 :       break;
+     415             :     }
+     416             : 
+     417           0 :     case RUNNING_STATE: {
+     418           0 :       for (auto correction : corrections_) {
+     419           0 :         if (!correction->isHealthy()) {
+     420           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     421           0 :           changeState(ERROR_STATE);
+     422             :         }
+     423             :       }
+     424           0 :       break;
+     425             :     }
+     426             : 
+     427           0 :     case STOPPED_STATE: {
+     428           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is stopped", getPrintName().c_str());
+     429           0 :       break;
+     430             :     }
+     431             : 
+     432           0 :     case ERROR_STATE: {
+     433           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is in ERROR state", getPrintName().c_str());
+     434           0 :       bool all_corrections_healthy = true;
+     435           0 :       for (auto correction : corrections_) {
+     436           0 :         if (!correction->isHealthy()) {
+     437           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     438           0 :           all_corrections_healthy = false;
+     439             :         }
+     440             :       }
+     441             :       // initialize the estimator again if corrections become healthy
+     442           0 :       if (all_corrections_healthy) {
+     443           0 :         changeState(INITIALIZED_STATE);
+     444             :       }
+     445           0 :       break;
+     446             :     }
+     447             :   }
+     448             : 
+     449           0 :   if (sh_control_input_.newMsg()) {
+     450           0 :     is_input_ready_ = true;
+     451             :   }
+     452             : 
+     453             :   // check age of input
+     454           0 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {
+     455           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: input too old (%.4f), using zero input instead", getPrintName().c_str(),
+     456             :                       (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     457           0 :     is_input_ready_ = false;
+     458             :   }
+     459             : }
+     460             : /*//}*/
+     461             : 
+     462             : /*//{ doCorrection() */
+     463           0 : void HdgGeneric::doCorrection(const Correction<hdg_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id) {
+     464           0 :   doCorrection(meas.value, R, state_id, meas.stamp);
+     465           0 : }
+     466             : /*//}*/
+     467             : 
+     468             : /*//{ doCorrection() */
+     469           0 : void HdgGeneric::doCorrection(const z_t &z, const double R, const StateId_t &H_idx, const ros::Time &meas_stamp) {
+     470             : 
+     471           0 :   if (!isInitialized()) {
+     472           0 :     return;
+     473             :   }
+     474             : 
+     475             :   // copy measurement as we might need to modify it (unwrap)
+     476           0 :   z_t meas = z;
+     477             : 
+     478             :   // we do not want to perform corrections until the estimator is initialized
+     479           0 :   if (!(isInState(SMStates_t::READY_STATE) || isInState(SMStates_t::RUNNING_STATE) || isInState(SMStates_t::STARTED_STATE))) {
+     480           0 :     return;
+     481             :   }
+     482             : 
+     483           0 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     484             : 
+     485             :   // for position state check the innovation
+     486           0 :   if (H_idx == POSITION) {
+     487             : 
+     488             :     // unwrap the hdg measurement wrt current state
+     489           0 :     meas(POSITION) = mrs_lib::geometry::radians::unwrap(meas(POSITION), sc.x(POSITION));
+     490             : 
+     491           0 :     std::scoped_lock lock(mtx_innovation_);
+     492             : 
+     493           0 :     innovation_(0) = mrs_lib::geometry::radians::dist(mrs_lib::geometry::radians(meas(0)), mrs_lib::geometry::radians(sc.x(POSITION)));
+     494             : 
+     495           0 :     if (fabs(innovation_(0)) > pos_innovation_limit_) {
+     496           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: innovation too large - hdg: %.2f", getPrintName().c_str(), innovation_(0));
+     497           0 :       innovation_ok_ = false;
+     498           0 :       changeState(ERROR_STATE);
+     499             :     }
+     500             :   }
+     501             : 
+     502             :   try {
+     503             :     // Apply the correction step
+     504             :     {
+     505           0 :       std::scoped_lock lock(mutex_lkf_);
+     506           0 :       H_        = H_t::Zero();
+     507           0 :       H_(H_idx) = 1;
+     508           0 :       lkf_->H   = H_;
+     509           0 :       if (is_repredictor_enabled_) {
+     510           0 :         lkf_rep_->addMeasurement(meas, R_t::Ones() * R, meas_stamp, models_[H_idx]);
+     511             :       } else {
+     512           0 :         sc = lkf_->correct(sc, meas, R_t::Ones() * R);
+     513             :       }
+     514             :     }
+     515           0 :     innovation_ok_ = true;
+     516             :   }
+     517           0 :   catch (const std::exception &e) {
+     518             :     // In case of error, alert the user
+     519           0 :     ROS_ERROR("[%s]: LKF correction failed: %s", getPrintName().c_str(), e.what());
+     520             :   }
+     521             : 
+     522           0 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     523             : }
+     524             : /*//}*/
+     525             : 
+     526             : /*//{ isConverged() */
+     527           0 : bool HdgGeneric::isConverged() {
+     528             : 
+     529             :   // TODO: check convergence by rate of change of determinant
+     530             : 
+     531           0 :   return true;
+     532             : }
+     533             : /*//}*/
+     534             : 
+     535             : /*//{ getState() */
+     536           0 : double HdgGeneric::getState(const int &state_id_in, const int &axis_in) const {
+     537           0 :   return getState(stateIdToIndex(state_id_in, axis_in));
+     538             : }
+     539             : 
+     540           0 : double HdgGeneric::getState(const int &state_idx_in) const {
+     541           0 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x(state_idx_in);
+     542             : }
+     543             : /*//}*/
+     544             : 
+     545             : /*//{ setState() */
+     546           0 : void HdgGeneric::setState(const double &state_in, const int &state_id_in, const int &axis_in) {
+     547           0 :   setState(state_in, stateIdToIndex(state_id_in, axis_in));
+     548           0 : }
+     549             : 
+     550           0 : void HdgGeneric::setState(const double &state_in, const int &state_idx_in) {
+     551           0 :   mrs_lib::set_mutexed(mutex_sc_, state_in, sc_.x(state_idx_in));
+     552           0 : }
+     553             : /*//}*/
+     554             : 
+     555             : /*//{ getStates() */
+     556           0 : HdgGeneric::states_t HdgGeneric::getStates(void) const {
+     557           0 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x;
+     558             : }
+     559             : /*//}*/
+     560             : 
+     561             : /*//{ setStates() */
+     562           0 : void HdgGeneric::setStates(const states_t &states_in) {
+     563           0 :   mrs_lib::set_mutexed(mutex_sc_, states_in, sc_.x);
+     564           0 : }
+     565             : /*//}*/
+     566             : 
+     567             : /*//{ getCovariance() */
+     568           0 : double HdgGeneric::getCovariance(const int &state_id_in, const int &axis_in) const {
+     569           0 :   return getCovariance(stateIdToIndex(state_id_in, axis_in));
+     570             : }
+     571             : 
+     572           0 : double HdgGeneric::getCovariance(const int &state_idx_in) const {
+     573           0 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P(state_idx_in, state_idx_in);
+     574             : }
+     575             : /*//}*/
+     576             : 
+     577             : /*//{ getCovarianceMatrix() */
+     578           0 : HdgGeneric::covariance_t HdgGeneric::getCovarianceMatrix(void) const {
+     579           0 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P;
+     580             : }
+     581             : /*//}*/
+     582             : 
+     583             : /*//{ setCovarianceMatrix() */
+     584           0 : void HdgGeneric::setCovarianceMatrix(const covariance_t &cov_in) {
+     585           0 :   mrs_lib::set_mutexed(mutex_sc_, cov_in, sc_.P);
+     586           0 : }
+     587             : /*//}*/
+     588             : 
+     589             : /*//{ getInnovation() */
+     590           0 : double HdgGeneric::getInnovation(const int &state_idx) const {
+     591           0 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_)(state_idx);
+     592             : }
+     593             : 
+     594           0 : double HdgGeneric::getInnovation(const int &state_id_in, const int &axis_in) const {
+     595           0 :   return getInnovation(stateIdToIndex(state_id_in, axis_in));
+     596             : }
+     597             : /*//}*/
+     598             : 
+     599             : /*//{ setDt() */
+     600           0 : void HdgGeneric::setDt(const double &dt) {
+     601           0 :   dt_ = dt;
+     602           0 :   generateA();
+     603           0 :   generateB();
+     604           0 :   std::scoped_lock lock(mutex_lkf_);
+     605           0 :   lkf_->A = A_;
+     606           0 :   lkf_->B = B_;
+     607           0 : }
+     608             : /*//}*/
+     609             : 
+     610             : /*//{ setInputCoeff() */
+     611           0 : void HdgGeneric::setInputCoeff(const double &input_coeff) {
+     612           0 :   input_coeff_ = input_coeff;
+     613           0 :   generateA();
+     614           0 :   generateB();
+     615           0 :   std::scoped_lock lock(mutex_lkf_);
+     616           0 :   lkf_->A = A_;
+     617           0 :   lkf_->B = B_;
+     618             : 
+     619           0 :   if (is_repredictor_enabled_) {
+     620           0 :     models_.clear();
+     621           0 :     generateRepredictorModels(input_coeff_);
+     622             :   }
+     623           0 : }
+     624             : /*//}*/
+     625             : 
+     626             : /*//{ generateRepredictorModels() */
+     627           0 : void HdgGeneric::generateRepredictorModels(const double input_coeff) {
+     628             : 
+     629           0 :     for (int i = 0; i < hdg_generic::n_states; i++) {
+     630             : 
+     631           0 :       auto lambda_generateA = [input_coeff](const double dt) {
+     632           0 :         A_t A;
+     633             :         // clang-format off
+     634           0 :         A <<
+     635           0 :           1, dt,
+     636           0 :           0, 1-(input_coeff * dt);
+     637             :         // clang-format on
+     638           0 :         return A;
+     639           0 :       };
+     640             : 
+     641           0 :       auto lambda_generateB = [input_coeff]([[maybe_unused]] const double dt) {
+     642           0 :         B_t B = B.Zero();
+     643             :         // clang-format off
+     644           0 :         B <<
+     645             :           0,
+     646           0 :           (input_coeff * dt);
+     647             :         // clang-format on
+     648           0 :         return B;
+     649           0 :       };
+     650             : 
+     651           0 :       H_t H = H_t::Zero();
+     652           0 :       H(i)  = 1;
+     653           0 :       models_.push_back(std::make_shared<varstep_lkf_t>(lambda_generateA, lambda_generateB, H));
+     654             :     }
+     655           0 : }
+     656             : /*//}*/
+     657             : 
+     658             : /*//{ generateA() */
+     659           0 : void HdgGeneric::generateA() {
+     660             : 
+     661             :   // clang-format off
+     662           0 :     A_ <<
+     663           0 :       1, dt_,
+     664           0 :       0, 1-(input_coeff_ * dt_);
+     665             :   // clang-format on
+     666           0 : }
+     667             : /*//}*/
+     668             : 
+     669             : /*//{ generateB() */
+     670           0 : void HdgGeneric::generateB() {
+     671             : 
+     672             :   // clang-format off
+     673           0 :     B_ <<
+     674             :       0,
+     675           0 :       (input_coeff_ * dt_);
+     676             :   // clang-format on
+     677           0 : }
+     678             : /*//}*/
+     679             : 
+     680             : /*//{ getLastValidHdg() */
+     681           0 : double HdgGeneric::getLastValidHdg() const {
+     682           0 :   return mrs_lib::get_mutexed(mutex_last_valid_hdg_, last_valid_hdg_);
+     683             : }
+     684             : /*//}*/
+     685             : 
+     686             : /*//{ callbackReconfigure() */
+     687           0 : void HdgGeneric::callbackReconfigure(HeadingEstimatorConfig &config, [[maybe_unused]] uint32_t level) {
+     688             : 
+     689           0 :   if (!isInitialized()) {
+     690           0 :     return;
+     691             :   }
+     692             : 
+     693           0 :   Q_t Q;
+     694           0 :   Q(POSITION, POSITION) = config.pos;
+     695           0 :   Q(VELOCITY, VELOCITY) = config.vel;
+     696           0 :   mrs_lib::set_mutexed(mtx_Q_, Q, Q_);
+     697             : }
+     698             : /*//}*/
+     699             : 
+     700             : /*//{ getNamespacedName() */
+     701           0 : std::string HdgGeneric::getNamespacedName() const {
+     702           0 :   return parent_state_est_name_ + "/" + getName();
+     703             : }
+     704             : /*//}*/
+     705             : 
+     706             : /*//{ getPrintName() */
+     707           0 : std::string HdgGeneric::getPrintName() const {
+     708           0 :   return ch_->nodelet_name + "/" + parent_state_est_name_ + "/" + getName();
+     709             : }
+     710             : /*//}*/
+     711             : 
+     712             : };  // namespace mrs_uav_state_estimators
+
+
+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.gcov.overview.html b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.gcov.overview.html new file mode 100644 index 0000000000..b2c7da63ee --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.gcov.overview.html @@ -0,0 +1,198 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..f3bcd18d64053a8bee215252b27280e4b4803f09 GIT binary patch literal 2312 zcmV+j3HSDiP)RGaN<3|zBMI@TE#PU-5u=>d+Ns*?Q)3)Y7#U^< za!hgbl>^pVqU$;xb4&>cRCc7tofuiptm2xK!Z6lUHdm!sd93MpiVd&RA!d@Fl~ zpE}K2G?iqGhM_VdR6pyU`r7~WGZ$ta&Ya+x7U3D$m>r9PL>W*CSM(xN-$V^S7|4Gb#!04zp`=4&Bg1sW+nIVP3r^J-9 zY3?Kt!o>(+iQOy>%?X#h2|gh#gSR6%nutr1i8iM&yHvY(Y+A{a-N%0RLQcG zo3%nVF!3o@G0Mn3AIUh*dzKW%e3fPtq&Uf0&s2_(5ARDI!uyo9Cv2@L61vDyn7f}^ zC3L7Vo@wuKmkGf^rXJzv!$ZY71jS@#uL$UOE_4+(Q#;wkcFrWR)=5m)uh zb+HE?eQw5UPPEQ{gdkw6!-rdT^bZgJB1abwA6tDQ!R-jrnPo%DaAw9cDHBu)Yu#i+ zP1Vg{;1Wu?+STS1%2Kd;E;SLPRyb>>W-K7G2}3rVzq5>*!*Q6wi%i*5KNz=xnI4+& zkDdn;9#e7-S7or3GN6oL2%pH!PKb}C1T`k?3g(vlO+a^6e1sa^r=W)x z8V53hQ}4C+!%i_}iYYr8j5SkjZ&xCohGD8o_%Gj+v&)h+ou|8hL*kH<;b=IRL z%=>x1Rl#%glXJnbC$#z@GPSR|;u(LHqo1`wS%4XLu83d36tUZEpmQ$IF?H^$zH2pD zS!<4Zf@CoK?6|-pE@vFq;oG%KVR!_%!&1;fvk;`L+nUt1g!>UPNQ1Vp>@s2BV>b;H z#6l%#pRX}E9#Vi)X}1c~I^JEGOrO^^0^QRV7r^meOJS?_Il2@sS7v^{PKc;-<3L!Q zocWCRPQdj?Ly6IjL z1Hzx{)l0)gnc`(G_2cTeE^db|B}oP0VN@WOIZA8bJo99&ZK`h#stT7K_vFCT%cxrM zYGrm?7Z}utsO~@75HUUVu=IJoXOb?KCWXGS;V*e7&s-tn;@5t;Dx8a(U1=p0|Kg3h z)Sl!DFz;o*;JW4}W*H6n58)~?X$Y5BX^LjnuP$VH!hXD(Pk!qDfAi+S=p(_iNJ^n_0%w{p+IjV81R}5BF=bwJB4> zT95k)h47@JwCzCA<}4Aow!JmeH3EF60+cbPDcZ`Zx>5r>Ep56k0fYx`0y`;Bg=Cn) zBU8M>0NHR1eQ<&B=p5IOlZnsYMoYm(gQPpY5@GgCDwj1SvzQj1-%SzPXY*YE4Zgx< z&hk7*`o>wAJ<@tHwJ?L)UXoTfkBI)7@X8(%$tQ+8eAh!FXr=9>r-!7-`1FvT9umXx z=^;Hmq)x`|`laynkT}Aphcq_$(?fcCNIl1!0QVbuNK%k|dPqa~K0TxgJ7!Sf+gG% z!>uDkw_(^b1mHs%(a`+=Y&PAY_o3aq*dTn*?uGdpiO&p3lJb$BU-7_FdO?H6cWW%3 z-_Rd3dVsivAg$5*Sd zr-Wu1{)6~PWpu|Zzh%c-cglQ+*1WFCe<=X5tI%!zLi+YqSOr~a z71oX6DXrl#kn!wDaTXruUkDNoJ)DdaFKqYYctYi19|;jDal-FdTugLio<3<_d_O8R z{UsNw!WEA2*>$W0Lr4clh*lMDfky?ELUbgkOdC6@jENlx>#8EVZ3{m$97!{tK0V~w z+KO;lCgB|;PcuV63@p1AXe#AT2@ZUc(@q1IGS~*9U zAwGDcBm!^qxbRRHLQ|Wx3e}51U*tm7i(8kbwB^67^&p`k!SMRy-lydU8fxRu|JF?x zD1$TknBvl65CxtkERd11v%8>YxM+&fHELSNw`-=nsPdLttGB~Ct=UjfYi(_FJ*1f6 iQmx}gLmztQruYw5b+`w)y)w7}0000 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/heading - hdg_passthrough.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9113368.4 %
Date:2024-08-07 22:18:19Functions:122352.2 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::HdgPassthrough::setCovarianceMatrix(Eigen::Matrix<double, 2, 2, 0, 2, 2> const&)0
mrs_uav_state_estimators::HdgPassthrough::pause()0
mrs_uav_state_estimators::HdgPassthrough::reset()0
mrs_uav_state_estimators::HdgPassthrough::setState(double const&, int const&, int const&)0
mrs_uav_state_estimators::HdgPassthrough::setStates(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&)0
mrs_uav_state_estimators::HdgPassthrough::getCovariance(int const&) const0
mrs_uav_state_estimators::HdgPassthrough::getCovariance(int const&, int const&) const0
mrs_uav_state_estimators::HdgPassthrough::getInnovation(int const&) const0
mrs_uav_state_estimators::HdgPassthrough::getInnovation(int const&, int const&) const0
mrs_uav_state_estimators::HdgPassthrough::getLastValidHdg() const0
mrs_uav_state_estimators::HdgPassthrough::getState(int const&, int const&) const0
mrs_uav_state_estimators::HdgPassthrough::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)115
mrs_uav_state_estimators::HdgPassthrough::start()179
mrs_uav_state_estimators::HdgPassthrough::getNamespacedName[abi:cxx11]() const230
mrs_uav_state_estimators::HdgPassthrough::getPrintName[abi:cxx11]() const638
mrs_uav_state_estimators::HdgPassthrough::getCovarianceMatrix() const214315
mrs_uav_state_estimators::HdgPassthrough::getStates() const214318
mrs_uav_state_estimators::HdgPassthrough::timerUpdate(ros::TimerEvent const&)214359
mrs_uav_state_estimators::HdgPassthrough::timerCheckHealth(ros::TimerEvent const&)218186
mrs_uav_state_estimators::HdgPassthrough::callbackAngularVelocity(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)224025
mrs_uav_state_estimators::HdgPassthrough::callbackOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)227270
mrs_uav_state_estimators::HdgPassthrough::setState(double const&, int const&)451229
mrs_uav_state_estimators::HdgPassthrough::getState(int const&) const752018
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+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.func.html b/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.func.html new file mode 100644 index 0000000000..669123b71d --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.func.html @@ -0,0 +1,172 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/heading - hdg_passthrough.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9113368.4 %
Date:2024-08-07 22:18:19Functions:122352.2 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::HdgPassthrough::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)115
mrs_uav_state_estimators::HdgPassthrough::timerUpdate(ros::TimerEvent const&)214359
mrs_uav_state_estimators::HdgPassthrough::timerCheckHealth(ros::TimerEvent const&)218186
mrs_uav_state_estimators::HdgPassthrough::callbackOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)227270
mrs_uav_state_estimators::HdgPassthrough::setCovarianceMatrix(Eigen::Matrix<double, 2, 2, 0, 2, 2> const&)0
mrs_uav_state_estimators::HdgPassthrough::callbackAngularVelocity(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)224025
mrs_uav_state_estimators::HdgPassthrough::pause()0
mrs_uav_state_estimators::HdgPassthrough::reset()0
mrs_uav_state_estimators::HdgPassthrough::start()179
mrs_uav_state_estimators::HdgPassthrough::setState(double const&, int const&)451229
mrs_uav_state_estimators::HdgPassthrough::setState(double const&, int const&, int const&)0
mrs_uav_state_estimators::HdgPassthrough::setStates(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&)0
mrs_uav_state_estimators::HdgPassthrough::getPrintName[abi:cxx11]() const638
mrs_uav_state_estimators::HdgPassthrough::getCovariance(int const&) const0
mrs_uav_state_estimators::HdgPassthrough::getCovariance(int const&, int const&) const0
mrs_uav_state_estimators::HdgPassthrough::getInnovation(int const&) const0
mrs_uav_state_estimators::HdgPassthrough::getInnovation(int const&, int const&) const0
mrs_uav_state_estimators::HdgPassthrough::getLastValidHdg() const0
mrs_uav_state_estimators::HdgPassthrough::getNamespacedName[abi:cxx11]() const230
mrs_uav_state_estimators::HdgPassthrough::getCovarianceMatrix() const214315
mrs_uav_state_estimators::HdgPassthrough::getState(int const&) const752018
mrs_uav_state_estimators::HdgPassthrough::getState(int const&, int const&) const0
mrs_uav_state_estimators::HdgPassthrough::getStates() const214318
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LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/heading - hdg_passthrough.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9113368.4 %
Date:2024-08-07 22:18:19Functions:122352.2 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #define VERSION "0.0.6.0"
+       2             : 
+       3             : /* includes //{ */
+       4             : 
+       5             : #include <mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h>
+       6             : 
+       7             : //}
+       8             : 
+       9             : namespace mrs_uav_state_estimators
+      10             : 
+      11             : {
+      12             : 
+      13             : /* initialize() //{*/
+      14         115 : void HdgPassthrough::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16         115 :   ch_ = ch;
+      17         115 :   ph_ = ph;
+      18             : 
+      19         115 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      20             : 
+      21         115 :   hdg_state_      = states_t::Zero();
+      22         115 :   hdg_covariance_ = covariance_t::Zero();
+      23             : 
+      24         115 :   innovation_ << 
+      25         115 :     0, 0;
+      26             : 
+      27             : 
+      28             :   // | --------------- param loader initialization --------------- |
+      29             : 
+      30         115 :   if (is_core_plugin_) {
+      31             : 
+      32         115 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      33         115 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      34             :   }
+      35             : 
+      36         115 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      37             : 
+      38             :   // | --------------------- load parameters -------------------- |
+      39         115 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      40             : 
+      41         115 :   ph->param_loader->loadParam("topics/orientation", orient_topic_);
+      42         115 :   ph->param_loader->loadParam("topics/angular_velocity", ang_vel_topic_);
+      43             : 
+      44         115 :   if (!ph->param_loader->loadedSuccessfully()) {
+      45           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+      46           0 :     ros::shutdown();
+      47             :   }
+      48             : 
+      49             :   // | ------------------ timers initialization ----------------- |
+      50         115 :   timer_update_       = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &HdgPassthrough::timerUpdate, this, false, false);  // not running after init
+      51         115 :   timer_check_health_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &HdgPassthrough::timerCheckHealth, this);
+      52             : 
+      53             :   // | --------------- subscribers initialization --------------- |
+      54             :   // subscriber to odometry
+      55         230 :   mrs_lib::SubscribeHandlerOptions shopts;
+      56         115 :   shopts.nh                 = nh;
+      57         115 :   shopts.node_name          = getPrintName();
+      58         115 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      59         115 :   shopts.threadsafe         = true;
+      60         115 :   shopts.autostart          = true;
+      61         115 :   shopts.queue_size         = 10;
+      62         115 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      63             : 
+      64         230 :   sh_orientation_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, "/" + ch_->uav_name + "/" + orient_topic_,
+      65         115 :                                                                                 &HdgPassthrough::callbackOrientation, this);
+      66         230 :   sh_ang_vel_     = mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped>(shopts, "/" + ch_->uav_name + "/" + ang_vel_topic_,
+      67         115 :                                                                          &HdgPassthrough::callbackAngularVelocity, this);
+      68             : 
+      69             :   // | ---------------- publishers initialization --------------- |
+      70         115 :   if (ch_->debug_topics.output) {
+      71         115 :     ph_output_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput>(nh, getNamespacedName() + "/output", 10);
+      72             :   }
+      73         115 :   if (ch_->debug_topics.diag) {
+      74           0 :     ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics>(nh, getNamespacedName() + "/diagnostics", 10);
+      75             :   }
+      76             : 
+      77             :   // | ------------------ finish initialization ----------------- |
+      78             : 
+      79         115 :   if (changeState(INITIALIZED_STATE)) {
+      80         115 :     ROS_INFO("[%s]: Estimator initialized, version %s", getPrintName().c_str(), VERSION);
+      81             :   } else {
+      82           0 :     ROS_INFO("[%s]: Estimator could not be initialized", getPrintName().c_str());
+      83             :   }
+      84         115 : }
+      85             : /*//}*/
+      86             : 
+      87             : /*//{ start() */
+      88         179 : bool HdgPassthrough::start(void) {
+      89             : 
+      90         179 :   if (isInState(READY_STATE)) {
+      91         115 :     timer_update_.start();
+      92         115 :     changeState(STARTED_STATE);
+      93         115 :     return true;
+      94             : 
+      95             :   } else {
+      96          64 :     ROS_WARN_THROTTLE(1.0, "[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+      97          64 :     return false;
+      98             :   }
+      99             : }
+     100             : /*//}*/
+     101             : 
+     102             : /*//{ pause() */
+     103           0 : bool HdgPassthrough::pause(void) {
+     104             : 
+     105           0 :   if (isInState(RUNNING_STATE)) {
+     106           0 :     changeState(STOPPED_STATE);
+     107           0 :     return true;
+     108             : 
+     109             :   } else {
+     110           0 :     return false;
+     111             :   }
+     112             : }
+     113             : /*//}*/
+     114             : 
+     115             : /*//{ reset() */
+     116           0 : bool HdgPassthrough::reset(void) {
+     117             : 
+     118           0 :   if (!isInitialized()) {
+     119           0 :     ROS_ERROR("[%s]: Cannot reset uninitialized estimator", getPrintName().c_str());
+     120           0 :     return false;
+     121             :   }
+     122             : 
+     123           0 :   changeState(STOPPED_STATE);
+     124             : 
+     125           0 :   ROS_INFO("[%s]: Estimator reset", getPrintName().c_str());
+     126             : 
+     127           0 :   return true;
+     128             : }
+     129             : /*//}*/
+     130             : 
+     131             : /*//{ callbackOrientation() */
+     132      227270 : void HdgPassthrough::callbackOrientation(const geometry_msgs::QuaternionStamped::ConstPtr msg) {
+     133             : 
+     134      227270 :   if (!isInitialized()) {
+     135          33 :     return;
+     136             :   }
+     137             : 
+     138             :   double hdg;
+     139             :   try {
+     140      227218 :     hdg = mrs_lib::AttitudeConverter(msg->quaternion).getHeading();
+     141             :   }
+     142           0 :   catch (...) {
+     143           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: failed getting heading", getPrintName().c_str());
+     144             :   }
+     145             : 
+     146      227197 :   setState(hdg, POSITION);
+     147             : 
+     148      227213 :   if (!isError()) {
+     149      227096 :     mrs_lib::set_mutexed(mutex_last_valid_hdg_, hdg, last_valid_hdg_);
+     150             :   }
+     151             : }
+     152             : /*//}*/
+     153             : 
+     154             : /*//{ callbackAngularVelocity() */
+     155      224025 : void HdgPassthrough::callbackAngularVelocity(const geometry_msgs::Vector3Stamped::ConstPtr msg) {
+     156             : 
+     157      224025 :   if (!isInitialized() || !sh_orientation_.hasMsg()) {
+     158           1 :     return;
+     159             :   }
+     160             : 
+     161             :   double hdg_rate;
+     162             :   try {
+     163      224019 :     hdg_rate = mrs_lib::AttitudeConverter(sh_orientation_.getMsg()->quaternion).getHeadingRate(msg->vector);
+     164             :   }
+     165           0 :   catch (...) {
+     166           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: failed getting heading", getPrintName().c_str());
+     167             :   }
+     168             : 
+     169      223728 :   setState(hdg_rate, VELOCITY);
+     170             : }
+     171             : /*//}*/
+     172             : 
+     173             : /* timerUpdate() //{*/
+     174      214359 : void HdgPassthrough::timerUpdate([[maybe_unused]] const ros::TimerEvent &event) {
+     175             : 
+     176             : 
+     177      214359 :   if (!isInitialized()) {
+     178           0 :     return;
+     179             :   }
+     180             : 
+     181      214338 :   publishOutput();
+     182      214379 :   publishDiagnostics();
+     183             : }
+     184             : /*//}*/
+     185             : 
+     186             : /*//{ timerCheckHealth() */
+     187      218186 : void HdgPassthrough::timerCheckHealth([[maybe_unused]] const ros::TimerEvent &event) {
+     188             : 
+     189      218186 :   if (!isInitialized()) {
+     190           7 :     return;
+     191             :   }
+     192             : 
+     193      218178 :   if (isInState(INITIALIZED_STATE) && is_orient_ready_ && is_ang_vel_ready_) {
+     194             : 
+     195         115 :     changeState(READY_STATE);
+     196         115 :     ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     197             :   }
+     198             : 
+     199      218180 :   if (isInState(STARTED_STATE)) {
+     200             : 
+     201         115 :     ROS_INFO_THROTTLE(1.0, "[%s]: Estimator Running", getPrintName().c_str());
+     202         115 :     changeState(RUNNING_STATE);
+     203             :   }
+     204             : 
+     205      218178 :   if (sh_orientation_.hasMsg()) {
+     206      216642 :     is_orient_ready_ = true;
+     207             :   } else {
+     208        1538 :     ROS_WARN_THROTTLE(1.0, "[%s]: has not received orientation yet", getPrintName().c_str());
+     209             :   }
+     210             : 
+     211      218180 :   if (sh_ang_vel_.hasMsg()) {
+     212      214763 :     is_ang_vel_ready_ = true;
+     213             :   } else {
+     214        3415 :     ROS_WARN_THROTTLE(1.0, "[%s]: has not received angular velocity yet", getPrintName().c_str());
+     215             :   }
+     216             : }
+     217             : /*//}*/
+     218             : 
+     219             : /*//{ getState() */
+     220           0 : double HdgPassthrough::getState(const int &state_id_in, const int &axis_in) const {
+     221           0 :   return getState(stateIdToIndex(state_id_in, axis_in));
+     222             : }
+     223             : 
+     224      752018 : double HdgPassthrough::getState(const int &state_idx_in) const {
+     225      752018 :   return mrs_lib::get_mutexed(mtx_hdg_state_, hdg_state_(state_idx_in));
+     226             : }
+     227             : /*//}*/
+     228             : 
+     229             : /*//{ setState() */
+     230           0 : void HdgPassthrough::setState(const double &state_in, const int &state_id_in, const int &axis_in) {
+     231           0 :   setState(state_in, stateIdToIndex(state_id_in, axis_in));
+     232           0 : }
+     233             : 
+     234      451229 : void HdgPassthrough::setState(const double &state_in, const int &state_idx_in) {
+     235             : 
+     236      451229 :   const double prev_hdg_state   = mrs_lib::get_mutexed(mtx_hdg_state_, hdg_state_(state_idx_in));
+     237      450973 :   prev_hdg_state_(state_idx_in) = prev_hdg_state;
+     238      450977 :   mrs_lib::set_mutexed(mtx_hdg_state_, state_in, hdg_state_(state_idx_in));
+     239             : 
+     240      450955 :   const double innovation = mrs_lib::geometry::radians::dist(mrs_lib::geometry::radians(state_in), mrs_lib::geometry::radians(prev_hdg_state));
+     241      450791 :   mrs_lib::set_mutexed(mtx_innovation_, innovation, innovation_(state_idx_in));
+     242      451112 : }
+     243             : /*//}*/
+     244             : 
+     245             : /*//{ getStates() */
+     246      214318 : HdgPassthrough::states_t HdgPassthrough::getStates(void) const {
+     247      214318 :   return mrs_lib::get_mutexed(mtx_hdg_state_, hdg_state_);
+     248             : }
+     249             : /*//}*/
+     250             : 
+     251             : /*//{ setStates() */
+     252           0 : void HdgPassthrough::setStates(const states_t &states_in) {
+     253           0 :   mrs_lib::set_mutexed(mtx_hdg_state_, states_in, hdg_state_);
+     254           0 : }
+     255             : /*//}*/
+     256             : 
+     257             : /*//{ getCovariance() */
+     258           0 : double HdgPassthrough::getCovariance(const int &state_id_in, const int &axis_in) const {
+     259           0 :   return getCovariance(stateIdToIndex(state_id_in, axis_in));
+     260             : }
+     261             : 
+     262           0 : double HdgPassthrough::getCovariance(const int &state_idx_in) const {
+     263           0 :   return mrs_lib::get_mutexed(mtx_hdg_covariance_, hdg_covariance_(state_idx_in, state_idx_in));
+     264             : }
+     265             : /*//}*/
+     266             : 
+     267             : /*//{ getCovarianceMatrix() */
+     268      214315 : HdgPassthrough::covariance_t HdgPassthrough::getCovarianceMatrix(void) const {
+     269      214315 :   return mrs_lib::get_mutexed(mtx_hdg_covariance_, hdg_covariance_);
+     270             : }
+     271             : /*//}*/
+     272             : 
+     273             : /*//{ setCovarianceMatrix() */
+     274           0 : void HdgPassthrough::setCovarianceMatrix(const covariance_t &cov_in) {
+     275           0 :   mrs_lib::set_mutexed(mtx_hdg_covariance_, cov_in, hdg_covariance_);
+     276           0 : }
+     277             : /*//}*/
+     278             : 
+     279             : /*//{ getInnovation() */
+     280           0 : double HdgPassthrough::getInnovation(const int &state_idx) const {
+     281           0 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_(state_idx));
+     282             : }
+     283             : 
+     284           0 : double HdgPassthrough::getInnovation(const int &state_id_in, const int &axis_in) const {
+     285           0 :   return getInnovation(stateIdToIndex(state_id_in, axis_in));
+     286             : }
+     287             : /*//}*/
+     288             : 
+     289             : /*//{ getLastValidHdg() */
+     290           0 : double HdgPassthrough::getLastValidHdg() const {
+     291           0 :   return mrs_lib::get_mutexed(mutex_last_valid_hdg_, last_valid_hdg_);
+     292             : }
+     293             : /*//}*/
+     294             : 
+     295             : /*//{ getNamespacedName() */
+     296         230 : std::string HdgPassthrough::getNamespacedName() const {
+     297         460 :   return parent_state_est_name_ + "/" + getName();
+     298             : }
+     299             : /*//}*/
+     300             : 
+     301             : /*//{ getPrintName() */
+     302         638 : std::string HdgPassthrough::getPrintName() const {
+     303        1276 :   return ch_->nodelet_name + "/" + parent_state_est_name_ + "/" + getName();
+     304             : }
+     305             : /*//}*/
+     306             : 
+     307             : };  // namespace mrs_uav_state_estimators
+
+
+
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Test:MRS UAV System - Test coverage reportLines:24143855.0 %
Date:2024-08-07 22:18:19Functions:253375.8 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::LatGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::LatGeneric::setCovarianceMatrix(Eigen::Matrix<double, 6, 6, 0, 6, 6> const&)0
mrs_uav_state_estimators::LatGeneric::generateRepredictorModels(double)0
mrs_uav_state_estimators::LatGeneric::pause()0
mrs_uav_state_estimators::LatGeneric::reset()0
mrs_uav_state_estimators::LatGeneric::setStates(Eigen::Matrix<double, 6, 1, 0, 6, 1> const&)0
mrs_uav_state_estimators::LatGeneric::generateRepredictorModels(double)::{lambda(double)#2}::operator()(double) const0
mrs_uav_state_estimators::LatGeneric::generateRepredictorModels(double)::{lambda(double)#1}::operator()(double) const0
mrs_uav_state_estimators::LatGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)115
mrs_uav_state_estimators::LatGeneric::isConverged()115
mrs_uav_state_estimators::LatGeneric::callbackReconfigure(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)115
mrs_uav_state_estimators::LatGeneric::setInputCoeff(double const&)223
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&)364
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&, int const&)364
mrs_uav_state_estimators::LatGeneric::getNamespacedName[abi:cxx11]() const694
mrs_uav_state_estimators::LatGeneric::getPrintName[abi:cxx11]() const1058
mrs_uav_state_estimators::LatGeneric::start()3976
mrs_uav_state_estimators::LatGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)::{lambda(int, int)#1}::operator()(int, int) const7700
mrs_uav_state_estimators::LatGeneric::getCovarianceMatrix() const194593
mrs_uav_state_estimators::LatGeneric::getStates() const194612
mrs_uav_state_estimators::LatGeneric::setDt(double const&)194614
mrs_uav_state_estimators::LatGeneric::generateA()194953
mrs_uav_state_estimators::LatGeneric::generateB()194954
mrs_uav_state_estimators::LatGeneric::timerUpdate(ros::TimerEvent const&)217821
mrs_uav_state_estimators::LatGeneric::doCorrection(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, double, mrs_uav_managers::estimation_manager::StateId_t const&, ros::Time const&)225720
mrs_uav_state_estimators::LatGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)::{lambda(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t)#2}::operator()(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t) const225779
mrs_uav_state_estimators::LatGeneric::doCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)225809
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&) const413293
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&, int const&) const413299
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&) const826586
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&, int const&) const826592
mrs_uav_state_estimators::LatGeneric::getState(int const&) const1676523
mrs_uav_state_estimators::LatGeneric::getState(int const&, int const&) const1676736
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Current view:top level - mrs_uav_state_estimators/src/estimators/lateral - lat_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:24143855.0 %
Date:2024-08-07 22:18:19Functions:253375.8 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::LatGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)115
mrs_uav_state_estimators::LatGeneric::isConverged()115
mrs_uav_state_estimators::LatGeneric::timerUpdate(ros::TimerEvent const&)217821
mrs_uav_state_estimators::LatGeneric::doCorrection(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, double, mrs_uav_managers::estimation_manager::StateId_t const&, ros::Time const&)225720
mrs_uav_state_estimators::LatGeneric::doCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)225809
mrs_uav_state_estimators::LatGeneric::setInputCoeff(double const&)223
mrs_uav_state_estimators::LatGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::LatGeneric::callbackReconfigure(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)115
mrs_uav_state_estimators::LatGeneric::setCovarianceMatrix(Eigen::Matrix<double, 6, 6, 0, 6, 6> const&)0
mrs_uav_state_estimators::LatGeneric::generateRepredictorModels(double)0
mrs_uav_state_estimators::LatGeneric::pause()0
mrs_uav_state_estimators::LatGeneric::reset()0
mrs_uav_state_estimators::LatGeneric::setDt(double const&)194614
mrs_uav_state_estimators::LatGeneric::start()3976
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&)364
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&, int const&)364
mrs_uav_state_estimators::LatGeneric::generateA()194953
mrs_uav_state_estimators::LatGeneric::generateB()194954
mrs_uav_state_estimators::LatGeneric::setStates(Eigen::Matrix<double, 6, 1, 0, 6, 1> const&)0
mrs_uav_state_estimators::LatGeneric::getPrintName[abi:cxx11]() const1058
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&) const826586
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&, int const&) const826592
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&) const413293
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&, int const&) const413299
mrs_uav_state_estimators::LatGeneric::getNamespacedName[abi:cxx11]() const694
mrs_uav_state_estimators::LatGeneric::getCovarianceMatrix() const194593
mrs_uav_state_estimators::LatGeneric::getState(int const&) const1676523
mrs_uav_state_estimators::LatGeneric::getState(int const&, int const&) const1676736
mrs_uav_state_estimators::LatGeneric::getStates() const194612
mrs_uav_state_estimators::LatGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)::{lambda(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t)#2}::operator()(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t) const225779
mrs_uav_state_estimators::LatGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)::{lambda(int, int)#1}::operator()(int, int) const7700
mrs_uav_state_estimators::LatGeneric::generateRepredictorModels(double)::{lambda(double)#2}::operator()(double) const0
mrs_uav_state_estimators::LatGeneric::generateRepredictorModels(double)::{lambda(double)#1}::operator()(double) const0
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Current view:top level - mrs_uav_state_estimators/src/estimators/lateral - lat_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:24143855.0 %
Date:2024-08-07 22:18:19Functions:253375.8 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #define VERSION "0.0.0.1"
+       2             : 
+       3             : /* includes //{ */
+       4             : 
+       5             : #include <mrs_uav_state_estimators/estimators/lateral/lat_generic.h>
+       6             : 
+       7             : //}
+       8             : 
+       9             : namespace mrs_uav_state_estimators
+      10             : {
+      11             : 
+      12             : /* initialize() //{*/
+      13         115 : void LatGeneric::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      14             : 
+      15         115 :   ch_ = ch;
+      16         115 :   ph_ = ph;
+      17             : 
+      18         115 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      19             : 
+      20             :   // clang-format off
+      21         115 :   dt_ = 0.01;
+      22         115 :   input_coeff_ = 10;
+      23         115 :   default_input_coeff_ = 10;
+      24             : 
+      25         115 :   generateA();
+      26         115 :   generateB();
+      27             : 
+      28         115 :   H_ <<
+      29         115 :     1, 0, 0, 0, 0, 0,
+      30         115 :     0, 1, 0, 0, 0, 0;
+      31             : 
+      32         115 :   innovation_ << 
+      33         115 :     0, 0;
+      34             : 
+      35             : 
+      36             :   // clang-format on
+      37             : 
+      38             :   // | --------------- initialize parameter loader -------------- |
+      39             : 
+      40         115 :   if (is_core_plugin_) {
+      41             : 
+      42         115 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      43         115 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      44             :   }
+      45             : 
+      46         115 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      47             : 
+      48             :   // | --------------------- load parameters -------------------- |
+      49         115 :   ph->param_loader->loadParam("hdg_source_topic", hdg_source_topic_);
+      50         115 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      51         115 :   ph->param_loader->loadParam("innovation/limit", pos_innovation_limit_);
+      52         115 :   ph->param_loader->loadParam("innovation/action", exc_innovation_action_name_);
+      53         115 :   exc_innovation_action_ = map_exc_inno_action.at(exc_innovation_action_name_);
+      54         115 :   ph->param_loader->loadParam("repredictor/enabled", is_repredictor_enabled_);
+      55         115 :   if (is_repredictor_enabled_) {
+      56           0 :     ph->param_loader->loadParam("repredictor/buffer_size", rep_buffer_size_);
+      57             :   }
+      58             : 
+      59             :   // | --------------- corrections initialization --------------- |
+      60         115 :   ph->param_loader->loadParam("corrections", correction_names_);
+      61             : 
+      62         234 :   for (auto corr_name : correction_names_) {
+      63         119 :     corrections_.push_back(std::make_shared<Correction<lat_generic::n_measurements>>(
+      64        7938 :         nh, getNamespacedName(), corr_name, ns_frame_id_, EstimatorType_t::LATERAL, ch_, ph_, [this](int a, int b) { return this->getState(a, b); },
+      65      225779 :         [this](const Correction<lat_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t state) {
+      66      225779 :           return this->doCorrection(meas, R, state);
+      67             :         }));
+      68             :   }
+      69             : 
+      70             :   // | ------- check if all parameters loaded successfully ------ |
+      71         115 :   if (!ph->param_loader->loadedSuccessfully()) {
+      72           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+      73           0 :     ros::shutdown();
+      74             :   }
+      75             : 
+      76         115 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      77             : 
+      78             :   // | ----------- initialize process noise covariance ---------- |
+      79         115 :   Q_ = Q_t::Zero();
+      80             :   double tmp_noise;
+      81         115 :   ph->param_loader->loadParam("process_noise/pos", tmp_noise);
+      82         115 :   Q_(stateIdToIndex(POSITION, AXIS_X), stateIdToIndex(POSITION, AXIS_X)) = tmp_noise;
+      83         115 :   Q_(stateIdToIndex(POSITION, AXIS_Y), stateIdToIndex(POSITION, AXIS_Y)) = tmp_noise;
+      84         115 :   ph->param_loader->loadParam("process_noise/vel", tmp_noise);
+      85         115 :   Q_(stateIdToIndex(VELOCITY, AXIS_X), stateIdToIndex(VELOCITY, AXIS_X)) = tmp_noise;
+      86         115 :   Q_(stateIdToIndex(VELOCITY, AXIS_Y), stateIdToIndex(VELOCITY, AXIS_Y)) = tmp_noise;
+      87         115 :   ph->param_loader->loadParam("process_noise/acc", tmp_noise);
+      88         115 :   Q_(stateIdToIndex(ACCELERATION, AXIS_X), stateIdToIndex(ACCELERATION, AXIS_X)) = tmp_noise;
+      89         115 :   Q_(stateIdToIndex(ACCELERATION, AXIS_Y), stateIdToIndex(ACCELERATION, AXIS_Y)) = tmp_noise;
+      90             : 
+      91             :   // | ------------- initialize dynamic reconfigure ------------- |
+      92             :   drmgr_ =
+      93         115 :       std::make_unique<drmgr_t>(ros::NodeHandle("~/" + getNamespacedName()), true, getPrintName(), boost::bind(&LatGeneric::callbackReconfigure, this, _1, _2));
+      94         115 :   drmgr_->config.pos = Q_(stateIdToIndex(POSITION, AXIS_X), stateIdToIndex(POSITION, AXIS_X));
+      95         115 :   drmgr_->config.vel = Q_(stateIdToIndex(VELOCITY, AXIS_X), stateIdToIndex(VELOCITY, AXIS_X));
+      96         115 :   drmgr_->config.acc = Q_(stateIdToIndex(ACCELERATION, AXIS_X), stateIdToIndex(ACCELERATION, AXIS_X));
+      97         115 :   drmgr_->update_config(drmgr_->config);
+      98             : 
+      99             :   // | --------------- Kalman filter intialization -------------- |
+     100         115 :   const x_t        x0 = x_t::Zero();
+     101         115 :   const P_t        P0 = 1e3 * P_t::Identity();
+     102         115 :   const statecov_t sc0({x0, P0});
+     103         115 :   sc_ = sc0;
+     104             : 
+     105         115 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+     106         115 :   if (is_repredictor_enabled_) {
+     107             : 
+     108           0 :     generateRepredictorModels(input_coeff_);
+     109             : 
+     110           0 :     const u_t       u0 = u_t::Zero();
+     111           0 :     const ros::Time t0 = ros::Time::now();
+     112           0 :     lkf_rep_           = std::make_unique<mrs_lib::Repredictor<varstep_lkf_t>>(x0, P0, u0, Q_, t0, models_.at(0), rep_buffer_size_);
+     113             : 
+     114           0 :     setDt(1.0 / ch_->desired_uav_state_rate);
+     115             :   }
+     116             : 
+     117             :   // | ------------------ timers initialization ----------------- |
+     118         115 :   timer_update_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &LatGeneric::timerUpdate, this); 
+     119             :   /* timer_check_health_       = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &LatGeneric::timerCheckHealth, this); */
+     120             : 
+     121             :   // | --------------- subscribers initialization --------------- |
+     122             :   // subscriber to odometry
+     123         230 :   mrs_lib::SubscribeHandlerOptions shopts;
+     124         115 :   shopts.nh                 = nh;
+     125         115 :   shopts.node_name          = getPrintName();
+     126         115 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     127         115 :   shopts.threadsafe         = true;
+     128         115 :   shopts.autostart          = true;
+     129         115 :   shopts.queue_size         = 10;
+     130         115 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     131             : 
+     132         115 :   sh_control_input_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>(shopts, "control_input_in");
+     133             :   sh_hdg_state_ =
+     134         115 :       mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput>(shopts, hdg_source_topic_);  // for transformation of desired accelerations from body to global frame
+     135             : 
+     136             :   // | ---------------- publishers initialization --------------- |
+     137         115 :   if (ch_->debug_topics.input) {
+     138         115 :     ph_input_ = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, getNamespacedName() + "/input", 10);
+     139             :   }
+     140         115 :   if (ch_->debug_topics.output) {
+     141         115 :     ph_output_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput>(nh, getNamespacedName() + "/output", 10);
+     142             :   }
+     143         115 :   if (ch_->debug_topics.diag) {
+     144           0 :     ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics>(nh, getNamespacedName() + "/diagnostics", 10);
+     145             :   }
+     146             : 
+     147             :   // | ------------------ finish initialization ----------------- |
+     148             : 
+     149         115 :   if (changeState(INITIALIZED_STATE)) {
+     150         115 :     ROS_INFO("[%s]: Estimator initialized, version %s", getPrintName().c_str(), VERSION);
+     151             :   } else {
+     152           0 :     ROS_INFO("[%s]: Estimator could not be initialized", getPrintName().c_str());
+     153             :   }
+     154         115 : }
+     155             : /*//}*/
+     156             : 
+     157             : /*//{ start() */
+     158        3976 : bool LatGeneric::start(void) {
+     159             : 
+     160        3976 :   if (isInState(READY_STATE)) {
+     161             :     /* timer_update_.start(); */
+     162         115 :     changeState(STARTED_STATE);
+     163         115 :     return true;
+     164             : 
+     165             :   } else {
+     166        3861 :     ROS_WARN_THROTTLE(1.0, "[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+     167        3861 :     return false;
+     168             :   }
+     169             : }
+     170             : /*//}*/
+     171             : 
+     172             : /*//{ pause() */
+     173           0 : bool LatGeneric::pause(void) {
+     174             : 
+     175           0 :   if (isInState(RUNNING_STATE)) {
+     176           0 :     changeState(STOPPED_STATE);
+     177           0 :     return true;
+     178             : 
+     179             :   } else {
+     180           0 :     return false;
+     181             :   }
+     182             : }
+     183             : /*//}*/
+     184             : 
+     185             : /*//{ reset() */
+     186           0 : bool LatGeneric::reset(void) {
+     187             : 
+     188           0 :   if (!isInitialized()) {
+     189           0 :     ROS_ERROR("[%s]: Cannot reset uninitialized estimator", getPrintName().c_str());
+     190           0 :     return false;
+     191             :   }
+     192             : 
+     193           0 :   changeState(STOPPED_STATE);
+     194             : 
+     195             :   // Initialize LKF state and covariance
+     196           0 :   const x_t        x0 = x_t::Zero();
+     197           0 :   const P_t        P0 = 1e6 * P_t::Identity();
+     198           0 :   const statecov_t sc0({x0, P0});
+     199           0 :   sc_ = sc0;
+     200             : 
+     201             :   // Instantiate the LKF itself
+     202           0 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+     203           0 :   if (is_repredictor_enabled_) {
+     204             : 
+     205           0 :     const u_t       u0 = u_t::Zero();
+     206           0 :     const ros::Time t0 = ros::Time(0);
+     207           0 :     lkf_rep_           = std::make_unique<mrs_lib::Repredictor<varstep_lkf_t>>(x0, P0, u0, Q_, t0, models_[0], rep_buffer_size_);
+     208             :   }
+     209             : 
+     210           0 :   changeState(INITIALIZED_STATE);
+     211           0 :   ROS_INFO("[%s]: Estimator reset", getPrintName().c_str());
+     212             : 
+     213           0 :   return true;
+     214             : }
+     215             : /*//}*/
+     216             : 
+     217             : /* timerUpdate() //{*/
+     218      217821 : void LatGeneric::timerUpdate(const ros::TimerEvent &event) {
+     219             : 
+     220      217821 :   if (!isInitialized()) {
+     221       23211 :     return;
+     222             :   }
+     223             : 
+     224      217816 :   switch (getCurrentSmState()) {
+     225             : 
+     226           0 :     case UNINITIALIZED_STATE: {
+     227           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s initialization", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     228           0 :       break;
+     229             :     }
+     230             : 
+     231          82 :     case READY_STATE: {
+     232          82 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     233          82 :       break;
+     234             :     }
+     235             : 
+     236        7059 :     case INITIALIZED_STATE: {
+     237             :       // initialize the estimator with current corrections
+     238        7241 :       for (auto correction : corrections_) {
+     239        7126 :         auto res = correction->getProcessedCorrection();
+     240        7126 :         if (res) {
+     241         182 :           auto measurement_stamped = res.value(); 
+     242         182 :           setState(measurement_stamped.value(AXIS_X), correction->getStateId(), AXIS_X);
+     243         182 :           setState(measurement_stamped.value(AXIS_Y), correction->getStateId(), AXIS_Y);
+     244         182 :           ROS_INFO_THROTTLE(1.0, "[%s]: Setting initial state to: %.2f %.2f", getPrintName().c_str(), measurement_stamped.value(AXIS_X),
+     245             :                             measurement_stamped.value(AXIS_Y));
+     246             :         } else {
+     247        6944 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(), correction->getNamespacedName().c_str());
+     248        6944 :           return;
+     249             :         }
+     250             :       }
+     251         115 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     252         115 :       changeState(READY_STATE);
+     253         115 :       break;
+     254             :     }
+     255             : 
+     256         115 :     case STARTED_STATE: {
+     257         115 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     258         115 :       if (isConverged()) {
+     259         115 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     260         115 :         changeState(RUNNING_STATE);
+     261             :       }
+     262         115 :       break;
+     263             :     }
+     264             : 
+     265      210565 :     case RUNNING_STATE: {
+     266      432325 :       for (auto correction : corrections_) {
+     267      221762 :         if (!correction->isHealthy()) {
+     268           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     269           0 :           changeState(ERROR_STATE);
+     270             :         }
+     271             :       }
+     272      210566 :       break;
+     273             :     }
+     274             : 
+     275           0 :     case STOPPED_STATE: {
+     276           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is stopped", getPrintName().c_str());
+     277           0 :       break;
+     278             :     }
+     279             : 
+     280           0 :     case ERROR_STATE: {
+     281           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is in ERROR state", getPrintName().c_str());
+     282             : 
+     283           0 :       ros::Time t_now = ros::Time::now();
+     284           0 :       if (is_error_state_first_time_) {
+     285           0 :         prev_time_in_error_state_  = t_now;
+     286           0 :         is_error_state_first_time_ = false;
+     287           0 :         error_state_duration_      = ros::Duration(0.0);
+     288             :       }
+     289           0 :       error_state_duration_ += t_now - prev_time_in_error_state_;
+     290             : 
+     291             : 
+     292             :       // check if all corrections are healthy now
+     293           0 :       bool all_corrections_healthy = true;
+     294           0 :       for (auto correction : corrections_) {
+     295           0 :         if (!correction->isHealthy()) {
+     296           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     297           0 :           all_corrections_healthy = false;
+     298             :         }
+     299             :       }
+     300             : 
+     301           0 :       if (all_corrections_healthy && innovation_ok_) {
+     302             :         // initialize the estimator again if corrections become healthy
+     303           0 :         if (error_state_duration_.toSec() > 5.0) {
+     304           0 :           ROS_INFO("[%s]: corrections healthy for %.2f s", getPrintName().c_str(), error_state_duration_.toSec());
+     305           0 :           changeState(INITIALIZED_STATE);
+     306           0 :           is_error_state_first_time_ = true;
+     307           0 :         }
+     308             :       } else {
+     309           0 :         is_error_state_first_time_ = true;
+     310             :       }
+     311             : 
+     312           0 :       prev_time_in_error_state_ = t_now;
+     313             : 
+     314           0 :       break;
+     315             :     }
+     316             :   }
+     317             : 
+     318      210877 :   if (sh_control_input_.newMsg()) {
+     319      107240 :     is_input_ready_ = true;
+     320             :   }
+     321             : 
+     322             :   // check age of input
+     323      210874 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {  // TODO: parametrize, if older than say 1 second, eland
+     324          16 :     ROS_WARN_THROTTLE(1.0, "[%s]: input too old (%.4f s), using zero input instead", getPrintName().c_str(),
+     325             :                       (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     326          16 :     is_input_ready_ = false;
+     327             :   }
+     328             : 
+     329      210872 :   if (fun_get_hdg_()) {
+     330      210617 :     is_hdg_state_ready_ = true;
+     331             :   }
+     332             : 
+     333      210877 :   if (!isRunning() && !isStarted()) {
+     334         177 :     return;
+     335             :   }
+     336             : 
+     337      210694 :   if (first_iter_) {
+     338         115 :     first_iter_ = false;
+     339         115 :     return;
+     340             :   }
+     341             : 
+     342             :   // obtain dt for state prediction
+     343      210579 :   double dt = (event.current_real - event.last_real).toSec();
+     344      210579 :   if (dt <= 0.0 || dt > 1.0) {  // sometimes the timer ticks twice simultaneously in simulation - we ignore the second tick, in case of stopping and starting the timer, the last_real is 0
+     345       15972 :     return;
+     346             :   }
+     347             : 
+     348      194607 :   if (!is_repredictor_enabled_) { // repredictor calculates dt on its own
+     349      194610 :     setDt(dt);
+     350             :   }
+     351             : 
+     352             :   // obtain unbiased desired control acceleration in the estimator frame that will be used as input to the estimator
+     353      194602 :   u_t       u;
+     354      194605 :   ros::Time input_stamp;
+     355      194604 :   if (is_input_ready_ && is_hdg_state_ready_) {
+     356      120375 :     auto res = fun_get_hdg_();
+     357      120377 :     if (!res) {
+     358           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: could not obtain heading", getPrintName().c_str());
+     359           0 :       return;
+     360             :     }
+     361             : 
+     362      120382 :     const tf2::Vector3 des_acc_global = getAccGlobal(sh_control_input_.getMsg(), res.value());
+     363      120307 :     input_stamp                       = sh_control_input_.getMsg()->header.stamp;
+     364      120341 :     if (input_coeff_ != default_input_coeff_){
+     365          92 :       setInputCoeff(default_input_coeff_);
+     366             :     }
+     367      120340 :     u(0) = des_acc_global.getX();
+     368      120275 :     u(1) = des_acc_global.getY();
+     369             : 
+     370             :   } else {  // this is ok before the controller starts controlling but bad during actual flight (causes delayed estimated acceleration and velocity)
+     371       74220 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: not receiving control input, estimation suboptimal, potentially unstable", getPrintName().c_str());
+     372       74223 :     input_stamp = ros::Time::now();
+     373       74226 :     if (input_coeff_ != 0){
+     374         131 :       setInputCoeff(0);
+     375             :     }
+     376       74226 :     u = u_t::Zero();
+     377             :   }
+     378             : 
+     379             :   // go through available corrections and apply them
+     380             :   /* for (auto correction : corrections_) { */
+     381             :   /*   auto res = correction->getProcessedCorrection(); */
+     382             :   /*   if (res) { */
+     383             :   /*     auto measurement_stamped = res.value(); */
+     384             :   /*     doCorrection(measurement_stamped.value, correction->getR(), correction->getStateId(), measurement_stamped.stamp); */
+     385             :   /*   } */
+     386             :   /* } */
+     387             : 
+     388             :   // get current state, covariance, and process noise
+     389      194566 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     390      194574 :   Q_t        Q  = mrs_lib::get_mutexed(mtx_Q_, Q_);
+     391             : 
+     392             :   // prediction step
+     393             :   try {
+     394             :     // Apply the prediction step
+     395      389199 :     std::scoped_lock lock(mutex_lkf_);
+     396      194600 :     if (is_repredictor_enabled_) {
+     397           0 :       lkf_rep_->addInputChangeWithNoise(u, Q, input_stamp, models_[0]);
+     398           0 :       sc = lkf_rep_->predictTo(ros::Time::now());
+     399             :     } else {
+     400      194600 :       sc = lkf_->predict(sc, u, Q, dt_);
+     401             :     }
+     402             :   }
+     403           0 :   catch (const std::exception &e) {
+     404           0 :     ROS_ERROR("[%s]: LKF prediction failed: %s", getPrintName().c_str(), e.what());
+     405           0 :     changeState(ERROR_STATE);
+     406             :   }
+     407             : 
+     408             :   // update the state and covariance variable that is queried by the estimation manager
+     409      194564 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     410             : 
+     411             :   // publishing
+     412      194561 :   publishInput(u, input_stamp);
+     413      194616 :   publishOutput();
+     414      194617 :   publishDiagnostics();
+     415             : }
+     416             : /*//}*/
+     417             : 
+     418             : /*//{ timerCheckHealth() */
+     419           0 : void LatGeneric::timerCheckHealth([[maybe_unused]] const ros::TimerEvent &event) {
+     420             : 
+     421           0 :   if (!isInitialized()) {
+     422           0 :     return;
+     423             :   }
+     424             : 
+     425           0 :   switch (getCurrentSmState()) {
+     426             : 
+     427           0 :     case UNINITIALIZED_STATE: {
+     428           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s initialization", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     429           0 :       break;
+     430             :     }
+     431             : 
+     432           0 :     case READY_STATE: {
+     433           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     434           0 :       break;
+     435             :     }
+     436             : 
+     437           0 :     case INITIALIZED_STATE: {
+     438             :       // initialize the estimator with current corrections
+     439           0 :       for (auto correction : corrections_) {
+     440           0 :         auto res = correction->getProcessedCorrection();
+     441           0 :         if (res) {
+     442           0 :           auto measurement_stamped = res.value();
+     443           0 :           setState(measurement_stamped.value(AXIS_X), correction->getStateId(), AXIS_X);
+     444           0 :           setState(measurement_stamped.value(AXIS_Y), correction->getStateId(), AXIS_Y);
+     445           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: Setting initial state to: %.2f %.2f", getPrintName().c_str(), measurement_stamped.value(AXIS_X),
+     446             :                             measurement_stamped.value(AXIS_Y));
+     447             :         } else {
+     448           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(), correction->getPrintName().c_str());
+     449           0 :           return;
+     450             :         }
+     451             :       }
+     452           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     453           0 :       changeState(READY_STATE);
+     454           0 :       break;
+     455             :     }
+     456             : 
+     457           0 :     case STARTED_STATE: {
+     458           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     459           0 :       if (isConverged()) {
+     460           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     461           0 :         changeState(RUNNING_STATE);
+     462             :       }
+     463           0 :       break;
+     464             :     }
+     465             : 
+     466           0 :     case RUNNING_STATE: {
+     467           0 :       for (auto correction : corrections_) {
+     468           0 :         if (!correction->isHealthy()) {
+     469           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     470           0 :           changeState(ERROR_STATE);
+     471             :         }
+     472             :       }
+     473           0 :       break;
+     474             :     }
+     475             : 
+     476           0 :     case STOPPED_STATE: {
+     477           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is stopped", getPrintName().c_str());
+     478           0 :       break;
+     479             :     }
+     480             : 
+     481           0 :     case ERROR_STATE: {
+     482           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is in ERROR state", getPrintName().c_str());
+     483           0 :       bool all_corrections_healthy = true;
+     484           0 :       for (auto correction : corrections_) {
+     485           0 :         if (!correction->isHealthy()) {
+     486           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     487           0 :           correction->resetProcessors();
+     488           0 :           all_corrections_healthy = false;
+     489             :         }
+     490             :       }
+     491             :       // initialize the estimator again if corrections become healthy
+     492           0 :       if (all_corrections_healthy) {
+     493           0 :         changeState(INITIALIZED_STATE);
+     494             :       }
+     495           0 :       break;
+     496             :     }
+     497             :   }
+     498             : 
+     499           0 :   if (sh_control_input_.newMsg()) {
+     500           0 :     is_input_ready_ = true;
+     501             :   }
+     502             : 
+     503             :   // check age of input
+     504           0 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {  // TODO: parametrize, if older than say 1 second, eland
+     505           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: input too old (%.4f s), using zero input instead", getPrintName().c_str(),
+     506             :                       (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     507           0 :     is_input_ready_ = false;
+     508             :   }
+     509             : 
+     510           0 :   if (fun_get_hdg_()) {
+     511           0 :     is_hdg_state_ready_ = true;
+     512             :   }
+     513             : }
+     514             : /*//}*/
+     515             : 
+     516             : /*//{ doCorrection() */
+     517      225809 : void LatGeneric::doCorrection(const Correction<lat_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id) {
+     518      225809 :   doCorrection(meas.value, R, state_id, meas.stamp);
+     519      225783 : }
+     520             : /*//}*/
+     521             : 
+     522             : /*//{ doCorrection() */
+     523      225720 : void LatGeneric::doCorrection(const z_t &z, const double R, const StateId_t &state_id, const ros::Time &meas_stamp) {
+     524             : 
+     525      225720 :   if (!isInitialized()) {
+     526         193 :     return;
+     527             :   }
+     528             : 
+     529             :   // we do not want to perform corrections until the estimator is initialized
+     530      225701 :   if (!(isInState(SMStates_t::READY_STATE) || isInState(SMStates_t::RUNNING_STATE) || isInState(SMStates_t::STARTED_STATE))) {
+     531         189 :     return;
+     532             :   }
+     533             : 
+     534             :   // for position state check the innovation
+     535      225398 :   if (state_id == POSITION) {
+     536             :     {
+     537      214492 :       std::scoped_lock lock(mtx_innovation_);
+     538             : 
+     539      214554 :       is_mitigating_jump_ = false;
+     540      214609 :       innovation_(0)      = z(0) - getState(POSITION, AXIS_X);
+     541      214396 :       innovation_(1)      = z(1) - getState(POSITION, AXIS_Y);
+     542             : 
+     543      214464 :       if (fabs(innovation_(0)) > pos_innovation_limit_ || fabs(innovation_(1)) > pos_innovation_limit_) {
+     544           0 :         ROS_WARN_THROTTLE(1.0, "[%s]: innovation too large - [%.2f %.2f] lim: %.2f", getPrintName().c_str(), innovation_(0), innovation_(1),
+     545             :                           pos_innovation_limit_);
+     546           0 :         innovation_ok_ = false;
+     547           0 :         switch (exc_innovation_action_) {
+     548           0 :           case ExcInnoAction_t::ELAND: {
+     549           0 :             ROS_WARN_THROTTLE(1.0, "[%s]: large innovation should trigger eland in control manager", getPrintName().c_str());
+     550           0 :             changeState(ERROR_STATE);
+     551           0 :             break;
+     552             :           }
+     553           0 :           case ExcInnoAction_t::SWITCH: {
+     554           0 :             ROS_WARN_THROTTLE(1.0, "[%s]: innovation should trigger estimator switch but no eland", getPrintName().c_str());
+     555           0 :             innovation_(0) = 0.0;  // this is quite hacky but is there other way to switch estimators and not trigger eland by the large innovation?
+     556           0 :             innovation_(1) = 0.0;
+     557           0 :             changeState(ERROR_STATE);
+     558           0 :             break;
+     559             :           }
+     560           0 :           case ExcInnoAction_t::MITIGATE: {
+     561           0 :             ROS_WARN_THROTTLE(1.0, "[%s]: large innovation should trigger estimate jump mitigation", getPrintName().c_str());
+     562           0 :             innovation_(0)      = 0.0;  // this is quite hacky but is there other way to switch estimators and not trigger eland by the large innovation?
+     563           0 :             innovation_(1)      = 0.0;
+     564           0 :             is_mitigating_jump_ = true;
+     565           0 :             setState(z(0), POSITION, AXIS_X);
+     566           0 :             setState(z(1), POSITION, AXIS_Y);
+     567           0 :             break;
+     568             :           }
+     569           0 :           case ExcInnoAction_t::NONE: {
+     570           0 :             ROS_WARN_THROTTLE(1.0, "[%s]: large innovation ignored", getPrintName().c_str());
+     571           0 :             break;
+     572             :           }
+     573             :         }
+     574             :       }
+     575      214450 :       innovation_ok_ = true;
+     576             :     }
+     577             :   }
+     578             : 
+     579      225380 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     580             :   try {
+     581             :     // Apply the correction step
+     582      450903 :     std::scoped_lock lock(mutex_lkf_);
+     583      225508 :     H_                           = H_t::Zero();
+     584      225294 :     H_(AXIS_X, state_id * 2)     = 1;
+     585      225311 :     H_(AXIS_Y, state_id * 2 + 1) = 1;
+     586      225388 :     lkf_->H                      = H_;
+     587             : 
+     588      225073 :     if (is_repredictor_enabled_) {
+     589             : 
+     590           0 :       lkf_rep_->addMeasurement(z, R_t::Ones() * R, meas_stamp, models_[state_id]);
+     591             :     } else {
+     592      225073 :       sc = lkf_->correct(sc, z, R_t::Ones() * R);
+     593             :     }
+     594             :   }
+     595           0 :   catch (const std::exception &e) {
+     596             :     // In case of error, alert the user
+     597           0 :     ROS_ERROR("[%s]: LKF correction failed: %s", getPrintName().c_str(), e.what());
+     598             :   }
+     599             : 
+     600      225199 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     601             : }  // namespace mrs_uav_state_estimators
+     602             : /*//}*/
+     603             : 
+     604             : /*//{ isConverged() */
+     605         115 : bool LatGeneric::isConverged() {
+     606             : 
+     607             :   // TODO: check convergence by rate of change of determinant
+     608             : 
+     609         115 :   return true;
+     610             : }
+     611             : /*//}*/
+     612             : 
+     613             : /*//{ getState() */
+     614     1676736 : double LatGeneric::getState(const int &state_id_in, const int &axis_in) const {
+     615     1676736 :   return getState(stateIdToIndex(state_id_in, axis_in));
+     616             : }
+     617             : 
+     618     1676523 : double LatGeneric::getState(const int &state_idx_in) const {
+     619     1676523 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x(state_idx_in);
+     620             : }
+     621             : /*//}*/
+     622             : 
+     623             : /*//{ setState() */
+     624         364 : void LatGeneric::setState(const double &state_in, const int &state_id_in, const int &axis_in) {
+     625         364 :   setState(state_in, stateIdToIndex(state_id_in, axis_in));
+     626         364 : }
+     627             : 
+     628         364 : void LatGeneric::setState(const double &state_in, const int &state_idx_in) {
+     629         364 :   mrs_lib::set_mutexed(mutex_sc_, state_in, sc_.x(state_idx_in));
+     630         364 : }
+     631             : /*//}*/
+     632             : 
+     633             : /*//{ getStates() */
+     634      194612 : LatGeneric::states_t LatGeneric::getStates(void) const {
+     635      389223 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x;
+     636             : }
+     637             : /*//}*/
+     638             : 
+     639             : /*//{ setStates() */
+     640           0 : void LatGeneric::setStates(const states_t &states_in) {
+     641           0 :   mrs_lib::set_mutexed(mutex_sc_, states_in, sc_.x);
+     642           0 : }
+     643             : /*//}*/
+     644             : 
+     645             : /*//{ getCovariance() */
+     646      826592 : double LatGeneric::getCovariance(const int &state_id_in, const int &axis_in) const {
+     647      826592 :   return getCovariance(stateIdToIndex(state_id_in, axis_in));
+     648             : }
+     649             : 
+     650      826586 : double LatGeneric::getCovariance(const int &state_idx_in) const {
+     651      826586 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P(state_idx_in, state_idx_in);
+     652             : }
+     653             : /*//}*/
+     654             : 
+     655             : /*//{ getCovarianceMatrix() */
+     656      194593 : LatGeneric::covariance_t LatGeneric::getCovarianceMatrix(void) const {
+     657      389194 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P;
+     658             : }
+     659             : /*//}*/
+     660             : 
+     661             : /*//{ setCovarianceMatrix() */
+     662           0 : void LatGeneric::setCovarianceMatrix(const covariance_t &cov_in) {
+     663           0 :   mrs_lib::set_mutexed(mutex_sc_, cov_in, sc_.P);
+     664           0 : }
+     665             : /*//}*/
+     666             : 
+     667             : /*//{ getInnovation() */
+     668      413293 : double LatGeneric::getInnovation(const int &state_idx) const {
+     669      413293 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_)(state_idx);
+     670             : }
+     671             : 
+     672      413299 : double LatGeneric::getInnovation(const int &state_id_in, const int &axis_in) const {
+     673      413299 :   return getInnovation(stateIdToIndex(state_id_in, axis_in));
+     674             : }
+     675             : /*//}*/
+     676             : 
+     677             : /*//{ setDt() */
+     678      194614 : void LatGeneric::setDt(const double &dt) {
+     679      194614 :   dt_ = dt;
+     680      194614 :   generateA();
+     681      194614 :   generateB();
+     682      389218 :   std::scoped_lock lock(mutex_lkf_);
+     683      194611 :   lkf_->A = A_;
+     684      194612 :   lkf_->B = B_;
+     685      194597 : }
+     686             : /*//}*/
+     687             : 
+     688             : /*//{ setInputCoeff() */
+     689         223 : void LatGeneric::setInputCoeff(const double &input_coeff) {
+     690         223 :   input_coeff_ = input_coeff;
+     691         223 :   generateA();
+     692         223 :   generateB();
+     693         444 :   std::scoped_lock lock(mutex_lkf_);
+     694         222 :   lkf_->A = A_;
+     695         223 :   lkf_->B = B_;
+     696             : 
+     697         222 :   if (is_repredictor_enabled_) {
+     698           0 :     models_.clear();
+     699           0 :     generateRepredictorModels(input_coeff_);
+     700             :   }
+     701         222 : }
+     702             : /*//}*/
+     703             : 
+     704             : /*//{ generateRepredictorModels() */
+     705           0 : void LatGeneric::generateRepredictorModels(const double input_coeff) {
+     706           0 :     for (int i = 0; (int)(i < lat_generic::n_states / 2); i++) {
+     707             : 
+     708           0 :       auto lambda_generateA = [input_coeff](const double dt) {
+     709           0 :         A_t A;
+     710             :         // clang-format off
+     711           0 :         A <<
+     712           0 :           1, 0, dt, 0, 0.5 * dt * dt, 0,
+     713           0 :           0, 1, 0, dt, 0, 0.5 * dt * dt,
+     714           0 :           0, 0, 1, 0, dt, 0,
+     715           0 :           0, 0, 0, 1, 0, dt,
+     716           0 :           0, 0, 0, 0, 1-(input_coeff * dt), 0,
+     717           0 :           0, 0, 0, 0, 0, 1-(input_coeff * dt);
+     718             :         // clang-format on
+     719           0 :         return A;
+     720           0 :       };
+     721             : 
+     722           0 :       auto lambda_generateB = [input_coeff]([[maybe_unused]] const double dt) {
+     723           0 :         B_t B = B.Zero();
+     724             :         // clang-format off
+     725           0 :           B <<
+     726           0 :             0, 0,
+     727           0 :             0, 0,
+     728           0 :             0, 0,
+     729           0 :             0, 0,
+     730           0 :             input_coeff * dt, 0,
+     731           0 :             0, input_coeff * dt;
+     732             :         // clang-format on
+     733             : 
+     734           0 :         return B;
+     735           0 :       };
+     736             : 
+     737           0 :       H_t H                = H.Zero();
+     738           0 :       H(AXIS_X, i * 2)     = 1;
+     739           0 :       H(AXIS_Y, i * 2 + 1) = 1;
+     740           0 :       models_.push_back(std::make_shared<varstep_lkf_t>(lambda_generateA, lambda_generateB, H));
+     741             :     }
+     742           0 : }
+     743             : /*//}*/
+     744             : 
+     745             : /*//{ generateA() */
+     746      194953 : void LatGeneric::generateA() {
+     747             : 
+     748             :   // clang-format off
+     749      194953 :     A_ <<
+     750      194942 :       1, 0, dt_, 0, 0.5 * dt_ * dt_, 0,
+     751      194938 :       0, 1, 0, dt_, 0, 0.5 * dt_ * dt_,
+     752      194947 :       0, 0, 1, 0, dt_, 0,
+     753      194951 :       0, 0, 0, 1, 0, dt_,
+     754      194948 :       0, 0, 0, 0, 1-(input_coeff_ * dt_), 0,
+     755      194952 :       0, 0, 0, 0, 0, 1-(input_coeff_ * dt_);
+     756             :   // clang-format on
+     757      194948 : }
+     758             : /*//}*/
+     759             : 
+     760             : /*//{ generateB() */
+     761      194954 : void LatGeneric::generateB() {
+     762             : 
+     763             :   // clang-format off
+     764      194954 :     B_ <<
+     765      194948 :       0, 0,
+     766      194933 :       0, 0,
+     767      194946 :       0, 0,
+     768      194945 :       0, 0,
+     769      194952 :       input_coeff_ * dt_, 0,
+     770      194948 :       0, input_coeff_ * dt_;
+     771             :   // clang-format on
+     772      194937 : }
+     773             : /*//}*/
+     774             : 
+     775             : /*//{ callbackReconfigure() */
+     776         115 : void LatGeneric::callbackReconfigure(LateralEstimatorConfig &config, [[maybe_unused]] uint32_t level) {
+     777             : 
+     778         115 :   if (!isInitialized()) {
+     779         115 :     return;
+     780             :   }
+     781             : 
+     782           0 :   Q_t Q;
+     783           0 :   Q(stateIdToIndex(POSITION, AXIS_X), stateIdToIndex(POSITION, AXIS_X))         = config.pos;
+     784           0 :   Q(stateIdToIndex(POSITION, AXIS_Y), stateIdToIndex(POSITION, AXIS_Y))         = config.pos;
+     785           0 :   Q(stateIdToIndex(VELOCITY, AXIS_X), stateIdToIndex(VELOCITY, AXIS_X))         = config.vel;
+     786           0 :   Q(stateIdToIndex(VELOCITY, AXIS_Y), stateIdToIndex(VELOCITY, AXIS_Y))         = config.vel;
+     787           0 :   Q(stateIdToIndex(ACCELERATION, AXIS_X), stateIdToIndex(ACCELERATION, AXIS_X)) = config.acc;
+     788           0 :   Q(stateIdToIndex(ACCELERATION, AXIS_Y), stateIdToIndex(ACCELERATION, AXIS_Y)) = config.acc;
+     789           0 :   mrs_lib::set_mutexed(mtx_Q_, Q, Q_);
+     790             : }
+     791             : /*//}*/
+     792             : 
+     793             : /*//{ getNamespacedName() */
+     794         694 : std::string LatGeneric::getNamespacedName() const {
+     795        1388 :   return parent_state_est_name_ + "/" + getName();
+     796             : }
+     797             : /*//}*/
+     798             : 
+     799             : /*//{ getPrintName() */
+     800        1058 : std::string LatGeneric::getPrintName() const {
+     801        2116 :   return ch_->nodelet_name + "/" + parent_state_est_name_ + "/" + getName();
+     802             : }
+     803             : /*//}*/
+     804             : };  // namespace mrs_uav_state_estimators
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + diff --git a/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..3faff34772051873b669e5741ac9ddc8170c0df3 GIT binary patch literal 3153 zcmV-X46gHuP)_0;S;5*sS;5}G*?*N6>jy}HP|j}BK3%VuODPfv5I;H7{eGX*-}^kB zG48j3Z@!;`Ens|&1F1ZQF`h$ewZ_@9q|;}f5^v`220k9{(F`BnB|n%JOfL-8W_M8c5pV}FAI$(T3#;?-=&1;OZZ(E}Y zqjl;x6no%zdKj}Ey%mEsgLR#Ujne{_!=1yP1?hq?f}#%qnxt`LXM~v#6X)?8L$(K< zaJO`nz*}W!B%)znpZKVP0ZR-RBe)1ypDF~U9-;XyCU`HO$7u*Z2Svh6q zJ2q*UkCBlb6Fn8lu>i6o&LaVO0Ksp#%9;%T{)VX;oawCrz+s^vQUL}MoR0&5kJ#8k(Tdk}MW0$>Ho?hG%u<9y7<3A2@+Gco3JS&s#b1Q2vy07NuO%9tV~12JZ* z7iLQwvjDrRV4j-yDLB(?90B9&Ab7oeZd>w56u@vsY@2dGq&0@u0LYB7HNNKE>F>Ae zyw;N<(TU^?(_@NJM50VZxKfHgNo zK%X!QbGK7>0lk%&fVAClUjU5*O|8if*l^#ABb5Uw4VN)m*NDVyR>f?<>={T7ho&`b zuBH~*l%o$NB#h_FyHm>>1U9@jXpMdRoHa9#Hu~Txhj7oAZ&3yvjqayIpVa(K%g6NX zh-Wq&(TwuZxYf(_u%ujGts~7`4{WTiLD-bt3 z?3j%pmd+<4UCd*YHTEs8)l!(1taD1gG0b8{RcMoS#->^aAi?-Delo_6n@0e*UY25H zjb`b|Q}-;3-S+(Ng+dgFgt1JUY(1F%Cpt$j*ctOM%I%0eW`})F-|j*&w*+xpb}FQ) zF(5b~0$@H$cbS|Q;DN?K%qZ2b@3)Xv&=_7tm?5pnt&xCF;4X|g)?9qevDq?rJB$a|B7zxn8$HlnW?+~NY6V{jt zb;YwTbku;kVh9~HJjO6N7qYj2t{+6^G9cg+3P7b^*bb7q@b3er03`kOiCwTcv9N#E{Z?arkr1=dx)3f3HzT{98?+hF*9gGc1 z-^ybHsN_hE{P{Hux7!{=W-=K0G~F%okTS? zplNF;AA>B=Kxs#SreWXfDMkUM6=zNbu4zO2m{rMy7)aOd}r+sk8TOPmm!A z=3f|oz-bvc z%AWqr16nw=g$5}bO1hkG>`(98s|#Y12Z9P>dISFj5qq>{hc)Y@N`M#-WHA94S55KJ z*G%8i#SR?L0EZfU7-RVHkFp0*-HX`KHmlLcb!&89UFv5OL$XWVuCcq*pCx9B9d5U% zI!cl;q{EO*Q}HIv?(Wzx;3+REvO>-Q)Smw?FX=HwL*&)%K~j78wC;BPI5N5Z~rh7$Y4#sZvIdVgE?h zq@-R;!z{75+9D~#RWAh{=qfP-4A*;w0q_cw0ymK%;G5e55Izt}^Eg)~x=+XU&85`} zMg{%?oFya`;BGukMNkD}?`0jFrPz?%2P$E6U1Vni-N_h{t}%NJ z(S(;8zy|V$E38MR? zZk#{UFz_#Rg;F1(4ba~}j7|?Ed?AesbkuyD> zF?$biD@Ri9e2;HcI@6*pYdnUjVSt@FABtQ)yx)4co?Tbqn6o#Eu-7`HHWz<`&J0&c zQ{iJL0z|4Qnv~b&f~}}y)#=yP6_on*NOjKy_)&&`Nzv{H8wS>2vNM(3KK~aD1HZ1? z{1n*#;j%R9v`>$SD0gXRh!7g?2-dW1+Pk55_^Nds^230$f5#5%SKSsNxWyeU12941SHDX2!-`@kQ!z3}1C< zuQ(PMqtKm60ZELkb+C1>e@@Nf@O4c{TI?;Le1R?jN>mU)Q%18TMxk2R8*s$S&H&5z z!&6V*dU`5B_-X;wHGU0ySpHb|x}tgwg`zcxbmmK96$_|SotLM$*8o_8LGFs^Fd)0K z8t^@aYcZF?@QmYvH6Fw2bB*5daq1HwE+_+<$4Ir=>YH6q@+EIbPcbZyyoqP#0jRYM zX27H6O9ezflb#nn^u%3T{o0Iit>W-K8;lLKCh5$(_3Pw?FxLh@S-;LlQ0@zpObXZ% zz0iI6vp&VLv?t+{tP5Ahg}rv1hfQurYwWiYcI3J~L>^z?VIzotIyBMa z7InJW9du@ugyc#!iz1%Rq{Cg9L;z~kz3=y=SqcfK432e5CJW#v;%&D zJ7Z8T#yT?BA*;{l(n=bCX$!lH1B}Ml6_N!VL(2Cwa)7_)(Y%IJPU_|^RfBZMO|cng z+d_Hdi z;lYU=KnWKE$m3!F)0S-<>I!3FI}cd+D9;SFI7|1ef!$|FPZ8hP2f8Qei4eVZJiGK* z#3z?DOzinEVA13*#w=kfph + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - gps_baro.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-08-07 22:18:19Functions:44100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()22
mrs_uav_state_estimators::gps_baro::GpsBaro::GpsBaro()22
mrs_uav_state_estimators::gps_baro::GpsBaro::~GpsBaro()22
mrs_uav_state_estimators::gps_baro::GpsBaro::~GpsBaro().222
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.func.html b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.func.html new file mode 100644 index 0000000000..aad981a906 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.func.html @@ -0,0 +1,96 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - gps_baro.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-08-07 22:18:19Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()22
mrs_uav_state_estimators::gps_baro::GpsBaro::GpsBaro()22
mrs_uav_state_estimators::gps_baro::GpsBaro::~GpsBaro()22
mrs_uav_state_estimators::gps_baro::GpsBaro::~GpsBaro().222
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.frameset.html new file mode 100644 index 0000000000..cdfd029a0c --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.html new file mode 100644 index 0000000000..e7c83dcfe9 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.html @@ -0,0 +1,109 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - gps_baro.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-08-07 22:18:19Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #include <mrs_uav_state_estimators/estimators/state/state_generic.h>
+       2             : 
+       3             : namespace mrs_uav_state_estimators
+       4             : {
+       5             : 
+       6             : namespace gps_baro
+       7             : {
+       8             : 
+       9             : const char estimator_name[] = "gps_baro";
+      10             : const bool is_core_plugin = true;
+      11             : 
+      12             : class GpsBaro : public StateGeneric {
+      13             : public:
+      14          22 :   GpsBaro() : StateGeneric(estimator_name, is_core_plugin) {
+      15          22 :   }
+      16             : 
+      17          44 :   ~GpsBaro(void) {
+      18          44 :   }
+      19             : };
+      20             : 
+      21             : }  // namespace gps_baro
+      22             : }  // namespace mrs_uav_state_estimators
+      23             : 
+      24             : #include <pluginlib/class_list_macros.h>
+      25          22 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::gps_baro::GpsBaro, mrs_uav_managers::StateEstimator)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.overview.html b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.overview.html new file mode 100644 index 0000000000..2b03dc176f --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.overview.html @@ -0,0 +1,27 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..32cb0dad19f40488be4eb0ccd03a6cbd7fc1ac32 GIT binary patch literal 231 zcmeAS@N?(olHy`uVBq!ia0vp^0YEIt!VDxsGPYO&DTx4|5ZC|z|E~gq + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - gps_garmin.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-08-07 22:18:19Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()89
mrs_uav_state_estimators::gps_garmin::GpsGarmin::GpsGarmin()89
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin()89
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin().289
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.func.html b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.func.html new file mode 100644 index 0000000000..8275bcad34 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.func.html @@ -0,0 +1,96 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/state - gps_garmin.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-08-07 22:18:19Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()89
mrs_uav_state_estimators::gps_garmin::GpsGarmin::GpsGarmin()89
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin()89
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin().289
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.frameset.html new file mode 100644 index 0000000000..716d11d216 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.html new file mode 100644 index 0000000000..1611453deb --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.html @@ -0,0 +1,109 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - gps_garmin.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-08-07 22:18:19Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #include <mrs_uav_state_estimators/estimators/state/state_generic.h>
+       2             : 
+       3             : namespace mrs_uav_state_estimators
+       4             : {
+       5             : 
+       6             : namespace gps_garmin
+       7             : {
+       8             : 
+       9             : const char estimator_name[] = "gps_garmin";
+      10             : const bool is_core_plugin = true;
+      11             : 
+      12             : class GpsGarmin : public StateGeneric {
+      13             : public:
+      14          89 :   GpsGarmin() : StateGeneric(estimator_name, is_core_plugin) {
+      15          89 :   }
+      16             : 
+      17         178 :   ~GpsGarmin(void) {
+      18         178 :   }
+      19             : };
+      20             : 
+      21             : }  // namespace gps_garmin
+      22             : }  // namespace mrs_uav_state_estimators
+      23             : 
+      24             : #include <pluginlib/class_list_macros.h>
+      25          89 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::gps_garmin::GpsGarmin, mrs_uav_managers::StateEstimator)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.overview.html b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.overview.html new file mode 100644 index 0000000000..88be0074b4 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.overview.html @@ -0,0 +1,27 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..606fb073ca70818dc0b3b5dba84fd6a7044d0512 GIT binary patch literal 231 zcmeAS@N?(olHy`uVBq!ia0vp^0YEIt!VDxsGPYO&DTx4|5ZC|z|E~gq^JNDtZ&EXPgU2N!e?RY*!@G!k?Ta()7BTAKis#>5!bv}um4PI*Z02~7mGQc zuCNw3Xkx0Ko_*uhD$z@81X?onZt12fEV|g{c9?_v+hwVbPc627Ikr{%)|^j!tT$gZ WJ^4%e>pP$W7(8A5T-G@yGywov30pG& literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/src/estimators/state/index-detail-sort-f.html b/mrs_uav_state_estimators/src/estimators/state/index-detail-sort-f.html new file mode 100644 index 0000000000..4dfc8a69ec --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/index-detail-sort-f.html @@ -0,0 +1,200 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/src/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:31244370.4 %
Date:2024-08-07 22:18:19Functions:283775.7 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
passthrough.cpp +
76.4%76.4%
+ 		76.4 %97 / 12755.6 %5 / 9
<unnamed>76.4 %97 / 12755.6 %5 / 9
state_generic.cpp +
65.9%65.9%
+ 		65.9 %195 / 29658.3 %7 / 12
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rtk.cpp +
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+ 		100.0 %5 / 5100.0 %4 / 4
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gps_baro.cpp +
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<unnamed>100.0 %5 / 5100.0 %4 / 4
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/index-detail-sort-l.html b/mrs_uav_state_estimators/src/estimators/state/index-detail-sort-l.html new file mode 100644 index 0000000000..1239371366 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/index-detail-sort-l.html @@ -0,0 +1,200 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:31244370.4 %
Date:2024-08-07 22:18:19Functions:283775.7 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
state_generic.cpp +
65.9%65.9%
+ 		65.9 %195 / 29658.3 %7 / 12
<unnamed>65.9 %195 / 29658.3 %7 / 12
passthrough.cpp +
76.4%76.4%
+ 		76.4 %97 / 12755.6 %5 / 9
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rtk.cpp +
100.0%
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rtk_garmin.cpp +
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<unnamed>100.0 %5 / 5100.0 %4 / 4
gps_baro.cpp +
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+ 		100.0 %5 / 5100.0 %4 / 4
<unnamed>100.0 %5 / 5100.0 %4 / 4
gps_garmin.cpp +
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+ 		100.0 %5 / 5100.0 %4 / 4
<unnamed>100.0 %5 / 5100.0 %4 / 4
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/index-detail.html b/mrs_uav_state_estimators/src/estimators/state/index-detail.html new file mode 100644 index 0000000000..aaa0ec7a65 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/index-detail.html @@ -0,0 +1,200 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/src/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:31244370.4 %
Date:2024-08-07 22:18:19Functions:283775.7 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
gps_baro.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
<unnamed>100.0 %5 / 5100.0 %4 / 4
gps_garmin.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
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passthrough.cpp +
76.4%76.4%
+ 		76.4 %97 / 12755.6 %5 / 9
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rtk.cpp +
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state_generic.cpp +
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+ 		65.9 %195 / 29658.3 %7 / 12
<unnamed>65.9 %195 / 29658.3 %7 / 12
+
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+ + + + +
Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:31244370.4 %
Date:2024-08-07 22:18:19Functions:283775.7 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
passthrough.cpp +
76.4%76.4%
+ 		76.4 %97 / 12755.6 %5 / 9
state_generic.cpp +
65.9%65.9%
+ 		65.9 %195 / 29658.3 %7 / 12
rtk.cpp +
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100.0%
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gps_baro.cpp +
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gps_garmin.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
+
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+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/index-sort-l.html b/mrs_uav_state_estimators/src/estimators/state/index-sort-l.html new file mode 100644 index 0000000000..e7fff55e8c --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/index-sort-l.html @@ -0,0 +1,152 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/src/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:31244370.4 %
Date:2024-08-07 22:18:19Functions:283775.7 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
state_generic.cpp +
65.9%65.9%
+ 		65.9 %195 / 29658.3 %7 / 12
passthrough.cpp +
76.4%76.4%
+ 		76.4 %97 / 12755.6 %5 / 9
rtk.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
rtk_garmin.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
gps_baro.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
gps_garmin.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/index.html b/mrs_uav_state_estimators/src/estimators/state/index.html new file mode 100644 index 0000000000..a5e7129553 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/index.html @@ -0,0 +1,152 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:31244370.4 %
Date:2024-08-07 22:18:19Functions:283775.7 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
gps_baro.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
gps_garmin.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
passthrough.cpp +
76.4%76.4%
+ 		76.4 %97 / 12755.6 %5 / 9
rtk.cpp +
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+ 		100.0 %5 / 5100.0 %4 / 4
rtk_garmin.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
state_generic.cpp +
65.9%65.9%
+ 		65.9 %195 / 29658.3 %7 / 12
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.func-sort-c.html b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.func-sort-c.html new file mode 100644 index 0000000000..be241e311c --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.func-sort-c.html @@ -0,0 +1,116 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/passthrough.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/state - passthrough.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9712776.4 %
Date:2024-08-07 22:18:19Functions:5955.6 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::passthrough::Passthrough::isConverged()0
mrs_uav_state_estimators::passthrough::Passthrough::setUavState(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_state_estimators::passthrough::Passthrough::pause()0
mrs_uav_state_estimators::passthrough::Passthrough::reset()0
(anonymous namespace)::ProxyExec0::ProxyExec0()1
mrs_uav_state_estimators::passthrough::Passthrough::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)1
mrs_uav_state_estimators::passthrough::Passthrough::start()1
mrs_uav_state_estimators::passthrough::Passthrough::timerUpdate(ros::TimerEvent const&)1053
mrs_uav_state_estimators::passthrough::Passthrough::timerCheckHealth(ros::TimerEvent const&)1070
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.func.html b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.func.html new file mode 100644 index 0000000000..885567f426 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.func.html @@ -0,0 +1,116 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/passthrough.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - passthrough.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9712776.4 %
Date:2024-08-07 22:18:19Functions:5955.6 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()1
mrs_uav_state_estimators::passthrough::Passthrough::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)1
mrs_uav_state_estimators::passthrough::Passthrough::isConverged()0
mrs_uav_state_estimators::passthrough::Passthrough::setUavState(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_state_estimators::passthrough::Passthrough::timerUpdate(ros::TimerEvent const&)1053
mrs_uav_state_estimators::passthrough::Passthrough::timerCheckHealth(ros::TimerEvent const&)1070
mrs_uav_state_estimators::passthrough::Passthrough::pause()0
mrs_uav_state_estimators::passthrough::Passthrough::reset()0
mrs_uav_state_estimators::passthrough::Passthrough::start()1
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.frameset.html new file mode 100644 index 0000000000..cf08741b5f --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/passthrough.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.html new file mode 100644 index 0000000000..37cb93d671 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.html @@ -0,0 +1,343 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/passthrough.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - passthrough.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9712776.4 %
Date:2024-08-07 22:18:19Functions:5955.6 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <mrs_uav_state_estimators/estimators/state/passthrough.h>
+       4             : 
+       5             : //}
+       6             : 
+       7             : namespace mrs_uav_state_estimators
+       8             : {
+       9             : 
+      10             : namespace passthrough
+      11             : {
+      12             : 
+      13             : /* initialize() //{*/
+      14           1 : void Passthrough::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16           1 :   ch_ = ch;
+      17           1 :   ph_ = ph;
+      18             : 
+      19           1 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      20             : 
+      21             :   // | --------------- param loader initialization -------------- |
+      22             : 
+      23           1 :   if (is_core_plugin_) {
+      24             : 
+      25           1 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      26           1 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      27             :   }
+      28             : 
+      29           1 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getName() + "/");
+      30             : 
+      31             :   // | --------------------- load parameters -------------------- |
+      32           1 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      33           1 :   ph->param_loader->loadParam("message/topic", msg_topic_);
+      34           1 :   msg_topic_ = "/" + ch_->uav_name + "/" + msg_topic_;
+      35             : 
+      36             :   // | ------------------ timers initialization ----------------- |
+      37           1 :   timer_update_       = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &Passthrough::timerUpdate, this, false, false);  // not running after init
+      38           1 :   timer_check_health_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &Passthrough::timerCheckHealth, this);
+      39             : 
+      40             :   // | --------------- subscribers initialization --------------- |
+      41           2 :   mrs_lib::SubscribeHandlerOptions shopts;
+      42           1 :   shopts.nh                 = nh;
+      43           1 :   shopts.node_name          = getPrintName();
+      44           1 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      45           1 :   shopts.threadsafe         = true;
+      46           1 :   shopts.autostart          = true;
+      47           1 :   shopts.queue_size         = 10;
+      48           1 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      49             : 
+      50           1 :   sh_passthrough_odom_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, msg_topic_);
+      51             : 
+      52             :   // | ---------------- publishers initialization --------------- |
+      53           1 :   ph_odom_ = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/odom", 10);  // needed for tf
+      54           1 :   if (ch_->debug_topics.state) {
+      55           1 :     ph_uav_state_ = mrs_lib::PublisherHandler<mrs_msgs::UavState>(nh, Support::toSnakeCase(getName()) + "/uav_state", 10);
+      56             :   }
+      57           1 :   if (ch_->debug_topics.covariance) {
+      58           0 :     ph_pose_covariance_  = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, Support::toSnakeCase(getName()) + "/pose_covariance", 10);
+      59           0 :     ph_twist_covariance_ = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, Support::toSnakeCase(getName()) + "/twist_covariance", 10);
+      60             :   }
+      61           1 :   if (ch_->debug_topics.innovation) {
+      62           0 :     ph_innovation_ = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/innovation", 10);
+      63             :   }
+      64           1 :   if (ch_->debug_topics.diag) {
+      65           0 :     ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics>(nh, Support::toSnakeCase(getName()) + "/diagnostics", 10);
+      66             :   }
+      67             : 
+      68             :   // | ------------------ initialize published messages ------------------ |
+      69           1 :   uav_state_init_.header.frame_id = ns_frame_id_;
+      70           1 :   uav_state_init_.child_frame_id  = ch_->frames.ns_fcu;
+      71             : 
+      72           1 :   uav_state_init_.estimator_horizontal = est_lat_name_;
+      73           1 :   uav_state_init_.estimator_vertical   = est_alt_name_;
+      74           1 :   uav_state_init_.estimator_heading    = est_hdg_name_;
+      75             : 
+      76           1 :   innovation_init_.header.frame_id         = ns_frame_id_;
+      77           1 :   innovation_init_.child_frame_id          = ch_->frames.ns_fcu;
+      78           1 :   innovation_init_.pose.pose.orientation.w = 1.0;
+      79             : 
+      80             :   // | ------------------ finish initialization ----------------- |
+      81             : 
+      82           1 :   if (changeState(INITIALIZED_STATE)) {
+      83           1 :     ROS_INFO("[%s]: Estimator initialized", getPrintName().c_str());
+      84             :   } else {
+      85           0 :     ROS_INFO("[%s]: Estimator could not be initialized", getPrintName().c_str());
+      86             :   }
+      87           1 : }
+      88             : /*//}*/
+      89             : 
+      90             : /*//{ start() */
+      91           1 : bool Passthrough::start(void) {
+      92             : 
+      93             : 
+      94           1 :   if (isInState(READY_STATE)) {
+      95             : 
+      96           1 :     timer_update_.start();
+      97           1 :     changeState(STARTED_STATE);
+      98           1 :     return true;
+      99             : 
+     100             :   } else {
+     101           0 :     ROS_WARN("[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+     102           0 :     ros::Duration(1.0).sleep();
+     103             :   }
+     104           0 :   return false;
+     105             : 
+     106             :   ROS_ERROR("[%s]: Failed to start", getPrintName().c_str());
+     107             :   return false;
+     108             : }
+     109             : /*//}*/
+     110             : 
+     111             : /*//{ pause() */
+     112           0 : bool Passthrough::pause(void) {
+     113             : 
+     114           0 :   if (isInState(RUNNING_STATE)) {
+     115           0 :     changeState(STOPPED_STATE);
+     116           0 :     return true;
+     117             :   }
+     118           0 :   return false;
+     119             : }
+     120             : /*//}*/
+     121             : 
+     122             : /*//{ reset() */
+     123           0 : bool Passthrough::reset(void) {
+     124             : 
+     125           0 :   if (!isInitialized()) {
+     126           0 :     ROS_ERROR("[%s]: Cannot reset uninitialized estimator", getPrintName().c_str());
+     127           0 :     return false;
+     128             :   }
+     129             : 
+     130           0 :   changeState(STOPPED_STATE);
+     131             : 
+     132           0 :   ROS_INFO("[%s]: Estimator reset", getPrintName().c_str());
+     133             : 
+     134           0 :   return true;
+     135             : }
+     136             : /*//}*/
+     137             : 
+     138             : /* timerUpdate() //{*/
+     139        1053 : void Passthrough::timerUpdate([[maybe_unused]] const ros::TimerEvent &event) {
+     140             : 
+     141             : 
+     142        1053 :   if (!isInitialized()) {
+     143           0 :     return;
+     144             :   }
+     145             : 
+     146        1053 :   const ros::Time time_now = ros::Time::now();
+     147             : 
+     148        2106 :   nav_msgs::OdometryConstPtr msg = sh_passthrough_odom_.getMsg();
+     149             : 
+     150        1053 :   if (first_iter_) {
+     151           1 :     prev_msg_   = msg;
+     152           1 :     first_iter_ = false;
+     153             :   }
+     154             : 
+     155        2106 :   mrs_msgs::UavState uav_state = uav_state_init_;
+     156             : 
+     157        1053 :   uav_state.header.stamp = time_now;
+     158             : 
+     159        1053 :   uav_state.pose.position    = msg->pose.pose.position;
+     160        1053 :   uav_state.pose.orientation = msg->pose.pose.orientation;
+     161             : 
+     162        1053 :   uav_state.velocity.linear  = Support::rotateVector(msg->twist.twist.linear, msg->pose.pose.orientation);
+     163        1053 :   uav_state.velocity.angular = msg->twist.twist.angular;
+     164             : 
+     165        2106 :   const nav_msgs::Odometry odom = Support::uavStateToOdom(uav_state);
+     166             : 
+     167        2106 :   nav_msgs::Odometry innovation = innovation_init_;
+     168        1053 :   innovation.header.stamp       = time_now;
+     169             : 
+     170        1053 :   innovation.pose.pose.position.x = prev_msg_->pose.pose.position.x - msg->pose.pose.position.x;
+     171        1053 :   innovation.pose.pose.position.y = prev_msg_->pose.pose.position.y - msg->pose.pose.position.y;
+     172        1053 :   innovation.pose.pose.position.z = prev_msg_->pose.pose.position.z - msg->pose.pose.position.z;
+     173             : 
+     174        2106 :   mrs_msgs::Float64ArrayStamped pose_covariance, twist_covariance;
+     175        1053 :   pose_covariance.header.stamp  = time_now;
+     176        1053 :   twist_covariance.header.stamp = time_now;
+     177             : 
+     178        1053 :   const int n_states = 6;  // TODO this should be defined somewhere else
+     179        1053 :   pose_covariance.values.resize(n_states * n_states);
+     180        1053 :   pose_covariance.values.at(n_states * AXIS_X + AXIS_X) = 1e-10;
+     181        1053 :   pose_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = 1e-10;
+     182        1053 :   pose_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = 1e-10;
+     183             : 
+     184        1053 :   twist_covariance.values.resize(n_states * n_states);
+     185        1053 :   twist_covariance.values.at(n_states * AXIS_X + AXIS_X) = 1e-10;
+     186        1053 :   twist_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = 1e-10;
+     187        1053 :   twist_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = 1e-10;
+     188             : 
+     189        1053 :   mrs_lib::set_mutexed(mtx_uav_state_, uav_state, uav_state_);
+     190        1053 :   mrs_lib::set_mutexed(mtx_odom_, odom, odom_);
+     191        1053 :   mrs_lib::set_mutexed(mtx_innovation_, innovation, innovation_);
+     192        1053 :   mrs_lib::set_mutexed(mtx_covariance_, pose_covariance, pose_covariance_);
+     193        1053 :   mrs_lib::set_mutexed(mtx_covariance_, twist_covariance, twist_covariance_);
+     194             : 
+     195        1053 :   publishUavState();
+     196        1053 :   publishOdom();
+     197        1053 :   publishCovariance();
+     198        1053 :   publishInnovation();
+     199        1053 :   publishDiagnostics();
+     200             : 
+     201        1053 :   prev_msg_ = msg;
+     202             : }
+     203             : /*//}*/
+     204             : 
+     205             : /*//{ timerCheckHealth() */
+     206        1070 : void Passthrough::timerCheckHealth([[maybe_unused]] const ros::TimerEvent &event) {
+     207             : 
+     208        1070 :   if (!isInitialized()) {
+     209           0 :     return;
+     210             :   }
+     211             : 
+     212        1070 :   if (isInState(INITIALIZED_STATE)) {
+     213             : 
+     214          15 :     if (sh_passthrough_odom_.hasMsg()) {
+     215           1 :       changeState(READY_STATE);
+     216           1 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is ready to start", getPrintName().c_str());
+     217             :     } else {
+     218          14 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s msg on topic %s", getPrintName().c_str(), Support::waiting_for_string.c_str(), sh_passthrough_odom_.topicName().c_str());
+     219          14 :       return;
+     220             :     }
+     221             :   }
+     222             : 
+     223             : 
+     224        1056 :   if (isInState(STARTED_STATE)) {
+     225             : 
+     226           1 :     changeState(RUNNING_STATE);
+     227             :   }
+     228             : }
+     229             : /*//}*/
+     230             : 
+     231             : /*//{ isConverged() */
+     232           0 : bool Passthrough::isConverged() {
+     233             : 
+     234             :   // TODO: check convergence by rate of change of determinant
+     235             :   // most likely not used in top-level estimator
+     236             : 
+     237           0 :   return true;
+     238             : }
+     239             : /*//}*/
+     240             : 
+     241             : /*//{ setUavState() */
+     242           0 : bool Passthrough::setUavState([[maybe_unused]] const mrs_msgs::UavState &uav_state) {
+     243             : 
+     244           0 :   if (!isInState(STOPPED_STATE)) {
+     245           0 :     ROS_WARN("[%s]: Estimator state can be set only in the STOPPED state", getPrintName().c_str());
+     246           0 :     return false;
+     247             :   }
+     248             : 
+     249           0 :   ROS_WARN("[%s]: Setting the state of this estimator is not implemented.", getPrintName().c_str());
+     250           0 :   return false;
+     251             : }
+     252             : /*//}*/
+     253             : 
+     254             : }  // namespace passthrough
+     255             : 
+     256             : }  // namespace mrs_uav_state_estimators
+     257             : 
+     258             : #include <pluginlib/class_list_macros.h>
+     259           1 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::passthrough::Passthrough, mrs_uav_managers::StateEstimator)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.overview.html b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.overview.html new file mode 100644 index 0000000000..5a663b9a3d --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.overview.html @@ -0,0 +1,85 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/passthrough.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..a57b3d1729bc3cdac5e4ae2ad4e24468373c0602 GIT binary patch literal 1099 zcmV-R1ho5!P)CR&-|8ai1Q<*+6d4na1&0Mk zrYzb^4VF?m$^_?ucXr{IX=DbBSx|OS#%OII(-i59jDZGlK*u>+0!@d@)G^qPw`1vA z5I8zu8oC^q8cqViaU^8tqMJbA8e^E|!GRmdB+OBks`;Z>FYQ>7@56w1Mg`no%WEq{K{?J={g%RO<`JEIPElp`a-e>NZIyFAu`fr1cTx;zevpp>H-w=Hez0H1or28Hphso^eiqdNx~U5^`VZgEm@}w4@WW}Lj9fl` zQh^>fSSI5s)`=AI-C#5(vSv*jj^M8h#8fwzUQBX)Ehq= z&a44HYI+|ysN>BqtwJfV;+~R5PyGnKID!Os`AF$kci}8L-2Nn&UjS;DQ8lVZUjRF- z&d7zg1vD^YxKZLm-~(f9TvTjOp5YdgLT@GLD!yc0P002ovPDHLkV1lbW1y=w7 literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.func-sort-c.html b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.func-sort-c.html new file mode 100644 index 0000000000..b5380ae438 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.func-sort-c.html @@ -0,0 +1,96 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/state - rtk.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-08-07 22:18:19Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()2
mrs_uav_state_estimators::rtk::Rtk::Rtk()2
mrs_uav_state_estimators::rtk::Rtk::~Rtk()2
mrs_uav_state_estimators::rtk::Rtk::~Rtk().22
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+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.func.html b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.func.html new file mode 100644 index 0000000000..8315f373dd --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.func.html @@ -0,0 +1,96 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/state - rtk.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-08-07 22:18:19Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()2
mrs_uav_state_estimators::rtk::Rtk::Rtk()2
mrs_uav_state_estimators::rtk::Rtk::~Rtk()2
mrs_uav_state_estimators::rtk::Rtk::~Rtk().22
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.frameset.html new file mode 100644 index 0000000000..5de9a9f3df --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.html new file mode 100644 index 0000000000..5fa64d72c1 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.html @@ -0,0 +1,109 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/state - rtk.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-08-07 22:18:19Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #include <mrs_uav_state_estimators/estimators/state/state_generic.h>
+       2             : 
+       3             : namespace mrs_uav_state_estimators
+       4             : {
+       5             : 
+       6             : namespace rtk
+       7             : {
+       8             : 
+       9             : const char estimator_name[] = "rtk";
+      10             : const bool is_core_plugin = true;
+      11             : 
+      12             : class Rtk : public StateGeneric {
+      13             : public:
+      14           2 :   Rtk() : StateGeneric(estimator_name, is_core_plugin) {
+      15           2 :   }
+      16             : 
+      17           4 :   ~Rtk(void) {
+      18           4 :   }
+      19             : };
+      20             : 
+      21             : }  // namespace rtk
+      22             : }  // namespace mrs_uav_state_estimators
+      23             : 
+      24             : #include <pluginlib/class_list_macros.h>
+      25           2 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::rtk::Rtk, mrs_uav_managers::StateEstimator)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.overview.html b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.overview.html new file mode 100644 index 0000000000..6e78d250c4 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.overview.html @@ -0,0 +1,27 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..a73b427303050221946009b0afa810dd7c98d9b4 GIT binary patch literal 229 zcmeAS@N?(olHy`uVBq!ia0vp^0YEIt!VDxsGPYO&DTx4|5ZC|z|E~gqp;PJr literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.func-sort-c.html b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.func-sort-c.html new file mode 100644 index 0000000000..37853c8256 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.func-sort-c.html @@ -0,0 +1,96 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/state - rtk_garmin.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-08-07 22:18:19Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()2
mrs_uav_state_estimators::rtk_garmin::RtkGarmin::RtkGarmin()2
mrs_uav_state_estimators::rtk_garmin::RtkGarmin::~RtkGarmin()2
mrs_uav_state_estimators::rtk_garmin::RtkGarmin::~RtkGarmin().22
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.func.html b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.func.html new file mode 100644 index 0000000000..82d8f276ee --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.func.html @@ -0,0 +1,96 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/state - rtk_garmin.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-08-07 22:18:19Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()2
mrs_uav_state_estimators::rtk_garmin::RtkGarmin::RtkGarmin()2
mrs_uav_state_estimators::rtk_garmin::RtkGarmin::~RtkGarmin()2
mrs_uav_state_estimators::rtk_garmin::RtkGarmin::~RtkGarmin().22
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.gcov.frameset.html new file mode 100644 index 0000000000..5a40bb2c46 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.gcov.html new file mode 100644 index 0000000000..23a5f1fb8b --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.gcov.html @@ -0,0 +1,109 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/state - rtk_garmin.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-08-07 22:18:19Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #include <mrs_uav_state_estimators/estimators/state/state_generic.h>
+       2             : 
+       3             : namespace mrs_uav_state_estimators
+       4             : {
+       5             : 
+       6             : namespace rtk_garmin
+       7             : {
+       8             : 
+       9             : const char estimator_name[] = "rtk_garmin";
+      10             : const bool is_core_plugin = true;
+      11             : 
+      12             : class RtkGarmin : public StateGeneric {
+      13             : public:
+      14           2 :   RtkGarmin() : StateGeneric(estimator_name, is_core_plugin) {
+      15           2 :   }
+      16             : 
+      17           4 :   ~RtkGarmin(void) {
+      18           4 :   }
+      19             : };
+      20             : 
+      21             : }  // namespace rtk_garmin
+      22             : }  // namespace mrs_uav_state_estimators
+      23             : 
+      24             : #include <pluginlib/class_list_macros.h>
+      25           2 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::rtk_garmin::RtkGarmin, mrs_uav_managers::StateEstimator)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.gcov.overview.html b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.gcov.overview.html new file mode 100644 index 0000000000..36bf07081e --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.gcov.overview.html @@ -0,0 +1,27 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..606fb073ca70818dc0b3b5dba84fd6a7044d0512 GIT binary patch literal 231 zcmeAS@N?(olHy`uVBq!ia0vp^0YEIt!VDxsGPYO&DTx4|5ZC|z|E~gq^JNDtZ&EXPgU2N!e?RY*!@G!k?Ta()7BTAKis#>5!bv}um4PI*Z02~7mGQc zuCNw3Xkx0Ko_*uhD$z@81X?onZt12fEV|g{c9?_v+hwVbPc627Ikr{%)|^j!tT$gZ WJ^4%e>pP$W7(8A5T-G@yGywov30pG& literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.func-sort-c.html b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.func-sort-c.html new file mode 100644 index 0000000000..f452f9301a --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.func-sort-c.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/state_generic.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/state - state_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:19529665.9 %
Date:2024-08-07 22:18:19Functions:71258.3 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::StateGeneric::isConverged()0
mrs_uav_state_estimators::StateGeneric::setUavState(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_state_estimators::StateGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::StateGeneric::pause()0
mrs_uav_state_estimators::StateGeneric::reset()0
mrs_uav_state_estimators::StateGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)115
mrs_uav_state_estimators::StateGeneric::start()7964
mrs_uav_state_estimators::StateGeneric::updateUavState()206650
mrs_uav_state_estimators::StateGeneric::timerPubAttitude(ros::TimerEvent const&)218276
mrs_uav_state_estimators::StateGeneric::timerUpdate(ros::TimerEvent const&)218278
mrs_uav_state_estimators::StateGeneric::getHeading() const331244
mrs_uav_state_estimators::StateGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)::{lambda()#1}::operator()() const331249
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.func.html b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.func.html new file mode 100644 index 0000000000..b63ebbc7b7 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.func.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/state_generic.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/state - state_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:19529665.9 %
Date:2024-08-07 22:18:19Functions:71258.3 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::StateGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)115
mrs_uav_state_estimators::StateGeneric::isConverged()0
mrs_uav_state_estimators::StateGeneric::setUavState(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_state_estimators::StateGeneric::timerUpdate(ros::TimerEvent const&)218278
mrs_uav_state_estimators::StateGeneric::updateUavState()206650
mrs_uav_state_estimators::StateGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::StateGeneric::timerPubAttitude(ros::TimerEvent const&)218276
mrs_uav_state_estimators::StateGeneric::pause()0
mrs_uav_state_estimators::StateGeneric::reset()0
mrs_uav_state_estimators::StateGeneric::start()7964
mrs_uav_state_estimators::StateGeneric::getHeading() const331244
mrs_uav_state_estimators::StateGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)::{lambda()#1}::operator()() const331249
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.frameset.html new file mode 100644 index 0000000000..ae1b3eba16 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/state_generic.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.html new file mode 100644 index 0000000000..959391d6a2 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.html @@ -0,0 +1,638 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/state_generic.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/state - state_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:19529665.9 %
Date:2024-08-07 22:18:19Functions:71258.3 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <mrs_uav_state_estimators/estimators/state/state_generic.h>
+       4             : 
+       5             : //}
+       6             : 
+       7             : namespace mrs_uav_state_estimators
+       8             : {
+       9             : 
+      10             : /* initialize() //{*/
+      11         115 : void StateGeneric::initialize(ros::NodeHandle &parent_nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      12             : 
+      13         115 :   ch_ = ch;
+      14         115 :   ph_ = ph;
+      15             : 
+      16         230 :   ros::NodeHandle nh(parent_nh);
+      17             : 
+      18         115 :   if (is_core_plugin_) {
+      19             : 
+      20         115 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      21         115 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      22             :   }
+      23             : 
+      24         115 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getName() + "/");
+      25             : 
+      26         115 :   ph->param_loader->loadParam("estimators/lateral/name", est_lat_name_);
+      27         115 :   ph->param_loader->loadParam("estimators/altitude/name", est_alt_name_);
+      28         115 :   ph->param_loader->loadParam("estimators/heading/name", est_hdg_name_);
+      29         115 :   ph->param_loader->loadParam("estimators/heading/passthrough", is_hdg_passthrough_);
+      30             : 
+      31         115 :   ph->param_loader->loadParam("override_frame_id/enabled", is_override_frame_id_);
+      32         115 :   if (is_override_frame_id_) {
+      33           0 :     ph->param_loader->loadParam("override_frame_id/frame_id", frame_id_);
+      34             :   }
+      35             : 
+      36         230 :   std::string topic_orientation;
+      37         115 :   ph->param_loader->loadParam("topics/orientation", topic_orientation);
+      38         115 :   topic_orientation_ = "/" + ch_->uav_name + "/" + topic_orientation;
+      39         230 :   std::string topic_angular_velocity;
+      40         115 :   ph->param_loader->loadParam("topics/angular_velocity", topic_angular_velocity);
+      41         115 :   topic_angular_velocity_ = "/" + ch_->uav_name + "/" + topic_angular_velocity;
+      42             : 
+      43         115 :   if (!ph->param_loader->loadedSuccessfully()) {
+      44           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+      45           0 :     ros::shutdown();
+      46             :   }
+      47             : 
+      48         115 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      49             : 
+      50             :   // | ------------------ timers initialization ----------------- |
+      51         115 :   timer_update_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &StateGeneric::timerUpdate, this);
+      52             :   /* timer_check_health_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &StateGeneric::timerCheckHealth, this); */
+      53         115 :   timer_pub_attitude_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &StateGeneric::timerPubAttitude, this);
+      54             : 
+      55             :   // | --------------- subscribers initialization --------------- |
+      56         230 :   mrs_lib::SubscribeHandlerOptions shopts;
+      57         115 :   shopts.nh                 = nh;
+      58         115 :   shopts.node_name          = getPrintName();
+      59         115 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      60         115 :   shopts.threadsafe         = true;
+      61         115 :   shopts.autostart          = true;
+      62         115 :   shopts.queue_size         = 10;
+      63         115 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      64             : 
+      65         115 :   sh_hw_api_orient_  = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, topic_orientation_);
+      66         115 :   sh_hw_api_ang_vel_ = mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped>(shopts, topic_angular_velocity_);
+      67             : 
+      68             :   // | ---------------- publishers initialization --------------- |
+      69         115 :   ph_odom_     = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/odom", 10);
+      70         115 :   ph_attitude_ = mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped>(nh, Support::toSnakeCase(getName()) + "/attitude", 10);
+      71             : 
+      72         115 :   if (ch_->debug_topics.state) {
+      73         115 :     ph_uav_state_ = mrs_lib::PublisherHandler<mrs_msgs::UavState>(nh, Support::toSnakeCase(getName()) + "/uav_state", 10);
+      74             :   }
+      75         115 :   if (ch_->debug_topics.covariance) {
+      76           0 :     ph_pose_covariance_  = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, Support::toSnakeCase(getName()) + "/pose_covariance", 10);
+      77           0 :     ph_twist_covariance_ = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, Support::toSnakeCase(getName()) + "/twist_covariance", 10);
+      78             :   }
+      79         115 :   if (ch_->debug_topics.innovation) {
+      80           0 :     ph_innovation_ = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/innovation", 10);
+      81             :   }
+      82         115 :   if (ch_->debug_topics.diag) {
+      83           0 :     ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics>(nh, Support::toSnakeCase(getName()) + "/diagnostics", 10);
+      84             :   }
+      85             : 
+      86             :   // | ---------------- estimators initialization --------------- |
+      87         230 :   std::vector<double> max_altitudes;
+      88             : 
+      89         115 :   if (is_hdg_passthrough_) {
+      90         115 :     est_hdg_ = std::make_unique<HdgPassthrough>(est_hdg_name_, frame_id_, getName(), is_core_plugin_);
+      91             :   } else {
+      92           0 :     est_hdg_ = std::make_unique<HdgGeneric>(est_hdg_name_, frame_id_, getName(), is_core_plugin_);
+      93             :   }
+      94         115 :   est_hdg_->initialize(nh, ch_, ph_);
+      95         115 :   max_altitudes.push_back(est_hdg_->getMaxFlightZ());
+      96             : 
+      97      331364 :   est_lat_ = std::make_unique<LatGeneric>(est_lat_name_, frame_id_, getName(), is_core_plugin_, [this](void) { return this->getHeading(); });
+      98         115 :   est_lat_->initialize(nh, ch_, ph_);
+      99         115 :   max_altitudes.push_back(est_lat_->getMaxFlightZ());
+     100             : 
+     101         115 :   est_alt_ = std::make_unique<AltGeneric>(est_alt_name_, frame_id_, getName(), is_core_plugin_);
+     102         115 :   est_alt_->initialize(nh, ch_, ph_);
+     103         115 :   max_altitudes.push_back(est_alt_->getMaxFlightZ());
+     104             : 
+     105         115 :   max_flight_z_ = *std::min_element(max_altitudes.begin(), max_altitudes.end());
+     106             : 
+     107             :   // | ------------------ initialize published messages ------------------ |
+     108         115 :   uav_state_init_.header.frame_id = ns_frame_id_;
+     109         115 :   uav_state_init_.child_frame_id  = ch_->frames.ns_fcu;
+     110             : 
+     111         115 :   uav_state_init_.estimator_horizontal = est_lat_name_;
+     112         115 :   uav_state_init_.estimator_vertical   = est_alt_name_;
+     113         115 :   uav_state_init_.estimator_heading    = est_hdg_name_;
+     114             : 
+     115         115 :   innovation_init_.header.frame_id         = ns_frame_id_;
+     116         115 :   innovation_init_.child_frame_id          = ch_->frames.ns_fcu;
+     117         115 :   innovation_init_.pose.pose.orientation.w = 1.0;
+     118             : 
+     119             :   // | ------------------ finish initialization ----------------- |
+     120             : 
+     121         115 :   if (changeState(INITIALIZED_STATE)) {
+     122         115 :     ROS_INFO("[%s]: Estimator initialized", getPrintName().c_str());
+     123             :   } else {
+     124           0 :     ROS_INFO("[%s]: Estimator could not be initialized", getPrintName().c_str());
+     125             :   }
+     126         115 : }
+     127             : /*//}*/
+     128             : 
+     129             : /*//{ start() */
+     130        7964 : bool StateGeneric::start(void) {
+     131             : 
+     132        7964 :   if (isInState(READY_STATE)) {
+     133             : 
+     134             :     bool est_lat_start_successful, est_alt_start_successful, est_hdg_start_successful;
+     135             : 
+     136        7964 :     if (est_lat_->isStarted() || est_lat_->isRunning()) {
+     137        3988 :       est_lat_start_successful = true;
+     138             :     } else {
+     139        3976 :       est_lat_start_successful = est_lat_->start();
+     140             :     }
+     141             : 
+     142        7964 :     if (est_alt_->isStarted() || est_alt_->isRunning()) {
+     143        2924 :       est_alt_start_successful = true;
+     144             :     } else {
+     145        5040 :       est_alt_start_successful = est_alt_->start();
+     146             :     }
+     147             : 
+     148        7964 :     if (est_hdg_->isStarted() || est_hdg_->isRunning()) {
+     149        7785 :       timer_pub_attitude_.start();
+     150        7785 :       est_hdg_start_successful = true;
+     151             :     } else {
+     152         179 :       est_hdg_start_successful = est_hdg_->start();
+     153             :     }
+     154             : 
+     155        7964 :     if (est_lat_start_successful && est_alt_start_successful && est_hdg_start_successful) {
+     156             :       /* timer_update_.start(); */
+     157         115 :       changeState(STARTED_STATE);
+     158         115 :       return true;
+     159             :     }
+     160             : 
+     161             :   } else {
+     162           0 :     ROS_WARN("[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+     163           0 :     ros::Duration(1.0).sleep();
+     164             :   }
+     165        7849 :   return false;
+     166             : 
+     167             :   ROS_ERROR("[%s]: Failed to start", getPrintName().c_str());
+     168             :   return false;
+     169             : }
+     170             : /*//}*/
+     171             : 
+     172             : /*//{ pause() */
+     173           0 : bool StateGeneric::pause(void) {
+     174             : 
+     175           0 :   if (isInState(RUNNING_STATE)) {
+     176           0 :     est_lat_->pause();
+     177           0 :     est_alt_->pause();
+     178           0 :     est_hdg_->pause();
+     179           0 :     changeState(STOPPED_STATE);
+     180           0 :     return true;
+     181             : 
+     182             :   } else {
+     183           0 :     return false;
+     184             :   }
+     185             : }
+     186             : /*//}*/
+     187             : 
+     188             : /*//{ reset() */
+     189           0 : bool StateGeneric::reset(void) {
+     190             : 
+     191           0 :   if (!isInitialized()) {
+     192           0 :     ROS_ERROR("[%s]: Cannot reset uninitialized estimator", getPrintName().c_str());
+     193           0 :     return false;
+     194             :   }
+     195             : 
+     196           0 :   changeState(STOPPED_STATE);
+     197           0 :   est_lat_->reset();
+     198           0 :   est_alt_->reset();
+     199           0 :   est_hdg_->reset();
+     200           0 :   changeState(INITIALIZED_STATE);
+     201             : 
+     202           0 :   ROS_INFO("[%s]: Estimator reset", getPrintName().c_str());
+     203             : 
+     204           0 :   return true;
+     205             : }
+     206             : /*//}*/
+     207             : 
+     208             : /* timerUpdate() //{*/
+     209      218278 : void StateGeneric::timerUpdate([[maybe_unused]] const ros::TimerEvent &event) {
+     210             : 
+     211             : 
+     212      218278 :   if (!isInitialized()) {
+     213       11626 :     return;
+     214             :   }
+     215             : 
+     216      434912 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("StateGeneric::timerUpdate", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     217             : 
+     218      217456 :   switch (getCurrentSmState()) {
+     219             : 
+     220           0 :     case UNINITIALIZED_STATE: {
+     221           0 :       break;
+     222             :     }
+     223        2831 :     case INITIALIZED_STATE: {
+     224             : 
+     225        2831 :       if (sh_hw_api_orient_.hasMsg() && sh_hw_api_ang_vel_.hasMsg()) {
+     226         115 :         if (est_lat_->isInitialized() && est_alt_->isInitialized() && est_hdg_->isInitialized()) {
+     227         115 :           changeState(READY_STATE);
+     228         115 :           ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is ready to start", getPrintName().c_str());
+     229             :         } else {
+     230           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s subestimators to be initialized", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     231           0 :           return;
+     232             :         }
+     233             :       } else {
+     234        2716 :         ROS_INFO_THROTTLE(1.0, "[%s]: %s msg on topic %s", getPrintName().c_str(), Support::waiting_for_string.c_str(), sh_hw_api_orient_.topicName().c_str());
+     235        2716 :         return;
+     236             :       }
+     237             : 
+     238         115 :       break;
+     239             :     }
+     240             : 
+     241        7938 :     case READY_STATE: {
+     242        7938 :       break;
+     243             :     }
+     244             : 
+     245         150 :     case STARTED_STATE: {
+     246             : 
+     247         150 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     248             : 
+     249         150 :       if (est_lat_->isError() || est_alt_->isError() || est_hdg_->isError()) {
+     250           0 :         changeState(ERROR_STATE);
+     251             :       }
+     252             : 
+     253         150 :       if (est_lat_->isRunning() && est_alt_->isRunning() && est_hdg_->isRunning()) {
+     254         115 :         ROS_INFO_THROTTLE(1.0, "[%s]: Subestimators converged", getPrintName().c_str());
+     255         115 :         changeState(RUNNING_STATE);
+     256             :       } else {
+     257          35 :         return;
+     258             :       }
+     259         115 :       break;
+     260             :     }
+     261             : 
+     262      206537 :     case RUNNING_STATE: {
+     263      206537 :       if (est_lat_->isError() || est_alt_->isError() || est_hdg_->isError()) {
+     264           0 :         changeState(ERROR_STATE);
+     265             :       }
+     266      206537 :       break;
+     267             :     }
+     268             : 
+     269           0 :     case STOPPED_STATE: {
+     270           0 :       break;
+     271             :     }
+     272             : 
+     273           0 :     case ERROR_STATE: {
+     274           0 :       if ((est_lat_->isReady() || est_lat_->isRunning()) && (est_alt_->isReady() || est_alt_->isRunning()) && (est_hdg_->isReady() || est_hdg_->isRunning())) {
+     275           0 :         changeState(READY_STATE);
+     276             :       }
+     277           0 :       break;
+     278             :     }
+     279             :   }
+     280             : 
+     281      214705 :   if (!isRunning() && !isStarted()) {
+     282        8053 :     return;
+     283             :   }
+     284             : 
+     285      206652 :   updateUavState();
+     286             : 
+     287      206652 :   publishUavState();
+     288      206652 :   publishOdom();
+     289      206652 :   publishCovariance();
+     290      206652 :   publishInnovation();
+     291      206652 :   publishDiagnostics();
+     292             : }
+     293             : /*//}*/
+     294             : 
+     295             : /*//{ timerCheckHealth() */
+     296           0 : void StateGeneric::timerCheckHealth([[maybe_unused]] const ros::TimerEvent &event) {
+     297             : 
+     298           0 :   if (!isInitialized()) {
+     299           0 :     return;
+     300             :   }
+     301             : 
+     302           0 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("StateGeneric::timerCheckHealth", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     303             : 
+     304           0 :   switch (getCurrentSmState()) {
+     305             : 
+     306           0 :     case UNINITIALIZED_STATE: {
+     307           0 :       break;
+     308             :     }
+     309           0 :     case INITIALIZED_STATE: {
+     310             : 
+     311           0 :       if (sh_hw_api_orient_.hasMsg() && sh_hw_api_ang_vel_.hasMsg()) {
+     312           0 :         if (est_lat_->isInitialized() && est_alt_->isInitialized() && est_hdg_->isInitialized()) {
+     313           0 :           changeState(READY_STATE);
+     314           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is ready to start", getPrintName().c_str());
+     315             :         } else {
+     316           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s subestimators to be initialized", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     317           0 :           return;
+     318             :         }
+     319             :       } else {
+     320           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: %s msg on topic %s", getPrintName().c_str(), Support::waiting_for_string.c_str(), sh_hw_api_orient_.topicName().c_str());
+     321           0 :         return;
+     322             :       }
+     323             : 
+     324           0 :       break;
+     325             :     }
+     326             : 
+     327           0 :     case READY_STATE: {
+     328           0 :       break;
+     329             :     }
+     330             : 
+     331           0 :     case STARTED_STATE: {
+     332             : 
+     333           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s for convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     334             : 
+     335           0 :       if (est_lat_->isError() || est_alt_->isError() || est_hdg_->isError()) {
+     336           0 :         changeState(ERROR_STATE);
+     337             :       }
+     338             : 
+     339           0 :       if (est_lat_->isRunning() && est_alt_->isRunning() && est_hdg_->isRunning()) {
+     340           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: Subestimators converged", getPrintName().c_str());
+     341           0 :         changeState(RUNNING_STATE);
+     342             :       } else {
+     343           0 :         return;
+     344             :       }
+     345           0 :       break;
+     346             :     }
+     347             : 
+     348           0 :     case RUNNING_STATE: {
+     349           0 :       if (est_lat_->isError() || est_alt_->isError() || est_hdg_->isError()) {
+     350           0 :         changeState(ERROR_STATE);
+     351             :       }
+     352           0 :       break;
+     353             :     }
+     354             : 
+     355           0 :     case STOPPED_STATE: {
+     356           0 :       break;
+     357             :     }
+     358             : 
+     359           0 :     case ERROR_STATE: {
+     360           0 :       if (est_lat_->isReady() && est_alt_->isReady() && est_hdg_->isReady()) {
+     361           0 :         changeState(READY_STATE);
+     362             :       }
+     363           0 :       break;
+     364             :     }
+     365             :   }
+     366             : }
+     367             : /*//}*/
+     368             : 
+     369             : /* timerPubAttitude() //{*/
+     370      218276 : void StateGeneric::timerPubAttitude([[maybe_unused]] const ros::TimerEvent &event) {
+     371             : 
+     372      218276 :   if (!isInitialized()) {
+     373        3878 :     return;
+     374             :   }
+     375             : 
+     376      434914 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("StateGeneric::timerPubAttitude", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     377             : 
+     378      217457 :   if (!sh_hw_api_orient_.hasMsg()) {
+     379        1473 :     ROS_WARN_THROTTLE(1.0, "[%s]: has not received orientation on topic %s yet", getPrintName().c_str(), sh_hw_api_orient_.topicName().c_str());
+     380        1473 :     return;
+     381             :   }
+     382             : 
+     383      215984 :   if (!est_hdg_->isRunning() && !isError()) {
+     384        1586 :     ROS_WARN_THROTTLE(1.0, "[%s]: cannot publish attitude, heading estimator is not running", getPrintName().c_str());
+     385        1586 :     return;
+     386             :   }
+     387             : 
+     388      214398 :   scope_timer.checkpoint("checks");
+     389             : 
+     390      214398 :   const ros::Time time_now = ros::Time::now();
+     391             : 
+     392      214398 :   geometry_msgs::QuaternionStamped att;
+     393      214398 :   att.header.stamp    = time_now;
+     394      214398 :   att.header.frame_id = ns_frame_id_ + "_att_only";
+     395             : 
+     396             :   double hdg;
+     397      214398 :   if (isError()) {
+     398           0 :     hdg = est_hdg_->getLastValidHdg();
+     399             :   } else {
+     400      214398 :     hdg = est_hdg_->getState(POSITION);
+     401             :   }
+     402             : 
+     403      214398 :   auto res = rotateQuaternionByHeading(sh_hw_api_orient_.getMsg()->quaternion, hdg);
+     404      214397 :   if (res) {
+     405      214397 :     att.quaternion = res.value();
+     406             :   } else {
+     407           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: could not rotate orientation by heading", getPrintName().c_str());
+     408           0 :     return;
+     409             :   }
+     410             : 
+     411      214393 :   scope_timer.checkpoint("rotate");
+     412             : 
+     413      214397 :   if (!Support::noNans(att.quaternion)) {
+     414           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaNs in timerPubAttitude quaternion", getPrintName().c_str());
+     415           0 :     return;
+     416             :   }
+     417             : 
+     418      214396 :   scope_timer.checkpoint("nan check");
+     419             : 
+     420      214392 :   ph_attitude_.publish(att);
+     421      214398 :   scope_timer.checkpoint("publish");
+     422             : }
+     423             : /*//}*/
+     424             : 
+     425             : /*//{ isConverged() */
+     426           0 : bool StateGeneric::isConverged() {
+     427             : 
+     428             :   // TODO: check convergence by rate of change of determinant
+     429             :   // most likely not used in top-level estimator
+     430             : 
+     431           0 :   return true;
+     432             : }
+     433             : /*//}*/
+     434             : 
+     435             : /*//{ updateUavState() */
+     436      206650 : void StateGeneric::updateUavState() {
+     437             : 
+     438      206650 :   if (!sh_hw_api_orient_.hasMsg()) {
+     439           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: has not received orientation on topic %s yet", getPrintName().c_str(), sh_hw_api_orient_.topicName().c_str());
+     440           0 :     return;
+     441             :   }
+     442             : 
+     443      206651 :   if (!sh_hw_api_ang_vel_.hasMsg()) {
+     444           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: has not received angular velocity on topic %s yet", getPrintName().c_str(), sh_hw_api_ang_vel_.topicName().c_str());
+     445           0 :     return;
+     446             :   }
+     447      413304 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("StateGeneric::updateUavState", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     448             : 
+     449      206652 :   const ros::Time time_now = ros::Time::now();
+     450             : 
+     451      206652 :   mrs_msgs::UavState uav_state = uav_state_init_;
+     452      206651 :   uav_state.header.stamp       = time_now;
+     453             : 
+     454             :   // do not rotate orientation if passthrough hdg
+     455      206651 :   if (est_hdg_name_ == "hdg_passthrough") {
+     456           0 :     uav_state.pose.orientation = sh_hw_api_orient_.getMsg()->quaternion;
+     457             :   } else {
+     458             :     double hdg;
+     459      206652 :     if (isError()) {
+     460           0 :       hdg = est_hdg_->getLastValidHdg();
+     461             :     } else {
+     462      206651 :       hdg = est_hdg_->getState(POSITION);
+     463             :     }
+     464             : 
+     465      206652 :     auto res = rotateQuaternionByHeading(sh_hw_api_orient_.getMsg()->quaternion, hdg);
+     466      206650 :     if (res) {
+     467      206650 :       uav_state.pose.orientation = res.value();
+     468             :     } else {
+     469           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: could not rotate orientation by heading", getPrintName().c_str());
+     470           0 :       return;
+     471             :     }
+     472             :   }
+     473             : 
+     474      206647 :   scope_timer.checkpoint("rotate orientation");
+     475             : 
+     476      206652 :   uav_state.velocity.angular = sh_hw_api_ang_vel_.getMsg()->vector;
+     477             : 
+     478      206648 :   uav_state.pose.position.x = est_lat_->getState(POSITION, AXIS_X);
+     479      206652 :   uav_state.pose.position.y = est_lat_->getState(POSITION, AXIS_Y);
+     480      206650 :   uav_state.pose.position.z = est_alt_->getState(POSITION);
+     481             : 
+     482      206650 :   uav_state.velocity.linear.x = est_lat_->getState(VELOCITY, AXIS_X);  // in global frame
+     483      206651 :   uav_state.velocity.linear.y = est_lat_->getState(VELOCITY, AXIS_Y);  // in global frame
+     484      206650 :   uav_state.velocity.linear.z = est_alt_->getState(VELOCITY);          // in global frame
+     485             : 
+     486      206648 :   uav_state.acceleration.linear.x = est_lat_->getState(ACCELERATION, AXIS_X);  // in global frame
+     487      206651 :   uav_state.acceleration.linear.y = est_lat_->getState(ACCELERATION, AXIS_Y);  // in global frame
+     488      206650 :   uav_state.acceleration.linear.z = est_alt_->getState(ACCELERATION);          // in global frame
+     489             : 
+     490      206652 :   scope_timer.checkpoint("fill uav state");
+     491             : 
+     492      413300 :   const nav_msgs::Odometry odom = Support::uavStateToOdom(uav_state);
+     493      206651 :   scope_timer.checkpoint("uav state to odom");
+     494             : 
+     495      413301 :   nav_msgs::Odometry innovation = innovation_init_;
+     496      206651 :   innovation.header.stamp       = time_now;
+     497             : 
+     498      206651 :   innovation.pose.pose.position.x = est_lat_->getInnovation(POSITION, AXIS_X);
+     499      206649 :   innovation.pose.pose.position.y = est_lat_->getInnovation(POSITION, AXIS_Y);
+     500      206649 :   innovation.pose.pose.position.z = est_alt_->getInnovation(POSITION);
+     501             : 
+     502      206649 :   is_mitigating_jump_ = est_alt_->isMitigatingJump() || est_lat_->isMitigatingJump() || est_hdg_->isMitigatingJump();
+     503             : 
+     504      206651 :   scope_timer.checkpoint("innovation");
+     505             : 
+     506      413299 :   mrs_msgs::Float64ArrayStamped pose_covariance, twist_covariance;
+     507      206642 :   pose_covariance.header.stamp  = time_now;
+     508      206642 :   twist_covariance.header.stamp = time_now;
+     509             : 
+     510      206642 :   const int n_states = 6;  // TODO this should be defined somewhere else
+     511      206642 :   pose_covariance.values.resize(n_states * n_states);
+     512      206646 :   pose_covariance.values.at(n_states * AXIS_X + AXIS_X) = est_lat_->getCovariance(POSITION, AXIS_X);
+     513      206640 :   pose_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = est_lat_->getCovariance(POSITION, AXIS_Y);
+     514      206646 :   pose_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = est_alt_->getCovariance(POSITION);
+     515             : 
+     516      206643 :   twist_covariance.values.resize(n_states * n_states);
+     517      206642 :   twist_covariance.values.at(n_states * AXIS_X + AXIS_X) = est_lat_->getCovariance(VELOCITY, AXIS_X);
+     518      206647 :   twist_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = est_lat_->getCovariance(VELOCITY, AXIS_Y);
+     519      206650 :   twist_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = est_alt_->getCovariance(VELOCITY);
+     520             : 
+     521      206651 :   scope_timer.checkpoint("covariance");
+     522             : 
+     523      206645 :   mrs_lib::set_mutexed(mtx_uav_state_, uav_state, uav_state_);
+     524      206649 :   mrs_lib::set_mutexed(mtx_odom_, odom, odom_);
+     525      206645 :   mrs_lib::set_mutexed(mtx_innovation_, innovation, innovation_);
+     526      206648 :   mrs_lib::set_mutexed(mtx_covariance_, pose_covariance, pose_covariance_);
+     527      206650 :   mrs_lib::set_mutexed(mtx_covariance_, twist_covariance, twist_covariance_);
+     528             : }
+     529             : /*//}*/
+     530             : 
+     531             : /*//{ getHeading() */
+     532      331244 : std::optional<double> StateGeneric::getHeading() const {
+     533      331244 :   if (!est_hdg_->isRunning()) {
+     534         237 :     return {};
+     535             :   }
+     536      331012 :   return est_hdg_->getState(POSITION);
+     537             : }
+     538             : /*//}*/
+     539             : 
+     540             : /*//{ setUavState() */
+     541           0 : bool StateGeneric::setUavState([[maybe_unused]] const mrs_msgs::UavState &uav_state) {
+     542             : 
+     543           0 :   if (!isInState(STOPPED_STATE)) {
+     544           0 :     ROS_WARN("[%s]: Estimator state can be set only in the STOPPED state", getPrintName().c_str());
+     545           0 :     return false;
+     546             :   }
+     547             : 
+     548           0 :   ROS_WARN("[%s]: Setting the state of this estimator is not implemented.", getPrintName().c_str());
+     549           0 :   return false;
+     550             : }
+     551             : /*//}*/
+     552             : 
+     553             : }  // namespace mrs_uav_state_estimators
+     554             : 
+
+
+
+ + + + +
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.overview.html b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.overview.html new file mode 100644 index 0000000000..f3994aa7b8 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.overview.html @@ -0,0 +1,159 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/state_generic.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..e4377eb09d8abf24fdb6942c48ffac3b4297badc GIT binary patch literal 1972 zcmV;l2TS;gP)RX!#_;9zBJ-wboFx9z0)lY|Hk&&Tum9N+(j ztHvAOj#M7a7{|+)BRq}>OP5m~oNnIKE4b%b&FRqos{JR!1dd^vwVw5*fH-N&{yblS zF{npf#N#yAhEi7HC?KH2oiscI%A2_~{h-}4St;D#DxjyWFT*&W^l*Uoj*(3+*@1>- zc@@TLugkIw%XS4utE~^Swo83{S4V(v|5Pe@>ENb>^ejXJ$ktBb1lQrMvE%Af0f130 zn9yuL=54h#ym!~_0|HnvVJ};!Hi^}atLL3)LKYs6lpM0&IC9cFeq>C^6t1$mPi$RA zdPHP(OjmIp%M3R07zHUY(S({po-x{yMr(>BK58L`lN7faBPTnS3(J6L zd~D}YrfWVSEzo78*Hsp|i8MZ%Je+umR4kly+(Lov99Nt&$}=@=;ig!rbA=0r-alQN z-HdT0M$$q#qa#3EkFs`xZuVUGkH;#HQg~#QJ&G|dklgHgu-3pMQ&WW6wI=lx)!(P3 zX0oa*#sqEx0ks5pn#b)^kFx}*DIkH(d(Rv24-~@<1$#VS@+stK7U*!{E34T9w#7#u z2G`fVo-rgmHYX&oq?m@-OJs$^8E!WM(0-ipN(vMPt^i<+n>eiXDZFWLGsdK5Zz#hX zkI`(&mjJ^A`dJPmnYSDxs-AyRcaU1_4E>+g^QNuy?{*%UB0*sa%jO+W(q31ohtU=x z)sbWc{23O*dA_zSY<**Tq$oj*E6q=D~AOWzR6&B1ko9|-9 zLQZJ4i>uQ{rK~-!$BUaTmNI~`%PP)kp%|m4@8Gc-NU;&EG}SS;6y3?y6!zF`rBjv8 zZ)N8US^+>&s?E)$j)sb*&IAgw+bs`Rj6G0Cqr)tme#3F^@}3*jLlS#!^>KA#Kfz;> zMav^uo*7z(8@@ui+JwvX>bZQMZSZgJ(9+I=ZzzTkNU9i!OzW0v zU#Pm1qM>x%^Rju}*>veKT@$Nh6H`t-N2x;2(teM6v<(Fxs)r63PzL^rj%ID&SKQH* z!b`(0yRGJWgp<3Y{k4~9Gv~vd&Um<8pZ0QI>YvzJbo82wt>&~Mm2YW)ZU)z8>B8Qf zp{Lysb9Vq}Kku3fV|=(bYX@PvY=7!jaw&$hc-(FBC%Lj1QPRT}6pr&*K0>53F4$U^ z*HrQ5;_RVPXF{-&g3G-LEcf<>I8yEnU^mR(V@JxpZd(xQ<(^XywnKw`Q!4uKLo5qe z?m58v$ zEcq(|EuW`(RMc!7umPhc_%b<@J+&x&=(EFTq=~)=>7-c@aU=C0uC%pX<6H?ipXM={ z2G>1}OgdJ54rAaeE|p@yf(dhK{M^G`1-Atc`)mcWM_L!2n3j7`R0ePZ(|V3f)dTRP zWr#B88sHAL3r^Eh55NzExz=&FK_132%Ybf6ai#*u@JO!Y=}!{iOy-TQ0MdtFd`0J@ zyt>}j*D32xVpdhQJUC$gI$&%3p-xE`AP@Kr3U6&S9R>NZ8ggw#Y{chXOU)}%{U6WJ zFkwrF`~8OVg?5jXYq5mAS0?=D0J3;%mus|(dFY|L(D)B1DOM|PNwhHl0000~v> literal 0 HcmV?d00001 diff --git a/mrs_uav_trackers/src/joy_tracker/index-detail-sort-f.html b/mrs_uav_trackers/src/joy_tracker/index-detail-sort-f.html new file mode 100644 index 0000000000..3c9285313e --- /dev/null +++ b/mrs_uav_trackers/src/joy_tracker/index-detail-sort-f.html @@ -0,0 +1,110 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/joy_tracker + + + + + + + + + + + + + + +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_trackers::joy_tracker::JoyTracker::resetStatic()0
mrs_uav_trackers::joy_tracker::JoyTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::getStatus()0
mrs_uav_trackers::joy_tracker::JoyTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)6
mrs_uav_trackers::joy_tracker::JoyTracker::deactivate()20
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_trackers::joy_tracker::JoyTracker::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)108
mrs_uav_trackers::joy_tracker::JoyTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)312
mrs_uav_trackers::joy_tracker::JoyTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)379
mrs_uav_trackers::joy_tracker::JoyTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)138752
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trackers/src/joy_tracker/joy_tracker.cpp.func.html b/mrs_uav_trackers/src/joy_tracker/joy_tracker.cpp.func.html new file mode 100644 index 0000000000..34279f75ea --- /dev/null +++ b/mrs_uav_trackers/src/joy_tracker/joy_tracker.cpp.func.html @@ -0,0 +1,152 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/joy_tracker/joy_tracker.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_trackers/src/joy_tracker - joy_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:6614246.5 %
Date:2024-08-07 22:18:19Functions:71838.9 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_trackers::joy_tracker::JoyTracker::deactivate()20
mrs_uav_trackers::joy_tracker::JoyTracker::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)108
mrs_uav_trackers::joy_tracker::JoyTracker::resetStatic()0
mrs_uav_trackers::joy_tracker::JoyTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)379
mrs_uav_trackers::joy_tracker::JoyTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)312
mrs_uav_trackers::joy_tracker::JoyTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)6
mrs_uav_trackers::joy_tracker::JoyTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)138752
mrs_uav_trackers::joy_tracker::JoyTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::getStatus()0
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+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trackers/src/joy_tracker/joy_tracker.cpp.gcov.frameset.html b/mrs_uav_trackers/src/joy_tracker/joy_tracker.cpp.gcov.frameset.html new file mode 100644 index 0000000000..8092e9ce7e --- /dev/null +++ b/mrs_uav_trackers/src/joy_tracker/joy_tracker.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/joy_tracker/joy_tracker.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_trackers/src/joy_tracker/joy_tracker.cpp.gcov.html b/mrs_uav_trackers/src/joy_tracker/joy_tracker.cpp.gcov.html new file mode 100644 index 0000000000..decb8071bf --- /dev/null +++ b/mrs_uav_trackers/src/joy_tracker/joy_tracker.cpp.gcov.html @@ -0,0 +1,588 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/joy_tracker/joy_tracker.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/joy_tracker - joy_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:6614246.5 %
Date:2024-08-07 22:18:19Functions:71838.9 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : 
+       6             : #include <mrs_uav_managers/tracker.h>
+       7             : 
+       8             : #include <nav_msgs/Odometry.h>
+       9             : #include <sensor_msgs/Joy.h>
+      10             : 
+      11             : #include <mrs_lib/profiler.h>
+      12             : #include <mrs_lib/mutex.h>
+      13             : #include <mrs_lib/attitude_converter.h>
+      14             : #include <mrs_lib/subscribe_handler.h>
+      15             : #include <mrs_lib/geometry/cyclic.h>
+      16             : 
+      17             : #include <mrs_msgs/VelocityReferenceSrv.h>
+      18             : 
+      19             : //}
+      20             : 
+      21             : /* defines //{ */
+      22             : 
+      23             : #define STOP_THR 1e-3
+      24             : 
+      25             : //}
+      26             : 
+      27             : /* using //{ */
+      28             : 
+      29             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+      30             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+      31             : 
+      32             : using radians  = mrs_lib::geometry::radians;
+      33             : using sradians = mrs_lib::geometry::sradians;
+      34             : 
+      35             : //}
+      36             : 
+      37             : namespace mrs_uav_trackers
+      38             : {
+      39             : 
+      40             : namespace joy_tracker
+      41             : {
+      42             : 
+      43             : /* //{ class JoyTracker */
+      44             : 
+      45             : class JoyTracker : public mrs_uav_managers::Tracker {
+      46             : public:
+      47             :   bool initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      48             :                   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
+      49             : 
+      50             :   std::tuple<bool, std::string> activate(const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd);
+      51             :   void                          deactivate(void);
+      52             :   bool                          resetStatic(void);
+      53             : 
+      54             :   std::optional<mrs_msgs::TrackerCommand>   update(const mrs_msgs::UavState &uav_state, const mrs_uav_managers::Controller::ControlOutput &last_control_output);
+      55             :   const mrs_msgs::TrackerStatus             getStatus();
+      56             :   const std_srvs::SetBoolResponse::ConstPtr enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd);
+      57             :   const std_srvs::TriggerResponse::ConstPtr switchOdometrySource(const mrs_msgs::UavState &new_uav_state);
+      58             : 
+      59             :   const mrs_msgs::ReferenceSrvResponse::ConstPtr           setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd);
+      60             :   const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr   setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd);
+      61             :   const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr setTrajectoryReference(const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd);
+      62             : 
+      63             :   const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd);
+      64             : 
+      65             :   const std_srvs::TriggerResponse::ConstPtr hover(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      66             :   const std_srvs::TriggerResponse::ConstPtr startTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      67             :   const std_srvs::TriggerResponse::ConstPtr stopTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      68             :   const std_srvs::TriggerResponse::ConstPtr resumeTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      69             :   const std_srvs::TriggerResponse::ConstPtr gotoTrajectoryStart(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      70             : 
+      71             : private:
+      72             :   ros::NodeHandle nh_;
+      73             : 
+      74             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>  common_handlers_;
+      75             :   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers_;
+      76             : 
+      77             :   bool callbacks_enabled_ = true;
+      78             : 
+      79             :   std::string _uav_name_;
+      80             : 
+      81             :   bool is_initialized_ = false;
+      82             :   bool is_active_      = false;
+      83             : 
+      84             :   ros::Time last_update;
+      85             : 
+      86             :   // | ------------------------ uav state ----------------------- |
+      87             : 
+      88             :   mrs_msgs::UavState uav_state_;
+      89             :   bool               got_uav_state_ = false;
+      90             :   std::mutex         mutex_uav_state_;
+      91             : 
+      92             :   // | ------------------ dynamics constraints ------------------ |
+      93             : 
+      94             :   double     _heading_rate_;
+      95             :   std::mutex mutex_constraints_;
+      96             : 
+      97             :   // | ------------------ tracker's inner state ----------------- |
+      98             : 
+      99             :   double     state_z_;
+     100             :   double     state_heading_;
+     101             :   std::mutex mutex_state_;
+     102             : 
+     103             :   // | ------------------- joystick subscriber ------------------ |
+     104             : 
+     105             :   mrs_lib::SubscribeHandler<sensor_msgs::Joy> sh_joystick_;
+     106             : 
+     107             :   double _max_tilt_;
+     108             :   double _vertical_speed_;
+     109             : 
+     110             :   // channel numbers and channel multipliers
+     111             :   int    _channel_pitch_;
+     112             :   int    _channel_roll_;
+     113             :   int    _channel_heading_;
+     114             :   int    _channel_throttle_;
+     115             :   double _channel_mult_pitch_;
+     116             :   double _channel_mult_roll_;
+     117             :   double _channel_mult_heading_;
+     118             :   double _channel_mult_throttle_;
+     119             : 
+     120             :   // | ------------------------ profiler ------------------------ |
+     121             : 
+     122             :   mrs_lib::Profiler profiler_;
+     123             :   bool              _profiler_enabled_ = false;
+     124             : };
+     125             : 
+     126             : //}
+     127             : 
+     128             : // | -------------- tracker's interface routines -------------- |
+     129             : 
+     130             : /* //{ initialize() */
+     131             : 
+     132         108 : bool JoyTracker::initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+     133             :                             std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers) {
+     134             : 
+     135         108 :   this->common_handlers_  = common_handlers;
+     136         108 :   this->private_handlers_ = private_handlers;
+     137             : 
+     138         108 :   _uav_name_ = common_handlers->uav_name;
+     139             : 
+     140         108 :   nh_ = nh;
+     141             : 
+     142         108 :   ros::Time::waitForValid();
+     143             : 
+     144             :   // --------------------------------------------------------------
+     145             :   // |                     loading parameters                     |
+     146             :   // --------------------------------------------------------------
+     147             : 
+     148             :   // | ---------- loading params using the parent's nh ---------- |
+     149             : 
+     150         216 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     151             : 
+     152         108 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     153             : 
+     154         108 :   if (!param_loader_parent.loadedSuccessfully()) {
+     155           0 :     ROS_ERROR("[JoyTracker]: Could not load all parameters!");
+     156           0 :     return false;
+     157             :   }
+     158             : 
+     159             :   // | ---------------- load plugin's parameters ---------------- |
+     160             : 
+     161         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/joy_tracker.yaml");
+     162         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/joy_tracker.yaml");
+     163             : 
+     164         216 :   const std::string yaml_prefix = "mrs_uav_trackers/joy_tracker/";
+     165             : 
+     166         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/vertical_speed", _vertical_speed_);
+     167             : 
+     168         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "max_tilt", _max_tilt_);
+     169             : 
+     170         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "heading_tracker/heading_rate", _heading_rate_);
+     171             : 
+     172             :   // load channels
+     173         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/pitch", _channel_pitch_);
+     174         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/roll", _channel_roll_);
+     175         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/heading", _channel_heading_);
+     176         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/throttle", _channel_throttle_);
+     177             : 
+     178             :   // load channel multipliers
+     179         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/pitch", _channel_mult_pitch_);
+     180         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/roll", _channel_mult_roll_);
+     181         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/heading", _channel_mult_heading_);
+     182         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/throttle", _channel_mult_throttle_);
+     183             : 
+     184         108 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     185           0 :     ROS_ERROR("[JoyTracker]: could not load all parameters!");
+     186           0 :     return false;
+     187             :   }
+     188             : 
+     189             :   // | ------------------------ profiler ------------------------ |
+     190             : 
+     191         108 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "JoyTracker", _profiler_enabled_);
+     192             : 
+     193             :   // | ----------------------- subscribers ---------------------- |
+     194             : 
+     195         108 :   mrs_lib::SubscribeHandlerOptions shopts;
+     196         108 :   shopts.nh              = nh_;
+     197         108 :   shopts.node_name       = "JoyTracker";
+     198         108 :   shopts.queue_size      = 1;
+     199         108 :   shopts.transport_hints = ros::TransportHints().tcpNoDelay();
+     200             : 
+     201         108 :   sh_joystick_ = mrs_lib::SubscribeHandler<sensor_msgs::Joy>(shopts, "joystick");
+     202             : 
+     203             :   // | --------------------- finish the init -------------------- |
+     204             : 
+     205         108 :   last_update = ros::Time(0);
+     206             : 
+     207         108 :   is_initialized_ = true;
+     208             : 
+     209         108 :   ROS_INFO("[JoyTracker]: initialized");
+     210             : 
+     211         108 :   return true;
+     212             : }
+     213             : 
+     214             : //}
+     215             : 
+     216             : /* //{ activate() */
+     217             : 
+     218           0 : std::tuple<bool, std::string> JoyTracker::activate(const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd) {
+     219             : 
+     220           0 :   std::stringstream ss;
+     221             : 
+     222           0 :   if (!got_uav_state_) {
+     223             : 
+     224           0 :     ss << "odometry not set";
+     225           0 :     return std::tuple(false, ss.str());
+     226             :   }
+     227             : 
+     228           0 :   if (!sh_joystick_.hasMsg()) {
+     229             : 
+     230           0 :     ss << "missing joystick goal";
+     231           0 :     return std::tuple(false, ss.str());
+     232             :   }
+     233             : 
+     234           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     235             : 
+     236           0 :   double uav_heading = 0;
+     237             : 
+     238             :   try {
+     239           0 :     uav_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     240             :   }
+     241           0 :   catch (...) {
+     242           0 :     ROS_ERROR_THROTTLE(1.0, "[JoyTracker]: could not calculate UAV heading");
+     243             :   }
+     244             : 
+     245             :   // initialized the heading and z from the last tracker command / odometry
+     246             :   {
+     247           0 :     std::scoped_lock lock(mutex_state_);
+     248             : 
+     249           0 :     if (last_tracker_cmd) {
+     250             : 
+     251             :       // the last command is usable
+     252           0 :       state_z_       = last_tracker_cmd->position.z;
+     253           0 :       state_heading_ = last_tracker_cmd->heading;
+     254             : 
+     255             :     } else {
+     256             : 
+     257           0 :       state_z_       = uav_state.pose.position.z;
+     258           0 :       state_heading_ = uav_heading;
+     259             : 
+     260           0 :       ROS_WARN("[JoyTracker]: the previous command is not usable for activation, using Odometry instead");
+     261             :     }
+     262             :   }
+     263             : 
+     264           0 :   is_active_ = true;
+     265             : 
+     266           0 :   ss << "activated";
+     267           0 :   ROS_INFO_STREAM("[JoyTracker]: " << ss.str());
+     268             : 
+     269           0 :   return std::tuple(true, ss.str());
+     270             : }
+     271             : 
+     272             : //}
+     273             : 
+     274             : /* //{ deactivate() */
+     275             : 
+     276          20 : void JoyTracker::deactivate(void) {
+     277             : 
+     278          20 :   is_active_ = false;
+     279             : 
+     280          20 :   ROS_INFO("[JoyTracker]: deactivated");
+     281          20 : }
+     282             : 
+     283             : //}
+     284             : 
+     285             : /* //{ resetStatic() */
+     286             : 
+     287           0 : bool JoyTracker::resetStatic(void) {
+     288             : 
+     289           0 :   return false;
+     290             : }
+     291             : 
+     292             : //}
+     293             : 
+     294             : /* //{ update() */
+     295             : 
+     296      138752 : std::optional<mrs_msgs::TrackerCommand> JoyTracker::update(const mrs_msgs::UavState &                                          uav_state,
+     297             :                                                            [[maybe_unused]] const mrs_uav_managers::Controller::ControlOutput &last_control_output) {
+     298             : 
+     299      416256 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     300      416256 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("JoyTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     301             : 
+     302             :   {
+     303      138752 :     std::scoped_lock lock(mutex_uav_state_);
+     304             : 
+     305      138752 :     uav_state_ = uav_state;
+     306             : 
+     307      138752 :     got_uav_state_ = true;
+     308             :   }
+     309             : 
+     310      138752 :   double dt = (ros::Time::now() - last_update).toSec();
+     311             : 
+     312      138752 :   last_update = ros::Time::now();
+     313             : 
+     314             :   // up to this part the update() method is evaluated even when the tracker is not active
+     315      138752 :   if (!is_active_) {
+     316      138752 :     return {};
+     317             :   }
+     318             : 
+     319           0 :   if (!sh_joystick_.hasMsg()) {
+     320           0 :     return {};
+     321             :   }
+     322             : 
+     323             :   // | ------------------ get the joystick data ----------------- |
+     324             : 
+     325           0 :   sensor_msgs::JoyConstPtr joy_data = sh_joystick_.getMsg();
+     326             : 
+     327           0 :   double desired_vertical_speed = _channel_mult_throttle_ * joy_data->axes[_channel_throttle_] * _vertical_speed_;
+     328           0 :   double desired_heading_rate   = _channel_mult_heading_ * joy_data->axes[_channel_heading_] * _heading_rate_;
+     329           0 :   double desired_pitch          = _channel_mult_pitch_ * joy_data->axes[_channel_pitch_] * _max_tilt_;
+     330           0 :   double desired_roll           = _channel_mult_roll_ * joy_data->axes[_channel_roll_] * _max_tilt_;
+     331             : 
+     332             :   // | ----------------------- z tracking ----------------------- |
+     333             : 
+     334           0 :   state_z_ += desired_vertical_speed * dt;
+     335             : 
+     336             :   // | -------------------- heading tracking -------------------- |
+     337             : 
+     338           0 :   state_heading_ += desired_heading_rate * dt;
+     339           0 :   state_heading_ = radians::wrap(state_heading_);
+     340             : 
+     341           0 :   ROS_INFO_THROTTLE(1.0, "[JoyTracker]: desired vert_speed: %.2f, heading_speed: %.2f, pitch: %.2f, roll: %.2f", desired_vertical_speed, desired_heading_rate,
+     342             :                     desired_pitch, desired_roll);
+     343             : 
+     344           0 :   mrs_msgs::TrackerCommand tracker_cmd;
+     345             : 
+     346           0 :   tracker_cmd.header.stamp    = ros::Time::now();
+     347           0 :   tracker_cmd.header.frame_id = uav_state.header.frame_id;
+     348             : 
+     349           0 :   tracker_cmd.use_position_vertical = true;
+     350           0 :   tracker_cmd.position.z            = state_z_;
+     351             : 
+     352             :   // filling these anyway to allow visualization of the reference
+     353           0 :   tracker_cmd.position.x = uav_state.pose.position.x;
+     354           0 :   tracker_cmd.position.y = uav_state.pose.position.y;
+     355             : 
+     356           0 :   tracker_cmd.use_velocity_vertical = true;
+     357           0 :   tracker_cmd.velocity.z            = desired_vertical_speed;
+     358             : 
+     359           0 :   tracker_cmd.use_heading_rate = 1;
+     360           0 :   tracker_cmd.heading_rate     = desired_heading_rate;
+     361             : 
+     362             :   /* tracker_cmd.orientation     = mrs_lib::AttitudeConverter(desired_roll, desired_pitch, 0).setHeadingByYaw(state_heading_); */
+     363           0 :   tracker_cmd.orientation     = mrs_lib::AttitudeConverter(desired_roll, desired_pitch, state_heading_);
+     364           0 :   tracker_cmd.use_orientation = true;
+     365             : 
+     366           0 :   return {tracker_cmd};
+     367             : }
+     368             : 
+     369             : //}
+     370             : 
+     371             : /* //{ getStatus() */
+     372             : 
+     373           0 : const mrs_msgs::TrackerStatus JoyTracker::getStatus() {
+     374             : 
+     375           0 :   mrs_msgs::TrackerStatus tracker_status;
+     376             : 
+     377           0 :   tracker_status.active            = is_active_;
+     378           0 :   tracker_status.callbacks_enabled = callbacks_enabled_;
+     379             : 
+     380           0 :   return tracker_status;
+     381             : }
+     382             : 
+     383             : //}
+     384             : 
+     385             : /* //{ enableCallbacks() */
+     386             : 
+     387         312 : const std_srvs::SetBoolResponse::ConstPtr JoyTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     388             : 
+     389         624 :   std_srvs::SetBoolResponse res;
+     390         624 :   std::stringstream         ss;
+     391             : 
+     392         312 :   if (cmd->data != callbacks_enabled_) {
+     393             : 
+     394          20 :     callbacks_enabled_ = cmd->data;
+     395             : 
+     396          20 :     ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+     397          20 :     ROS_INFO_STREAM_THROTTLE(1.0, "[JoyTracker]: " << ss.str());
+     398             : 
+     399             :   } else {
+     400             : 
+     401         292 :     ss << "callbacks were already " << (callbacks_enabled_ ? "enabled" : "disabled");
+     402         292 :     ROS_WARN_STREAM_THROTTLE(1.0, "[JoyTracker]: " << ss.str());
+     403             :   }
+     404             : 
+     405         312 :   res.message = ss.str();
+     406         312 :   res.success = true;
+     407             : 
+     408         624 :   return std_srvs::SetBoolResponse::ConstPtr(new std_srvs::SetBoolResponse(res));
+     409             : }
+     410             : 
+     411             : //}
+     412             : 
+     413             : /* switchOdometrySource() //{ */
+     414             : 
+     415           0 : const std_srvs::TriggerResponse::ConstPtr JoyTracker::switchOdometrySource([[maybe_unused]] const mrs_msgs::UavState &new_uav_state) {
+     416           0 :   return std_srvs::TriggerResponse::Ptr();
+     417             : }
+     418             : 
+     419             : //}
+     420             : 
+     421             : /* //{ hover() */
+     422             : 
+     423           0 : const std_srvs::TriggerResponse::ConstPtr JoyTracker::hover([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     424             : 
+     425           0 :   return std_srvs::TriggerResponse::Ptr();
+     426             : }
+     427             : 
+     428             : //}
+     429             : 
+     430             : /* //{ startTrajectoryTracking() */
+     431             : 
+     432           0 : const std_srvs::TriggerResponse::ConstPtr JoyTracker::startTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     433           0 :   return std_srvs::TriggerResponse::Ptr();
+     434             : }
+     435             : 
+     436             : //}
+     437             : 
+     438             : /* //{ stopTrajectoryTracking() */
+     439             : 
+     440           0 : const std_srvs::TriggerResponse::ConstPtr JoyTracker::stopTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     441           0 :   return std_srvs::TriggerResponse::Ptr();
+     442             : }
+     443             : 
+     444             : //}
+     445             : 
+     446             : /* //{ resumeTrajectoryTracking() */
+     447             : 
+     448           0 : const std_srvs::TriggerResponse::ConstPtr JoyTracker::resumeTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     449           0 :   return std_srvs::TriggerResponse::Ptr();
+     450             : }
+     451             : 
+     452             : //}
+     453             : 
+     454             : /* //{ gotoTrajectoryStart() */
+     455             : 
+     456           0 : const std_srvs::TriggerResponse::ConstPtr JoyTracker::gotoTrajectoryStart([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     457           0 :   return std_srvs::TriggerResponse::Ptr();
+     458             : }
+     459             : 
+     460             : //}
+     461             : 
+     462             : /* //{ setConstraints() */
+     463             : 
+     464         379 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr JoyTracker::setConstraints([
+     465             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     466             : 
+     467         379 :   return mrs_msgs::DynamicsConstraintsSrvResponse::Ptr();
+     468             : }
+     469             : 
+     470             : //}
+     471             : 
+     472             : /* //{ setReference() */
+     473             : 
+     474           0 : const mrs_msgs::ReferenceSrvResponse::ConstPtr JoyTracker::setReference([[maybe_unused]] const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd) {
+     475             : 
+     476           0 :   return mrs_msgs::ReferenceSrvResponse::Ptr();
+     477             : }
+     478             : 
+     479             : //}
+     480             : 
+     481             : /* //{ setVelocityReference() */
+     482             : 
+     483           0 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr JoyTracker::setVelocityReference([
+     484             :     [maybe_unused]] const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd) {
+     485           0 :   return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+     486             : }
+     487             : 
+     488             : //}
+     489             : 
+     490             : /* //{ setTrajectoryReference() */
+     491             : 
+     492           6 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr JoyTracker::setTrajectoryReference([
+     493             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     494           6 :   return mrs_msgs::TrajectoryReferenceSrvResponse::Ptr();
+     495             : }
+     496             : 
+     497             : //}
+     498             : 
+     499             : }  // namespace joy_tracker
+     500             : 
+     501             : }  // namespace mrs_uav_trackers
+     502             : 
+     503             : #include <pluginlib/class_list_macros.h>
+     504         108 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::joy_tracker::JoyTracker, mrs_uav_managers::Tracker)
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_trackers::landoff_tracker::LandoffTracker::resetStatic()0
mrs_uav_trackers::landoff_tracker::LandoffTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopVertical()0
mrs_uav_trackers::landoff_tracker::LandoffTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackLand(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)5
mrs_uav_trackers::landoff_tracker::LandoffTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)6
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackELand(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)8
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackTakeoff(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)20
mrs_uav_trackers::landoff_tracker::LandoffTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)45
mrs_uav_trackers::landoff_tracker::LandoffTracker::deactivate()61
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_trackers::landoff_tracker::LandoffTracker::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)108
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeState(mrs_uav_trackers::landoff_tracker::States_t)146
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeStateHorizontal(mrs_uav_trackers::landoff_tracker::States_t)179
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeStateVertical(mrs_uav_trackers::landoff_tracker::States_t)219
mrs_uav_trackers::landoff_tracker::LandoffTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)312
mrs_uav_trackers::landoff_tracker::LandoffTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)379
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopVerticalMotion()665
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopHorizontalMotion()665
mrs_uav_trackers::landoff_tracker::LandoffTracker::getStatus()2237
mrs_uav_trackers::landoff_tracker::LandoffTracker::decelerateVertical()4573
mrs_uav_trackers::landoff_tracker::LandoffTracker::accelerateVertical()16007
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopHorizontal()20580
mrs_uav_trackers::landoff_tracker::LandoffTracker::timerMain(ros::TimerEvent const&)23531
mrs_uav_trackers::landoff_tracker::LandoffTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)138752
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp.func.html b/mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp.func.html new file mode 100644 index 0000000000..8190f624d2 --- /dev/null +++ b/mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp.func.html @@ -0,0 +1,204 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_trackers/src/landoff_tracker - landoff_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44160173.4 %
Date:2024-08-07 22:18:19Functions:213167.7 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_trackers::landoff_tracker::LandoffTracker::deactivate()61
mrs_uav_trackers::landoff_tracker::LandoffTracker::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)108
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeState(mrs_uav_trackers::landoff_tracker::States_t)146
mrs_uav_trackers::landoff_tracker::LandoffTracker::resetStatic()0
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackLand(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)5
mrs_uav_trackers::landoff_tracker::LandoffTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopVertical()0
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackELand(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)8
mrs_uav_trackers::landoff_tracker::LandoffTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)379
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopHorizontal()20580
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackTakeoff(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)20
mrs_uav_trackers::landoff_tracker::LandoffTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)312
mrs_uav_trackers::landoff_tracker::LandoffTracker::accelerateVertical()16007
mrs_uav_trackers::landoff_tracker::LandoffTracker::decelerateVertical()4573
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopVerticalMotion()665
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeStateVertical(mrs_uav_trackers::landoff_tracker::States_t)219
mrs_uav_trackers::landoff_tracker::LandoffTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopHorizontalMotion()665
mrs_uav_trackers::landoff_tracker::LandoffTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeStateHorizontal(mrs_uav_trackers::landoff_tracker::States_t)179
mrs_uav_trackers::landoff_tracker::LandoffTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)6
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)138752
mrs_uav_trackers::landoff_tracker::LandoffTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)45
mrs_uav_trackers::landoff_tracker::LandoffTracker::getStatus()2237
mrs_uav_trackers::landoff_tracker::LandoffTracker::timerMain(ros::TimerEvent const&)23531
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp.gcov.frameset.html b/mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp.gcov.frameset.html new file mode 100644 index 0000000000..469c4b6023 --- /dev/null +++ b/mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp.gcov.html b/mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp.gcov.html new file mode 100644 index 0000000000..84f5c966d8 --- /dev/null +++ b/mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp.gcov.html @@ -0,0 +1,1659 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/landoff_tracker - landoff_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44160173.4 %
Date:2024-08-07 22:18:19Functions:213167.7 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : 
+       6             : #include <mrs_uav_managers/tracker.h>
+       7             : 
+       8             : #include <mrs_msgs/Vec1.h>
+       9             : #include <mrs_msgs/UavState.h>
+      10             : #include <mrs_msgs/VelocityReferenceSrv.h>
+      11             : 
+      12             : #include <mrs_lib/profiler.h>
+      13             : #include <mrs_lib/mutex.h>
+      14             : #include <mrs_lib/attitude_converter.h>
+      15             : #include <mrs_lib/utils.h>
+      16             : #include <mrs_lib/geometry/cyclic.h>
+      17             : #include <mrs_lib/geometry/misc.h>
+      18             : 
+      19             : //}
+      20             : 
+      21             : /* defines //{ */
+      22             : 
+      23             : #define STOP_THR 1e-3
+      24             : 
+      25             : //}
+      26             : 
+      27             : /* using //{ */
+      28             : 
+      29             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+      30             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+      31             : 
+      32             : using radians  = mrs_lib::geometry::radians;
+      33             : using sradians = mrs_lib::geometry::sradians;
+      34             : 
+      35             : //}
+      36             : 
+      37             : namespace mrs_uav_trackers
+      38             : {
+      39             : 
+      40             : namespace landoff_tracker
+      41             : {
+      42             : 
+      43             : /* //{ class LandoffTracker */
+      44             : 
+      45             : // state machine
+      46             : typedef enum
+      47             : {
+      48             : 
+      49             :   IDLE_STATE,
+      50             :   LANDED_STATE,
+      51             :   STOP_MOTION_STATE,
+      52             :   HOVER_STATE,
+      53             :   ACCELERATING_STATE,
+      54             :   DECELERATING_STATE,
+      55             :   STOPPING_STATE,
+      56             : 
+      57             : } States_t;
+      58             : 
+      59             : const std::array<const char*, 7> state_names = {
+      60             : 
+      61             :     "IDLING", "LANDED", "STOPPING_MOTION", "HOVERING", "ACCELERATING", "DECELERATING", "STOPPING"};
+      62             : 
+      63             : class LandoffTracker : public mrs_uav_managers::Tracker {
+      64             : public:
+      65             :   bool initialize(const ros::NodeHandle& nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      66             :                   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
+      67             : 
+      68             :   std::tuple<bool, std::string> activate(const std::optional<mrs_msgs::TrackerCommand>& last_tracker_cmd);
+      69             :   void                          deactivate(void);
+      70             :   bool                          resetStatic(void);
+      71             : 
+      72             :   std::optional<mrs_msgs::TrackerCommand>   update(const mrs_msgs::UavState& uav_state, const mrs_uav_managers::Controller::ControlOutput& last_control_output);
+      73             :   const mrs_msgs::TrackerStatus             getStatus();
+      74             :   const std_srvs::SetBoolResponse::ConstPtr enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr& cmd);
+      75             :   const std_srvs::TriggerResponse::ConstPtr switchOdometrySource(const mrs_msgs::UavState& new_uav_state);
+      76             : 
+      77             :   const mrs_msgs::ReferenceSrvResponse::ConstPtr           setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr& cmd);
+      78             :   const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr   setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr& cmd);
+      79             :   const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr setTrajectoryReference(const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr& cmd);
+      80             : 
+      81             :   const std_srvs::TriggerResponse::ConstPtr hover(const std_srvs::TriggerRequest::ConstPtr& cmd);
+      82             :   const std_srvs::TriggerResponse::ConstPtr startTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr& cmd);
+      83             :   const std_srvs::TriggerResponse::ConstPtr stopTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr& cmd);
+      84             :   const std_srvs::TriggerResponse::ConstPtr resumeTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr& cmd);
+      85             :   const std_srvs::TriggerResponse::ConstPtr gotoTrajectoryStart(const std_srvs::TriggerRequest::ConstPtr& cmd);
+      86             : 
+      87             :   const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& cmd);
+      88             : 
+      89             : private:
+      90             :   bool callbacks_enabled_ = true;
+      91             : 
+      92             :   mrs_uav_managers::Controller::ControlOutput last_control_output_;
+      93             :   std::mutex                                  mutex_last_control_output_;
+      94             : 
+      95             :   ros::NodeHandle nh_;
+      96             :   std::string     _uav_name_;
+      97             : 
+      98             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>  common_handlers_;
+      99             :   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers_;
+     100             : 
+     101             :   // main timer
+     102             :   void       timerMain(const ros::TimerEvent& event);
+     103             :   ros::Timer timer_main_;
+     104             :   std::mutex mutex_main_timer_;
+     105             : 
+     106             :   std::atomic<bool> activate_as_the_first_tracker = false;
+     107             : 
+     108             :   // | ------------------------ uav state ----------------------- |
+     109             : 
+     110             :   mrs_msgs::UavState uav_state_;
+     111             :   bool               got_uav_state_ = false;
+     112             :   std::mutex         mutex_uav_state_;
+     113             : 
+     114             :   // | ---------------- the tracker's inner state --------------- |
+     115             : 
+     116             :   int    _main_timer_rate_;
+     117             :   double _landing_reference_;
+     118             :   double _tracker_dt_;
+     119             :   bool   is_initialized_ = false;
+     120             :   bool   is_active_      = false;
+     121             : 
+     122             :   bool   _takeoff_disable_lateral_gains_ = false;
+     123             :   double _takeoff_disable_lateral_gains_z_;
+     124             : 
+     125             :   // | --------------- the tracker's state machine -------------- |
+     126             : 
+     127             :   States_t current_state_vertical_    = IDLE_STATE;
+     128             :   States_t previous_state_vertical_   = IDLE_STATE;
+     129             :   States_t current_state_horizontal_  = IDLE_STATE;
+     130             :   States_t previous_state_horizontal_ = IDLE_STATE;
+     131             : 
+     132             :   void changeStateHorizontal(States_t new_state);
+     133             :   void changeStateVertical(States_t new_state);
+     134             :   void changeState(States_t new_state);
+     135             : 
+     136             :   std::atomic<bool> taking_off_ = false;
+     137             :   std::atomic<bool> landing_    = false;
+     138             :   std::atomic<bool> elanding_   = false;
+     139             : 
+     140             :   std::atomic<bool> cause_failsafe_ = false;
+     141             : 
+     142             :   void stopHorizontalMotion(void);
+     143             :   void stopVerticalMotion(void);
+     144             :   void accelerateVertical(void);
+     145             :   void decelerateVertical(void);
+     146             :   void stopHorizontal(void);
+     147             :   void stopVertical(void);
+     148             : 
+     149             :   // | --------------- takeoff / landing services --------------- |
+     150             : 
+     151             :   ros::ServiceServer service_takeoff_;
+     152             :   ros::ServiceServer service_land_;
+     153             :   ros::ServiceServer service_eland_;
+     154             : 
+     155             :   bool callbackTakeoff(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res);
+     156             :   bool callbackLand(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     157             :   bool callbackELand(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     158             : 
+     159             :   // | ------------------ dynamics constraints ------------------ |
+     160             : 
+     161             :   double _horizontal_speed_;
+     162             :   double _vertical_speed_;
+     163             :   double _takeoff_speed_;
+     164             :   double _landing_speed_;
+     165             :   double _elanding_speed_;
+     166             : 
+     167             :   double _horizontal_acceleration_;
+     168             :   double _vertical_acceleration_;
+     169             :   double _takeoff_acceleration_;
+     170             :   double _landing_acceleration_;
+     171             :   double _elanding_acceleration_;
+     172             : 
+     173             :   double _heading_rate_;
+     174             :   double _heading_gain_;
+     175             : 
+     176             :   double _max_position_difference_;
+     177             : 
+     178             :   // | -------------------------- goal -------------------------- |
+     179             : 
+     180             :   double            goal_x_, goal_y_, goal_z_, goal_heading_;
+     181             :   std::atomic<bool> have_goal_ = false;
+     182             :   std::mutex        mutex_goal_;
+     183             : 
+     184             :   // | ---------------- tracker's internal state ---------------- |
+     185             : 
+     186             :   double     state_x_, state_y_, state_z_, state_heading_;
+     187             :   double     speed_x_, speed_y_, speed_heading_;
+     188             :   double     current_heading_, current_vertical_direction_, current_vertical_speed_, current_horizontal_speed_;
+     189             :   double     current_horizontal_acceleration_, current_vertical_acceleration_;
+     190             :   std::mutex mutex_state_;
+     191             : 
+     192             :   // | -------------------- tracker's output -------------------- |
+     193             : 
+     194             :   mrs_msgs::TrackerCommand position_output_;
+     195             : 
+     196             :   // | ------------------------ profiler ------------------------ |
+     197             : 
+     198             :   mrs_lib::Profiler profiler_;
+     199             :   bool              _profiler_enabled_ = false;
+     200             : 
+     201             :   // | ----------------------- constraints ---------------------- |
+     202             : 
+     203             :   mrs_msgs::DynamicsConstraints constraints_;
+     204             :   std::mutex                    mutex_constraints_;
+     205             : };
+     206             : 
+     207             : //}
+     208             : 
+     209             : // | -------------- tracker's interface routines -------------- |
+     210             : 
+     211             : /* //{ initialize() */
+     212             : 
+     213         108 : bool LandoffTracker::initialize(const ros::NodeHandle& nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+     214             :                                 std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers) {
+     215             : 
+     216         108 :   this->common_handlers_  = common_handlers;
+     217         108 :   this->private_handlers_ = private_handlers;
+     218             : 
+     219         108 :   _uav_name_ = common_handlers->uav_name;
+     220             : 
+     221         108 :   nh_ = nh;
+     222             : 
+     223         108 :   ros::Time::waitForValid();
+     224             : 
+     225             :   // --------------------------------------------------------------
+     226             :   // |                     loading parameters                     |
+     227             :   // --------------------------------------------------------------
+     228             : 
+     229             :   // | ---------- loading params using the parent's nh ---------- |
+     230             : 
+     231         216 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     232             : 
+     233         108 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     234             : 
+     235         108 :   if (!param_loader_parent.loadedSuccessfully()) {
+     236           0 :     ROS_ERROR("[LandoffTracker]: Could not load all parameters!");
+     237           0 :     return false;
+     238             :   }
+     239             : 
+     240             :   // | --------------- loading plugin's parameters -------------- |
+     241             : 
+     242         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/landoff_tracker.yaml");
+     243         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/landoff_tracker.yaml");
+     244             : 
+     245         216 :   const std::string yaml_prefix = "mrs_uav_trackers/landoff_tracker/";
+     246             : 
+     247         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "horizontal_tracker/horizontal_speed", _horizontal_speed_);
+     248         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "horizontal_tracker/horizontal_acceleration", _horizontal_acceleration_);
+     249             : 
+     250         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/vertical_speed", _vertical_speed_);
+     251         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/vertical_acceleration", _vertical_acceleration_);
+     252             : 
+     253         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/takeoff_speed", _takeoff_speed_);
+     254         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/takeoff_acceleration", _takeoff_acceleration_);
+     255             : 
+     256         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/landing_speed", _landing_speed_);
+     257         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/landing_acceleration", _landing_acceleration_);
+     258             : 
+     259         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/elanding_speed", _elanding_speed_);
+     260         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/elanding_acceleration", _elanding_acceleration_);
+     261             : 
+     262         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "heading_tracker/heading_rate", _heading_rate_);
+     263         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "heading_tracker/heading_gain", _heading_gain_);
+     264             : 
+     265         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "main_timer_rate", _main_timer_rate_);
+     266             : 
+     267         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "landing_reference", _landing_reference_);
+     268             : 
+     269         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "max_position_difference", _max_position_difference_);
+     270             : 
+     271         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "takeoff_disable_lateral_gains", _takeoff_disable_lateral_gains_);
+     272         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "takeoff_disable_lateral_gains_z", _takeoff_disable_lateral_gains_z_);
+     273             : 
+     274         108 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     275           0 :     ROS_ERROR("[LandoffTracker]: Could not load all parameters!");
+     276           0 :     return false;
+     277             :   }
+     278             : 
+     279         108 :   _tracker_dt_ = 1.0 / double(_main_timer_rate_);
+     280             : 
+     281         108 :   ROS_INFO("[LandoffTracker]: tracker_dt: %f", _tracker_dt_);
+     282             : 
+     283         108 :   state_x_       = 0;
+     284         108 :   state_y_       = 0;
+     285         108 :   state_z_       = 0;
+     286         108 :   state_heading_ = 0;
+     287             : 
+     288         108 :   speed_x_       = 0;
+     289         108 :   speed_y_       = 0;
+     290         108 :   speed_heading_ = 0;
+     291             : 
+     292         108 :   current_horizontal_speed_ = 0;
+     293         108 :   current_vertical_speed_   = 0;
+     294             : 
+     295         108 :   current_horizontal_acceleration_ = 0;
+     296         108 :   current_vertical_acceleration_   = 0;
+     297             : 
+     298         108 :   current_vertical_direction_ = 0;
+     299             : 
+     300         108 :   current_state_vertical_  = LANDED_STATE;
+     301         108 :   previous_state_vertical_ = LANDED_STATE;
+     302             : 
+     303         108 :   current_state_horizontal_  = LANDED_STATE;
+     304         108 :   previous_state_horizontal_ = LANDED_STATE;
+     305             : 
+     306             :   // | ------------------------ profiler ------------------------ |
+     307             : 
+     308         108 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "LandoffTracker", _profiler_enabled_);
+     309             : 
+     310             :   // | ------------------------ services ------------------------ |
+     311             : 
+     312         108 :   service_takeoff_ = nh_.advertiseService("takeoff", &LandoffTracker::callbackTakeoff, this);
+     313         108 :   service_land_    = nh_.advertiseService("land", &LandoffTracker::callbackLand, this);
+     314         108 :   service_eland_   = nh_.advertiseService("eland", &LandoffTracker::callbackELand, this);
+     315             : 
+     316             :   // | ------------------------- timers ------------------------- |
+     317             : 
+     318         108 :   timer_main_ = nh_.createTimer(ros::Rate(_main_timer_rate_), &LandoffTracker::timerMain, this, false, false);
+     319             : 
+     320             :   // | ----------------------- finish init ---------------------- |
+     321             : 
+     322         108 :   is_initialized_ = true;
+     323             : 
+     324         108 :   ROS_INFO("[LandoffTracker]: initialized");
+     325             : 
+     326         108 :   return true;
+     327             : }
+     328             : 
+     329             : //}
+     330             : 
+     331             : /* //{ activate() */
+     332             : 
+     333          45 : std::tuple<bool, std::string> LandoffTracker::activate([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand>& last_tracker_cmd) {
+     334             : 
+     335          90 :   std::stringstream ss;
+     336             : 
+     337          45 :   if (!got_uav_state_) {
+     338             : 
+     339           0 :     ss << "odometry not set";
+     340           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[LandoffTracker]: " << ss.str());
+     341           0 :     return std::tuple(false, ss.str());
+     342             :   }
+     343             : 
+     344          45 :   activate_as_the_first_tracker = !last_tracker_cmd.has_value();
+     345             : 
+     346             :   // copy member variables
+     347          90 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     348             : 
+     349             :   double uav_heading;
+     350             : 
+     351             :   try {
+     352          45 :     uav_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     353             :   }
+     354           0 :   catch (...) {
+     355             : 
+     356           0 :     ss << "could not initialize the UAV heading";
+     357           0 :     ROS_ERROR_STREAM("[LandoffTracker]: " << ss.str());
+     358           0 :     return std::tuple(false, ss.str());
+     359             :   }
+     360             : 
+     361             :   // --------------------------------------------------------------
+     362             :   // |                      initial condition                     |
+     363             :   // --------------------------------------------------------------
+     364             : 
+     365             :   {
+     366          90 :     std::scoped_lock lock(mutex_goal_);
+     367             : 
+     368             :     // the last command is usable
+     369          45 :     state_x_       = uav_state.pose.position.x;
+     370          45 :     state_y_       = uav_state.pose.position.y;
+     371          45 :     state_z_       = uav_state.pose.position.z;
+     372          45 :     state_heading_ = uav_heading;
+     373             : 
+     374          45 :     speed_x_         = uav_state.velocity.linear.x;
+     375          45 :     speed_y_         = uav_state.velocity.linear.y;
+     376          45 :     current_heading_ = atan2(speed_y_, speed_x_);
+     377             : 
+     378          45 :     current_horizontal_speed_ = sqrt(pow(speed_x_, 2) + pow(speed_y_, 2));
+     379             : 
+     380          45 :     current_vertical_speed_     = fabs(uav_state.velocity.linear.z);
+     381          45 :     current_vertical_direction_ = uav_state.velocity.linear.z > 0 ? +1 : -1;
+     382             : 
+     383          45 :     current_horizontal_acceleration_ = 0;
+     384          45 :     current_vertical_acceleration_   = 0;
+     385             : 
+     386          45 :     goal_heading_ = uav_heading;
+     387             : 
+     388          45 :     ROS_INFO("[LandoffTracker]: initial condition: x: %.2f, y: %.2f, z: %.2f, heading: %.2f", state_x_, state_y_, state_z_, state_heading_);
+     389             :   }
+     390             : 
+     391             :   // --------------------------------------------------------------
+     392             :   // |          horizontal initial conditions prediction          |
+     393             :   // --------------------------------------------------------------
+     394             : 
+     395             :   double horizontal_t_stop, horizontal_stop_dist, stop_dist_x, stop_dist_y;
+     396             : 
+     397             :   {
+     398          45 :     std::scoped_lock lock(mutex_state_);
+     399             : 
+     400          45 :     horizontal_t_stop    = current_horizontal_speed_ / _horizontal_acceleration_;
+     401          45 :     horizontal_stop_dist = (horizontal_t_stop * current_horizontal_speed_) / 2.0;
+     402          45 :     stop_dist_x          = cos(current_heading_) * horizontal_stop_dist;
+     403          45 :     stop_dist_y          = sin(current_heading_) * horizontal_stop_dist;
+     404             :   }
+     405             : 
+     406             :   // --------------------------------------------------------------
+     407             :   // |           vertical initial conditions prediction           |
+     408             :   // --------------------------------------------------------------
+     409             : 
+     410             :   double vertical_t_stop, vertical_stop_dist;
+     411             : 
+     412             :   {
+     413          45 :     std::scoped_lock lock(mutex_state_);
+     414             : 
+     415          45 :     vertical_t_stop    = current_vertical_speed_ / _vertical_acceleration_;
+     416          45 :     vertical_stop_dist = current_vertical_direction_ * (vertical_t_stop * current_vertical_speed_) / 2.0;
+     417             :   }
+     418             : 
+     419             :   // --------------------------------------------------------------
+     420             :   // |               heading initial condition prediction             |
+     421             :   // --------------------------------------------------------------
+     422             : 
+     423             :   {
+     424          45 :     std::scoped_lock lock(mutex_goal_, mutex_state_);
+     425             : 
+     426          45 :     goal_x_ = state_x_ + stop_dist_x;
+     427          45 :     goal_y_ = state_y_ + stop_dist_y;
+     428          45 :     goal_z_ = state_z_ + vertical_stop_dist;
+     429             :   }
+     430             : 
+     431          45 :   landing_        = false;
+     432          45 :   taking_off_     = false;
+     433          45 :   is_active_      = true;
+     434          45 :   have_goal_      = false;
+     435          45 :   cause_failsafe_ = false;
+     436             : 
+     437          45 :   timer_main_.start();
+     438             : 
+     439             :   {
+     440          90 :     std::scoped_lock lock(mutex_goal_);
+     441             : 
+     442          45 :     ROS_INFO("[LandoffTracker]: stopping goal: x: %.2f, y: %.2f, z: %.2f, heading: %.2f", goal_x_, goal_y_, goal_z_, goal_heading_);
+     443             :   }
+     444             : 
+     445          45 :   changeState(STOP_MOTION_STATE);
+     446             : 
+     447          45 :   ss << "activated";
+     448          45 :   ROS_INFO_STREAM("[LandoffTracker]: " << ss.str());
+     449             : 
+     450          45 :   return std::tuple(true, ss.str());
+     451             : }
+     452             : 
+     453             : //}
+     454             : 
+     455             : /* //{ deactivate() */
+     456             : 
+     457          61 : void LandoffTracker::deactivate(void) {
+     458             : 
+     459          61 :   is_active_                = false;
+     460          61 :   landing_                  = false;
+     461          61 :   taking_off_               = false;
+     462          61 :   current_state_vertical_   = IDLE_STATE;
+     463          61 :   current_state_horizontal_ = IDLE_STATE;
+     464             : 
+     465          61 :   timer_main_.stop();
+     466             : 
+     467          61 :   ROS_INFO("[LandoffTracker]: deactivated");
+     468          61 : }
+     469             : 
+     470             : //}
+     471             : 
+     472             : /* //{ resetStatic() */
+     473             : 
+     474           0 : bool LandoffTracker::resetStatic(void) {
+     475             : 
+     476           0 :   return false;
+     477             : }
+     478             : 
+     479             : //}
+     480             : 
+     481             : /* //{ update() */
+     482             : 
+     483      138752 : std::optional<mrs_msgs::TrackerCommand> LandoffTracker::update(const mrs_msgs::UavState&                                           uav_state,
+     484             :                                                                [[maybe_unused]] const mrs_uav_managers::Controller::ControlOutput& last_control_output) {
+     485             : 
+     486      416256 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     487      416256 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("LandoffTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     488             : 
+     489             :   {
+     490      138752 :     std::scoped_lock lock(mutex_uav_state_);
+     491             : 
+     492      138752 :     uav_state_ = uav_state;
+     493             : 
+     494      138752 :     got_uav_state_ = true;
+     495             :   }
+     496             : 
+     497             :   // up to this part the update() method is evaluated even when the tracker is not active
+     498      138752 :   if (!is_active_ || cause_failsafe_) {
+     499      120960 :     return {};
+     500             :   }
+     501             : 
+     502       17792 :   position_output_.header.stamp    = ros::Time::now();
+     503       17792 :   position_output_.header.frame_id = uav_state_.header.frame_id;
+     504             : 
+     505             :   {
+     506       17792 :     std::scoped_lock lock(mutex_state_);
+     507             : 
+     508       17792 :     position_output_.position.x = state_x_;
+     509       17792 :     position_output_.position.y = state_y_;
+     510       17792 :     position_output_.position.z = state_z_;
+     511       17792 :     position_output_.heading    = state_heading_;
+     512             : 
+     513       17792 :     position_output_.velocity.x   = cos(current_heading_) * current_horizontal_speed_;
+     514       17792 :     position_output_.velocity.y   = sin(current_heading_) * current_horizontal_speed_;
+     515       17792 :     position_output_.velocity.z   = current_vertical_direction_ * current_vertical_speed_;
+     516       17792 :     position_output_.heading_rate = speed_heading_;
+     517             : 
+     518       17792 :     position_output_.use_position_vertical   = 1;
+     519       17792 :     position_output_.use_position_horizontal = 1;
+     520       17792 :     position_output_.use_heading             = 1;
+     521       17792 :     position_output_.use_heading_rate        = 1;
+     522       17792 :     position_output_.use_velocity_vertical   = 1;
+     523       17792 :     position_output_.use_velocity_horizontal = 1;
+     524             :   }
+     525             : 
+     526             :   {
+     527       35584 :     std::scoped_lock lock(mutex_last_control_output_);
+     528             : 
+     529       17792 :     last_control_output_ = last_control_output;
+     530             :   }
+     531             : 
+     532       17792 :   if (_takeoff_disable_lateral_gains_ && taking_off_ && uav_state_.pose.position.z < _takeoff_disable_lateral_gains_z_) {
+     533           0 :     position_output_.disable_position_gains = true;
+     534             :   } else {
+     535       17792 :     position_output_.disable_position_gains = false;
+     536             :   }
+     537             : 
+     538       17792 :   if (taking_off_) {
+     539        8808 :     position_output_.disable_antiwindups = true;
+     540             :   } else {
+     541        8984 :     position_output_.disable_antiwindups = false;
+     542             :   }
+     543             : 
+     544       17792 :   return {position_output_};
+     545             : }
+     546             : 
+     547             : //}
+     548             : 
+     549             : /* //{ getStatus() */
+     550             : 
+     551        2237 : const mrs_msgs::TrackerStatus LandoffTracker::getStatus() {
+     552             : 
+     553        2237 :   mrs_msgs::TrackerStatus tracker_status;
+     554             : 
+     555        2237 :   tracker_status.active            = is_active_;
+     556        2237 :   tracker_status.callbacks_enabled = callbacks_enabled_;
+     557             : 
+     558        2237 :   const bool hovering = current_state_vertical_ == HOVER_STATE && current_state_horizontal_ == HOVER_STATE;
+     559        2237 :   const bool idling   = current_state_vertical_ == IDLE_STATE && current_state_horizontal_ == IDLE_STATE;
+     560             : 
+     561             :   // the (hovering && activate_as_the_first_tracker) part of the condition makes sure that the IDLE will be
+     562             :   // reported even when hovering on the ground, just before the takeoff service is called
+     563        2237 :   if (idling || (hovering && activate_as_the_first_tracker)) {
+     564             : 
+     565         178 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_IDLE;
+     566             : 
+     567        2059 :   } else if (taking_off_) {
+     568             : 
+     569         967 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_TAKEOFF;
+     570             : 
+     571        1092 :   } else if (hovering) {
+     572             : 
+     573           0 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_HOVER;
+     574             : 
+     575        1092 :   } else if (landing_) {
+     576             : 
+     577        1087 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_LAND;
+     578             :   }
+     579             : 
+     580        2237 :   tracker_status.have_goal = landing_ || taking_off_ || !(hovering || idling);
+     581             : 
+     582        2237 :   tracker_status.tracking_trajectory = false;
+     583             : 
+     584        2237 :   return tracker_status;
+     585             : }
+     586             : 
+     587             : //}
+     588             : 
+     589             : /* //{ enableCallbacks() */
+     590             : 
+     591         312 : const std_srvs::SetBoolResponse::ConstPtr LandoffTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr& cmd) {
+     592             : 
+     593         624 :   std_srvs::SetBoolResponse res;
+     594         624 :   std::stringstream         ss;
+     595             : 
+     596         312 :   if (cmd->data != callbacks_enabled_) {
+     597             : 
+     598          20 :     callbacks_enabled_ = cmd->data;
+     599             : 
+     600          20 :     ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+     601          20 :     ROS_INFO_STREAM_THROTTLE(1.0, "[LandoffTrakcer]: " << ss.str());
+     602             : 
+     603             :   } else {
+     604             : 
+     605         292 :     ss << "callbacks were already " << (callbacks_enabled_ ? "enabled" : "disabled");
+     606         292 :     ROS_WARN_STREAM_THROTTLE(1.0, "[LandoffTrakcer]: " << ss.str());
+     607             :   }
+     608             : 
+     609         312 :   res.message = ss.str();
+     610         312 :   res.success = true;
+     611             : 
+     612         624 :   return std_srvs::SetBoolResponse::ConstPtr(new std_srvs::SetBoolResponse(res));
+     613             : }
+     614             : 
+     615             : //}
+     616             : 
+     617             : /* switchOdometrySource() //{ */
+     618             : 
+     619           0 : const std_srvs::TriggerResponse::ConstPtr LandoffTracker::switchOdometrySource([[maybe_unused]] const mrs_msgs::UavState& new_uav_state) {
+     620             : 
+     621           0 :   std::scoped_lock lock(mutex_goal_, mutex_state_);
+     622             : 
+     623           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     624             : 
+     625           0 :   double old_heading  = 0;
+     626           0 :   double new_heading  = 0;
+     627           0 :   bool   got_headings = true;
+     628             : 
+     629             :   try {
+     630           0 :     old_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     631             :   }
+     632           0 :   catch (...) {
+     633           0 :     ROS_ERROR_THROTTLE(1.0, "[LandoffTracker]: could not calculate the old UAV heading");
+     634           0 :     got_headings = false;
+     635             :   }
+     636             : 
+     637             :   try {
+     638           0 :     new_heading = mrs_lib::AttitudeConverter(new_uav_state.pose.orientation).getHeading();
+     639             :   }
+     640           0 :   catch (...) {
+     641           0 :     ROS_ERROR_THROTTLE(1.0, "[LandoffTracker]: could not calculate the new UAV heading");
+     642           0 :     got_headings = false;
+     643             :   }
+     644             : 
+     645           0 :   std_srvs::TriggerResponse res;
+     646             : 
+     647           0 :   if (!got_headings) {
+     648           0 :     res.message = "could not calculate the heading difference";
+     649           0 :     res.success = false;
+     650             : 
+     651           0 :     return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+     652             :   }
+     653             : 
+     654             :   // | --------- recalculate the goal to new coordinates -------- |
+     655             : 
+     656           0 :   double dx       = new_uav_state.pose.position.x - uav_state.pose.position.x;
+     657           0 :   double dy       = new_uav_state.pose.position.y - uav_state.pose.position.y;
+     658           0 :   double dz       = new_uav_state.pose.position.z - uav_state.pose.position.z;
+     659           0 :   double dheading = new_heading - old_heading;
+     660             : 
+     661           0 :   goal_x_ += dx;
+     662           0 :   goal_y_ += dy;
+     663           0 :   goal_z_ += dz;
+     664           0 :   goal_heading_ += dheading;
+     665             : 
+     666             :   // | -------------------- update the state -------------------- |
+     667             : 
+     668           0 :   state_x_ += dx;
+     669           0 :   state_y_ += dy;
+     670           0 :   state_z_ += dz;
+     671           0 :   state_heading_ += dheading;
+     672             : 
+     673           0 :   current_heading_ = atan2(goal_y_ - state_y_, goal_x_ - state_x_);
+     674             : 
+     675           0 :   res.message = "odometry source switched";
+     676           0 :   res.success = true;
+     677             : 
+     678           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+     679             : }
+     680             : 
+     681             : //}
+     682             : 
+     683             : /* //{ hover() */
+     684           0 : const std_srvs::TriggerResponse::ConstPtr LandoffTracker::hover([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+     685             : 
+     686           0 :   std::scoped_lock lock(mutex_main_timer_);
+     687             : 
+     688             :   // copy member variables
+     689           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     690             : 
+     691           0 :   auto [current_horizontal_speed, current_vertical_speed, current_heading, current_vertical_direction] =
+     692           0 :       mrs_lib::get_mutexed(mutex_state_, current_horizontal_speed_, current_vertical_speed_, current_heading_, current_vertical_direction_);
+     693             : 
+     694           0 :   std_srvs::TriggerResponse res;
+     695             : 
+     696             :   // --------------------------------------------------------------
+     697             :   // |          horizontal initial conditions prediction          |
+     698             :   // --------------------------------------------------------------
+     699             :   {
+     700           0 :     std::scoped_lock lock(mutex_state_);
+     701             : 
+     702           0 :     current_horizontal_speed_ = sqrt(pow(uav_state.velocity.linear.x, 2) + pow(uav_state.velocity.linear.y, 2));
+     703           0 :     current_vertical_speed_   = uav_state.velocity.linear.z;
+     704           0 :     current_heading_          = atan2(uav_state.velocity.linear.y, uav_state.velocity.linear.x);
+     705             :   }
+     706             : 
+     707             :   double horizontal_t_stop, horizontal_stop_dist, stop_dist_x, stop_dist_y;
+     708             : 
+     709           0 :   horizontal_t_stop    = current_horizontal_speed / _horizontal_acceleration_;
+     710           0 :   horizontal_stop_dist = (horizontal_t_stop * current_horizontal_speed) / 2.0;
+     711           0 :   stop_dist_x          = cos(current_heading) * horizontal_stop_dist;
+     712           0 :   stop_dist_y          = sin(current_heading) * horizontal_stop_dist;
+     713             : 
+     714             :   // --------------------------------------------------------------
+     715             :   // |           vertical initial conditions prediction           |
+     716             :   // --------------------------------------------------------------
+     717             : 
+     718           0 :   double vertical_t_stop    = current_vertical_speed / _vertical_acceleration_;
+     719           0 :   double vertical_stop_dist = current_vertical_direction * (vertical_t_stop * current_vertical_speed) / 2.0;
+     720             : 
+     721             :   // --------------------------------------------------------------
+     722             :   // |                        set the goal                        |
+     723             :   // --------------------------------------------------------------
+     724             : 
+     725             :   {
+     726           0 :     std::scoped_lock lock(mutex_state_, mutex_goal_);
+     727             : 
+     728           0 :     goal_x_ = state_x_ + stop_dist_x;
+     729           0 :     goal_y_ = state_y_ + stop_dist_y;
+     730           0 :     goal_z_ = state_z_ + vertical_stop_dist;
+     731             :   }
+     732             : 
+     733           0 :   res.message = "hover initiated";
+     734           0 :   res.success = true;
+     735             : 
+     736           0 :   changeState(STOP_MOTION_STATE);
+     737             : 
+     738           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+     739             : }
+     740             : 
+     741             : //}
+     742             : 
+     743             : /* //{ startTrajectoryTracking() */
+     744             : 
+     745           0 : const std_srvs::TriggerResponse::ConstPtr LandoffTracker::startTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+     746           0 :   return std_srvs::TriggerResponse::Ptr();
+     747             : }
+     748             : 
+     749             : //}
+     750             : 
+     751             : /* //{ stopTrajectoryTracking() */
+     752             : 
+     753           0 : const std_srvs::TriggerResponse::ConstPtr LandoffTracker::stopTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+     754           0 :   return std_srvs::TriggerResponse::Ptr();
+     755             : }
+     756             : 
+     757             : //}
+     758             : 
+     759             : /* //{ resumeTrajectoryTracking() */
+     760             : 
+     761           0 : const std_srvs::TriggerResponse::ConstPtr LandoffTracker::resumeTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+     762           0 :   return std_srvs::TriggerResponse::Ptr();
+     763             : }
+     764             : 
+     765             : //}
+     766             : 
+     767             : /* //{ gotoTrajectoryStart() */
+     768             : 
+     769           0 : const std_srvs::TriggerResponse::ConstPtr LandoffTracker::gotoTrajectoryStart([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+     770           0 :   return std_srvs::TriggerResponse::Ptr();
+     771             : }
+     772             : 
+     773             : //}
+     774             : 
+     775             : /* //{ setConstraints() */
+     776             : 
+     777         379 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr LandoffTracker::setConstraints([
+     778             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& cmd) {
+     779             : 
+     780             : 
+     781         379 :   mrs_lib::set_mutexed(mutex_constraints_, cmd->constraints, constraints_);
+     782             : 
+     783         379 :   ROS_INFO("[LandoffTracker]: updating constraints");
+     784             : 
+     785         758 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     786         379 :   res.success = true;
+     787         379 :   res.message = "constraints updated";
+     788             : 
+     789         758 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     790             : }
+     791             : 
+     792             : //}
+     793             : 
+     794             : /* //{ setReference() */
+     795             : 
+     796           0 : const mrs_msgs::ReferenceSrvResponse::ConstPtr LandoffTracker::setReference([[maybe_unused]] const mrs_msgs::ReferenceSrvRequest::ConstPtr& cmd) {
+     797             : 
+     798           0 :   return mrs_msgs::ReferenceSrvResponse::Ptr();
+     799             : }
+     800             : 
+     801             : //}
+     802             : 
+     803             : /* //{ setVelocityReference() */
+     804             : 
+     805           0 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr LandoffTracker::setVelocityReference([
+     806             :     [maybe_unused]] const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr& cmd) {
+     807           0 :   return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+     808             : }
+     809             : 
+     810             : //}
+     811             : 
+     812             : /* //{ setTrajectoryReference() */
+     813             : 
+     814           6 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr LandoffTracker::setTrajectoryReference([
+     815             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr& cmd) {
+     816           6 :   return mrs_msgs::TrajectoryReferenceSrvResponse::Ptr();
+     817             : }
+     818             : 
+     819             : //}
+     820             : 
+     821             : // | ----------------- state machine routines ----------------- |
+     822             : 
+     823             : /* //{ changeStateHorizontal() */
+     824             : 
+     825         179 : void LandoffTracker::changeStateHorizontal(States_t new_state) {
+     826             : 
+     827         179 :   previous_state_horizontal_ = current_state_horizontal_;
+     828         179 :   current_state_horizontal_  = new_state;
+     829             : 
+     830         179 :   switch (current_state_horizontal_) {
+     831             : 
+     832          57 :     case STOPPING_STATE: {
+     833             : 
+     834         114 :       std::scoped_lock lock(mutex_state_);
+     835          57 :       current_horizontal_speed_ = 0;
+     836             : 
+     837          57 :       break;
+     838             :     };
+     839             : 
+     840         122 :     default: {
+     841             : 
+     842         122 :       break;
+     843             :     }
+     844             :   }
+     845             : 
+     846         179 :   ROS_INFO("[LandoffTracker]: Switching horizontal state %s -> %s", state_names.at(previous_state_horizontal_), state_names.at(current_state_horizontal_));
+     847         179 : }
+     848             : 
+     849             : //}
+     850             : 
+     851             : /* //{ changeStateVertical() */
+     852             : 
+     853         219 : void LandoffTracker::changeStateVertical(States_t new_state) {
+     854             : 
+     855         219 :   previous_state_vertical_ = current_state_vertical_;
+     856         219 :   current_state_vertical_  = new_state;
+     857             : 
+     858         219 :   switch (current_state_vertical_) {
+     859             : 
+     860          44 :     case HOVER_STATE: {
+     861          44 :       taking_off_ = false;
+     862          44 :       break;
+     863             :     }
+     864             : 
+     865         175 :     default: {
+     866         175 :       break;
+     867             :     }
+     868             :   }
+     869             : 
+     870         219 :   ROS_INFO("[LandoffTracker]: Switching vertical state %s -> %s", state_names.at(previous_state_vertical_), state_names.at(current_state_vertical_));
+     871         219 : }
+     872             : 
+     873             : //}
+     874             : 
+     875             : /* //{ changeState() */
+     876             : 
+     877         146 : void LandoffTracker::changeState(States_t new_state) {
+     878             : 
+     879         146 :   changeStateVertical(new_state);
+     880         146 :   changeStateHorizontal(new_state);
+     881         146 : }
+     882             : 
+     883             : //}
+     884             : 
+     885             : // | --------------------- motion routines -------------------- |
+     886             : 
+     887             : /* //{ stopHorizontalMotion() */
+     888             : 
+     889         665 : void LandoffTracker::stopHorizontalMotion(void) {
+     890             : 
+     891             :   {
+     892        1330 :     std::scoped_lock lock(mutex_state_);
+     893             : 
+     894         665 :     current_horizontal_speed_ -= _horizontal_acceleration_ * _tracker_dt_;
+     895             : 
+     896         665 :     if (current_horizontal_speed_ < 0) {
+     897         394 :       current_horizontal_speed_        = 0;
+     898         394 :       current_horizontal_acceleration_ = 0;
+     899             :     } else {
+     900         271 :       current_horizontal_acceleration_ = -_horizontal_acceleration_;
+     901             :     }
+     902             :   }
+     903         665 : }
+     904             : 
+     905             : //}
+     906             : 
+     907             : /* //{ stopVerticalMotion() */
+     908             : 
+     909         665 : void LandoffTracker::stopVerticalMotion(void) {
+     910             : 
+     911             :   {
+     912        1330 :     std::scoped_lock lock(mutex_state_);
+     913             : 
+     914         665 :     current_vertical_speed_ -= _vertical_acceleration_ * _tracker_dt_;
+     915             : 
+     916         665 :     if (current_vertical_speed_ < 0) {
+     917          36 :       current_vertical_speed_        = 0;
+     918          36 :       current_vertical_acceleration_ = 0;
+     919             :     } else {
+     920         629 :       current_vertical_acceleration_ = -_vertical_acceleration_;
+     921             :     }
+     922             :   }
+     923         665 : }
+     924             : 
+     925             : //}
+     926             : 
+     927             : /* //{ accelerateVertical() */
+     928             : 
+     929       16007 : void LandoffTracker::accelerateVertical(void) {
+     930             : 
+     931             :   // copy member variables
+     932       16007 :   auto [current_vertical_speed, state_z] = mrs_lib::get_mutexed(mutex_state_, current_vertical_speed_, state_z_);
+     933       16007 :   auto goal_z                            = mrs_lib::get_mutexed(mutex_goal_, goal_z_);
+     934       16007 :   auto constraints                       = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     935             : 
+     936             :   double used_acceleration;
+     937             :   double used_speed;
+     938             : 
+     939       16007 :   if (taking_off_) {
+     940             : 
+     941        4573 :     used_speed        = _takeoff_speed_;
+     942        4573 :     used_acceleration = _takeoff_acceleration_;
+     943             : 
+     944        4573 :     if (used_speed > constraints.vertical_ascending_speed) {
+     945           0 :       used_speed = constraints.vertical_ascending_speed;
+     946           0 :       ROS_WARN_THROTTLE(1.0, "[LandoffTracker]: saturating takeoff speed");
+     947             :     }
+     948             : 
+     949        4573 :     if (used_acceleration > constraints.vertical_ascending_acceleration) {
+     950           0 :       used_acceleration = constraints.vertical_ascending_acceleration;
+     951           0 :       ROS_WARN_THROTTLE(1.0, "[LandoffTracker]: saturating takeoff acceleration");
+     952             :     }
+     953             : 
+     954       11434 :   } else if (landing_) {
+     955             : 
+     956       11434 :     if (elanding_) {
+     957             : 
+     958        7180 :       used_speed        = _elanding_speed_;
+     959        7180 :       used_acceleration = _elanding_acceleration_;
+     960             : 
+     961             :     } else {
+     962             : 
+     963        4254 :       used_speed        = _landing_speed_;
+     964        4254 :       used_acceleration = _landing_acceleration_;
+     965             : 
+     966        4254 :       if (used_speed > constraints.vertical_descending_speed) {
+     967           0 :         used_speed = constraints.vertical_descending_speed;
+     968           0 :         ROS_WARN_THROTTLE(1.0, "[LandoffTracker]: saturating landing speed");
+     969             :       }
+     970             : 
+     971        4254 :       if (used_acceleration > constraints.vertical_descending_acceleration) {
+     972           0 :         used_acceleration = constraints.vertical_descending_acceleration;
+     973           0 :         ROS_WARN_THROTTLE(1.0, "[LandoffTracker]: saturating landing acceleration");
+     974             :       }
+     975             :     }
+     976             : 
+     977             :   } else {
+     978             : 
+     979             :     // TODO take this from constraints
+     980           0 :     used_speed        = _vertical_speed_;
+     981           0 :     used_acceleration = _vertical_acceleration_;
+     982             :   }
+     983             : 
+     984             :   // set the right heading
+     985       16007 :   double tar_z = goal_z - state_z;
+     986             : 
+     987             :   // set the right vertical direction
+     988             :   {
+     989       16007 :     std::scoped_lock lock(mutex_state_);
+     990             : 
+     991       16007 :     current_vertical_direction_ = mrs_lib::signum(tar_z);
+     992             :   }
+     993             : 
+     994       16007 :   auto current_vertical_direction = mrs_lib::get_mutexed(mutex_state_, current_vertical_direction_);
+     995             : 
+     996             :   // calculate the time to stop and the distance it will take to stop [vertical]
+     997       16007 :   double vertical_t_stop    = current_vertical_speed / used_acceleration;
+     998       16007 :   double vertical_stop_dist = (vertical_t_stop * current_vertical_speed) / 2.0;
+     999       16007 :   double stop_dist_z        = current_vertical_direction * vertical_stop_dist;
+    1000             : 
+    1001             :   {
+    1002       32014 :     std::scoped_lock lock(mutex_state_);
+    1003             : 
+    1004       16007 :     current_vertical_speed_ += used_acceleration * _tracker_dt_;
+    1005             : 
+    1006       16007 :     if (current_vertical_speed_ >= used_speed) {
+    1007        3938 :       current_vertical_speed_ -= _vertical_acceleration_ * _tracker_dt_;
+    1008        3938 :       current_vertical_acceleration_ = 0;
+    1009             :     } else {
+    1010       12069 :       current_vertical_acceleration_ = used_acceleration;
+    1011             :     }
+    1012             :   }
+    1013             : 
+    1014             :   // stopping condition to change to decelerate state
+    1015             :   //
+    1016             :   // It does not apply if landing or elanding, cause,
+    1017             :   // it could potentially stop in mid air if odometry jumps (this happened),
+    1018             :   // Instead, landing and elanding is stopped by sensing the throttle.
+    1019       16007 :   if (!elanding_ && !landing_) {
+    1020        4573 :     if (fabs(state_z + stop_dist_z - goal_z) < (2 * (used_speed * _tracker_dt_))) {
+    1021             : 
+    1022             :       {
+    1023          20 :         std::scoped_lock lock(mutex_state_);
+    1024             : 
+    1025          20 :         current_vertical_acceleration_ = 0;
+    1026             :       }
+    1027             : 
+    1028          20 :       changeStateVertical(DECELERATING_STATE);
+    1029             :     }
+    1030             :   }
+    1031       16007 : }
+    1032             : 
+    1033             : //}
+    1034             : 
+    1035             : /* //{ decelerateVertical() */
+    1036             : 
+    1037        4573 : void LandoffTracker::decelerateVertical(void) {
+    1038             : 
+    1039             :   double used_acceleration;
+    1040             : 
+    1041        4573 :   if (taking_off_) {
+    1042             : 
+    1043        4573 :     used_acceleration = _takeoff_acceleration_;
+    1044             : 
+    1045           0 :   } else if (landing_) {
+    1046             : 
+    1047           0 :     if (elanding_) {
+    1048             : 
+    1049           0 :       used_acceleration = _elanding_acceleration_;
+    1050             : 
+    1051             :     } else {
+    1052             : 
+    1053           0 :       used_acceleration = _landing_acceleration_;
+    1054             :     }
+    1055             : 
+    1056             :   } else {
+    1057           0 :     used_acceleration = _vertical_acceleration_;
+    1058             :   }
+    1059             : 
+    1060             :   {
+    1061        9146 :     std::scoped_lock lock(mutex_state_);
+    1062             : 
+    1063        4573 :     current_vertical_speed_ -= used_acceleration * _tracker_dt_;
+    1064             : 
+    1065        4573 :     if (current_vertical_speed_ < 0) {
+    1066          20 :       current_vertical_speed_ = 0;
+    1067             :     } else {
+    1068        4553 :       current_vertical_acceleration_ = -used_acceleration;
+    1069             :     }
+    1070             :   }
+    1071             : 
+    1072        4573 :   auto current_vertical_speed = mrs_lib::get_mutexed(mutex_state_, current_vertical_speed_);
+    1073             : 
+    1074        4573 :   if (current_vertical_speed == 0) {
+    1075             : 
+    1076             :     {
+    1077          20 :       std::scoped_lock lock(mutex_state_);
+    1078             : 
+    1079          20 :       current_vertical_acceleration_ = 0;
+    1080             :     }
+    1081             : 
+    1082          20 :     changeStateVertical(STOPPING_STATE);
+    1083             :   }
+    1084        4573 : }
+    1085             : 
+    1086             : //}
+    1087             : 
+    1088             : /* //{ stopHorizontal() */
+    1089             : 
+    1090       20580 : void LandoffTracker::stopHorizontal(void) {
+    1091             : 
+    1092             :   {
+    1093       20580 :     std::scoped_lock lock(mutex_state_, mutex_goal_);
+    1094             : 
+    1095       20580 :     double new_state_x = 0.95 * state_x_ + 0.05 * goal_x_;
+    1096       20580 :     double new_state_y = 0.95 * state_y_ + 0.05 * goal_y_;
+    1097             : 
+    1098       20580 :     double dist_x = new_state_x - state_x_;
+    1099       20580 :     double dist_y = new_state_y - state_y_;
+    1100             : 
+    1101       20580 :     double dt = 1.0 / _main_timer_rate_;
+    1102             : 
+    1103       20580 :     if (std::abs(dist_x / dt) > 1.0) {
+    1104           0 :       dist_x = mrs_lib::signum(dist_x) * (1.0 * dt);
+    1105             :     }
+    1106             : 
+    1107       20580 :     if (std::abs(dist_y / dt) > 1.0) {
+    1108           0 :       dist_y = mrs_lib::signum(dist_y) * (1.0 * dt);
+    1109             :     }
+    1110             : 
+    1111       20580 :     state_x_ += dist_x;
+    1112       20580 :     state_y_ += dist_y;
+    1113             : 
+    1114       20580 :     current_horizontal_acceleration_ = 0;
+    1115             :   }
+    1116       20580 : }
+    1117             : 
+    1118             : //}
+    1119             : 
+    1120             : /* //{ stopVertical() */
+    1121             : 
+    1122           0 : void LandoffTracker::stopVertical(void) {
+    1123             : 
+    1124             :   {
+    1125           0 :     std::scoped_lock lock(mutex_state_, mutex_goal_);
+    1126             : 
+    1127           0 :     double new_state_z = 0.95 * state_z_ + 0.05 * goal_z_;
+    1128             : 
+    1129           0 :     double dist_z = new_state_z - state_z_;
+    1130             : 
+    1131           0 :     double dt = 1.0 / _main_timer_rate_;
+    1132             : 
+    1133           0 :     if (std::abs(dist_z / dt) > 1.0) {
+    1134           0 :       dist_z = mrs_lib::signum(dist_z) * (1.0 * dt);
+    1135             :     }
+    1136             : 
+    1137           0 :     state_z_ += dist_z;
+    1138             : 
+    1139           0 :     current_vertical_acceleration_ = 0;
+    1140             :   }
+    1141           0 : }
+    1142             : 
+    1143             : //}
+    1144             : 
+    1145             : // | --------------------- timer routines --------------------- |
+    1146             : 
+    1147             : /* //{ timerMain() */
+    1148             : 
+    1149       23531 : void LandoffTracker::timerMain(const ros::TimerEvent& event) {
+    1150             : 
+    1151       23531 :   std::scoped_lock lock(mutex_main_timer_);
+    1152             : 
+    1153       23531 :   if (!is_active_) {
+    1154           0 :     return;
+    1155             :   }
+    1156             : 
+    1157             :   // copy member variables
+    1158       47062 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1159       23531 :   auto [state_x, state_y, state_z, current_horizontal_speed, current_vertical_speed, current_heading, current_vertical_direction] = mrs_lib::get_mutexed(
+    1160       23531 :       mutex_state_, state_x_, state_y_, state_z_, current_horizontal_speed_, current_vertical_speed_, current_heading_, current_vertical_direction_);
+    1161       23531 :   auto [goal_x, goal_y, goal_z] = mrs_lib::get_mutexed(mutex_goal_, goal_x_, goal_y_, goal_z_);
+    1162       47062 :   auto last_control_output      = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    1163             : 
+    1164             :   double uav_x, uav_y, uav_z;
+    1165       23531 :   uav_x = uav_state.pose.position.x;
+    1166       23531 :   uav_y = uav_state.pose.position.y;
+    1167       23531 :   uav_z = uav_state.pose.position.z;
+    1168             : 
+    1169       70593 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("main", _main_timer_rate_, 0.002, event);
+    1170       70593 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("LandoffTracker::main", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1171             : 
+    1172       23531 :   bool takeoff_saturated = false;
+    1173             : 
+    1174       23531 :   if (taking_off_) {
+    1175             : 
+    1176             :     // calculate the vector
+    1177        9664 :     double err_x      = uav_x - state_x;
+    1178        9664 :     double err_y      = uav_y - state_y;
+    1179        9664 :     double err_z      = uav_z - state_z;
+    1180        9664 :     double error_size = sqrt(pow(err_x, 2) + pow(err_y, 2) + pow(err_z, 2));
+    1181             : 
+    1182        9664 :     if (error_size > _max_position_difference_) {
+    1183             : 
+    1184             :       // calculate the potential next step
+    1185          69 :       double future_state_x = state_x + cos(current_heading) * current_horizontal_speed * _tracker_dt_;
+    1186          69 :       double future_state_y = state_y + sin(current_heading) * current_horizontal_speed * _tracker_dt_;
+    1187          69 :       double future_state_z = state_z + current_vertical_direction * current_vertical_speed * _tracker_dt_;
+    1188             : 
+    1189             :       // if the step would lead to a greater control error than the threshold
+    1190          69 :       if (mrs_lib::geometry::dist(vec3_t(future_state_x, future_state_y, future_state_z), vec3_t(uav_x, uav_y, uav_z)) > error_size) {
+    1191             : 
+    1192             :         // set this to true... later, we will not update the model if this is true, thus the tracker's motion will stop
+    1193             :         // => the tracker will wait for the controller
+    1194          69 :         takeoff_saturated = true;
+    1195             : 
+    1196          69 :         ROS_WARN_THROTTLE(
+    1197             :             0.1, "[LandoffTracker]: position difference %.3f > %.3f, saturating the motion. Reference: x=%.2f, y=%.2f, z=%.2f, Odometry: %.2f, %.2f, %.2f",
+    1198             :             error_size, _max_position_difference_, future_state_x, future_state_y, future_state_z, uav_x, uav_y, uav_z);
+    1199             :       }
+    1200             :     }
+    1201             : 
+    1202             :     // saturate while ramping up during takeoff
+    1203        9664 :     if (last_control_output.diagnostics.ramping_up) {
+    1204             : 
+    1205         449 :       ROS_INFO_THROTTLE(1.0, "[LandoffTracker]: waiting for the controller to rampup");
+    1206         449 :       takeoff_saturated = true;
+    1207             :     }
+    1208             :   }
+    1209             : 
+    1210       23531 :   if (!takeoff_saturated) {
+    1211             : 
+    1212       23013 :     switch (current_state_horizontal_) {
+    1213             : 
+    1214         665 :       case STOP_MOTION_STATE: {
+    1215             : 
+    1216         665 :         stopHorizontalMotion();
+    1217         665 :         break;
+    1218             :       }
+    1219             : 
+    1220       20580 :       case STOPPING_STATE: {
+    1221             : 
+    1222       20580 :         stopHorizontal();
+    1223       20580 :         break;
+    1224             :       }
+    1225             : 
+    1226        1768 :       default: {
+    1227             : 
+    1228        1768 :         break;
+    1229             :       }
+    1230             :     }
+    1231             : 
+    1232       23013 :     switch (current_state_vertical_) {
+    1233             : 
+    1234         665 :       case STOP_MOTION_STATE: {
+    1235             : 
+    1236         665 :         stopVerticalMotion();
+    1237         665 :         break;
+    1238             :       }
+    1239             : 
+    1240       16007 :       case ACCELERATING_STATE: {
+    1241             : 
+    1242       16007 :         accelerateVertical();
+    1243       16007 :         break;
+    1244             :       }
+    1245             : 
+    1246        4573 :       case DECELERATING_STATE: {
+    1247             : 
+    1248        4573 :         decelerateVertical();
+    1249        4573 :         break;
+    1250             :       }
+    1251             : 
+    1252           0 :       case STOPPING_STATE: {
+    1253             : 
+    1254           0 :         stopVertical();
+    1255           0 :         break;
+    1256             :       }
+    1257             : 
+    1258        1768 :       default: {
+    1259             : 
+    1260        1768 :         break;
+    1261             :       }
+    1262             :     }
+    1263             :   }
+    1264             : 
+    1265       23531 :   if (current_state_horizontal_ == STOP_MOTION_STATE && current_state_vertical_ == STOP_MOTION_STATE) {
+    1266         685 :     if (fabs(current_vertical_speed) <= 0.1 && fabs(current_horizontal_speed) <= 0.1) {
+    1267             : 
+    1268             :       // if the current motion was stopped (the conditions above) but we still have a goal (landing or taking off)
+    1269             :       // -> we should start accelerating towards the goal in the vertical direction
+    1270             :       // This is important, do not modify without testing, otherwise your landing routine may crash into the ground
+    1271             :       // while having large lateral speed
+    1272          57 :       if (have_goal_) {
+    1273             : 
+    1274          33 :         changeStateVertical(ACCELERATING_STATE);
+    1275          33 :         changeStateHorizontal(STOPPING_STATE);
+    1276             : 
+    1277             :       } else {
+    1278             : 
+    1279          24 :         changeState(STOPPING_STATE);
+    1280             : 
+    1281             :         {
+    1282          24 :           std::scoped_lock lock(mutex_state_);
+    1283             : 
+    1284          24 :           current_horizontal_speed_ = 0;
+    1285          24 :           current_vertical_speed_   = 0;
+    1286             :         }
+    1287             :       }
+    1288             :     }
+    1289             :   }
+    1290             : 
+    1291       23531 :   if (current_state_vertical_ == STOPPING_STATE && current_state_horizontal_ == STOPPING_STATE) {
+    1292             : 
+    1293          44 :     if (fabs(state_x - goal_x) > 1.0 || fabs(state_y - goal_y) > 1.0 || fabs(state_z - goal_z) > 1.0) {
+    1294             : 
+    1295           0 :       ROS_ERROR("[LandoffTracker]: distance to the goal is too large when STOPPING, this could have been caused by a race condition!");
+    1296           0 :       ROS_ERROR("[LandoffTracker]: call for Tomas!!");
+    1297             : 
+    1298           0 :       cause_failsafe_ = true;
+    1299             : 
+    1300           0 :       changeState(HOVER_STATE);
+    1301             : 
+    1302          44 :     } else if (fabs(state_x - goal_x) < 0.1 && fabs(state_y - goal_y) < 0.1 && fabs(state_z - goal_z) < 0.1) {
+    1303             : 
+    1304             :       {
+    1305          44 :         std::scoped_lock lock(mutex_state_);
+    1306             : 
+    1307          44 :         if (!taking_off_) {
+    1308          24 :           state_x_ = goal_x;
+    1309          24 :           state_y_ = goal_y;
+    1310          24 :           state_z_ = goal_z;
+    1311             :         }
+    1312             : 
+    1313          44 :         current_horizontal_speed_ = 0;
+    1314          44 :         current_vertical_speed_   = 0;
+    1315             :       }
+    1316             : 
+    1317          44 :       changeState(HOVER_STATE);
+    1318             : 
+    1319          44 :       have_goal_ = false;
+    1320             :     }
+    1321             :   }
+    1322             : 
+    1323       23531 :   if (current_state_horizontal_ == LANDED_STATE && current_state_vertical_ == LANDED_STATE) {
+    1324             :     {
+    1325           0 :       std::scoped_lock lock(mutex_state_);
+    1326             : 
+    1327           0 :       state_x_ = goal_x = uav_x;
+    1328           0 :       state_y_ = goal_y = uav_y;
+    1329           0 :       state_z_ = goal_z = uav_z;
+    1330             : 
+    1331           0 :       have_goal_ = false;
+    1332             :     }
+    1333             :   }
+    1334             : 
+    1335             :   // --------------------------------------------------------------
+    1336             :   // |              motion saturation during takeoff              |
+    1337             :   // --------------------------------------------------------------
+    1338             : 
+    1339             :   // update the inner states
+    1340       23531 :   if (!takeoff_saturated) {
+    1341             :     {
+    1342       23013 :       std::scoped_lock lock(mutex_state_);
+    1343             : 
+    1344       23013 :       state_x_ += cos(current_heading) * current_horizontal_speed * _tracker_dt_;
+    1345       23013 :       state_y_ += sin(current_heading) * current_horizontal_speed * _tracker_dt_;
+    1346       23013 :       state_z_ += current_vertical_direction * current_vertical_speed * _tracker_dt_;
+    1347             :     }
+    1348             :   }
+    1349             : 
+    1350             :   // --------------------------------------------------------------
+    1351             :   // |                        heading tracking                        |
+    1352             :   // --------------------------------------------------------------
+    1353             : 
+    1354             :   // compute the desired heading rate
+    1355             :   {
+    1356       47062 :     std::scoped_lock lock(mutex_state_);
+    1357             : 
+    1358             :     double current_heading_rate;
+    1359             : 
+    1360       23531 :     if (fabs(goal_heading_ - state_heading_) > M_PI)
+    1361           0 :       current_heading_rate = -_heading_gain_ * (goal_heading_ - state_heading_);
+    1362             :     else
+    1363       23531 :       current_heading_rate = _heading_gain_ * (goal_heading_ - state_heading_);
+    1364             : 
+    1365       23531 :     if (current_heading_rate > _heading_rate_) {
+    1366           0 :       current_heading_rate = _heading_rate_;
+    1367       23531 :     } else if (current_heading_rate < -_heading_rate_) {
+    1368           0 :       current_heading_rate = -_heading_rate_;
+    1369             :     }
+    1370             : 
+    1371             :     // flap the resulted state_heading_ aroud PI
+    1372       23531 :     state_heading_ += current_heading_rate * _tracker_dt_;
+    1373             : 
+    1374       23531 :     if (state_heading_ > M_PI) {
+    1375           0 :       state_heading_ -= 2 * M_PI;
+    1376       23531 :     } else if (state_heading_ < -M_PI) {
+    1377           0 :       state_heading_ += 2 * M_PI;
+    1378             :     }
+    1379             : 
+    1380       23531 :     if (fabs(state_heading_ - goal_heading_) < (2 * (_heading_rate_ * _tracker_dt_))) {
+    1381       23531 :       state_heading_ = goal_heading_;
+    1382             :     }
+    1383             :   }
+    1384             : 
+    1385             :   // --------------------------------------------------------------
+    1386             :   // |                      landing setpoint                      |
+    1387             :   // --------------------------------------------------------------
+    1388             : 
+    1389       23531 :   if (landing_) {
+    1390             :     {
+    1391       12033 :       std::scoped_lock lock(mutex_goal_);
+    1392             : 
+    1393       12033 :       goal_z_ = uav_z + _landing_reference_;
+    1394             :     }
+    1395             :   }
+    1396             : }
+    1397             : 
+    1398             : //}
+    1399             : 
+    1400             : // | ------------------------ callbacks ----------------------- |
+    1401             : 
+    1402             : /* //{ callbackTakeoff() */
+    1403             : 
+    1404          20 : bool LandoffTracker::callbackTakeoff(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    1405             : 
+    1406          40 :   std::stringstream ss;
+    1407             : 
+    1408             :   // copy member variables
+    1409          40 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1410             : 
+    1411          20 :   double uav_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1412             : 
+    1413             :   double uav_x, uav_y, uav_z;
+    1414          20 :   uav_x = uav_state.pose.position.x;
+    1415          20 :   uav_y = uav_state.pose.position.y;
+    1416          20 :   uav_z = uav_state.pose.position.z;
+    1417             : 
+    1418          20 :   if (!is_active_) {
+    1419           0 :     ss << "can not takeoff, the tracker is not active";
+    1420           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[LandoffTracker]: " << ss.str());
+    1421           0 :     res.success = false;
+    1422           0 :     res.message = ss.str();
+    1423           0 :     return true;
+    1424             :   }
+    1425             : 
+    1426          20 :   if (!callbacks_enabled_) {
+    1427           0 :     ss << "can not takeoff, the callbacks are disabled";
+    1428           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[LandoffTracker]: " << ss.str());
+    1429           0 :     res.success = false;
+    1430           0 :     res.message = ss.str();
+    1431           0 :     return true;
+    1432             :   }
+    1433             : 
+    1434          20 :   if (req.goal < 0.5 || req.goal > 10.0) {
+    1435             : 
+    1436           0 :     ss << "can not takeoff, the goal should be within [0.5, 10.0] m!";
+    1437           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[LandoffTracker]: " << ss.str());
+    1438           0 :     res.success = false;
+    1439           0 :     res.message = ss.str();
+    1440           0 :     return true;
+    1441             :   }
+    1442             : 
+    1443             :   {
+    1444          40 :     std::scoped_lock lock(mutex_goal_, mutex_state_);
+    1445             : 
+    1446          20 :     state_x_ = uav_x;
+    1447          20 :     goal_x_  = uav_x;
+    1448             : 
+    1449          20 :     state_y_ = uav_y;
+    1450          20 :     goal_y_  = uav_y;
+    1451             : 
+    1452          20 :     state_z_ = uav_z;
+    1453          20 :     goal_z_  = uav_z + req.goal;
+    1454             : 
+    1455          20 :     state_heading_ = uav_heading;
+    1456          20 :     goal_heading_  = uav_heading;
+    1457             : 
+    1458          20 :     speed_x_                = 0;
+    1459          20 :     speed_y_                = 0;
+    1460          20 :     current_vertical_speed_ = 0;
+    1461             : 
+    1462          20 :     have_goal_ = true;
+    1463             :   }
+    1464             : 
+    1465          20 :   ROS_INFO("[LandoffTracker]: taking off");
+    1466             : 
+    1467          20 :   taking_off_ = true;
+    1468          20 :   landing_    = false;
+    1469          20 :   elanding_   = false;
+    1470             : 
+    1471          20 :   res.success = true;
+    1472          20 :   res.message = "taking off";
+    1473             : 
+    1474          20 :   changeState(STOP_MOTION_STATE);
+    1475             : 
+    1476          20 :   return true;
+    1477             : }
+    1478             : 
+    1479             : //}
+    1480             : 
+    1481             : /* //{ callbackLand() */
+    1482             : 
+    1483           5 : bool LandoffTracker::callbackLand([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1484             : 
+    1485          10 :   std::scoped_lock lock(mutex_main_timer_);
+    1486             : 
+    1487          10 :   std::stringstream ss;
+    1488             : 
+    1489             :   // copy member variables
+    1490          10 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1491             : 
+    1492           5 :   if (!is_active_) {
+    1493           0 :     ss << "can not land, the tracker is not active";
+    1494           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[LandoffTracker]: " << ss.str());
+    1495           0 :     res.success = false;
+    1496           0 :     res.message = ss.str();
+    1497           0 :     return true;
+    1498             :   }
+    1499             : 
+    1500             :   {
+    1501           5 :     std::scoped_lock lock(mutex_goal_);
+    1502             : 
+    1503           5 :     goal_z_ = uav_state.pose.position.z + _landing_reference_;
+    1504             :   }
+    1505             : 
+    1506           5 :   ROS_INFO("[LandoffTracker]: landing");
+    1507             : 
+    1508           5 :   landing_    = true;
+    1509           5 :   elanding_   = false;
+    1510           5 :   taking_off_ = false;
+    1511           5 :   have_goal_  = true;
+    1512             : 
+    1513           5 :   res.success = true;
+    1514           5 :   res.message = "landing";
+    1515             : 
+    1516           5 :   changeState(STOP_MOTION_STATE);
+    1517             : 
+    1518           5 :   return true;
+    1519             : }
+    1520             : 
+    1521             : //}
+    1522             : 
+    1523             : /* //{ callbackELand() */
+    1524             : 
+    1525           8 : bool LandoffTracker::callbackELand([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1526             : 
+    1527          16 :   std::scoped_lock lock(mutex_main_timer_);
+    1528             : 
+    1529          16 :   std::stringstream ss;
+    1530             : 
+    1531             :   // copy member variables
+    1532          16 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1533             : 
+    1534           8 :   if (!is_active_) {
+    1535             : 
+    1536           0 :     ss << "can not eland, the tracker is not active";
+    1537           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[LandoffTracker]: " << ss.str());
+    1538           0 :     res.success = false;
+    1539           0 :     res.message = ss.str();
+    1540           0 :     taking_off_ = false;
+    1541           0 :     landing_    = false;
+    1542           0 :     elanding_   = false;
+    1543           0 :     changeState(LANDED_STATE);
+    1544           0 :     return true;
+    1545             :   }
+    1546             : 
+    1547             :   {
+    1548           8 :     std::scoped_lock lock(mutex_goal_);
+    1549             : 
+    1550           8 :     goal_z_ = uav_state.pose.position.z + _landing_reference_;
+    1551             :   }
+    1552             : 
+    1553           8 :   ROS_WARN("[LandoffTracker]: emergency landing");
+    1554             : 
+    1555           8 :   landing_    = true;
+    1556           8 :   elanding_   = true;
+    1557           8 :   taking_off_ = false;
+    1558           8 :   have_goal_  = true;
+    1559             : 
+    1560           8 :   res.success = true;
+    1561           8 :   res.message = "elanding";
+    1562             : 
+    1563           8 :   changeState(STOP_MOTION_STATE);
+    1564             : 
+    1565           8 :   return true;
+    1566             : }
+    1567             : 
+    1568             : //}
+    1569             : 
+    1570             : }  // namespace landoff_tracker
+    1571             : 
+    1572             : }  // namespace mrs_uav_trackers
+    1573             : 
+    1574             : #include <pluginlib/class_list_macros.h>
+    1575         108 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::landoff_tracker::LandoffTracker, mrs_uav_managers::Tracker)
+
+
+
+ + + + +
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Test:MRS UAV System - Test coverage reportLines:32547768.1 %
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Test:MRS UAV System - Test coverage reportLines:32547768.1 %
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Test:MRS UAV System - Test coverage reportLines:32547768.1 %
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Test:MRS UAV System - Test coverage reportLines:32547768.1 %
Date:2024-08-07 22:18:19Functions:193063.3 %
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Test:MRS UAV System - Test coverage reportLines:32547768.1 %
Date:2024-08-07 22:18:19Functions:193063.3 %
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line_tracker.cpp +
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Current view:top level - mrs_uav_trackers/src/line_tracker - line_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32547768.1 %
Date:2024-08-07 22:18:19Functions:193063.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_trackers::line_tracker::LineTracker::deactivate()0
mrs_uav_trackers::line_tracker::LineTracker::resetStatic()0
mrs_uav_trackers::line_tracker::LineTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::line_tracker::LineTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
(anonymous namespace)::ProxyExec0::ProxyExec0()1
mrs_uav_trackers::line_tracker::LineTracker::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)1
mrs_uav_trackers::line_tracker::LineTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::line_tracker::LineTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)1
mrs_uav_trackers::line_tracker::LineTracker::stopVerticalMotion()2
mrs_uav_trackers::line_tracker::LineTracker::stopHorizontalMotion()2
mrs_uav_trackers::line_tracker::LineTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)3
mrs_uav_trackers::line_tracker::LineTracker::changeState(mrs_uav_trackers::line_tracker::States_t)6
mrs_uav_trackers::line_tracker::LineTracker::changeStateVertical(mrs_uav_trackers::line_tracker::States_t)8
mrs_uav_trackers::line_tracker::LineTracker::changeStateHorizontal(mrs_uav_trackers::line_tracker::States_t)8
mrs_uav_trackers::line_tracker::LineTracker::stopHorizontal()46
mrs_uav_trackers::line_tracker::LineTracker::decelerateVertical()100
mrs_uav_trackers::line_tracker::LineTracker::decelerateHorizontal()100
mrs_uav_trackers::line_tracker::LineTracker::getStatus()180
mrs_uav_trackers::line_tracker::LineTracker::accelerateVertical()199
mrs_uav_trackers::line_tracker::LineTracker::stopVertical()851
mrs_uav_trackers::line_tracker::LineTracker::accelerateHorizontal()1004
mrs_uav_trackers::line_tracker::LineTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)1683
mrs_uav_trackers::line_tracker::LineTracker::mainTimer(ros::TimerEvent const&)2305
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Current view:top level - mrs_uav_trackers/src/line_tracker - line_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32547768.1 %
Date:2024-08-07 22:18:19Functions:193063.3 %
Legend: Lines: + hit + not hit +
+
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()1
mrs_uav_trackers::line_tracker::LineTracker::deactivate()0
mrs_uav_trackers::line_tracker::LineTracker::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)1
mrs_uav_trackers::line_tracker::LineTracker::changeState(mrs_uav_trackers::line_tracker::States_t)6
mrs_uav_trackers::line_tracker::LineTracker::resetStatic()0
mrs_uav_trackers::line_tracker::LineTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::line_tracker::LineTracker::stopVertical()851
mrs_uav_trackers::line_tracker::LineTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)3
mrs_uav_trackers::line_tracker::LineTracker::stopHorizontal()46
mrs_uav_trackers::line_tracker::LineTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::accelerateVertical()199
mrs_uav_trackers::line_tracker::LineTracker::decelerateVertical()100
mrs_uav_trackers::line_tracker::LineTracker::stopVerticalMotion()2
mrs_uav_trackers::line_tracker::LineTracker::changeStateVertical(mrs_uav_trackers::line_tracker::States_t)8
mrs_uav_trackers::line_tracker::LineTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::accelerateHorizontal()1004
mrs_uav_trackers::line_tracker::LineTracker::decelerateHorizontal()100
mrs_uav_trackers::line_tracker::LineTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::stopHorizontalMotion()2
mrs_uav_trackers::line_tracker::LineTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::line_tracker::LineTracker::changeStateHorizontal(mrs_uav_trackers::line_tracker::States_t)8
mrs_uav_trackers::line_tracker::LineTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)1683
mrs_uav_trackers::line_tracker::LineTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)1
mrs_uav_trackers::line_tracker::LineTracker::getStatus()180
mrs_uav_trackers::line_tracker::LineTracker::mainTimer(ros::TimerEvent const&)2305
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LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/line_tracker - line_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32547768.1 %
Date:2024-08-07 22:18:19Functions:193063.3 %
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : 
+       6             : #include <mrs_uav_managers/tracker.h>
+       7             : 
+       8             : #include <mrs_lib/profiler.h>
+       9             : #include <mrs_lib/mutex.h>
+      10             : #include <mrs_lib/attitude_converter.h>
+      11             : #include <mrs_lib/utils.h>
+      12             : #include <mrs_lib/geometry/cyclic.h>
+      13             : #include <mrs_lib/geometry/misc.h>
+      14             : 
+      15             : #include <mrs_msgs/VelocityReferenceSrv.h>
+      16             : 
+      17             : //}
+      18             : 
+      19             : /* defines //{ */
+      20             : 
+      21             : #define STOP_THR 1e-3
+      22             : 
+      23             : //}
+      24             : 
+      25             : /* using //{ */
+      26             : 
+      27             : using namespace Eigen;
+      28             : 
+      29             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+      30             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+      31             : 
+      32             : using radians  = mrs_lib::geometry::radians;
+      33             : using sradians = mrs_lib::geometry::sradians;
+      34             : 
+      35             : //}
+      36             : 
+      37             : namespace mrs_uav_trackers
+      38             : {
+      39             : 
+      40             : namespace line_tracker
+      41             : {
+      42             : 
+      43             : /* //{ class LineTracker */
+      44             : 
+      45             : // state machine
+      46             : typedef enum
+      47             : {
+      48             : 
+      49             :   IDLE_STATE,
+      50             :   STOP_MOTION_STATE,
+      51             :   ACCELERATING_STATE,
+      52             :   DECELERATING_STATE,
+      53             :   STOPPING_STATE,
+      54             : 
+      55             : } States_t;
+      56             : 
+      57             : const char *state_names[5] = {
+      58             : 
+      59             :     "IDLING", "STOPPING_MOTION", "ACCELERATING", "DECELERATING", "STOPPING"};
+      60             : 
+      61             : class LineTracker : public mrs_uav_managers::Tracker {
+      62             : public:
+      63             :   bool initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      64             :                   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
+      65             : 
+      66             :   std::tuple<bool, std::string> activate(const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd);
+      67             :   void                          deactivate(void);
+      68             :   bool                          resetStatic(void);
+      69             : 
+      70             :   std::optional<mrs_msgs::TrackerCommand>   update(const mrs_msgs::UavState &uav_state, const mrs_uav_managers::Controller::ControlOutput &last_control_output);
+      71             :   const mrs_msgs::TrackerStatus             getStatus();
+      72             :   const std_srvs::SetBoolResponse::ConstPtr enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd);
+      73             :   const std_srvs::TriggerResponse::ConstPtr switchOdometrySource(const mrs_msgs::UavState &new_uav_state);
+      74             : 
+      75             :   const mrs_msgs::ReferenceSrvResponse::ConstPtr           setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd);
+      76             :   const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr   setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd);
+      77             :   const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr setTrajectoryReference(const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd);
+      78             : 
+      79             :   const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd);
+      80             : 
+      81             :   const std_srvs::TriggerResponse::ConstPtr hover(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      82             :   const std_srvs::TriggerResponse::ConstPtr startTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      83             :   const std_srvs::TriggerResponse::ConstPtr stopTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      84             :   const std_srvs::TriggerResponse::ConstPtr resumeTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      85             :   const std_srvs::TriggerResponse::ConstPtr gotoTrajectoryStart(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      86             : 
+      87             : private:
+      88             :   ros::NodeHandle nh_;
+      89             : 
+      90             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>  common_handlers_;
+      91             :   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers_;
+      92             : 
+      93             :   bool callbacks_enabled_ = true;
+      94             : 
+      95             :   std::string _uav_name_;
+      96             : 
+      97             :   void       mainTimer(const ros::TimerEvent &event);
+      98             :   ros::Timer main_timer_;
+      99             : 
+     100             :   // | ------------------------ uav state ----------------------- |
+     101             : 
+     102             :   mrs_msgs::UavState uav_state_;
+     103             :   bool               got_uav_state_ = false;
+     104             :   std::mutex         mutex_uav_state_;
+     105             : 
+     106             :   double uav_x_;
+     107             :   double uav_y_;
+     108             :   double uav_z_;
+     109             : 
+     110             :   // tracker's inner states
+     111             :   double _tracker_loop_rate_;
+     112             :   double _tracker_dt_;
+     113             :   bool   is_initialized_ = false;
+     114             :   bool   is_active_      = false;
+     115             : 
+     116             :   // | ----------------- internal state mmachine ---------------- |
+     117             : 
+     118             :   States_t current_state_vertical_    = IDLE_STATE;
+     119             :   States_t previous_state_vertical_   = IDLE_STATE;
+     120             :   States_t current_state_horizontal_  = IDLE_STATE;
+     121             :   States_t previous_state_horizontal_ = IDLE_STATE;
+     122             : 
+     123             :   void changeStateHorizontal(States_t new_state);
+     124             :   void changeStateVertical(States_t new_state);
+     125             :   void changeState(States_t new_state);
+     126             : 
+     127             :   void stopHorizontalMotion(void);
+     128             :   void stopVerticalMotion(void);
+     129             :   void accelerateHorizontal(void);
+     130             :   void accelerateVertical(void);
+     131             :   void decelerateHorizontal(void);
+     132             :   void decelerateVertical(void);
+     133             :   void stopHorizontal(void);
+     134             :   void stopVertical(void);
+     135             : 
+     136             :   // | ------------------ dynamics constraints ------------------ |
+     137             : 
+     138             :   double     _horizontal_speed_;
+     139             :   double     _vertical_speed_;
+     140             :   double     _horizontal_acceleration_;
+     141             :   double     _vertical_acceleration_;
+     142             :   double     _heading_rate_;
+     143             :   double     _heading_gain_;
+     144             :   std::mutex mutex_constraints_;
+     145             : 
+     146             :   // | ---------------------- desired goal ---------------------- |
+     147             : 
+     148             :   double     goal_x_;
+     149             :   double     goal_y_;
+     150             :   double     goal_z_;
+     151             :   double     goal_heading_;
+     152             :   bool       have_goal_ = false;
+     153             :   std::mutex mutex_goal_;
+     154             : 
+     155             :   // | ------------------- the state variables ------------------ |
+     156             :   double state_x_;
+     157             :   double state_y_;
+     158             :   double state_z_;
+     159             :   double state_heading_;
+     160             : 
+     161             :   double speed_x_;
+     162             :   double speed_y_;
+     163             :   double speed_heading_;
+     164             : 
+     165             :   double current_heading_;
+     166             :   double current_vertical_direction_;
+     167             : 
+     168             :   double current_vertical_speed_;
+     169             :   double current_horizontal_speed_;
+     170             : 
+     171             :   double current_horizontal_acceleration_;
+     172             :   double current_vertical_acceleration_;
+     173             : 
+     174             :   std::mutex mutex_state_;
+     175             : 
+     176             :   // | ------------------------ profiler ------------------------ |
+     177             : 
+     178             :   mrs_lib::Profiler profiler_;
+     179             :   bool              _profiler_enabled_ = false;
+     180             : };
+     181             : 
+     182             : //}
+     183             : 
+     184             : // | -------------- tracker's interface routines -------------- |
+     185             : 
+     186             : /* //{ initialize() */
+     187             : 
+     188           1 : bool LineTracker::initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+     189             :                              std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers) {
+     190             : 
+     191           1 :   this->common_handlers_  = common_handlers;
+     192           1 :   this->private_handlers_ = private_handlers;
+     193             : 
+     194           1 :   _uav_name_ = common_handlers->uav_name;
+     195             : 
+     196           1 :   nh_ = nh;
+     197             : 
+     198           1 :   ros::Time::waitForValid();
+     199             : 
+     200             :   // --------------------------------------------------------------
+     201             :   // |                     loading parameters                     |
+     202             :   // --------------------------------------------------------------
+     203             : 
+     204             :   // | ---------- loading params using the parent's nh ---------- |
+     205             : 
+     206           2 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     207             : 
+     208           1 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     209             : 
+     210           1 :   if (!param_loader_parent.loadedSuccessfully()) {
+     211           0 :     ROS_ERROR("[LineTracker]: Could not load all parameters!");
+     212           0 :     return false;
+     213             :   }
+     214             : 
+     215             :   // | ---------------- load plugin's parameters ---------------- |
+     216             : 
+     217           1 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/line_tracker.yaml");
+     218           1 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/line_tracker.yaml");
+     219             : 
+     220           2 :   const std::string yaml_prefix = "mrs_uav_trackers/line_tracker/";
+     221             : 
+     222           1 :   private_handlers->param_loader->loadParam(yaml_prefix + "horizontal_tracker/horizontal_speed", _horizontal_speed_);
+     223           1 :   private_handlers->param_loader->loadParam(yaml_prefix + "horizontal_tracker/horizontal_acceleration", _horizontal_acceleration_);
+     224             : 
+     225           1 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/vertical_speed", _vertical_speed_);
+     226           1 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/vertical_acceleration", _vertical_acceleration_);
+     227             : 
+     228           1 :   private_handlers->param_loader->loadParam(yaml_prefix + "heading_tracker/heading_rate", _heading_rate_);
+     229           1 :   private_handlers->param_loader->loadParam(yaml_prefix + "heading_tracker/heading_gain", _heading_gain_);
+     230             : 
+     231           1 :   private_handlers->param_loader->loadParam(yaml_prefix + "tracker_loop_rate", _tracker_loop_rate_);
+     232             : 
+     233           1 :   _tracker_dt_ = 1.0 / double(_tracker_loop_rate_);
+     234             : 
+     235           1 :   ROS_INFO("[LineTracker]: tracker_dt: %.2f", _tracker_dt_);
+     236             : 
+     237           1 :   state_x_       = 0;
+     238           1 :   state_y_       = 0;
+     239           1 :   state_z_       = 0;
+     240           1 :   state_heading_ = 0;
+     241             : 
+     242           1 :   speed_x_       = 0;
+     243           1 :   speed_y_       = 0;
+     244           1 :   speed_heading_ = 0;
+     245             : 
+     246           1 :   current_horizontal_speed_ = 0;
+     247           1 :   current_vertical_speed_   = 0;
+     248             : 
+     249           1 :   current_horizontal_acceleration_ = 0;
+     250           1 :   current_vertical_acceleration_   = 0;
+     251             : 
+     252           1 :   current_vertical_direction_ = 0;
+     253             : 
+     254           1 :   current_state_vertical_  = IDLE_STATE;
+     255           1 :   previous_state_vertical_ = IDLE_STATE;
+     256             : 
+     257           1 :   current_state_horizontal_  = IDLE_STATE;
+     258           1 :   previous_state_horizontal_ = IDLE_STATE;
+     259             : 
+     260             :   // --------------------------------------------------------------
+     261             :   // |                          profiler                          |
+     262             :   // --------------------------------------------------------------
+     263             : 
+     264           1 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "LineTracker", _profiler_enabled_);
+     265             : 
+     266             :   // --------------------------------------------------------------
+     267             :   // |                           timers                           |
+     268             :   // --------------------------------------------------------------
+     269             : 
+     270           1 :   main_timer_ = nh_.createTimer(ros::Rate(_tracker_loop_rate_), &LineTracker::mainTimer, this);
+     271             : 
+     272           1 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     273           0 :     ROS_ERROR("[LineTracker]: could not load all parameters!");
+     274           0 :     return false;
+     275             :   }
+     276             : 
+     277           1 :   is_initialized_ = true;
+     278             : 
+     279           1 :   ROS_INFO("[LineTracker]: initialized");
+     280             : 
+     281           1 :   return true;
+     282             : }
+     283             : 
+     284             : //}
+     285             : 
+     286             : /* //{ activate() */
+     287             : 
+     288           1 : std::tuple<bool, std::string> LineTracker::activate(const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd) {
+     289             : 
+     290           2 :   std::stringstream ss;
+     291             : 
+     292           1 :   if (!got_uav_state_) {
+     293             : 
+     294           0 :     ss << "odometry not set";
+     295           0 :     ROS_ERROR_STREAM("[LineTracker]: " << ss.str());
+     296           0 :     return std::tuple(false, ss.str());
+     297             :   }
+     298             : 
+     299             :   // copy member variables
+     300           2 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     301             : 
+     302             :   double uav_heading;
+     303             : 
+     304             :   try {
+     305           1 :     uav_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     306             :   }
+     307           0 :   catch (...) {
+     308           0 :     ss << "could not calculate the UAV heading";
+     309           0 :     return std::tuple(false, ss.str());
+     310             :   }
+     311             : 
+     312             :   {
+     313           2 :     std::scoped_lock lock(mutex_goal_, mutex_state_);
+     314             : 
+     315           1 :     if (last_tracker_cmd) {
+     316             : 
+     317             :       // the last command is usable
+     318           1 :       if (last_tracker_cmd->use_position_horizontal) {
+     319           1 :         state_x_ = last_tracker_cmd->position.x;
+     320           1 :         state_y_ = last_tracker_cmd->position.y;
+     321             :       } else {
+     322           0 :         state_x_ = uav_state.pose.position.x;
+     323           0 :         state_y_ = uav_state.pose.position.y;
+     324             :       }
+     325             : 
+     326           1 :       if (last_tracker_cmd->use_position_vertical) {
+     327           1 :         state_z_ = last_tracker_cmd->position.z;
+     328             :       } else {
+     329           0 :         state_z_ = uav_state.pose.position.z;
+     330             :       }
+     331             : 
+     332           1 :       if (last_tracker_cmd->use_heading) {
+     333           1 :         state_heading_ = last_tracker_cmd->heading;
+     334           0 :       } else if (last_tracker_cmd->use_orientation) {
+     335             :         try {
+     336           0 :           state_heading_ = mrs_lib::AttitudeConverter(last_tracker_cmd->orientation).getHeading();
+     337             :         }
+     338           0 :         catch (...) {
+     339           0 :           state_heading_ = uav_heading;
+     340             :         }
+     341             :       } else {
+     342           0 :         state_heading_ = uav_heading;
+     343             :       }
+     344             : 
+     345           1 :       if (last_tracker_cmd->use_velocity_horizontal) {
+     346           1 :         speed_x_ = last_tracker_cmd->velocity.x;
+     347           1 :         speed_y_ = last_tracker_cmd->velocity.y;
+     348             :       } else {
+     349           0 :         speed_x_ = uav_state.velocity.linear.x;
+     350           0 :         speed_y_ = uav_state.velocity.linear.y;
+     351             :       }
+     352             : 
+     353           1 :       current_heading_          = atan2(speed_y_, speed_x_);
+     354           1 :       current_horizontal_speed_ = sqrt(pow(speed_x_, 2) + pow(speed_y_, 2));
+     355             : 
+     356           1 :       current_vertical_speed_     = fabs(last_tracker_cmd->velocity.z);
+     357           1 :       current_vertical_direction_ = last_tracker_cmd->velocity.z > 0 ? +1 : -1;
+     358             : 
+     359           1 :       current_horizontal_acceleration_ = 0;
+     360           1 :       current_vertical_acceleration_   = 0;
+     361             : 
+     362           1 :       goal_heading_ = last_tracker_cmd->heading;
+     363             : 
+     364           1 :       ROS_INFO("[LineTracker]: initial condition: x=%.2f, y=%.2f, z=%.2f, heading=%.2f", last_tracker_cmd->position.x, last_tracker_cmd->position.y,
+     365             :                last_tracker_cmd->position.z, last_tracker_cmd->heading);
+     366           1 :       ROS_INFO("[LineTracker]: initial condition: x_rate=%.2f, y_rate=%.2f, z_rate=%.2f", speed_x_, speed_y_, current_vertical_speed_);
+     367             : 
+     368             :     } else {
+     369             : 
+     370           0 :       state_x_       = uav_state.pose.position.x;
+     371           0 :       state_y_       = uav_state.pose.position.y;
+     372           0 :       state_z_       = uav_state.pose.position.z;
+     373           0 :       state_heading_ = uav_heading;
+     374             : 
+     375           0 :       speed_x_                  = uav_state.velocity.linear.x;
+     376           0 :       speed_y_                  = uav_state.velocity.linear.y;
+     377           0 :       current_heading_          = atan2(speed_y_, speed_x_);
+     378           0 :       current_horizontal_speed_ = sqrt(pow(speed_x_, 2) + pow(speed_y_, 2));
+     379             : 
+     380           0 :       current_vertical_speed_     = fabs(uav_state.velocity.linear.z);
+     381           0 :       current_vertical_direction_ = uav_state.velocity.linear.z > 0 ? +1 : -1;
+     382             : 
+     383           0 :       current_horizontal_acceleration_ = 0;
+     384           0 :       current_vertical_acceleration_   = 0;
+     385             : 
+     386           0 :       goal_heading_ = uav_heading;
+     387             : 
+     388           0 :       ROS_WARN("[LineTracker]: the previous command is not usable for activation, using Odometry instead");
+     389             :     }
+     390             :   }
+     391             : 
+     392             :   // --------------------------------------------------------------
+     393             :   // |          horizontal initial conditions prediction          |
+     394             :   // --------------------------------------------------------------
+     395             : 
+     396             :   double horizontal_t_stop, horizontal_stop_dist, stop_dist_x, stop_dist_y;
+     397             : 
+     398             :   {
+     399           1 :     std::scoped_lock lock(mutex_state_);
+     400             : 
+     401           1 :     horizontal_t_stop    = current_horizontal_speed_ / _horizontal_acceleration_;
+     402           1 :     horizontal_stop_dist = (horizontal_t_stop * current_horizontal_speed_) / 2.0;
+     403           1 :     stop_dist_x          = cos(current_heading_) * horizontal_stop_dist;
+     404           1 :     stop_dist_y          = sin(current_heading_) * horizontal_stop_dist;
+     405             :   }
+     406             : 
+     407             :   // --------------------------------------------------------------
+     408             :   // |           vertical initial conditions prediction           |
+     409             :   // --------------------------------------------------------------
+     410             : 
+     411             :   double vertical_t_stop, vertical_stop_dist;
+     412             : 
+     413             :   {
+     414           1 :     std::scoped_lock lock(mutex_state_);
+     415             : 
+     416           1 :     vertical_t_stop    = current_vertical_speed_ / _vertical_acceleration_;
+     417           1 :     vertical_stop_dist = current_vertical_direction_ * (vertical_t_stop * current_vertical_speed_) / 2.0;
+     418             :   }
+     419             : 
+     420             :   // --------------------------------------------------------------
+     421             :   // |              heading initial condition  prediction             |
+     422             :   // --------------------------------------------------------------
+     423             : 
+     424             :   {
+     425           2 :     std::scoped_lock lock(mutex_goal_, mutex_state_);
+     426             : 
+     427           1 :     goal_x_ = state_x_ + stop_dist_x;
+     428           1 :     goal_y_ = state_y_ + stop_dist_y;
+     429           1 :     goal_z_ = state_z_ + vertical_stop_dist;
+     430             : 
+     431           1 :     ROS_INFO("[LineTracker]: setting z goal to %.2f", goal_z_);
+     432             :   }
+     433             : 
+     434           1 :   is_active_ = true;
+     435             : 
+     436           1 :   ss << "activated";
+     437           1 :   ROS_INFO_STREAM("[LineTracker]: " << ss.str());
+     438             : 
+     439           1 :   changeState(STOP_MOTION_STATE);
+     440             : 
+     441           1 :   return std::tuple(true, ss.str());
+     442             : }
+     443             : 
+     444             : //}
+     445             : 
+     446             : /* //{ deactivate() */
+     447             : 
+     448           0 : void LineTracker::deactivate(void) {
+     449             : 
+     450           0 :   is_active_ = false;
+     451             : 
+     452           0 :   ROS_INFO("[LineTracker]: deactivated");
+     453           0 : }
+     454             : 
+     455             : //}
+     456             : 
+     457             : /* //{ resetStatic() */
+     458             : 
+     459           0 : bool LineTracker::resetStatic(void) {
+     460             : 
+     461           0 :   if (!is_initialized_) {
+     462           0 :     ROS_ERROR("[LineTracker]: can not reset, not initialized");
+     463           0 :     return false;
+     464             :   }
+     465             : 
+     466           0 :   if (!is_active_) {
+     467           0 :     ROS_ERROR("[LineTracker]: can not reset, not active");
+     468           0 :     return false;
+     469             :   }
+     470             : 
+     471           0 :   ROS_INFO("[LineTracker]: reseting with no dynamics");
+     472             : 
+     473           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     474             : 
+     475             :   double uav_heading;
+     476             :   try {
+     477           0 :     uav_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     478             :   }
+     479           0 :   catch (...) {
+     480           0 :     ROS_ERROR_THROTTLE(1.0, "[LineTracker]: could not calculate the UAV heading");
+     481           0 :     return false;
+     482             :   }
+     483             : 
+     484             :   {
+     485           0 :     std::scoped_lock lock(mutex_goal_, mutex_state_, mutex_uav_state_);
+     486             : 
+     487           0 :     state_x_       = uav_state_.pose.position.x;
+     488           0 :     state_y_       = uav_state_.pose.position.y;
+     489           0 :     state_z_       = uav_state_.pose.position.z;
+     490           0 :     state_heading_ = uav_heading;
+     491             : 
+     492           0 :     speed_x_                  = 0;
+     493           0 :     speed_y_                  = 0;
+     494           0 :     current_heading_          = 0;
+     495           0 :     current_horizontal_speed_ = 0;
+     496             : 
+     497           0 :     current_vertical_speed_     = 0;
+     498           0 :     current_vertical_direction_ = 0;
+     499             : 
+     500           0 :     current_horizontal_acceleration_ = 0;
+     501           0 :     current_vertical_acceleration_   = 0;
+     502             : 
+     503           0 :     goal_heading_ = uav_heading;
+     504             :   }
+     505             : 
+     506           0 :   changeState(IDLE_STATE);
+     507             : 
+     508           0 :   return true;
+     509             : }
+     510             : 
+     511             : //}
+     512             : 
+     513             : /* //{ update() */
+     514             : 
+     515        1683 : std::optional<mrs_msgs::TrackerCommand> LineTracker::update(const mrs_msgs::UavState &                                          uav_state,
+     516             :                                                             [[maybe_unused]] const mrs_uav_managers::Controller::ControlOutput &last_control_output) {
+     517             : 
+     518        5049 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     519        5049 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("LineTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     520             : 
+     521             :   {
+     522        1683 :     std::scoped_lock lock(mutex_uav_state_);
+     523             : 
+     524        1683 :     uav_state_ = uav_state;
+     525        1683 :     uav_x_     = uav_state_.pose.position.x;
+     526        1683 :     uav_y_     = uav_state_.pose.position.y;
+     527        1683 :     uav_z_     = uav_state_.pose.position.z;
+     528             : 
+     529        1683 :     got_uav_state_ = true;
+     530             :   }
+     531             : 
+     532             :   // up to this part the update() method is evaluated even when the tracker is not active
+     533        1683 :   if (!is_active_) {
+     534         102 :     return {};
+     535             :   }
+     536             : 
+     537        3162 :   mrs_msgs::TrackerCommand tracker_cmd;
+     538             : 
+     539        1581 :   tracker_cmd.header.stamp    = ros::Time::now();
+     540        1581 :   tracker_cmd.header.frame_id = uav_state.header.frame_id;
+     541             : 
+     542             :   {
+     543        1581 :     std::scoped_lock lock(mutex_state_);
+     544             : 
+     545        1581 :     tracker_cmd.position.x = state_x_;
+     546        1581 :     tracker_cmd.position.y = state_y_;
+     547        1581 :     tracker_cmd.position.z = state_z_;
+     548        1581 :     tracker_cmd.heading    = radians::wrap(state_heading_);
+     549             : 
+     550        1581 :     tracker_cmd.velocity.x   = cos(current_heading_) * current_horizontal_speed_;
+     551        1581 :     tracker_cmd.velocity.y   = sin(current_heading_) * current_horizontal_speed_;
+     552        1581 :     tracker_cmd.velocity.z   = current_vertical_direction_ * current_vertical_speed_;
+     553        1581 :     tracker_cmd.heading_rate = speed_heading_;
+     554             : 
+     555        1581 :     tracker_cmd.acceleration.x = 0;
+     556        1581 :     tracker_cmd.acceleration.y = 0;
+     557        1581 :     tracker_cmd.acceleration.z = current_vertical_direction_ * current_vertical_acceleration_;
+     558             : 
+     559        1581 :     tracker_cmd.use_position_vertical   = 1;
+     560        1581 :     tracker_cmd.use_position_horizontal = 1;
+     561        1581 :     tracker_cmd.use_heading             = 1;
+     562        1581 :     tracker_cmd.use_heading_rate        = 1;
+     563        1581 :     tracker_cmd.use_velocity_vertical   = 1;
+     564        1581 :     tracker_cmd.use_velocity_horizontal = 1;
+     565        1581 :     tracker_cmd.use_acceleration        = 1;
+     566             :   }
+     567             : 
+     568        1581 :   return {tracker_cmd};
+     569             : }
+     570             : 
+     571             : //}
+     572             : 
+     573             : /* //{ getStatus() */
+     574             : 
+     575         180 : const mrs_msgs::TrackerStatus LineTracker::getStatus() {
+     576             : 
+     577         180 :   mrs_msgs::TrackerStatus tracker_status;
+     578             : 
+     579         180 :   tracker_status.active            = is_active_;
+     580         180 :   tracker_status.callbacks_enabled = callbacks_enabled_;
+     581             : 
+     582         180 :   const bool idling = current_state_vertical_ == IDLE_STATE && current_state_horizontal_ == IDLE_STATE;
+     583             : 
+     584         180 :   if (idling)
+     585          65 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_IDLE;
+     586             :   else
+     587         115 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_REFERENCE;
+     588             : 
+     589         180 :   tracker_status.have_goal = !idling;
+     590             : 
+     591         180 :   tracker_status.tracking_trajectory = false;
+     592             : 
+     593         180 :   return tracker_status;
+     594             : }
+     595             : 
+     596             : //}
+     597             : 
+     598             : /* //{ enableCallbacks() */
+     599             : 
+     600           0 : const std_srvs::SetBoolResponse::ConstPtr LineTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     601             : 
+     602           0 :   std_srvs::SetBoolResponse res;
+     603           0 :   std::stringstream         ss;
+     604             : 
+     605           0 :   if (cmd->data != callbacks_enabled_) {
+     606             : 
+     607           0 :     callbacks_enabled_ = cmd->data;
+     608             : 
+     609           0 :     ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+     610           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[LineTracker]: " << ss.str());
+     611             : 
+     612             :   } else {
+     613             : 
+     614           0 :     ss << "callbacks were already " << (callbacks_enabled_ ? "enabled" : "disabled");
+     615           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[LineTracker]: " << ss.str());
+     616             :   }
+     617             : 
+     618           0 :   res.message = ss.str();
+     619           0 :   res.success = true;
+     620             : 
+     621           0 :   return std_srvs::SetBoolResponse::ConstPtr(new std_srvs::SetBoolResponse(res));
+     622             : }
+     623             : 
+     624             : //}
+     625             : 
+     626             : /* switchOdometrySource() //{ */
+     627             : 
+     628           0 : const std_srvs::TriggerResponse::ConstPtr LineTracker::switchOdometrySource(const mrs_msgs::UavState &new_uav_state) {
+     629             : 
+     630           0 :   std::scoped_lock lock(mutex_goal_, mutex_state_);
+     631             : 
+     632           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     633             : 
+     634           0 :   double old_heading  = 0;
+     635           0 :   double new_heading  = 0;
+     636           0 :   bool   got_headings = true;
+     637             : 
+     638             :   try {
+     639           0 :     old_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     640             :   }
+     641           0 :   catch (...) {
+     642           0 :     ROS_ERROR_THROTTLE(1.0, "[LineTracker]: could not calculate the old UAV heading");
+     643           0 :     got_headings = false;
+     644             :   }
+     645             : 
+     646             :   try {
+     647           0 :     new_heading = mrs_lib::AttitudeConverter(new_uav_state.pose.orientation).getHeading();
+     648             :   }
+     649           0 :   catch (...) {
+     650           0 :     ROS_ERROR_THROTTLE(1.0, "[LineTracker]: could not calculate the new UAV heading");
+     651           0 :     got_headings = false;
+     652             :   }
+     653             : 
+     654           0 :   std_srvs::TriggerResponse res;
+     655             : 
+     656           0 :   if (!got_headings) {
+     657           0 :     res.message = "could not calculate the heading difference";
+     658           0 :     res.success = false;
+     659             : 
+     660           0 :     return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+     661             :   }
+     662             : 
+     663             :   // | --------- recalculate the goal to new coordinates -------- |
+     664             : 
+     665           0 :   double dx       = new_uav_state.pose.position.x - uav_state.pose.position.x;
+     666           0 :   double dy       = new_uav_state.pose.position.y - uav_state.pose.position.y;
+     667           0 :   double dz       = new_uav_state.pose.position.z - uav_state.pose.position.z;
+     668           0 :   double dheading = new_heading - old_heading;
+     669             : 
+     670           0 :   goal_x_ += dx;
+     671           0 :   goal_y_ += dy;
+     672           0 :   goal_z_ += dz;
+     673           0 :   goal_heading_ += dheading;
+     674             : 
+     675             :   // | -------------------- update the state -------------------- |
+     676             : 
+     677           0 :   state_x_ += dx;
+     678           0 :   state_y_ += dy;
+     679           0 :   state_z_ += dz;
+     680           0 :   state_heading_ += dheading;
+     681             : 
+     682           0 :   current_heading_ = atan2(goal_y_ - state_y_, goal_x_ - state_x_);
+     683             : 
+     684           0 :   res.message = "odometry source switched";
+     685           0 :   res.success = true;
+     686             : 
+     687           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+     688             : }
+     689             : 
+     690             : //}
+     691             : 
+     692             : /* //{ hover() */
+     693             : 
+     694           0 : const std_srvs::TriggerResponse::ConstPtr LineTracker::hover([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     695             : 
+     696           0 :   std_srvs::TriggerResponse res;
+     697             : 
+     698             :   // --------------------------------------------------------------
+     699             :   // |          horizontal initial conditions prediction          |
+     700             :   // --------------------------------------------------------------
+     701             :   {
+     702           0 :     std::scoped_lock lock(mutex_state_, mutex_uav_state_);
+     703             : 
+     704           0 :     current_horizontal_speed_ = sqrt(pow(uav_state_.velocity.linear.x, 2) + pow(uav_state_.velocity.linear.y, 2));
+     705           0 :     current_vertical_speed_   = uav_state_.velocity.linear.z;
+     706           0 :     current_heading_          = atan2(uav_state_.velocity.linear.y, uav_state_.velocity.linear.x);
+     707             :   }
+     708             : 
+     709             :   double horizontal_t_stop, horizontal_stop_dist, stop_dist_x, stop_dist_y;
+     710             : 
+     711             :   {
+     712           0 :     std::scoped_lock lock(mutex_state_);
+     713             : 
+     714           0 :     horizontal_t_stop    = current_horizontal_speed_ / _horizontal_acceleration_;
+     715           0 :     horizontal_stop_dist = (horizontal_t_stop * current_horizontal_speed_) / 2.0;
+     716           0 :     stop_dist_x          = cos(current_heading_) * horizontal_stop_dist;
+     717           0 :     stop_dist_y          = sin(current_heading_) * horizontal_stop_dist;
+     718             :   }
+     719             : 
+     720             :   // --------------------------------------------------------------
+     721             :   // |           vertical initial conditions prediction           |
+     722             :   // --------------------------------------------------------------
+     723             : 
+     724             :   double vertical_t_stop, vertical_stop_dist;
+     725             : 
+     726             :   {
+     727           0 :     std::scoped_lock lock(mutex_state_);
+     728             : 
+     729           0 :     vertical_t_stop    = current_vertical_speed_ / _vertical_acceleration_;
+     730           0 :     vertical_stop_dist = current_vertical_direction_ * (vertical_t_stop * current_vertical_speed_) / 2.0;
+     731             :   }
+     732             : 
+     733             :   // --------------------------------------------------------------
+     734             :   // |                        set the goal                        |
+     735             :   // --------------------------------------------------------------
+     736             : 
+     737             :   {
+     738           0 :     std::scoped_lock lock(mutex_goal_, mutex_state_);
+     739             : 
+     740           0 :     goal_x_ = state_x_ + stop_dist_x;
+     741           0 :     goal_y_ = state_y_ + stop_dist_y;
+     742           0 :     goal_z_ = state_z_ + vertical_stop_dist;
+     743             :   }
+     744             : 
+     745           0 :   res.message = "hover initiated";
+     746           0 :   res.success = true;
+     747             : 
+     748           0 :   changeState(STOP_MOTION_STATE);
+     749             : 
+     750           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+     751             : }
+     752             : 
+     753             : //}
+     754             : 
+     755             : /* //{ startTrajectoryTracking() */
+     756             : 
+     757           0 : const std_srvs::TriggerResponse::ConstPtr LineTracker::startTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     758           0 :   return std_srvs::TriggerResponse::Ptr();
+     759             : }
+     760             : 
+     761             : //}
+     762             : 
+     763             : /* //{ stopTrajectoryTracking() */
+     764             : 
+     765           0 : const std_srvs::TriggerResponse::ConstPtr LineTracker::stopTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     766           0 :   return std_srvs::TriggerResponse::Ptr();
+     767             : }
+     768             : 
+     769             : //}
+     770             : 
+     771             : /* //{ resumeTrajectoryTracking() */
+     772             : 
+     773           0 : const std_srvs::TriggerResponse::ConstPtr LineTracker::resumeTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     774           0 :   return std_srvs::TriggerResponse::Ptr();
+     775             : }
+     776             : 
+     777             : //}
+     778             : 
+     779             : /* //{ gotoTrajectoryStart() */
+     780             : 
+     781           0 : const std_srvs::TriggerResponse::ConstPtr LineTracker::gotoTrajectoryStart([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     782           0 :   return std_srvs::TriggerResponse::Ptr();
+     783             : }
+     784             : 
+     785             : //}
+     786             : 
+     787             : /* //{ setConstraints() */
+     788             : 
+     789           3 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr LineTracker::setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     790             : 
+     791           6 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     792             : 
+     793             :   // this is the place to copy the constraints
+     794             :   {
+     795           3 :     std::scoped_lock lock(mutex_constraints_);
+     796             : 
+     797           3 :     _horizontal_speed_        = cmd->constraints.horizontal_speed;
+     798           3 :     _horizontal_acceleration_ = cmd->constraints.horizontal_acceleration;
+     799             : 
+     800           3 :     _vertical_speed_        = cmd->constraints.vertical_ascending_speed;
+     801           3 :     _vertical_acceleration_ = cmd->constraints.vertical_ascending_acceleration;
+     802             : 
+     803           3 :     _heading_rate_ = cmd->constraints.heading_speed;
+     804             :   }
+     805             : 
+     806           3 :   res.success = true;
+     807           3 :   res.message = "constraints updated";
+     808             : 
+     809           6 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     810             : }
+     811             : 
+     812             : //}
+     813             : 
+     814             : /* //{ setReference() */
+     815             : 
+     816           1 : const mrs_msgs::ReferenceSrvResponse::ConstPtr LineTracker::setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd) {
+     817             : 
+     818           2 :   mrs_msgs::ReferenceSrvResponse res;
+     819             : 
+     820           1 :   auto state_heading = mrs_lib::get_mutexed(mutex_state_, state_heading_);
+     821             : 
+     822             :   {
+     823           1 :     std::scoped_lock lock(mutex_goal_);
+     824             : 
+     825           1 :     goal_x_       = cmd->reference.position.x;
+     826           1 :     goal_y_       = cmd->reference.position.y;
+     827           1 :     goal_z_       = cmd->reference.position.z;
+     828           1 :     goal_heading_ = radians::unwrap(cmd->reference.heading, state_heading);
+     829             : 
+     830           1 :     ROS_INFO("[LineTracker]: received new setpoint %.2f, %.2f, %.2f, %.2f", goal_x_, goal_y_, goal_z_, goal_heading_);
+     831             : 
+     832           1 :     have_goal_ = true;
+     833             :   }
+     834             : 
+     835           1 :   changeState(STOP_MOTION_STATE);
+     836             : 
+     837           1 :   res.success = true;
+     838           1 :   res.message = "reference set";
+     839             : 
+     840           2 :   return mrs_msgs::ReferenceSrvResponse::ConstPtr(new mrs_msgs::ReferenceSrvResponse(res));
+     841             : }
+     842             : 
+     843             : //}
+     844             : 
+     845             : /* //{ setVelocityReference() */
+     846             : 
+     847           0 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr LineTracker::setVelocityReference([
+     848             :     [maybe_unused]] const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd) {
+     849           0 :   return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+     850             : }
+     851             : 
+     852             : //}
+     853             : 
+     854             : /* //{ setTrajectoryReference() */
+     855             : 
+     856           0 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr LineTracker::setTrajectoryReference([
+     857             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     858           0 :   return mrs_msgs::TrajectoryReferenceSrvResponse::Ptr();
+     859             : }
+     860             : 
+     861             : //}
+     862             : 
+     863             : // | ----------------- state machine routines ----------------- |
+     864             : 
+     865             : /* //{ changeStateHorizontal() */
+     866             : 
+     867           8 : void LineTracker::changeStateHorizontal(States_t new_state) {
+     868             : 
+     869           8 :   previous_state_horizontal_ = current_state_horizontal_;
+     870           8 :   current_state_horizontal_  = new_state;
+     871             : 
+     872             :   // just for ROS_INFO
+     873           8 :   ROS_DEBUG("[LineTracker]: Switching horizontal state %s -> %s", state_names[previous_state_horizontal_], state_names[current_state_horizontal_]);
+     874           8 : }
+     875             : 
+     876             : //}
+     877             : 
+     878             : /* //{ changeStateVertical() */
+     879             : 
+     880           8 : void LineTracker::changeStateVertical(States_t new_state) {
+     881             : 
+     882           8 :   previous_state_vertical_ = current_state_vertical_;
+     883           8 :   current_state_vertical_  = new_state;
+     884             : 
+     885             :   // just for ROS_INFO
+     886           8 :   ROS_DEBUG("[LineTracker]: Switching vertical state %s -> %s", state_names[previous_state_vertical_], state_names[current_state_vertical_]);
+     887           8 : }
+     888             : 
+     889             : //}
+     890             : 
+     891             : /* //{ changeState() */
+     892             : 
+     893           6 : void LineTracker::changeState(States_t new_state) {
+     894             : 
+     895           6 :   changeStateVertical(new_state);
+     896           6 :   changeStateHorizontal(new_state);
+     897           6 : }
+     898             : 
+     899             : //}
+     900             : 
+     901             : // | --------------------- motion routines -------------------- |
+     902             : 
+     903             : /* //{ stopHorizontalMotion() */
+     904             : 
+     905           2 : void LineTracker::stopHorizontalMotion(void) {
+     906             : 
+     907             :   {
+     908           4 :     std::scoped_lock lock(mutex_state_);
+     909             : 
+     910           2 :     current_horizontal_speed_ -= _horizontal_acceleration_ * _tracker_dt_;
+     911             : 
+     912           2 :     if (current_horizontal_speed_ < 0) {
+     913           2 :       current_horizontal_speed_        = 0;
+     914           2 :       current_horizontal_acceleration_ = 0;
+     915             :     } else {
+     916           0 :       current_horizontal_acceleration_ = -_horizontal_acceleration_;
+     917             :     }
+     918             :   }
+     919           2 : }
+     920             : 
+     921             : //}
+     922             : 
+     923             : /* //{ stopVerticalMotion() */
+     924             : 
+     925           2 : void LineTracker::stopVerticalMotion(void) {
+     926             : 
+     927             :   {
+     928           4 :     std::scoped_lock lock(mutex_state_);
+     929             : 
+     930           2 :     current_vertical_speed_ -= _vertical_acceleration_ * _tracker_dt_;
+     931             : 
+     932           2 :     if (current_vertical_speed_ < 0) {
+     933           2 :       current_vertical_speed_        = 0;
+     934           2 :       current_vertical_acceleration_ = 0;
+     935             :     } else {
+     936           0 :       current_vertical_acceleration_ = -_vertical_acceleration_;
+     937             :     }
+     938             :   }
+     939           2 : }
+     940             : 
+     941             : //}
+     942             : 
+     943             : /* //{ accelerateHorizontal() */
+     944             : 
+     945        1004 : void LineTracker::accelerateHorizontal(void) {
+     946             : 
+     947             :   // copy member variables
+     948        1004 :   auto [goal_x, goal_y]                             = mrs_lib::get_mutexed(mutex_goal_, goal_x_, goal_y_);
+     949        1004 :   auto [state_x, state_y, current_horizontal_speed] = mrs_lib::get_mutexed(mutex_state_, state_x_, state_y_, current_horizontal_speed_);
+     950             : 
+     951             :   {
+     952        1004 :     std::scoped_lock lock(mutex_state_);
+     953             : 
+     954        1004 :     current_heading_ = atan2(goal_y - state_y, goal_x - state_x);
+     955             :   }
+     956             : 
+     957        1004 :   auto current_heading = mrs_lib::get_mutexed(mutex_state_, current_heading_);
+     958             : 
+     959             :   double horizontal_t_stop, horizontal_stop_dist, stop_dist_x, stop_dist_y;
+     960             : 
+     961        1004 :   horizontal_t_stop    = current_horizontal_speed / _horizontal_acceleration_;
+     962        1004 :   horizontal_stop_dist = (horizontal_t_stop * current_horizontal_speed) / 2.0;
+     963        1004 :   stop_dist_x          = cos(current_heading) * horizontal_stop_dist;
+     964        1004 :   stop_dist_y          = sin(current_heading) * horizontal_stop_dist;
+     965             : 
+     966             :   {
+     967        2008 :     std::scoped_lock lock(mutex_state_);
+     968             : 
+     969        1004 :     current_horizontal_speed_ += _horizontal_acceleration_ * _tracker_dt_;
+     970             : 
+     971        1004 :     if (current_horizontal_speed_ >= _horizontal_speed_) {
+     972         905 :       current_horizontal_speed_        = _horizontal_speed_;
+     973         905 :       current_horizontal_acceleration_ = 0;
+     974             :     } else {
+     975          99 :       current_horizontal_acceleration_ = _horizontal_acceleration_;
+     976             :     }
+     977             :   }
+     978             : 
+     979        1004 :   if (sqrt(pow(state_x + stop_dist_x - goal_x, 2) + pow(state_y + stop_dist_y - goal_y, 2)) < (2 * (_horizontal_speed_ * _tracker_dt_))) {
+     980             : 
+     981             :     {
+     982           1 :       std::scoped_lock lock(mutex_state_);
+     983             : 
+     984           1 :       current_horizontal_acceleration_ = 0;
+     985             :     }
+     986             : 
+     987           1 :     changeStateHorizontal(DECELERATING_STATE);
+     988             :   }
+     989        1004 : }
+     990             : 
+     991             : //}
+     992             : 
+     993             : /* //{ accelerateVertical() */
+     994             : 
+     995         199 : void LineTracker::accelerateVertical(void) {
+     996             : 
+     997         199 :   auto goal_z                            = mrs_lib::get_mutexed(mutex_goal_, goal_z_);
+     998         199 :   auto [state_z, current_vertical_speed] = mrs_lib::get_mutexed(mutex_state_, state_z_, current_vertical_speed_);
+     999             : 
+    1000             :   // set the right heading
+    1001         199 :   double tar_z = goal_z - state_z;
+    1002             : 
+    1003             :   // set the right vertical direction
+    1004             :   {
+    1005         199 :     std::scoped_lock lock(mutex_state_);
+    1006             : 
+    1007         199 :     current_vertical_direction_ = mrs_lib::signum(tar_z);
+    1008             :   }
+    1009             : 
+    1010         199 :   auto current_vertical_direction = mrs_lib::get_mutexed(mutex_state_, current_vertical_direction_);
+    1011             : 
+    1012             :   // calculate the time to stop and the distance it will take to stop [vertical]
+    1013         199 :   double vertical_t_stop    = current_vertical_speed / _vertical_acceleration_;
+    1014         199 :   double vertical_stop_dist = (vertical_t_stop * current_vertical_speed) / 2.0;
+    1015         199 :   double stop_dist_z        = current_vertical_direction * vertical_stop_dist;
+    1016             : 
+    1017             :   {
+    1018         398 :     std::scoped_lock lock(mutex_state_);
+    1019             : 
+    1020         199 :     current_vertical_speed_ += _vertical_acceleration_ * _tracker_dt_;
+    1021             : 
+    1022         199 :     if (current_vertical_speed_ >= _vertical_speed_) {
+    1023         100 :       current_vertical_speed_        = _vertical_speed_;
+    1024         100 :       current_vertical_acceleration_ = 0;
+    1025             :     } else {
+    1026          99 :       current_vertical_acceleration_ = _vertical_acceleration_;
+    1027             :     }
+    1028             :   }
+    1029             : 
+    1030         199 :   if (fabs(state_z + stop_dist_z - goal_z) < (2 * (_vertical_speed_ * _tracker_dt_))) {
+    1031             : 
+    1032             :     {
+    1033           1 :       std::scoped_lock lock(mutex_state_);
+    1034             : 
+    1035           1 :       current_vertical_acceleration_ = 0;
+    1036             :     }
+    1037             : 
+    1038           1 :     changeStateVertical(DECELERATING_STATE);
+    1039             :   }
+    1040         199 : }
+    1041             : 
+    1042             : //}
+    1043             : 
+    1044             : /* //{ decelerateHorizontal() */
+    1045             : 
+    1046         100 : void LineTracker::decelerateHorizontal(void) {
+    1047             : 
+    1048             :   {
+    1049         200 :     std::scoped_lock lock(mutex_state_);
+    1050             : 
+    1051         100 :     current_horizontal_speed_ -= _horizontal_acceleration_ * _tracker_dt_;
+    1052             : 
+    1053         100 :     if (current_horizontal_speed_ < 0) {
+    1054           1 :       current_horizontal_speed_ = 0;
+    1055             :     } else {
+    1056          99 :       current_horizontal_acceleration_ = -_horizontal_acceleration_;
+    1057             :     }
+    1058             :   }
+    1059             : 
+    1060         100 :   auto current_horizontal_speed = mrs_lib::get_mutexed(mutex_state_, current_horizontal_speed_);
+    1061             : 
+    1062         100 :   if (current_horizontal_speed == 0) {
+    1063             : 
+    1064             :     {
+    1065           1 :       std::scoped_lock lock(mutex_state_);
+    1066             : 
+    1067           1 :       current_horizontal_acceleration_ = 0;
+    1068             :     }
+    1069             : 
+    1070           1 :     changeStateHorizontal(STOPPING_STATE);
+    1071             :   }
+    1072         100 : }
+    1073             : 
+    1074             : //}
+    1075             : 
+    1076             : /* //{ decelerateVertical() */
+    1077             : 
+    1078         100 : void LineTracker::decelerateVertical(void) {
+    1079             : 
+    1080             :   {
+    1081         200 :     std::scoped_lock lock(mutex_state_);
+    1082             : 
+    1083         100 :     current_vertical_speed_ -= _vertical_acceleration_ * _tracker_dt_;
+    1084             : 
+    1085         100 :     if (current_vertical_speed_ < 0) {
+    1086           1 :       current_vertical_speed_ = 0;
+    1087             :     } else {
+    1088          99 :       current_vertical_acceleration_ = -_vertical_acceleration_;
+    1089             :     }
+    1090             :   }
+    1091             : 
+    1092         100 :   auto current_vertical_speed = mrs_lib::get_mutexed(mutex_state_, current_vertical_speed_);
+    1093             : 
+    1094         100 :   if (current_vertical_speed == 0) {
+    1095           1 :     current_vertical_acceleration_ = 0;
+    1096           1 :     changeStateVertical(STOPPING_STATE);
+    1097             :   }
+    1098         100 : }
+    1099             : 
+    1100             : //}
+    1101             : 
+    1102             : /* //{ stopHorizontal() */
+    1103             : 
+    1104          46 : void LineTracker::stopHorizontal(void) {
+    1105             : 
+    1106             :   {
+    1107          46 :     std::scoped_lock lock(mutex_state_);
+    1108             : 
+    1109          46 :     state_x_                         = 0.95 * state_x_ + 0.05 * goal_x_;
+    1110          46 :     state_y_                         = 0.95 * state_y_ + 0.05 * goal_y_;
+    1111          46 :     current_horizontal_acceleration_ = 0;
+    1112             :   }
+    1113          46 : }
+    1114             : 
+    1115             : //}
+    1116             : 
+    1117             : /* //{ stopVertical() */
+    1118             : 
+    1119         851 : void LineTracker::stopVertical(void) {
+    1120             : 
+    1121             :   {
+    1122         851 :     std::scoped_lock lock(mutex_state_);
+    1123             : 
+    1124         851 :     state_z_                       = 0.95 * state_z_ + 0.05 * goal_z_;
+    1125         851 :     current_vertical_acceleration_ = 0;
+    1126             :   }
+    1127         851 : }
+    1128             : 
+    1129             : //}
+    1130             : 
+    1131             : // | ------------------------- timers ------------------------- |
+    1132             : 
+    1133             : /* //{ mainTimer() */
+    1134             : 
+    1135        2305 : void LineTracker::mainTimer(const ros::TimerEvent &event) {
+    1136             : 
+    1137        2305 :   if (!is_active_) {
+    1138         511 :     return;
+    1139             :   }
+    1140             : 
+    1141        5382 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("main", _tracker_loop_rate_, 0.01, event);
+    1142        5382 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("LineTracker::main", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1143             : 
+    1144        1794 :   auto [goal_x, goal_y, goal_z]    = mrs_lib::get_mutexed(mutex_goal_, goal_x_, goal_y_, goal_z_);
+    1145        1794 :   auto [state_x, state_y, state_z] = mrs_lib::get_mutexed(mutex_state_, state_x_, state_y_, state_z_);
+    1146             : 
+    1147        1794 :   switch (current_state_horizontal_) {
+    1148             : 
+    1149         642 :     case IDLE_STATE:
+    1150             : 
+    1151         642 :       break;
+    1152             : 
+    1153           2 :     case STOP_MOTION_STATE:
+    1154             : 
+    1155           2 :       stopHorizontalMotion();
+    1156             : 
+    1157           2 :       break;
+    1158             : 
+    1159        1004 :     case ACCELERATING_STATE:
+    1160             : 
+    1161        1004 :       accelerateHorizontal();
+    1162             : 
+    1163        1004 :       break;
+    1164             : 
+    1165         100 :     case DECELERATING_STATE:
+    1166             : 
+    1167         100 :       decelerateHorizontal();
+    1168             : 
+    1169         100 :       break;
+    1170             : 
+    1171          46 :     case STOPPING_STATE:
+    1172             : 
+    1173          46 :       stopHorizontal();
+    1174             : 
+    1175          46 :       break;
+    1176             :   }
+    1177             : 
+    1178        1794 :   switch (current_state_vertical_) {
+    1179             : 
+    1180         642 :     case IDLE_STATE:
+    1181             : 
+    1182         642 :       break;
+    1183             : 
+    1184           2 :     case STOP_MOTION_STATE:
+    1185             : 
+    1186           2 :       stopVerticalMotion();
+    1187             : 
+    1188           2 :       break;
+    1189             : 
+    1190         199 :     case ACCELERATING_STATE:
+    1191             : 
+    1192         199 :       accelerateVertical();
+    1193             : 
+    1194         199 :       break;
+    1195             : 
+    1196         100 :     case DECELERATING_STATE:
+    1197             : 
+    1198         100 :       decelerateVertical();
+    1199             : 
+    1200         100 :       break;
+    1201             : 
+    1202         851 :     case STOPPING_STATE:
+    1203             : 
+    1204         851 :       stopVertical();
+    1205             : 
+    1206         851 :       break;
+    1207             :   }
+    1208             : 
+    1209        1794 :   if (current_state_horizontal_ == STOP_MOTION_STATE && current_state_vertical_ == STOP_MOTION_STATE) {
+    1210           2 :     if (current_vertical_speed_ == 0 && current_horizontal_speed_ == 0) {
+    1211           2 :       if (have_goal_) {
+    1212           1 :         changeState(ACCELERATING_STATE);
+    1213             :       } else {
+    1214           1 :         changeState(STOPPING_STATE);
+    1215             :       }
+    1216             :     }
+    1217             :   }
+    1218             : 
+    1219        1794 :   if (current_state_horizontal_ == STOPPING_STATE && current_state_vertical_ == STOPPING_STATE) {
+    1220          48 :     if (fabs(state_x - goal_x) < 1e-3 && fabs(state_y - goal_y) < 1e-3 && fabs(state_z - goal_z) < 1e-3) {
+    1221             : 
+    1222             :       {
+    1223           2 :         std::scoped_lock lock(mutex_state_);
+    1224             : 
+    1225           2 :         state_x_ = goal_x;
+    1226           2 :         state_y_ = goal_y;
+    1227           2 :         state_z_ = goal_z;
+    1228             :       }
+    1229             : 
+    1230           2 :       changeState(IDLE_STATE);
+    1231             : 
+    1232           2 :       have_goal_ = false;
+    1233             :     }
+    1234             :   }
+    1235             : 
+    1236             :   {
+    1237        1794 :     std::scoped_lock lock(mutex_state_);
+    1238             : 
+    1239        1794 :     state_x_ += cos(current_heading_) * current_horizontal_speed_ * _tracker_dt_;
+    1240        1794 :     state_y_ += sin(current_heading_) * current_horizontal_speed_ * _tracker_dt_;
+    1241        1794 :     state_z_ += current_vertical_direction_ * current_vertical_speed_ * _tracker_dt_;
+    1242             :   }
+    1243             : 
+    1244             :   // --------------------------------------------------------------
+    1245             :   // |                        heading tracking                        |
+    1246             :   // --------------------------------------------------------------
+    1247             : 
+    1248             :   {
+    1249        3588 :     std::scoped_lock lock(mutex_state_);
+    1250             : 
+    1251             :     // compute the desired heading rate
+    1252             :     double current_heading_rate;
+    1253        1794 :     if (fabs(goal_heading_ - state_heading_) > M_PI)
+    1254           0 :       current_heading_rate = -_heading_gain_ * (goal_heading_ - state_heading_);
+    1255             :     else
+    1256        1794 :       current_heading_rate = _heading_gain_ * (goal_heading_ - state_heading_);
+    1257             : 
+    1258        1794 :     if (current_heading_rate > _heading_rate_) {
+    1259          50 :       current_heading_rate = _heading_rate_;
+    1260        1744 :     } else if (current_heading_rate < -_heading_rate_) {
+    1261           0 :       current_heading_rate = -_heading_rate_;
+    1262             :     }
+    1263             : 
+    1264             :     // flap the resulted state_heading_ aroud PI
+    1265        1794 :     state_heading_ += current_heading_rate * _tracker_dt_;
+    1266             : 
+    1267        1794 :     if (fabs(state_heading_ - goal_heading_) < (2 * (_heading_rate_ * _tracker_dt_))) {
+    1268        1355 :       state_heading_ = goal_heading_;
+    1269             :     }
+    1270             :   }
+    1271             : }
+    1272             : 
+    1273             : //}
+    1274             : 
+    1275             : }  // namespace line_tracker
+    1276             : 
+    1277             : }  // namespace mrs_uav_trackers
+    1278             : 
+    1279             : #include <pluginlib/class_list_macros.h>
+    1280           1 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::line_tracker::LineTracker, mrs_uav_managers::Tracker)
+
+
+
+ + + + +
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+ + diff --git a/mrs_uav_trackers/src/line_tracker/line_tracker.cpp.gcov.png b/mrs_uav_trackers/src/line_tracker/line_tracker.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..4455f1cdd74881c327aea5434192c633f0f8a8d0 GIT binary patch literal 3795 zcmV;^4lMDBP)dMDAPL^1%2P&I2;=B^Yo)DTctM}}+zMJX^xRa6LJ8mTt7SW0m^D>?Nee0t1D zv=_}WQg;>lW`&-+d8?&3l|5DrRI;9@qTjft?#FvTTRVd+d0%(VkaZq7fc0c-{A`{s zpVyjmM&N``Y&@1OI9R$#Rr|#wyi0TVs`T)?2H5#=ZlYAVt^lbchOA~zmw<$Ca z3HNkFQ(a*lMT58jKyfkpGsDenD=gA57=R_#A*N4R?hg1y?9pVM+%&q$9-)of zkz!ie7&uFTix@b!hK)2Y#1Kr9TpVL$JdL%ZSxbSxh$0Wez#L9qfX@JD0o|US;!!n8 zH8D_5kvFph$kiSJ#ljSTof`-BuJaPlq*_`=FuxuJEMdcNhV9Zl#eu__kozHA!F^h$ zI1Jdw#Hv_}f&J@PB)KGAS5MYidNJ#EqfCV1q$hywtfk{UDaB~65bL#mu27uI`agPZ z^mw!90Nhd>urGAZ-GAUNB<=tz>$tg} zu6ETF-!HZ;-z$v*p86>Ph2=VR1coI7?rRQM#X2KZ0_5~m%bFLvj^b|ptIRqJtYMww z9Z8)7N?F&9&2GeM-?*{aYMYoW?&D1pnyaNw=7fW#X2lM(r1sICRbT*KVYKI5;ZRU6 zls5H+&6Bf}P#Gwgz!{*p4B5(}^nQ1r59qTDcxYt4s;JkE+oD)`+EhVTtc z{BZ2wJn-z)APx8$vK9cPQ+q`dD$UF-af4;<8MoX}Gn*U8fbs=q7Fij3vm<+q2hRTO zZU!HpH;S9P8NlrOf;(ttB}H-hXuik!yKM@(1zLc#q18k)C-8P`a&znKdjNK~p0MAn zSVyTa@0k$qdkBcjzT4q-1M7$)3)E2b4xAC{QtLDQ7HB~J*pAMcM|*a(T3RvGQuL!o zHyTfY!YsFf^}r_Vc4tb`giNAMqwq(8mZymL+L8QsEh2ki7|WIklK?*@Oymk7{fl_1 zoa^BnHZE`iD5of2w3DvI*_L^x^KV?_3fHW~CHnBYC4!Z_KDsGZ8c2dLkLX44cPq89 zj!dSBS*jcWe3f!nHNu$k%w#@PKo6DxPf>C}S-GXTD-mm+cO`4vL}Y(0%w1KmF66F; zhvs}8rNX>U$1DTI;~sGtHty+o|KmL^JN2e8R|u0fIcu=gq-DcVHv1MCMjc@UTlNs=zl07W%XBz${siG#wJjY3HEAz!T!W>CJz zDmdFR9@uk1jM|$We|D9`P}r8xB|jvKJ+GSB6X(sJF;GFV^Ri1Y3O>)Q2L3z*#;aKx z`XwtqPY`=bOWi|`qx$=MPFaq6MkXGa{Ld(0_yfDJIl$mK)8mmlNifWm^W`kNPcm!|oss;!TK zVR?;x4DjVPTlDA)!3jg2< zh=vU;L5)>XvxkO&4L_gpO!Jxa4HU)mJ=^d@de@H~5FuKIw8@&5c}9DI@H^Bp;ZIRh zJ{}%;svXjRuOVvzaL8pFDlhzh9S|94W|5VlH%}^Mm%cr1?i-B4y_@6b?+i4G_DzVy zodxnHH2z*Xy5)>;1@+h=ttM0~eYK%9f#K1wDVoTSSdVAdAeKedf!aBlzDU|-)i;L|` z>2+>^2`S07Z1o|9h$a@Opy>8}r-urF4gZ^c&8@q+S4$&*OVlvnorxx34`ItO|J@MU z!2hcIq`;Yq0&wikeXgNb{VqFg*vp9CBkbYEzgXDo75eD$=UJF!>XZM<@h5g_|B6o{ zUu@_)a7s#PT%>TbO@dcA()dLb9`>7tMI@h0Zh3rJw`m*~P|POn5Jzf<3jEcsa!LovFW7Z*n9(~&mp4=u6q~bbWVQSA9MQjsIo82jsh)+Od4q^T~qlj(dYDUp( zg`Y5r#2|E1%g1IhWA4n^HChIGYw~o^=3b%4NQw>s=>gsA9Xf>vk4`3=XQ85qyS1G@ zyqsLayfP2g(p+&Yy3Kl}FIPox?EtC&eWcg$Lg;fn@-C#$5G{2*pTRBzJf^{CIG2fC zfprzd2&98_di!?tmc| zc)MXBG2|k|8ZhJ{DaMtt6lGHPzXBdU25t+#+*3jPFNK*&E4d2oOk))CCX@;z)g!sc zPOZ;K1L@^P0AD(4HvJ6NX4>IwxMQdN^>hX0(^&oapPbZoA!qabE-OqG>p9o)eM_$p zT?>MMBL^QTZy=>k;Y&E(H@h6;WUn`y++h)XhX&+}hZuNuFH|tT(H{bjnk3JN@Qro7 zp~8@vCimb|a;8ZMHDIPmQH<*1DaxcCI8;Cbg)La7eRa{H0^fvEVWfH_hYA$yUprLz z)?~q#guTxurK!v0EU?$aCtQy8!DtreACoGdKee}!g|Fu_nnJ0+DL#I7Dn-`u*T%;$ zol1R6eEjGF1Q#CrjrQ&U_$Bd?4Ug6FkqwW@ypX+AmW&iM@Rvr4Zbweid`O$rACDC9 zqhpfno_iM3D_UULAb+cw^*e@;oH%Hd`kTy*HXcnh`(4(9j}4;*xwc(R9q((#_6VPz zUc0T)rAUe`bC+CPJoE%a<}n_}`{*$qCl~UjV{IxvJl34d!`sv+USnrgh+B?Iw8oy* zkC2K$F~zk=O-m7`ko!<1uE_5|Q3jM!EQNVJ#XqUPU+P{I*RseJ6eYlsPi)9Vy}z(m zW-alA?~%HH0Qi%-k)jMJr8q9^m5#CMC`y0>!XCFdY(tw2h_zt^I6m0j-4E_TU*%rm z9u*EKN*59od7wy>H~GAInLLFDAJFoLBNmY!#|#Cf`KXBS$x0y$G}wqW9)9{*CU<-xnv7>t>coO z*_@RW#pQEtZKav~@$iYQ{sNB)@+n%>#rZr+diMrC?cxu*xEJAS+4J*45_Mo}oh{997mx?ux{{Y2Bxw4kq?nVFr002ov JPDHLkV1hT6WGVmv literal 0 HcmV?d00001 diff --git a/mrs_uav_trackers/src/midair_activation_tracker/index-detail-sort-f.html b/mrs_uav_trackers/src/midair_activation_tracker/index-detail-sort-f.html new file mode 100644 index 0000000000..d87dad0a5c --- /dev/null +++ b/mrs_uav_trackers/src/midair_activation_tracker/index-detail-sort-f.html @@ -0,0 +1,110 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/midair_activation_tracker + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/midair_activation_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:679272.8 %
Date:2024-08-07 22:18:19Functions:91850.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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midair_activation_tracker.cpp +
72.8%72.8%
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LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/midair_activation_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:679272.8 %
Date:2024-08-07 22:18:19Functions:91850.0 %
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<unnamed>72.8 %67 / 9250.0 %9 / 18
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Current view:top level - mrs_uav_trackers/src/midair_activation_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:679272.8 %
Date:2024-08-07 22:18:19Functions:91850.0 %
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midair_activation_tracker.cpp +
72.8%72.8%
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_trackers/src/midair_activation_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:679272.8 %
Date:2024-08-07 22:18:19Functions:91850.0 %
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midair_activation_tracker.cpp +
72.8%72.8%
+ 		72.8 %67 / 9250.0 %9 / 18
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/midair_activation_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:679272.8 %
Date:2024-08-07 22:18:19Functions:91850.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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midair_activation_tracker.cpp +
72.8%72.8%
+ 		72.8 %67 / 9250.0 %9 / 18
+
+
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/midair_activation_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:679272.8 %
Date:2024-08-07 22:18:19Functions:91850.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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midair_activation_tracker.cpp +
72.8%72.8%
+ 		72.8 %67 / 9250.0 %9 / 18
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp.func-sort-c.html b/mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp.func-sort-c.html new file mode 100644 index 0000000000..8e4b4b29d6 --- /dev/null +++ b/mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp.func-sort-c.html @@ -0,0 +1,152 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/midair_activation_tracker - midair_activation_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:679272.8 %
Date:2024-08-07 22:18:19Functions:91850.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::resetStatic()0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)6
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::getStatus()63
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)108
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)160
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::deactivate()180
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)312
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)379
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)138752
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp.func.html b/mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp.func.html new file mode 100644 index 0000000000..de179ee765 --- /dev/null +++ b/mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp.func.html @@ -0,0 +1,152 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_trackers/src/midair_activation_tracker - midair_activation_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:679272.8 %
Date:2024-08-07 22:18:19Functions:91850.0 %
Legend: Lines: + hit + not hit +
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+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::deactivate()180
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)108
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::resetStatic()0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)379
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)312
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)6
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)138752
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)160
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::getStatus()63
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Current view:top level - mrs_uav_trackers/src/midair_activation_tracker - midair_activation_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:679272.8 %
Date:2024-08-07 22:18:19Functions:91850.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : 
+       6             : #include <mrs_uav_managers/tracker.h>
+       7             : 
+       8             : #include <mrs_lib/profiler.h>
+       9             : #include <mrs_lib/mutex.h>
+      10             : #include <mrs_lib/attitude_converter.h>
+      11             : #include <mrs_lib/geometry/cyclic.h>
+      12             : #include <mrs_lib/geometry/misc.h>
+      13             : 
+      14             : //}
+      15             : 
+      16             : namespace mrs_uav_trackers
+      17             : {
+      18             : 
+      19             : namespace midair_activation_tracker
+      20             : {
+      21             : 
+      22             : /* //{ class MidairActivationTracker */
+      23             : 
+      24             : class MidairActivationTracker : public mrs_uav_managers::Tracker {
+      25             : public:
+      26             :   bool initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      27             :                   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
+      28             : 
+      29             :   std::tuple<bool, std::string> activate(const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd);
+      30             :   void                          deactivate(void);
+      31             :   bool                          resetStatic(void);
+      32             : 
+      33             :   std::optional<mrs_msgs::TrackerCommand>   update(const mrs_msgs::UavState &uav_state, const mrs_uav_managers::Controller::ControlOutput &last_control_output);
+      34             :   const mrs_msgs::TrackerStatus             getStatus();
+      35             :   const std_srvs::SetBoolResponse::ConstPtr enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd);
+      36             :   const std_srvs::TriggerResponse::ConstPtr switchOdometrySource(const mrs_msgs::UavState &new_uav_state);
+      37             : 
+      38             :   const mrs_msgs::ReferenceSrvResponse::ConstPtr           setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd);
+      39             :   const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr   setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd);
+      40             :   const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr setTrajectoryReference(const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd);
+      41             : 
+      42             :   const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd);
+      43             : 
+      44             :   const std_srvs::TriggerResponse::ConstPtr hover(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      45             :   const std_srvs::TriggerResponse::ConstPtr startTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      46             :   const std_srvs::TriggerResponse::ConstPtr stopTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      47             :   const std_srvs::TriggerResponse::ConstPtr resumeTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      48             :   const std_srvs::TriggerResponse::ConstPtr gotoTrajectoryStart(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      49             : 
+      50             : private:
+      51             :   ros::NodeHandle nh_;
+      52             : 
+      53             :   bool callbacks_enabled_ = true;
+      54             : 
+      55             :   std::string _uav_name_;
+      56             : 
+      57             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>  common_handlers_;
+      58             :   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers_;
+      59             : 
+      60             :   // | ---------------- the tracker's inner state --------------- |
+      61             : 
+      62             :   bool is_initialized_ = false;
+      63             :   bool is_active_      = false;
+      64             : 
+      65             :   // | ------------------------ profiler ------------------------ |
+      66             : 
+      67             :   mrs_lib::Profiler profiler_;
+      68             :   bool              _profiler_enabled_ = false;
+      69             : };
+      70             : 
+      71             : //}
+      72             : 
+      73             : // | -------------- tracker's interface routines -------------- |
+      74             : 
+      75             : /* //{ initialize() */
+      76             : 
+      77         108 : bool MidairActivationTracker::initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      78             :                                          std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers) {
+      79             : 
+      80         108 :   this->common_handlers_  = common_handlers;
+      81         108 :   this->private_handlers_ = private_handlers;
+      82             : 
+      83         108 :   _uav_name_ = common_handlers->uav_name;
+      84             : 
+      85         108 :   nh_ = nh;
+      86             : 
+      87         108 :   ros::Time::waitForValid();
+      88             : 
+      89             :   // --------------------------------------------------------------
+      90             :   // |                     loading parameters                     |
+      91             :   // --------------------------------------------------------------
+      92             : 
+      93             :   // | ---------- loading params using the parent's nh ---------- |
+      94             : 
+      95         216 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+      96             : 
+      97         108 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+      98             : 
+      99         108 :   if (!param_loader_parent.loadedSuccessfully()) {
+     100           0 :     ROS_ERROR("[MidairActivationTracker]: Could not load all parameters!");
+     101           0 :     return false;
+     102             :   }
+     103             : 
+     104             :   // | ---------------- load plugin's parameters ---------------- |
+     105             : 
+     106         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/midair_activation_tracker.yaml");
+     107         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/midair_activation_tracker.yaml");
+     108             : 
+     109         216 :   const std::string yaml_prefix = "mrs_uav_trackers/midair_activation_tracker/";
+     110             : 
+     111         108 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     112           0 :     ROS_ERROR("[MidairActivationTracker]: could not load all parameters!");
+     113           0 :     return false;
+     114             :   }
+     115             : 
+     116             :   // | ------------------------ profiler ------------------------ |
+     117             : 
+     118         108 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "MidairActivationTracker", _profiler_enabled_);
+     119             : 
+     120             :   // | --------------------- finish the init -------------------- |
+     121             : 
+     122         108 :   is_initialized_ = true;
+     123             : 
+     124         108 :   ROS_INFO("[MidairActivationTracker]: initialized");
+     125             : 
+     126         108 :   return true;
+     127             : }
+     128             : 
+     129             : //}
+     130             : 
+     131             : /* //{ activate() */
+     132             : 
+     133         160 : std::tuple<bool, std::string> MidairActivationTracker::activate([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd) {
+     134             : 
+     135         160 :   std::stringstream ss;
+     136             : 
+     137         160 :   is_active_ = true;
+     138             : 
+     139         160 :   ss << "activated";
+     140         160 :   ROS_INFO_STREAM("[MidairActivationTracker]: " << ss.str());
+     141             : 
+     142         320 :   return std::tuple(true, ss.str());
+     143             : }
+     144             : 
+     145             : //}
+     146             : 
+     147             : /* //{ deactivate() */
+     148             : 
+     149         180 : void MidairActivationTracker::deactivate(void) {
+     150             : 
+     151         180 :   is_active_ = false;
+     152             : 
+     153         180 :   ROS_INFO("[MidairActivationTracker]: deactivated");
+     154         180 : }
+     155             : 
+     156             : //}
+     157             : 
+     158             : /* //{ resetStatic() */
+     159             : 
+     160           0 : bool MidairActivationTracker::resetStatic(void) {
+     161             : 
+     162           0 :   return false;
+     163             : }
+     164             : 
+     165             : //}
+     166             : 
+     167             : /* //{ update() */
+     168             : 
+     169      138752 : std::optional<mrs_msgs::TrackerCommand> MidairActivationTracker::update(
+     170             :     const mrs_msgs::UavState &uav_state, [[maybe_unused]] const mrs_uav_managers::Controller::ControlOutput &last_control_output) {
+     171             : 
+     172             :   // up to this part the update() method is evaluated even when the tracker is not active
+     173      138752 :   if (!is_active_) {
+     174      138242 :     return {};
+     175             :   }
+     176             : 
+     177        1530 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     178             :   mrs_lib::ScopeTimer timer =
+     179        1530 :       mrs_lib::ScopeTimer("MidairActivationTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     180             : 
+     181        1020 :   mrs_msgs::TrackerCommand tracker_cmd;
+     182             : 
+     183         510 :   tracker_cmd.header.frame_id = uav_state.header.frame_id;
+     184         510 :   tracker_cmd.header.stamp    = ros::Time::now();
+     185             : 
+     186         510 :   tracker_cmd.position.x = uav_state.pose.position.x;
+     187         510 :   tracker_cmd.position.y = uav_state.pose.position.y;
+     188         510 :   tracker_cmd.position.z = uav_state.pose.position.z;
+     189             : 
+     190         510 :   tracker_cmd.velocity.x = uav_state.velocity.linear.x;
+     191         510 :   tracker_cmd.velocity.y = uav_state.velocity.linear.y;
+     192         510 :   tracker_cmd.velocity.z = uav_state.velocity.linear.z;
+     193             : 
+     194             :   try {
+     195         510 :     tracker_cmd.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     196             :   }
+     197           0 :   catch (...) {
+     198           0 :     tracker_cmd.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getYaw();
+     199           0 :     ROS_WARN_THROTTLE(1.0, "[MidairActivationTracker]: could not get heading");
+     200             :   }
+     201             : 
+     202         510 :   tracker_cmd.use_position_vertical   = true;
+     203         510 :   tracker_cmd.use_position_horizontal = true;
+     204             : 
+     205         510 :   tracker_cmd.use_velocity_vertical   = true;
+     206         510 :   tracker_cmd.use_velocity_horizontal = true;
+     207             : 
+     208         510 :   tracker_cmd.use_heading = true;
+     209             : 
+     210         510 :   ROS_WARN_THROTTLE(0.1, "[MidairActivationTracker]: outputting cmd");
+     211             : 
+     212         510 :   return {tracker_cmd};
+     213             : }
+     214             : 
+     215             : //}
+     216             : 
+     217             : /* //{ getStatus() */
+     218             : 
+     219          63 : const mrs_msgs::TrackerStatus MidairActivationTracker::getStatus() {
+     220             : 
+     221          63 :   mrs_msgs::TrackerStatus tracker_status;
+     222             : 
+     223          63 :   tracker_status.active            = is_active_;
+     224          63 :   tracker_status.callbacks_enabled = callbacks_enabled_;
+     225             : 
+     226          63 :   return tracker_status;
+     227             : }
+     228             : 
+     229             : //}
+     230             : 
+     231             : /* //{ enableCallbacks() */
+     232             : 
+     233         312 : const std_srvs::SetBoolResponse::ConstPtr MidairActivationTracker::enableCallbacks([[maybe_unused]] const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     234             : 
+     235         624 :   std_srvs::SetBoolResponse res;
+     236             : 
+     237         312 :   res.message = "callbacks are always disabled";
+     238         312 :   res.success = true;
+     239             : 
+     240         624 :   return std_srvs::SetBoolResponse::ConstPtr(new std_srvs::SetBoolResponse(res));
+     241             : }
+     242             : 
+     243             : //}
+     244             : 
+     245             : /* switchOdometrySource() //{ */
+     246             : 
+     247           0 : const std_srvs::TriggerResponse::ConstPtr MidairActivationTracker::switchOdometrySource([[maybe_unused]] const mrs_msgs::UavState &new_uav_state) {
+     248             : 
+     249           0 :   return std_srvs::TriggerResponse::Ptr();
+     250             : }
+     251             : 
+     252             : //}
+     253             : 
+     254             : /* //{ hover() */
+     255             : 
+     256           0 : const std_srvs::TriggerResponse::ConstPtr MidairActivationTracker::hover([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     257             : 
+     258           0 :   return std_srvs::TriggerResponse::Ptr();
+     259             : }
+     260             : 
+     261             : //}
+     262             : 
+     263             : /* //{ startTrajectoryTracking() */
+     264             : 
+     265           0 : const std_srvs::TriggerResponse::ConstPtr MidairActivationTracker::startTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     266           0 :   return std_srvs::TriggerResponse::Ptr();
+     267             : }
+     268             : 
+     269             : //}
+     270             : 
+     271             : /* //{ stopTrajectoryTracking() */
+     272             : 
+     273           0 : const std_srvs::TriggerResponse::ConstPtr MidairActivationTracker::stopTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     274           0 :   return std_srvs::TriggerResponse::Ptr();
+     275             : }
+     276             : 
+     277             : //}
+     278             : 
+     279             : /* //{ resumeTrajectoryTracking() */
+     280             : 
+     281           0 : const std_srvs::TriggerResponse::ConstPtr MidairActivationTracker::resumeTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     282           0 :   return std_srvs::TriggerResponse::Ptr();
+     283             : }
+     284             : 
+     285             : //}
+     286             : 
+     287             : /* //{ gotoTrajectoryStart() */
+     288             : 
+     289           0 : const std_srvs::TriggerResponse::ConstPtr MidairActivationTracker::gotoTrajectoryStart([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     290           0 :   return std_srvs::TriggerResponse::Ptr();
+     291             : }
+     292             : 
+     293             : //}
+     294             : 
+     295             : /* //{ setConstraints() */
+     296             : 
+     297         379 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MidairActivationTracker::setConstraints([
+     298             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     299             : 
+     300         758 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     301             : 
+     302         379 :   res.success = true;
+     303         379 :   res.message = "constraints updated";
+     304             : 
+     305         758 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     306             : }
+     307             : 
+     308             : //}
+     309             : 
+     310             : /* //{ setReference() */
+     311             : 
+     312           0 : const mrs_msgs::ReferenceSrvResponse::ConstPtr MidairActivationTracker::setReference([[maybe_unused]] const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd) {
+     313             : 
+     314           0 :   return mrs_msgs::ReferenceSrvResponse::Ptr();
+     315             : }
+     316             : 
+     317             : //}
+     318             : 
+     319             : /* //{ setVelocityReference() */
+     320             : 
+     321           0 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr MidairActivationTracker::setVelocityReference([
+     322             :     [maybe_unused]] const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd) {
+     323           0 :   return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+     324             : }
+     325             : 
+     326             : //}
+     327             : 
+     328             : /* //{ setTrajectoryReference() */
+     329             : 
+     330           6 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr MidairActivationTracker::setTrajectoryReference([
+     331             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     332           6 :   return mrs_msgs::TrajectoryReferenceSrvResponse::Ptr();
+     333             : }
+     334             : 
+     335             : //}
+     336             : 
+     337             : }  // namespace midair_activation_tracker
+     338             : 
+     339             : }  // namespace mrs_uav_trackers
+     340             : 
+     341             : #include <pluginlib/class_list_macros.h>
+     342         108 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker, mrs_uav_managers::Tracker)
+
+
+
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+ + diff --git a/mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp.gcov.png b/mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..4f71e52c409a351c83f61f35774f7a90c3d741d3 GIT binary patch literal 1153 zcmV-{1b+L8P)J!}>NZyyuFasP|62uJU5*aFu zjmS0d?pPuUM>KcvwhD9>G)*Rz=p=yIWPvvr_@@Y55pdMTNMg%6%JYb>a|plxWB~;i zsF4hyv^Mf5%|!6`TAz(e^Ad~0QdkGdHqTsTA!J->1xS#7+h-UE z*P@GUim)73fPB?L#8jXQJ(B^lO1%0Hy*7GM^Lkq^aejm3Xq5Ox^wTJOU7cj(=d*u^ zvHRc3yjeD4P`C0`Z{V&?`FF`cK;?mo05XS_xFh>hd2JFe%P0|pHs)z*m$(ouAWnKA z&Vrl78WM~f0LYZc9(K`4`~U8>&3;z&EgHZh8S3tOuV-R8A(&bu(x&Y(@Hl>xaq559 z%g^;=E*yse{@m}2V>xOF2W)oX>USL`>-&o%E-a1)V1uts#<8zzg2Y@HVvoPg*Kv6p z@pX=7aJeb%0h5I7(8Q>X*344QA4(}UN>l`Fk+_%Yh66H+mI1QI6P=XJ{?pn%%yMp3 zcU6T-AJEgK)PQ`6yPYaab+Y`F;Y$G^Uv;RDs$jya;_>-DJms;4a1%XcMjuF0Y!|Xs zKj^~Y^IJE5T}_Tkc3gB9UJ=$nUR^&HW?gS6?2i#X@u?J*q2dcR%-|>|mggwRMhYbW&05|Ly{-x8L`mb* zz31AUMYQS;iE+o71#VmR0HRNI=@8-x;JA%g;s4nf~I@b)c)wInYn^?NK z=JKZERbBI}j%&dMpIF(uQ}uJ5)$C6qGwtFQ4vE` zht6!K@}##)v_)&z-lR9r0625IM{P>uYj24ja7sC26LL2I>G3R8*qQbENDBWoDBz2> zd(%?=m++cIfgi?=GtVddALemFs`&CahsZCFbMonb&*P*s$kKBo*d&GH2UWO5^?r8- z=uA4Xo<_6QKf;dG%rgUQQC)Z@9*$>U(rAjQQARFTYGDrcJ;ZZ{x2@|*q-O|ENDoJL zXa1J+KC+_;Pe^|u;WHSYpGZq71!j>~q!cN_cSk+zQzeeuXun#61_{jPc|86AD!MUP TVQf$600000NkvXXu0mjfd_WxL literal 0 HcmV?d00001 diff --git a/mrs_uav_trackers/src/mpc_tracker/index-detail-sort-f.html b/mrs_uav_trackers/src/mpc_tracker/index-detail-sort-f.html new file mode 100644 index 0000000000..b339572e9f --- /dev/null +++ b/mrs_uav_trackers/src/mpc_tracker/index-detail-sort-f.html @@ -0,0 +1,110 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/mpc_tracker + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_trackers/src/mpc_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1395168282.9 %
Date:2024-08-07 22:18:19Functions:455090.0 %
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mpc_tracker.cpp +
82.9%82.9%
+ 		82.9 %1395 / 168290.0 %45 / 50
<unnamed>82.9 %1395 / 168290.0 %45 / 50
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Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:1395168282.9 %
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Test:MRS UAV System - Test coverage reportLines:1395168282.9 %
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Test:MRS UAV System - Test coverage reportLines:1395168282.9 %
Date:2024-08-07 22:18:19Functions:455090.0 %
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Current view:top level - mrs_uav_trackers/src/mpc_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1395168282.9 %
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Test:MRS UAV System - Test coverage reportLines:1395168282.9 %
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Current view:top level - mrs_uav_trackers/src/mpc_tracker - mpc_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1395168282.9 %
Date:2024-08-07 22:18:19Functions:455090.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_trackers::mpc_tracker::MpcTracker::resetStatic()0
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackWiggle(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::debugPrintState(double)0
mrs_uav_trackers::mpc_tracker::MpcTracker::debugPrintMPCResult(double)0
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackToggleCollisionAvoidance(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::mpc_tracker::MpcTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::mpc_tracker::MpcTracker::stopTrajectoryTrackingImpl[abi:cxx11]()1
mrs_uav_trackers::mpc_tracker::MpcTracker::resumeTrajectoryTrackingImpl[abi:cxx11]()1
mrs_uav_trackers::mpc_tracker::MpcTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::mpc_tracker::MpcTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)2
mrs_uav_trackers::mpc_tracker::MpcTracker::gotoTrajectoryStartImpl[abi:cxx11]()2
mrs_uav_trackers::mpc_tracker::MpcTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)2
mrs_uav_trackers::mpc_tracker::MpcTracker::startTrajectoryTrackingImpl[abi:cxx11]()2
mrs_uav_trackers::mpc_tracker::MpcTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)5
mrs_uav_trackers::mpc_tracker::MpcTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)6
mrs_uav_trackers::mpc_tracker::MpcTracker::deactivate()40
mrs_uav_trackers::mpc_tracker::MpcTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)99
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_trackers::mpc_tracker::MpcTracker::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)108
mrs_uav_trackers::mpc_tracker::MpcTracker::dynamicReconfigureCallback(mrs_uav_trackers::mpc_trackerConfig&, unsigned int)108
mrs_uav_trackers::mpc_tracker::MpcTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)269
mrs_uav_trackers::mpc_tracker::MpcTracker::setGoal(double, double, double, double, bool)271
mrs_uav_trackers::mpc_tracker::MpcTracker::timerHover(ros::TimerEvent const&)332
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackOtherMavTrajectory(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)343
mrs_uav_trackers::mpc_tracker::MpcTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)379
mrs_uav_trackers::mpc_tracker::MpcTracker::setRelativeGoal(double, double, double, double, bool)431
mrs_uav_trackers::mpc_tracker::MpcTracker::setSinglePointReference(double, double, double, double)702
mrs_uav_trackers::mpc_tracker::MpcTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)811
mrs_uav_trackers::mpc_tracker::MpcTracker::timerVelocityTracking(ros::TimerEvent const&)827
mrs_uav_trackers::mpc_tracker::MpcTracker::loadTrajectory[abi:cxx11](mrs_msgs::TrajectoryReference_<std::allocator<void> >)830
mrs_uav_trackers::mpc_tracker::MpcTracker::toggleHover(bool)1327
mrs_uav_trackers::mpc_tracker::MpcTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)2156
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackOtherMavDiagnostics(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)2179
mrs_uav_trackers::mpc_tracker::MpcTracker::timerAvoidanceTrajectory(ros::TimerEvent const&)4453
mrs_uav_trackers::mpc_tracker::MpcTracker::getStatus()9364
mrs_uav_trackers::mpc_tracker::MpcTracker::increaseCurrentTrajectoryTime(double)16163
mrs_uav_trackers::mpc_tracker::MpcTracker::timerDiagnostics(ros::TimerEvent const&)22443
mrs_uav_trackers::mpc_tracker::MpcTracker::publishDiagnostics()24021
mrs_uav_trackers::mpc_tracker::MpcTracker::getCurrentTrajectoryIdx()25528
mrs_uav_trackers::mpc_tracker::MpcTracker::iterateModel(double const&)81134
mrs_uav_trackers::mpc_tracker::MpcTracker::checkTrajectoryForCollisions(int&)82980
mrs_uav_trackers::mpc_tracker::MpcTracker::calculateMPC()83968
mrs_uav_trackers::mpc_tracker::MpcTracker::filterReferenceZ(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, double, double)83968
mrs_uav_trackers::mpc_tracker::MpcTracker::filterReferenceXY(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, double, double)83968
mrs_uav_trackers::mpc_tracker::MpcTracker::manageConstraints()83968
mrs_uav_trackers::mpc_tracker::MpcTracker::timerMPC(ros::TimerEvent const&)83968
mrs_uav_trackers::mpc_tracker::MpcTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)138752
mrs_uav_trackers::mpc_tracker::MpcTracker::checkCollision(double, double, double, double, double, double)184440
mrs_uav_trackers::mpc_tracker::MpcTracker::checkCollisionInflated(double, double, double, double, double, double)184440
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Generated by: LCOV version 1.14
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LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_trackers/src/mpc_tracker - mpc_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1395168282.9 %
Date:2024-08-07 22:18:19Functions:455090.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_trackers::mpc_tracker::MpcTracker::deactivate()40
mrs_uav_trackers::mpc_tracker::MpcTracker::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)108
mrs_uav_trackers::mpc_tracker::MpcTracker::timerHover(ros::TimerEvent const&)332
mrs_uav_trackers::mpc_tracker::MpcTracker::resetStatic()0
mrs_uav_trackers::mpc_tracker::MpcTracker::toggleHover(bool)1327
mrs_uav_trackers::mpc_tracker::MpcTracker::calculateMPC()83968
mrs_uav_trackers::mpc_tracker::MpcTracker::iterateModel(double const&)81134
mrs_uav_trackers::mpc_tracker::MpcTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)269
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackWiggle(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::checkCollision(double, double, double, double, double, double)184440
mrs_uav_trackers::mpc_tracker::MpcTracker::loadTrajectory[abi:cxx11](mrs_msgs::TrajectoryReference_<std::allocator<void> >)830
mrs_uav_trackers::mpc_tracker::MpcTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)379
mrs_uav_trackers::mpc_tracker::MpcTracker::debugPrintState(double)0
mrs_uav_trackers::mpc_tracker::MpcTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)2156
mrs_uav_trackers::mpc_tracker::MpcTracker::setRelativeGoal(double, double, double, double, bool)431
mrs_uav_trackers::mpc_tracker::MpcTracker::filterReferenceZ(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, double, double)83968
mrs_uav_trackers::mpc_tracker::MpcTracker::timerDiagnostics(ros::TimerEvent const&)22443
mrs_uav_trackers::mpc_tracker::MpcTracker::filterReferenceXY(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, double, double)83968
mrs_uav_trackers::mpc_tracker::MpcTracker::manageConstraints()83968
mrs_uav_trackers::mpc_tracker::MpcTracker::publishDiagnostics()24021
mrs_uav_trackers::mpc_tracker::MpcTracker::debugPrintMPCResult(double)0
mrs_uav_trackers::mpc_tracker::MpcTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)2
mrs_uav_trackers::mpc_tracker::MpcTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)811
mrs_uav_trackers::mpc_tracker::MpcTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)5
mrs_uav_trackers::mpc_tracker::MpcTracker::timerVelocityTracking(ros::TimerEvent const&)827
mrs_uav_trackers::mpc_tracker::MpcTracker::checkCollisionInflated(double, double, double, double, double, double)184440
mrs_uav_trackers::mpc_tracker::MpcTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)6
mrs_uav_trackers::mpc_tracker::MpcTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::mpc_tracker::MpcTracker::getCurrentTrajectoryIdx()25528
mrs_uav_trackers::mpc_tracker::MpcTracker::gotoTrajectoryStartImpl[abi:cxx11]()2
mrs_uav_trackers::mpc_tracker::MpcTracker::setSinglePointReference(double, double, double, double)702
mrs_uav_trackers::mpc_tracker::MpcTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)2
mrs_uav_trackers::mpc_tracker::MpcTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::mpc_tracker::MpcTracker::timerAvoidanceTrajectory(ros::TimerEvent const&)4453
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackOtherMavTrajectory(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)343
mrs_uav_trackers::mpc_tracker::MpcTracker::dynamicReconfigureCallback(mrs_uav_trackers::mpc_trackerConfig&, unsigned int)108
mrs_uav_trackers::mpc_tracker::MpcTracker::stopTrajectoryTrackingImpl[abi:cxx11]()1
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackOtherMavDiagnostics(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)2179
mrs_uav_trackers::mpc_tracker::MpcTracker::startTrajectoryTrackingImpl[abi:cxx11]()2
mrs_uav_trackers::mpc_tracker::MpcTracker::checkTrajectoryForCollisions(int&)82980
mrs_uav_trackers::mpc_tracker::MpcTracker::resumeTrajectoryTrackingImpl[abi:cxx11]()1
mrs_uav_trackers::mpc_tracker::MpcTracker::increaseCurrentTrajectoryTime(double)16163
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackToggleCollisionAvoidance(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::mpc_tracker::MpcTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)138752
mrs_uav_trackers::mpc_tracker::MpcTracker::setGoal(double, double, double, double, bool)271
mrs_uav_trackers::mpc_tracker::MpcTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)99
mrs_uav_trackers::mpc_tracker::MpcTracker::timerMPC(ros::TimerEvent const&)83968
mrs_uav_trackers::mpc_tracker::MpcTracker::getStatus()9364
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_trackers/src/mpc_tracker - mpc_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1395168282.9 %
Date:2024-08-07 22:18:19Functions:455090.0 %
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+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : 
+       6             : #include <mrs_uav_managers/tracker.h>
+       7             : #include <mrs_uav_managers/controller.h>
+       8             : 
+       9             : #include <geometry_msgs/Pose.h>
+      10             : #include <geometry_msgs/PoseArray.h>
+      11             : 
+      12             : #include <mrs_msgs/FuturePoint.h>
+      13             : #include <mrs_msgs/FutureTrajectory.h>
+      14             : #include <mrs_msgs/MpcTrackerDiagnostics.h>
+      15             : #include <mrs_msgs/MpcPredictionFullState.h>
+      16             : #include <mrs_msgs/EstimationDiagnostics.h>
+      17             : #include <mrs_msgs/VelocityReference.h>
+      18             : #include <mrs_msgs/VelocityReferenceSrv.h>
+      19             : 
+      20             : #include <std_msgs/String.h>
+      21             : 
+      22             : #include <mrs_lib/profiler.h>
+      23             : #include <mrs_lib/utils.h>
+      24             : #include <mrs_lib/mutex.h>
+      25             : #include <mrs_lib/attitude_converter.h>
+      26             : #include <mrs_lib/subscribe_handler.h>
+      27             : #include <mrs_lib/publisher_handler.h>
+      28             : #include <mrs_lib/geometry/cyclic.h>
+      29             : #include <mrs_lib/geometry/misc.h>
+      30             : #include <mrs_lib/scope_timer.h>
+      31             : 
+      32             : #include <mpc_tracker.h>
+      33             : 
+      34             : #include <dynamic_reconfigure/server.h>
+      35             : #include <mrs_uav_trackers/mpc_trackerConfig.h>
+      36             : 
+      37             : #include <visualization_msgs/Marker.h>
+      38             : #include <visualization_msgs/MarkerArray.h>
+      39             : 
+      40             : //}
+      41             : 
+      42             : /* defines //{ */
+      43             : 
+      44             : #define MPC_N_STATES 12
+      45             : #define MPC_N_INPUTS 3
+      46             : 
+      47             : #define MPC_HEADING_N_STATES 4
+      48             : #define MPC_HEADING_N_INPUTS 1
+      49             : 
+      50             : #define MPC_HORIZON_LENGTH 40
+      51             : 
+      52             : //}
+      53             : 
+      54             : /* using //{ */
+      55             : 
+      56             : using namespace Eigen;
+      57             : 
+      58             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+      59             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+      60             : 
+      61             : using radians  = mrs_lib::geometry::radians;
+      62             : using sradians = mrs_lib::geometry::sradians;
+      63             : 
+      64             : using quat_t = Eigen::Quaterniond;
+      65             : 
+      66             : //}
+      67             : 
+      68             : namespace mrs_uav_trackers
+      69             : {
+      70             : 
+      71             : namespace mpc_tracker
+      72             : {
+      73             : 
+      74             : /* //{ class MpcTracker */
+      75             : 
+      76             : class MpcTracker : public mrs_uav_managers::Tracker {
+      77             : public:
+      78             :   bool initialize(const ros::NodeHandle& nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      79             :                   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
+      80             : 
+      81             :   std::tuple<bool, std::string> activate(const std::optional<mrs_msgs::TrackerCommand>& last_tracker_cmd);
+      82             :   void                          deactivate(void);
+      83             :   bool                          resetStatic(void);
+      84             : 
+      85             :   std::optional<mrs_msgs::TrackerCommand>   update(const mrs_msgs::UavState& uav_state, const mrs_uav_managers::Controller::ControlOutput& last_control_output);
+      86             :   const std_srvs::SetBoolResponse::ConstPtr enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr& cmd);
+      87             :   const mrs_msgs::TrackerStatus             getStatus();
+      88             :   const std_srvs::TriggerResponse::ConstPtr switchOdometrySource(const mrs_msgs::UavState& new_uav_state);
+      89             : 
+      90             :   const mrs_msgs::ReferenceSrvResponse::ConstPtr           setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr& cmd);
+      91             :   const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr   setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr& cmd);
+      92             :   const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr setTrajectoryReference(const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr& cmd);
+      93             : 
+      94             :   const std_srvs::TriggerResponse::ConstPtr hover(const std_srvs::TriggerRequest::ConstPtr& cmd);
+      95             :   const std_srvs::TriggerResponse::ConstPtr startTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr& cmd);
+      96             :   const std_srvs::TriggerResponse::ConstPtr stopTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr& cmd);
+      97             :   const std_srvs::TriggerResponse::ConstPtr resumeTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr& cmd);
+      98             :   const std_srvs::TriggerResponse::ConstPtr gotoTrajectoryStart(const std_srvs::TriggerRequest::ConstPtr& cmd);
+      99             : 
+     100             :   const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& cmd);
+     101             : 
+     102             : private:
+     103             :   ros::NodeHandle nh_;
+     104             : 
+     105             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>  common_handlers_;
+     106             :   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers_;
+     107             : 
+     108             :   std::atomic<bool> callbacks_enabled_ = true;
+     109             : 
+     110             :   std::string _uav_name_;
+     111             : 
+     112             :   // debugging publishers
+     113             :   mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics> pub_diagnostics_;
+     114             :   mrs_lib::PublisherHandler<std_msgs::String>                pub_status_string_;
+     115             : 
+     116             :   mrs_lib::PublisherHandler<geometry_msgs::PoseArray>        pub_debug_processed_trajectory_poses_;
+     117             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray> pub_debug_processed_trajectory_markers_;
+     118             : 
+     119             :   mrs_msgs::UavState uav_state_;
+     120             :   std::mutex         mutex_uav_state_;
+     121             : 
+     122             :   ros::Time time_last_update_;
+     123             : 
+     124             :   bool is_active_      = false;
+     125             :   bool is_initialized_ = false;
+     126             : 
+     127             :   // | ----------------------- constraints ---------------------- |
+     128             : 
+     129             :   mrs_msgs::DynamicsConstraints constraints_;
+     130             :   std::mutex                    mutex_constraints_;
+     131             : 
+     132             :   mrs_msgs::DynamicsConstraints constraints_filtered_;
+     133             :   std::mutex                    mutex_constraints_filtered_;
+     134             : 
+     135             :   std::atomic<bool> got_constraints_     = false;
+     136             :   std::atomic<bool> all_constraints_set_ = false;
+     137             : 
+     138             :   double _diag_pos_tracking_thr_;
+     139             :   double _diag_heading_tracking_thr_;
+     140             : 
+     141             :   double _mpc_synchronous_rate_limit_;
+     142             :   double _mpc_asynchronous_rate_;
+     143             : 
+     144             :   double update_rate_ = 100.0;
+     145             : 
+     146             :   double     dt1_;
+     147             :   std::mutex mutex_dt1_;
+     148             : 
+     149             :   double _dt2_;
+     150             : 
+     151             :   MatrixXd          _mat_A_;  // system matrix for virtual UAV
+     152             :   MatrixXd          _mat_B_;  // input matrix for virtual UAV
+     153             :   MatrixXd          A_;       // system matrix for virtual UAV
+     154             :   MatrixXd          B_;       // input matrix for virtual UAV
+     155             :   std::atomic<bool> model_first_iteration_ = true;
+     156             :   ros::Time         model_iteration_last_time_;
+     157             : 
+     158             :   MatrixXd _mat_A_heading_;  // system matrix for heading
+     159             :   MatrixXd _mat_B_heading_;  // input matrix for heading
+     160             :   MatrixXd A_heading_;       // system matrix for heading
+     161             :   MatrixXd B_heading_;       // input matrix for heading
+     162             : 
+     163             :   // the reference over the prediction horizon per axis
+     164             :   MatrixXd   des_x_trajectory_;
+     165             :   MatrixXd   des_y_trajectory_;
+     166             :   MatrixXd   des_z_trajectory_;
+     167             :   MatrixXd   des_heading_trajectory_;
+     168             :   std::mutex mutex_des_trajectory_;
+     169             : 
+     170             :   // the reference filtered over the prediction horizon per axis
+     171             :   MatrixXd des_z_filtered_offset_;
+     172             : 
+     173             :   // the whole trajectory reference split per axis
+     174             :   std::shared_ptr<VectorXd> des_x_whole_trajectory_;
+     175             :   std::shared_ptr<VectorXd> des_y_whole_trajectory_;
+     176             :   std::shared_ptr<VectorXd> des_z_whole_trajectory_;
+     177             :   std::shared_ptr<VectorXd> des_heading_whole_trajectory_;
+     178             :   int                       des_whole_trajectory_id_ = 0;
+     179             :   std::mutex                mutex_des_whole_trajectory_;
+     180             : 
+     181             :   int  getCurrentTrajectoryIdx();
+     182             :   void increaseCurrentTrajectoryTime(const double dt);
+     183             : 
+     184             :   // trajectory tracking
+     185             :   std::atomic<bool> trajectory_tracking_in_progress_ = false;
+     186             :   double            trajectory_current_time_;
+     187             :   std::mutex        mutex_trajectory_tracking_states_;
+     188             : 
+     189             :   // params of the loaded trajectory
+     190             :   int    trajectory_size_          = 0;
+     191             :   double trajectory_dt_            = 0.2;
+     192             :   bool   trajectory_track_heading_ = false;
+     193             :   bool   trajectory_tracking_loop_ = false;
+     194             :   bool   trajectory_set_           = false;
+     195             :   int    trajectory_count_         = 0;  // counts how many trajectories we have received
+     196             : 
+     197             :   // mpc output
+     198             :   VectorXd   mpc_u_;
+     199             :   double     mpc_u_heading_;
+     200             :   std::mutex mutex_mpc_u_;
+     201             : 
+     202             :   // current state of the dynamical system
+     203             :   MatrixXd   mpc_x_;          // translation state
+     204             :   MatrixXd   mpc_x_heading_;  // heading state
+     205             :   std::mutex mutex_mpc_x_;
+     206             : 
+     207             :   // odometry reset
+     208             :   std::atomic<bool> odometry_reset_in_progress_ = false;
+     209             :   std::atomic<bool> mpc_result_invalid_         = false;
+     210             : 
+     211             :   // predicting the future
+     212             :   MatrixXd   predicted_trajectory_;
+     213             :   MatrixXd   predicted_heading_trajectory_;
+     214             :   std::mutex mutex_predicted_trajectory_;
+     215             : 
+     216             :   mrs_msgs::MpcPredictionFullState prediction_full_state_;
+     217             :   std::mutex                       mutex_prediction_full_state_;
+     218             : 
+     219             :   mrs_lib::PublisherHandler<geometry_msgs::PoseArray>   ph_predicted_trajectory_debugging_;
+     220             :   mrs_lib::PublisherHandler<geometry_msgs::PoseArray>   ph_mpc_reference_debugging_;
+     221             :   mrs_lib::PublisherHandler<geometry_msgs::PoseStamped> ph_current_trajectory_point_;
+     222             :   mrs_lib::PublisherHandler<geometry_msgs::PoseStamped> ph_first_reference_point_;
+     223             : 
+     224             :   std::atomic<bool> mpc_computed_ = false;
+     225             : 
+     226             :   bool brake_ = false;
+     227             : 
+     228             :   // | ----------------------- MPC solver ----------------------- |
+     229             : 
+     230             :   std::shared_ptr<mrs_mpc_solvers::mpc_tracker::Solver> mpc_solver_y_;
+     231             :   std::shared_ptr<mrs_mpc_solvers::mpc_tracker::Solver> mpc_solver_x_;
+     232             :   std::shared_ptr<mrs_mpc_solvers::mpc_tracker::Solver> mpc_solver_z_;
+     233             :   std::shared_ptr<mrs_mpc_solvers::mpc_tracker::Solver> mpc_solver_heading_;
+     234             : 
+     235             :   std::mutex mutex_mpc_calculation_;
+     236             : 
+     237             :   int _max_iters_xy_;
+     238             :   int _max_iters_z_;
+     239             :   int _max_iters_heading_;
+     240             : 
+     241             :   // | ----------- measuring the "MPC realtime factor" ---------- |
+     242             : 
+     243             :   double mpc_rtf_ = 0.0;
+     244             : 
+     245             :   // | ------------------- collision avoidance ------------------ |
+     246             : 
+     247             :   // configurable params
+     248             :   bool collision_avoidance_enabled_           = false;
+     249             :   bool collision_avoidance_enabled_passively_ = true;
+     250             : 
+     251             :   // TODO what is this?
+     252             :   double    coef_scaler = 0;
+     253             :   ros::Time coef_time;
+     254             : 
+     255             :   double minimum_collison_free_altitude_ = std::numeric_limits<double>::lowest();
+     256             : 
+     257             :   // params
+     258             :   double                   _avoidance_trajectory_rate_;
+     259             :   double                   _avoidance_radius_threshold_;
+     260             :   double                   _avoidance_z_correction_;
+     261             :   std::string              _avoidance_diagnostics_topic_name_;
+     262             :   std::vector<std::string> _avoidance_other_uav_names_;
+     263             :   double                   _avoidance_z_threshold_;
+     264             : 
+     265             :   // how old can the other UAV trajectory be (since receive time)
+     266             :   double _collision_trajectory_timeout_;
+     267             : 
+     268             :   // when collision detected, slow down during the manouver
+     269             :   double _avoidance_collision_horizontal_speed_coef_;
+     270             : 
+     271             :   // when collision detected, slow down fully this number of steps before it
+     272             :   int _avoidance_collision_slow_down_fully_;
+     273             : 
+     274             :   // when collision detected, start slowing down this number of steps before it
+     275             :   int _avoidance_collision_slow_down_;
+     276             : 
+     277             :   // when avoiding, start climbing this number of steps before it
+     278             :   int _avoidance_collision_start_climbing_;
+     279             : 
+     280             :   int avoidance_this_uav_number_;
+     281             :   int avoidance_this_uav_priority_;
+     282             : 
+     283             :   double            collision_free_altitude_;
+     284             :   std::atomic<bool> avoiding_collision_               = false;
+     285             :   bool              collision_avoidance_affecting_me_ = false;
+     286             : 
+     287             :   // avoidance trajectory will not be published unless we computed it at least once
+     288             :   std::atomic<bool> future_was_predicted_ = false;
+     289             : 
+     290             :   // subscribing to the other UAV future trajectories
+     291             :   void callbackOtherMavTrajectory(const mrs_msgs::FutureTrajectory::ConstPtr msg);
+     292             : 
+     293             :   std::vector<mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory>> other_uav_trajectory_subscribers_;
+     294             :   std::map<std::string, mrs_msgs::FutureTrajectory>                  other_uav_avoidance_trajectories_;
+     295             :   std::mutex                                                         mutex_other_uav_avoidance_trajectories_;
+     296             : 
+     297             :   // subscribing to the other UAV diagnostics'
+     298             :   void callbackOtherMavDiagnostics(const mrs_msgs::MpcTrackerDiagnostics::ConstPtr msg);
+     299             : 
+     300             :   std::vector<mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics>> other_uav_diag_subscribers_;
+     301             :   std::map<std::string, mrs_msgs::MpcTrackerDiagnostics>                  other_uav_diagnostics_;
+     302             :   std::mutex                                                              mutex_other_uav_diagnostics_;
+     303             : 
+     304             :   bool checkCollision(const double ax, const double ay, const double az, const double bx, const double by, const double bz);
+     305             :   bool checkCollisionInflated(const double ax, const double ay, const double az, const double bx, const double by, const double bz);
+     306             : 
+     307             :   mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory> ph_avoidance_trajectory_;
+     308             : 
+     309             :   ros::ServiceServer service_server_toggle_avoidance_;
+     310             :   bool               callbackToggleCollisionAvoidance(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     311             : 
+     312             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics> sh_estimation_diag_;
+     313             : 
+     314             :   // | --------------------- MPC calculation -------------------- |
+     315             : 
+     316             :   ros::Timer        timer_mpc_iteration_;
+     317             :   std::atomic<bool> mpc_synchronous_ = false;
+     318             :   ros::TimerEvent   synchronous_timer_event_;
+     319             : 
+     320             :   std::atomic<bool> mpc_timer_running_ = false;
+     321             :   void              timerMPC(const ros::TimerEvent& event);
+     322             : 
+     323             :   // | -------------------- velocity tracking ------------------- |
+     324             : 
+     325             :   ros::Timer                  timer_velocity_tracking_;
+     326             :   void                        timerVelocityTracking(const ros::TimerEvent& event);
+     327             :   ros::Time                   velocity_reference_time_;
+     328             :   mrs_msgs::VelocityReference velocity_reference_;
+     329             :   std::mutex                  mutex_velocity_reference_;
+     330             :   std::atomic<bool>           velocity_tracking_active_ = false;
+     331             : 
+     332             :   // | ------------------ avoidance trajectory ------------------ |
+     333             : 
+     334             :   ros::Timer timer_avoidance_trajectory_;
+     335             :   void       timerAvoidanceTrajectory(const ros::TimerEvent& event);
+     336             : 
+     337             :   // | ----------------------- diagnostics ---------------------- |
+     338             : 
+     339             :   ros::Timer timer_diagnostics_;
+     340             :   double     _diagnostics_rate_;
+     341             :   void       timerDiagnostics(const ros::TimerEvent& event);
+     342             : 
+     343             :   // | ------------------------ hovering ------------------------ |
+     344             : 
+     345             :   ros::Timer        timer_hover_;
+     346             :   void              timerHover(const ros::TimerEvent& event);
+     347             :   std::atomic<bool> hovering_in_progress_ = false;
+     348             :   void              toggleHover(bool in);
+     349             : 
+     350             :   // | ------------------- trajectory tracking ------------------ |
+     351             : 
+     352             :   std::tuple<bool, std::string> resumeTrajectoryTrackingImpl(void);
+     353             :   std::tuple<bool, std::string> startTrajectoryTrackingImpl(void);
+     354             :   std::tuple<bool, std::string> stopTrajectoryTrackingImpl(void);
+     355             :   std::tuple<bool, std::string> gotoTrajectoryStartImpl(void);
+     356             : 
+     357             :   // | --------------------- other routines --------------------- |
+     358             : 
+     359             :   void publishDiagnostics();
+     360             : 
+     361             :   void debugPrintState(const double throttle);
+     362             :   void debugPrintMPCResult(const double throttle);
+     363             : 
+     364             :   void setGoal(const double pos_x, const double pos_y, const double pos_z, const double heading, const bool use_heading);
+     365             :   void setRelativeGoal(const double pos_x, const double pos_y, const double pos_z, const double heading, const bool use_heading);
+     366             :   void setSinglePointReference(const double x, const double y, const double z, const double heading);
+     367             : 
+     368             :   std::tuple<bool, std::string, bool> loadTrajectory(const mrs_msgs::TrajectoryReference msg);
+     369             : 
+     370             :   MatrixXd                       filterReferenceZ(const VectorXd& des_z_trajectory, const double max_ascending_speed, const double max_descending_speed);
+     371             :   std::tuple<MatrixXd, MatrixXd> filterReferenceXY(const VectorXd& des_x_trajectory, const VectorXd& des_y_trajectory, double max_speed_x, double max_speed_y);
+     372             : 
+     373             :   double checkTrajectoryForCollisions(int& first_collision_index);
+     374             : 
+     375             :   void manageConstraints(void);
+     376             :   void calculateMPC(void);
+     377             :   void iterateModel(const double& dt);
+     378             : 
+     379             :   // | ------------------------ profiler ------------------------ |
+     380             : 
+     381             :   mrs_lib::Profiler profiler;
+     382             :   bool              _profiler_enabled_ = false;
+     383             : 
+     384             :   // | ------------------------- wiggle ------------------------- |
+     385             : 
+     386             :   ros::ServiceServer service_server_wiggle_;
+     387             :   bool               callbackWiggle(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     388             : 
+     389             :   double wiggle_phase_ = 0;
+     390             : 
+     391             :   // | --------------- dynamic reconfigure server --------------- |
+     392             : 
+     393             :   void dynamicReconfigureCallback(mrs_uav_trackers::mpc_trackerConfig& config, uint32_t level);
+     394             : 
+     395             :   boost::recursive_mutex                      config_mutex_;
+     396             :   typedef mrs_uav_trackers::mpc_trackerConfig Config;
+     397             :   typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
+     398             :   boost::shared_ptr<ReconfigureServer>        reconfigure_server_;
+     399             :   mrs_uav_trackers::mpc_trackerConfig         drs_params_;
+     400             :   std::mutex                                  mutex_drs_params_;
+     401             : };
+     402             : 
+     403             : //}
+     404             : 
+     405             : // | -------------- tracker's interface routines -------------- |
+     406             : 
+     407             : /* //{ initialize() */
+     408             : 
+     409         108 : bool MpcTracker::initialize(const ros::NodeHandle& nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+     410             :                             std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers) {
+     411             : 
+     412         108 :   nh_ = nh;
+     413             : 
+     414         108 :   common_handlers_  = common_handlers;
+     415         108 :   private_handlers_ = private_handlers;
+     416             : 
+     417         108 :   _uav_name_ = common_handlers->uav_name;
+     418             : 
+     419         108 :   ros::Time::waitForValid();
+     420             : 
+     421         108 :   time_last_update_ = ros::Time(0);
+     422             : 
+     423             :   // --------------------------------------------------------------
+     424             :   // |                     loading parameters                     |
+     425             :   // --------------------------------------------------------------
+     426             : 
+     427             :   // | ---------- loading params using the parent's nh ---------- |
+     428             : 
+     429         216 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     430             : 
+     431         108 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     432             : 
+     433         108 :   if (!param_loader_parent.loadedSuccessfully()) {
+     434           0 :     ROS_ERROR("[MpcTracker]: Could not load all parameters!");
+     435           0 :     return false;
+     436             :   }
+     437             : 
+     438             :   // | --------------- loading plugin's parameters -------------- |
+     439             : 
+     440         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/mpc_tracker.yaml");
+     441         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/mpc_tracker.yaml");
+     442             : 
+     443         216 :   const std::string yaml_prefix = "mrs_uav_trackers/mpc_tracker/";
+     444             : 
+     445         108 :   private_handlers->param_loader->loadParam("network/robot_names", _avoidance_other_uav_names_);
+     446             : 
+     447         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_loop/synchronous_rate_limit", _mpc_synchronous_rate_limit_);
+     448         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_loop/asynchronous_loop_rate", _mpc_asynchronous_rate_);
+     449             : 
+     450         108 :   if (_mpc_asynchronous_rate_ < 15) {
+     451           0 :     ROS_ERROR("[MpcTracker]: the asynchronous_loop_rate must be > 15 Hz");
+     452           0 :     return false;
+     453             :   }
+     454             : 
+     455         108 :   dt1_ = 1.0 / _mpc_asynchronous_rate_;
+     456             : 
+     457         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "braking/enabled", drs_params_.braking_enabled);
+     458         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "braking/q_vel_braking", drs_params_.q_vel_braking);
+     459         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "braking/q_vel_no_braking", drs_params_.q_vel_no_braking);
+     460             : 
+     461         108 :   private_handlers->param_loader->loadMatrixKnown(yaml_prefix + "model/translation/A", _mat_A_, MPC_N_STATES, MPC_N_STATES);
+     462         108 :   private_handlers->param_loader->loadMatrixKnown(yaml_prefix + "model/translation/B", _mat_B_, MPC_N_STATES, MPC_N_INPUTS);
+     463             : 
+     464         108 :   A_ = _mat_A_;
+     465         108 :   B_ = _mat_B_;
+     466             : 
+     467         108 :   private_handlers->param_loader->loadMatrixKnown(yaml_prefix + "model/heading/A", _mat_A_heading_, MPC_HEADING_N_STATES, MPC_HEADING_N_STATES);
+     468         108 :   private_handlers->param_loader->loadMatrixKnown(yaml_prefix + "model/heading/B", _mat_B_heading_, MPC_HEADING_N_STATES, MPC_HEADING_N_INPUTS);
+     469             : 
+     470         108 :   A_heading_ = _mat_A_heading_;
+     471         108 :   B_heading_ = _mat_B_heading_;
+     472             : 
+     473             :   // load the MPC parameters
+     474         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/dt2", _dt2_);
+     475             : 
+     476         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "diagnostics/rate", _diagnostics_rate_);
+     477         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "diagnostics/position_tracking_threshold", _diag_pos_tracking_thr_);
+     478         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "diagnostics/orientation_tracking_threshold", _diag_heading_tracking_thr_);
+     479             : 
+     480         108 :   bool verbose_xy      = false;
+     481         108 :   bool verbose_z       = false;
+     482         108 :   bool verbose_heading = false;
+     483             : 
+     484         216 :   std::vector<double> xy_Q;
+     485         216 :   std::vector<double> z_Q;
+     486         216 :   std::vector<double> heading_Q;
+     487             : 
+     488         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/xy/verbose", verbose_xy);
+     489         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/xy/max_n_iterations", _max_iters_xy_);
+     490         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/xy/Q", xy_Q);
+     491             : 
+     492         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/z/verbose", verbose_z);
+     493         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/z/max_n_iterations", _max_iters_z_);
+     494         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/z/Q", z_Q);
+     495             : 
+     496         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/heading/verbose", verbose_heading);
+     497         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/heading/max_n_iterations", _max_iters_heading_);
+     498         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/heading/Q", heading_Q);
+     499             : 
+     500         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "wiggle/enabled", drs_params_.wiggle_enabled);
+     501         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "wiggle/amplitude", drs_params_.wiggle_amplitude);
+     502         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "wiggle/frequency", drs_params_.wiggle_frequency);
+     503             : 
+     504         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/enabled", collision_avoidance_enabled_);
+     505         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/enabled_passively", collision_avoidance_enabled_passively_);
+     506         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/predicted_trajectory_publish_rate", _avoidance_trajectory_rate_);
+     507         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/correction", _avoidance_z_correction_);
+     508         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/radius", _avoidance_radius_threshold_);
+     509         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/altitude_threshold", _avoidance_z_threshold_);
+     510         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_horizontal_speed_coef", _avoidance_collision_horizontal_speed_coef_);
+     511         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_slow_down_fully", _avoidance_collision_slow_down_fully_);
+     512         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_slow_down_start", _avoidance_collision_slow_down_);
+     513         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_start_climbing", _avoidance_collision_start_climbing_);
+     514         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/trajectory_timeout", _collision_trajectory_timeout_);
+     515             : 
+     516         108 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     517           0 :     ROS_ERROR("[MpcTracker]: could not load all parameters!");
+     518           0 :     return false;
+     519             :   }
+     520             : 
+     521         108 :   ROS_INFO_STREAM("[MpcTracker]: initializing solvers with dt1 = " << dt1_);
+     522             : 
+     523         108 :   mpc_solver_y_ = std::make_shared<mrs_mpc_solvers::mpc_tracker::Solver>("MpcTracker_y", verbose_xy, _max_iters_xy_, xy_Q, dt1_, _dt2_, 1);
+     524         108 :   mpc_solver_x_ = std::make_shared<mrs_mpc_solvers::mpc_tracker::Solver>("MpcTracker_x", verbose_xy, _max_iters_xy_, xy_Q, dt1_, _dt2_, 0);
+     525         108 :   mpc_solver_z_ = std::make_shared<mrs_mpc_solvers::mpc_tracker::Solver>("MpcTracker_z", verbose_z, _max_iters_z_, z_Q, dt1_, _dt2_, 2);
+     526             :   mpc_solver_heading_ =
+     527         108 :       std::make_shared<mrs_mpc_solvers::mpc_tracker::Solver>("MpcTracker_hdg", verbose_heading, _max_iters_heading_, heading_Q, dt1_, _dt2_, 0);
+     528             : 
+     529         108 :   mpc_x_         = MatrixXd::Zero(MPC_N_STATES, 1);
+     530         108 :   mpc_x_heading_ = MatrixXd::Zero(MPC_HEADING_N_STATES, 1);
+     531             : 
+     532         108 :   mpc_u_ = VectorXd::Zero(MPC_N_INPUTS);
+     533             : 
+     534         108 :   coef_time = ros::Time(0);
+     535             : 
+     536         108 :   des_x_trajectory_       = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+     537         108 :   des_y_trajectory_       = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+     538         108 :   des_z_trajectory_       = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+     539         108 :   des_z_filtered_offset_  = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+     540         108 :   des_heading_trajectory_ = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+     541             : 
+     542         108 :   service_server_wiggle_ = nh_.advertiseService("wiggle", &MpcTracker::callbackWiggle, this);
+     543             : 
+     544         108 :   pub_diagnostics_   = mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics>(nh_, "diagnostics", 1);
+     545         108 :   pub_status_string_ = mrs_lib::PublisherHandler<std_msgs::String>(nh_, "string", 1);
+     546             : 
+     547             :   // extract the numerical name
+     548         108 :   sscanf(_uav_name_.c_str(), "uav%d", &avoidance_this_uav_number_);
+     549         108 :   ROS_INFO("[MpcTracker]: Numerical ID of this UAV is %d", avoidance_this_uav_number_);
+     550         108 :   avoidance_this_uav_priority_ = avoidance_this_uav_number_;
+     551             : 
+     552             :   // exclude this drone from the list
+     553         108 :   std::vector<std::string>::iterator it = _avoidance_other_uav_names_.begin();
+     554         226 :   while (it != _avoidance_other_uav_names_.end()) {
+     555             : 
+     556         118 :     std::string temp_str = *it;
+     557             : 
+     558             :     int other_uav_priority;
+     559         118 :     sscanf(temp_str.c_str(), "uav%d", &other_uav_priority);
+     560             : 
+     561         118 :     if (other_uav_priority == avoidance_this_uav_number_) {
+     562             : 
+     563         108 :       _avoidance_other_uav_names_.erase(it);
+     564         108 :       continue;
+     565             :     }
+     566             : 
+     567          10 :     it++;
+     568             :   }
+     569             : 
+     570             :   // initialize velocity tracker
+     571             : 
+     572         108 :   velocity_reference_time_ = ros::Time(0);
+     573             : 
+     574             :   // create publishers for predicted trajectory
+     575             : 
+     576         108 :   ph_avoidance_trajectory_           = mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory>(nh_, "predicted_trajectory", 1);
+     577         108 :   ph_predicted_trajectory_debugging_ = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "predicted_trajectory_debugging", 1);
+     578         108 :   ph_mpc_reference_debugging_        = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "mpc_reference_debugging", 1, true);
+     579         108 :   ph_current_trajectory_point_       = mrs_lib::PublisherHandler<geometry_msgs::PoseStamped>(nh_, "current_trajectory_point", 1, true);
+     580         108 :   ph_first_reference_point_          = mrs_lib::PublisherHandler<geometry_msgs::PoseStamped>(nh_, "first_reference_point", 1, true);
+     581             : 
+     582         108 :   pub_debug_processed_trajectory_poses_   = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "trajectory_processed/poses", 1, true);
+     583         108 :   pub_debug_processed_trajectory_markers_ = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "trajectory_processed/markers", 1, true);
+     584             : 
+     585             :   // preallocate predicted trajectory
+     586         108 :   predicted_trajectory_         = MatrixXd::Zero(MPC_HORIZON_LENGTH * MPC_N_STATES, 1);
+     587         108 :   predicted_heading_trajectory_ = MatrixXd::Zero(MPC_HORIZON_LENGTH * MPC_N_STATES, 1);
+     588             : 
+     589         108 :   collision_free_altitude_ = std::numeric_limits<float>::lowest();
+     590             : 
+     591             :   // collision avoidance toggle service
+     592         108 :   service_server_toggle_avoidance_ = nh_.advertiseService("collision_avoidance", &MpcTracker::callbackToggleCollisionAvoidance, this);
+     593             : 
+     594         216 :   mrs_lib::SubscribeHandlerOptions shopts;
+     595         108 :   shopts.nh                 = nh_;
+     596         108 :   shopts.node_name          = "MpcTracker";
+     597         108 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     598         108 :   shopts.threadsafe         = true;
+     599         108 :   shopts.autostart          = true;
+     600         108 :   shopts.queue_size         = 10;
+     601         108 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     602             : 
+     603             :   // create subscribers on other drones diagnostics
+     604         108 :   if (collision_avoidance_enabled_ || collision_avoidance_enabled_passively_) {
+     605             : 
+     606         118 :     for (int i = 0; i < int(_avoidance_other_uav_names_.size()); i++) {
+     607             : 
+     608          30 :       std::string prediction_topic_name = std::string("/") + _avoidance_other_uav_names_.at(i) + "/control_manager/mpc_tracker/predicted_trajectory";
+     609          20 :       std::string diag_topic_name       = std::string("/") + _avoidance_other_uav_names_.at(i) + "/control_manager/mpc_tracker/diagnostics";
+     610             : 
+     611          10 :       ROS_INFO("[MpcTracker]: subscribing to %s", prediction_topic_name.c_str());
+     612             : 
+     613          10 :       other_uav_trajectory_subscribers_.push_back(
+     614          20 :           mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory>(shopts, prediction_topic_name, &MpcTracker::callbackOtherMavTrajectory, this));
+     615             : 
+     616          10 :       ROS_INFO("[MpcTracker]: subscribing to %s", diag_topic_name.c_str());
+     617             : 
+     618          10 :       other_uav_diag_subscribers_.push_back(
+     619          20 :           mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics>(shopts, diag_topic_name, &MpcTracker::callbackOtherMavDiagnostics, this));
+     620             :     }
+     621             :   }
+     622             : 
+     623         108 :   sh_estimation_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, std::string("/") + _uav_name_ + "/estimation_manager/diagnostics");
+     624             : 
+     625             :   // | --------------- dynamic reconfigure server --------------- |
+     626             : 
+     627         108 :   reconfigure_server_.reset(new ReconfigureServer(config_mutex_, nh_));
+     628         108 :   reconfigure_server_->updateConfig(drs_params_);
+     629         108 :   ReconfigureServer::CallbackType f = boost::bind(&MpcTracker::dynamicReconfigureCallback, this, _1, _2);
+     630         108 :   reconfigure_server_->setCallback(f);
+     631             : 
+     632             :   // | ------------------------ profiler ------------------------ |
+     633             : 
+     634         108 :   profiler = mrs_lib::Profiler(common_handlers->parent_nh, "MpcTracker", _profiler_enabled_);
+     635             : 
+     636             :   // | ------------------------- timers ------------------------- |
+     637             : 
+     638         216 :   timer_avoidance_trajectory_ = nh_.createTimer(ros::Rate(_avoidance_trajectory_rate_), &MpcTracker::timerAvoidanceTrajectory, this, false,
+     639         216 :                                                 collision_avoidance_enabled_ || collision_avoidance_enabled_passively_);
+     640         108 :   timer_diagnostics_          = nh_.createTimer(ros::Rate(_diagnostics_rate_), &MpcTracker::timerDiagnostics, this);
+     641         108 :   timer_mpc_iteration_        = nh_.createTimer(ros::Rate(_mpc_asynchronous_rate_), &MpcTracker::timerMPC, this, false, false);
+     642         108 :   timer_velocity_tracking_    = nh_.createTimer(ros::Rate(30.0), &MpcTracker::timerVelocityTracking, this, false, false);
+     643         108 :   timer_hover_                = nh_.createTimer(ros::Rate(10.0), &MpcTracker::timerHover, this, false, false);
+     644             : 
+     645             :   // | ----------------------- finish init ---------------------- |
+     646             : 
+     647         108 :   is_initialized_ = true;
+     648             : 
+     649         108 :   ROS_INFO("[MpcTracker]: initialized");
+     650             : 
+     651         108 :   return true;
+     652             : }
+     653             : 
+     654             : //}
+     655             : 
+     656             : /* //{ activate() */
+     657             : 
+     658          99 : std::tuple<bool, std::string> MpcTracker::activate(const std::optional<mrs_msgs::TrackerCommand>& last_tracker_cmd) {
+     659             : 
+     660         198 :   std::stringstream ss;
+     661             : 
+     662          99 :   if (!got_constraints_) {
+     663             : 
+     664           0 :     ss << "can not activate, missing constraints";
+     665           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+     666             : 
+     667           0 :     return std::tuple(false, ss.str());
+     668             :   }
+     669             : 
+     670         198 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     671             : 
+     672             :   double uav_state_heading;
+     673             : 
+     674             :   try {
+     675          99 :     uav_state_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     676             :   }
+     677           0 :   catch (...) {
+     678           0 :     ss << "could not calculate the UAV heading";
+     679           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+     680           0 :     return std::tuple(false, ss.str());
+     681             :   }
+     682             : 
+     683         198 :   MatrixXd mpc_x         = MatrixXd::Zero(MPC_N_STATES, 1);
+     684          99 :   MatrixXd mpc_x_heading = MatrixXd::Zero(MPC_HEADING_N_STATES, 1);
+     685             : 
+     686          99 :   if (last_tracker_cmd) {
+     687             : 
+     688             :     // set the initial condition from the last tracker's cmd
+     689             : 
+     690          97 :     if (last_tracker_cmd->use_position_horizontal) {
+     691          97 :       mpc_x(0, 0) = last_tracker_cmd->position.x;
+     692          97 :       mpc_x(4, 0) = last_tracker_cmd->position.y;
+     693             :     } else {
+     694           0 :       mpc_x(0, 0) = uav_state.pose.position.x;
+     695           0 :       mpc_x(4, 0) = uav_state.pose.position.y;
+     696             :     }
+     697             : 
+     698          97 :     if (last_tracker_cmd->use_position_vertical) {
+     699          97 :       mpc_x(8, 0) = last_tracker_cmd->position.z;
+     700             :     } else {
+     701           0 :       mpc_x(8, 0) = uav_state.pose.position.z;
+     702             :     }
+     703             : 
+     704          97 :     if (last_tracker_cmd->use_velocity_horizontal) {
+     705          97 :       mpc_x(1, 0) = last_tracker_cmd->velocity.x;
+     706          97 :       mpc_x(5, 0) = last_tracker_cmd->velocity.y;
+     707             :     } else {
+     708           0 :       mpc_x(1, 0) = uav_state.velocity.linear.x;
+     709           0 :       mpc_x(5, 0) = uav_state.velocity.linear.y;
+     710             :     }
+     711             : 
+     712          97 :     if (last_tracker_cmd->use_velocity_vertical) {
+     713          97 :       mpc_x(9, 0) = last_tracker_cmd->velocity.z;
+     714             :     } else {
+     715           0 :       mpc_x(9, 0) = uav_state.velocity.linear.z;
+     716             :     }
+     717             : 
+     718          97 :     if (last_tracker_cmd->use_acceleration) {
+     719           0 :       mpc_x(2, 0)  = last_tracker_cmd->acceleration.x;
+     720           0 :       mpc_x(6, 0)  = last_tracker_cmd->acceleration.y;
+     721           0 :       mpc_x(10, 0) = last_tracker_cmd->acceleration.z;
+     722             :     } else {
+     723          97 :       mpc_x(2, 0)  = 0;
+     724          97 :       mpc_x(6, 0)  = 0;
+     725          97 :       mpc_x(10, 0) = 0;
+     726             :     }
+     727             : 
+     728             :     // the jerks
+     729          97 :     mpc_x(3, 0)  = 0;
+     730          97 :     mpc_x(7, 0)  = 0;
+     731          97 :     mpc_x(11, 0) = 0;
+     732             : 
+     733          97 :     if (last_tracker_cmd->use_heading) {
+     734          97 :       mpc_x_heading(0, 0) = last_tracker_cmd->heading;
+     735           0 :     } else if (last_tracker_cmd->use_orientation) {
+     736             :       try {
+     737           0 :         mpc_x_heading(0, 0) = mrs_lib::AttitudeConverter(last_tracker_cmd->orientation).getHeading();
+     738             :       }
+     739           0 :       catch (...) {
+     740           0 :         mpc_x_heading(0, 0) = uav_state_heading;
+     741             :       }
+     742             :     } else {
+     743           0 :       mpc_x_heading(0, 0) = uav_state_heading;
+     744             :     }
+     745             : 
+     746          97 :     if (last_tracker_cmd->use_heading_rate) {
+     747          20 :       mpc_x_heading(1, 0) = last_tracker_cmd->heading_rate;
+     748             :     } else {
+     749          77 :       mpc_x_heading(1, 0) = uav_state.velocity.angular.z;
+     750             :     }
+     751             : 
+     752          97 :     mpc_x_heading(2, 0) = 0;
+     753          97 :     mpc_x_heading(3, 0) = 0;
+     754             : 
+     755          97 :     ROS_INFO("[MpcTracker]: activated with last tracker's command");
+     756             : 
+     757             :   } else {
+     758             : 
+     759             :     // set the initial condition completely from the uav_state
+     760             : 
+     761           2 :     mpc_x(0, 0) = uav_state.pose.position.x;
+     762           2 :     mpc_x(1, 0) = uav_state.velocity.linear.x;
+     763           2 :     mpc_x(2, 0) = 0;
+     764           2 :     mpc_x(3, 0) = 0;
+     765             : 
+     766           2 :     mpc_x(4, 0) = uav_state.pose.position.y;
+     767           2 :     mpc_x(5, 0) = uav_state.velocity.linear.y;
+     768           2 :     mpc_x(6, 0) = 0;
+     769           2 :     mpc_x(7, 0) = 0;
+     770             : 
+     771           2 :     mpc_x(8, 0)  = uav_state.pose.position.z;
+     772           2 :     mpc_x(9, 0)  = uav_state.velocity.linear.z;
+     773           2 :     mpc_x(10, 0) = 0;
+     774           2 :     mpc_x(11, 0) = 0;
+     775             : 
+     776           2 :     mpc_x_heading(0, 0) = uav_state_heading;
+     777           2 :     mpc_x_heading(1, 0) = uav_state.velocity.angular.z;
+     778           2 :     mpc_x_heading(2, 0) = 0;
+     779           2 :     mpc_x_heading(3, 0) = 0;
+     780             : 
+     781           2 :     ROS_INFO("[MpcTracker]: activated with uav state");
+     782             :   }
+     783             : 
+     784             :   {
+     785         198 :     std::scoped_lock lock(mutex_mpc_x_);
+     786             : 
+     787          99 :     mpc_x_         = mpc_x;
+     788          99 :     mpc_x_heading_ = mpc_x_heading;
+     789             :   }
+     790             : 
+     791          99 :   trajectory_tracking_in_progress_ = false;
+     792             : 
+     793          99 :   ss << "activated";
+     794          99 :   ROS_INFO_STREAM("[MpcTracker]: " << ss.str());
+     795             : 
+     796             :   // this is here to initialize the desired_trajectory vector
+     797             :   // if deleted (and I tried) the UAV will briefly fly to the
+     798             :   // origin after activation
+     799          99 :   setRelativeGoal(0, 0, 0, 0, false);  // do not delete
+     800             : 
+     801          99 :   toggleHover(true);
+     802             : 
+     803          99 :   model_first_iteration_ = true;
+     804             : 
+     805          99 :   A_ = _mat_A_;
+     806          99 :   B_ = _mat_B_;
+     807             : 
+     808          99 :   A_heading_ = _mat_A_heading_;
+     809          99 :   B_heading_ = _mat_B_heading_;
+     810             : 
+     811          99 :   is_active_ = true;
+     812             : 
+     813          99 :   if (!mpc_synchronous_) {
+     814          90 :     timer_mpc_iteration_.start();
+     815             :   }
+     816             : 
+     817          99 :   return std::tuple(true, ss.str());
+     818             : }
+     819             : 
+     820             : //}
+     821             : 
+     822             : /* //{ deactivate() */
+     823             : 
+     824          40 : void MpcTracker::deactivate(void) {
+     825             : 
+     826          40 :   toggleHover(false);
+     827             : 
+     828          40 :   is_active_                       = false;
+     829          40 :   trajectory_tracking_in_progress_ = false;
+     830          40 :   model_first_iteration_           = true;
+     831             : 
+     832          40 :   time_last_update_ = ros::Time(0);
+     833             : 
+     834             :   {
+     835          40 :     std::scoped_lock lock(mutex_trajectory_tracking_states_);
+     836             : 
+     837          40 :     trajectory_current_time_ = 0;
+     838             :   }
+     839             : 
+     840          40 :   ROS_INFO("[MpcTracker]: deactivated");
+     841             : 
+     842          40 :   timer_mpc_iteration_.stop();
+     843             : 
+     844          40 :   publishDiagnostics();
+     845          40 : }
+     846             : 
+     847             : //}
+     848             : 
+     849             : /* //{ resetStatic() */
+     850             : 
+     851           0 : bool MpcTracker::resetStatic(void) {
+     852             : 
+     853           0 :   if (!is_initialized_) {
+     854           0 :     ROS_ERROR("[MpcTracker]: can not reset, not initialized");
+     855           0 :     return false;
+     856             :   }
+     857             : 
+     858           0 :   if (!is_active_) {
+     859           0 :     ROS_ERROR("[MpcTracker]: can not reset, not active");
+     860           0 :     return false;
+     861             :   }
+     862             : 
+     863           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     864             : 
+     865             :   double uav_state_heading;
+     866             : 
+     867             :   try {
+     868           0 :     uav_state_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     869             :   }
+     870           0 :   catch (...) {
+     871           0 :     ROS_ERROR_THROTTLE(1.0, "[MpcTracker]: could not calculate the UAV heading");
+     872           0 :     return false;
+     873             :   }
+     874             : 
+     875             :   {
+     876           0 :     std::scoped_lock lock(mutex_mpc_x_);
+     877             : 
+     878             :     // set the initial condition from the odometry
+     879             : 
+     880           0 :     ROS_INFO("[MpcTracker]: reseting with uav state with no dynamics");
+     881             : 
+     882           0 :     mpc_x_(0, 0) = uav_state.pose.position.x;
+     883           0 :     mpc_x_(1, 0) = 0;
+     884           0 :     mpc_x_(2, 0) = 0;
+     885           0 :     mpc_x_(3, 0) = 0;
+     886             : 
+     887           0 :     mpc_x_(4, 0) = uav_state.pose.position.y;
+     888           0 :     mpc_x_(5, 0) = 0;
+     889           0 :     mpc_x_(6, 0) = 0;
+     890           0 :     mpc_x_(7, 0) = 0;
+     891             : 
+     892           0 :     mpc_x_(8, 0)  = uav_state.pose.position.z;
+     893           0 :     mpc_x_(9, 0)  = 0;
+     894           0 :     mpc_x_(10, 0) = 0;
+     895           0 :     mpc_x_(11, 0) = 0;
+     896             : 
+     897           0 :     mpc_x_heading_(0, 0) = uav_state_heading;
+     898           0 :     mpc_x_heading_(1, 0) = 0;
+     899           0 :     mpc_x_heading_(2, 0) = 0;
+     900           0 :     mpc_x_heading_(3, 0) = 0;
+     901             : 
+     902           0 :     trajectory_tracking_in_progress_ = false;
+     903             : 
+     904           0 :     ROS_INFO("[MpcTracker]: reseted");
+     905             :   }
+     906             : 
+     907             :   // this is here to initialize the desired_trajectory vector
+     908             :   // if deleted (and I tried) the UAV will briefly fly to the
+     909             :   // origin after activation
+     910           0 :   setRelativeGoal(0, 0, 0, 0, false);  // do not delete
+     911             : 
+     912           0 :   return true;
+     913             : }
+     914             : 
+     915             : //}
+     916             : 
+     917             : /* //{ update() */
+     918             : 
+     919      138752 : std::optional<mrs_msgs::TrackerCommand> MpcTracker::update(const mrs_msgs::UavState&                                           uav_state,
+     920             :                                                            [[maybe_unused]] const mrs_uav_managers::Controller::ControlOutput& last_control_output) {
+     921             : 
+     922      416256 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("update");
+     923      416256 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("MpcTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     924             : 
+     925      277504 :   auto old_uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     926             : 
+     927             :   // save the uav state
+     928      138752 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     929             : 
+     930             :   // the time from the last update call
+     931      138752 :   double dt = 0.01;
+     932             : 
+     933      138752 :   if (time_last_update_.isValid()) {
+     934      138752 :     dt = (ros::Time::now() - time_last_update_).toSec();
+     935             :   }
+     936             : 
+     937      138752 :   time_last_update_ = ros::Time::now();
+     938             : 
+     939      138752 :   if (dt > 0) {
+     940             : 
+     941      138565 :     double rate = 1.0 / dt;
+     942             : 
+     943      138565 :     update_rate_ = 0.9 * update_rate_ + 0.1 * rate;
+     944             : 
+     945      138565 :     if (mpc_synchronous_ && (update_rate_ > _mpc_synchronous_rate_limit_)) {
+     946           0 :       mpc_synchronous_ = false;
+     947           0 :       ROS_INFO("[MpcTracker]: detecting high update date (%.1f Hz > %.1f Hz), switching to asynchronous mode.", rate, _mpc_synchronous_rate_limit_);
+     948           0 :       if (is_active_) {
+     949           0 :         timer_mpc_iteration_.start();
+     950             :       }
+     951      138565 :     } else if (!mpc_synchronous_ && (update_rate_ <= _mpc_synchronous_rate_limit_)) {
+     952          14 :       mpc_synchronous_ = true;
+     953          14 :       ROS_INFO("[MpcTracker]: detecting low update rate (%.1f Hz < %.1f Hz), switching to synchronous mode.", rate, _mpc_synchronous_rate_limit_);
+     954          14 :       timer_mpc_iteration_.stop();
+     955             :     }
+     956             :   }
+     957             : 
+     958             :   // up to this part the update() method is evaluated even when the tracker is not active
+     959      138752 :   if (!is_active_) {
+     960       57393 :     return {};
+     961             :   }
+     962             : 
+     963      162718 :   mrs_msgs::TrackerCommand tracker_cmd;
+     964             : 
+     965       81359 :   if (!mpc_synchronous_ && (!mpc_computed_ || mpc_result_invalid_)) {
+     966             : 
+     967         121 :     ROS_WARN_THROTTLE(0.1, "[MpcTracker]: MPC not ready, returning current odom as the command");
+     968             : 
+     969             :     // set the header
+     970         121 :     tracker_cmd.header.stamp    = uav_state.header.stamp;
+     971         121 :     tracker_cmd.header.frame_id = uav_state.header.frame_id;
+     972             : 
+     973             :     // set positions from odom
+     974         121 :     tracker_cmd.position.x              = uav_state.pose.position.x;
+     975         121 :     tracker_cmd.position.y              = uav_state.pose.position.y;
+     976         121 :     tracker_cmd.position.z              = uav_state.pose.position.z;
+     977         121 :     tracker_cmd.use_position_vertical   = 1;
+     978         121 :     tracker_cmd.use_position_horizontal = 1;
+     979             : 
+     980             :     // set velocities from odom
+     981         121 :     tracker_cmd.velocity.x              = uav_state.velocity.linear.x;
+     982         121 :     tracker_cmd.velocity.y              = uav_state.velocity.linear.y;
+     983         121 :     tracker_cmd.velocity.z              = uav_state.velocity.linear.z;
+     984         121 :     tracker_cmd.use_velocity_vertical   = 1;
+     985         121 :     tracker_cmd.use_velocity_horizontal = 1;
+     986             : 
+     987             :     // set zero accelerations
+     988         121 :     tracker_cmd.acceleration.x   = 0;
+     989         121 :     tracker_cmd.acceleration.y   = 0;
+     990         121 :     tracker_cmd.acceleration.z   = 0;
+     991         121 :     tracker_cmd.use_acceleration = 1;
+     992             : 
+     993             :     try {
+     994         121 :       tracker_cmd.heading     = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     995         121 :       tracker_cmd.use_heading = 1;
+     996             :     }
+     997           0 :     catch (...) {
+     998           0 :       tracker_cmd.use_heading = 0;
+     999           0 :       ROS_WARN_THROTTLE(1.0, "[MpcTracker]: could not calculate the current UAV heading");
+    1000             :     }
+    1001             : 
+    1002             :     // set zero jerk
+    1003         121 :     tracker_cmd.jerk.x = 0;
+    1004         121 :     tracker_cmd.jerk.y = 0;
+    1005         121 :     tracker_cmd.jerk.z = 0;
+    1006             : 
+    1007             :     try {
+    1008         121 :       tracker_cmd.heading_rate     = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeadingRate(uav_state.velocity.angular);
+    1009         121 :       tracker_cmd.use_heading_rate = 1;
+    1010             :     }
+    1011           0 :     catch (...) {
+    1012           0 :       tracker_cmd.use_heading_rate = 0;
+    1013           0 :       ROS_WARN_THROTTLE(1.0, "[MpcTracker]: could not calculate the current UAV heading rate");
+    1014             :     }
+    1015             : 
+    1016         121 :     return {tracker_cmd};
+    1017             :   }
+    1018             : 
+    1019       81238 :   if (mpc_synchronous_) {
+    1020             : 
+    1021        4127 :     ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: running in SYNCHRONOUS mode");
+    1022             : 
+    1023        4127 :     if (synchronous_timer_event_.last_real.toSec() > 0) {
+    1024        4113 :       synchronous_timer_event_.last_real = synchronous_timer_event_.current_real;
+    1025             :     } else {
+    1026          14 :       synchronous_timer_event_.last_real = ros::Time::now();
+    1027             :     }
+    1028             : 
+    1029        4127 :     synchronous_timer_event_.current_real = ros::Time::now();
+    1030             : 
+    1031        4127 :     timerMPC(synchronous_timer_event_);
+    1032             : 
+    1033             :   } else {
+    1034       77111 :     ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: running in ASYNCHRONOUS mode");
+    1035             :   }
+    1036             : 
+    1037       81238 :   if (dt > 0) {
+    1038       81134 :     iterateModel(dt);
+    1039             :   } else {
+    1040         104 :     ROS_WARN_THROTTLE(1.0, "[MpcTracker]: dt !> 0, not iterating the model");
+    1041             :   }
+    1042             : 
+    1043      162476 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    1044      162476 :   auto prediction_full_state  = mrs_lib::get_mutexed(mutex_prediction_full_state_, prediction_full_state_);
+    1045             : 
+    1046             :   // check whether all outputs are finite
+    1047       81238 :   bool arefinite = true;
+    1048     1056094 :   for (int i = 0; i < 12; i++) {
+    1049      974856 :     if (!std::isfinite(mpc_x(i, 0))) {
+    1050           0 :       arefinite = false;
+    1051             :     }
+    1052             :   }
+    1053             : 
+    1054       81238 :   if (arefinite) {
+    1055             : 
+    1056             :     // set the desired states base on the result of the mpc
+    1057       81238 :     tracker_cmd.position.x     = mpc_x(0, 0);
+    1058       81238 :     tracker_cmd.velocity.x     = mpc_x(1, 0);
+    1059       81238 :     tracker_cmd.acceleration.x = mpc_x(2, 0);
+    1060       81238 :     tracker_cmd.jerk.x         = mpc_x(3, 0);
+    1061             : 
+    1062       81238 :     tracker_cmd.position.y     = mpc_x(4, 0);
+    1063       81238 :     tracker_cmd.velocity.y     = mpc_x(5, 0);
+    1064       81238 :     tracker_cmd.acceleration.y = mpc_x(6, 0);
+    1065       81238 :     tracker_cmd.jerk.y         = mpc_x(7, 0);
+    1066             : 
+    1067       81238 :     tracker_cmd.position.z     = mpc_x(8, 0);
+    1068       81238 :     tracker_cmd.velocity.z     = mpc_x(9, 0);
+    1069       81238 :     tracker_cmd.acceleration.z = mpc_x(10, 0);
+    1070       81238 :     tracker_cmd.jerk.z         = mpc_x(11, 0);
+    1071             : 
+    1072       81238 :     tracker_cmd.full_state_prediction = prediction_full_state;
+    1073             : 
+    1074       81238 :     tracker_cmd.use_position_vertical     = 1;
+    1075       81238 :     tracker_cmd.use_position_horizontal   = 1;
+    1076       81238 :     tracker_cmd.use_velocity_vertical     = 1;
+    1077       81238 :     tracker_cmd.use_velocity_horizontal   = 1;
+    1078       81238 :     tracker_cmd.use_acceleration          = 1;
+    1079       81238 :     tracker_cmd.use_jerk                  = 1;
+    1080       81238 :     tracker_cmd.use_full_state_prediction = 1;
+    1081             : 
+    1082             :   } else {
+    1083             : 
+    1084           0 :     ROS_ERROR_THROTTLE(1.0, "[MpcTracker]: MPC translation outputs are not finite!");
+    1085             : 
+    1086           0 :     return {};
+    1087             :   }
+    1088             : 
+    1089       81238 :   bool heading_finite = true;
+    1090      406190 :   for (int i = 0; i < MPC_HEADING_N_STATES; i++) {
+    1091      324952 :     if (!std::isfinite(mpc_x_heading(i, 0))) {
+    1092           0 :       heading_finite = false;
+    1093             :     }
+    1094             :   }
+    1095             : 
+    1096       81238 :   if (heading_finite) {
+    1097             : 
+    1098       81238 :     tracker_cmd.heading              = mpc_x_heading(0, 0);
+    1099       81238 :     tracker_cmd.heading_rate         = mpc_x_heading(1, 0);
+    1100       81238 :     tracker_cmd.heading_acceleration = mpc_x_heading(2, 0);
+    1101       81238 :     tracker_cmd.heading_jerk         = mpc_x_heading(3, 0);
+    1102             : 
+    1103       81238 :     tracker_cmd.use_heading              = 1;
+    1104       81238 :     tracker_cmd.use_heading_rate         = 1;
+    1105       81238 :     tracker_cmd.use_heading_acceleration = 1;
+    1106       81238 :     tracker_cmd.use_heading_jerk         = 1;
+    1107             : 
+    1108             :   } else {
+    1109             : 
+    1110           0 :     ROS_ERROR_THROTTLE(1.0, "[MpcTracker]: MPC heading output is not finite!");
+    1111             : 
+    1112           0 :     return {};
+    1113             :   }
+    1114             : 
+    1115             :   // set the header
+    1116       81238 :   tracker_cmd.header.stamp    = uav_state.header.stamp;
+    1117       81238 :   tracker_cmd.header.frame_id = uav_state.header.frame_id;
+    1118             : 
+    1119             :   // u have to return a position command
+    1120             :   // can set the jerk to 0
+    1121       81238 :   return {tracker_cmd};
+    1122             : }  // namespace mpc_tracker
+    1123             : 
+    1124             : //}
+    1125             : 
+    1126             : /* //{ getStatus() */
+    1127             : 
+    1128        9364 : const mrs_msgs::TrackerStatus MpcTracker::getStatus() {
+    1129             : 
+    1130       18728 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    1131        9364 :   auto trajectory_size        = mrs_lib::get_mutexed(mutex_des_trajectory_, trajectory_size_);
+    1132             : 
+    1133             :   double des_x, des_y, des_z, des_heading;
+    1134             :   {
+    1135        9364 :     std::scoped_lock lock(mutex_des_trajectory_);
+    1136             : 
+    1137        9364 :     des_x       = des_x_trajectory_(0);
+    1138        9364 :     des_y       = des_y_trajectory_(0);
+    1139        9364 :     des_z       = des_z_trajectory_(0);
+    1140        9364 :     des_heading = des_heading_trajectory_(0);
+    1141             :   }
+    1142             : 
+    1143        9364 :   mrs_msgs::TrackerStatus tracker_status;
+    1144             : 
+    1145        9364 :   tracker_status.active            = is_active_;
+    1146        9364 :   tracker_status.callbacks_enabled = is_active_ && callbacks_enabled_ && !hovering_in_progress_;
+    1147             : 
+    1148        9364 :   tracker_status.tracking_trajectory = trajectory_tracking_in_progress_;
+    1149             : 
+    1150        9364 :   bool have_position_error   = sqrt(pow(mpc_x(0, 0) - des_x, 2) + pow(mpc_x(4, 0) - des_y, 2) + pow(mpc_x(8, 0) - des_z, 2)) > _diag_pos_tracking_thr_;
+    1151        9364 :   bool have_heading_error    = fabs(radians::diff(mpc_x_heading(0), des_heading)) > _diag_heading_tracking_thr_;
+    1152        9364 :   bool have_nonzero_velocity = fabs(mpc_x(1, 0)) > 0.1 || fabs(mpc_x(5, 0)) > 0.1 || fabs(mpc_x(9, 0)) > 0.1 || fabs(mpc_x_heading(1, 0)) > 0.1;
+    1153             : 
+    1154        9364 :   tracker_status.have_goal = trajectory_tracking_in_progress_ || hovering_in_progress_ || have_position_error || have_heading_error || have_nonzero_velocity;
+    1155             : 
+    1156        9364 :   if (!is_active_)
+    1157           0 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_IDLE;
+    1158        9364 :   else if (tracker_status.tracking_trajectory)
+    1159        1830 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_TRAJECTORY;
+    1160        7534 :   else if (tracker_status.have_goal)
+    1161        4149 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_REFERENCE;
+    1162             :   else
+    1163        3385 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_HOVER;
+    1164             : 
+    1165             : 
+    1166        9364 :   int trajectory_tracking_idx = getCurrentTrajectoryIdx();
+    1167             : 
+    1168        9364 :   tracker_status.trajectory_length = trajectory_size;
+    1169        9364 :   tracker_status.trajectory_idx    = trajectory_tracking_idx;
+    1170             : 
+    1171        9364 :   if (trajectory_tracking_in_progress_) {
+    1172             : 
+    1173        3660 :     auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1174             : 
+    1175        1830 :     std::scoped_lock lock(mutex_des_whole_trajectory_);
+    1176             : 
+    1177        1830 :     tracker_status.trajectory_reference.header.stamp    = ros::Time::now();
+    1178        1830 :     tracker_status.trajectory_reference.header.frame_id = uav_state.header.frame_id;
+    1179             : 
+    1180        1830 :     tracker_status.trajectory_reference.reference.position.x = (*des_x_whole_trajectory_)(trajectory_tracking_idx);
+    1181        1830 :     tracker_status.trajectory_reference.reference.position.y = (*des_y_whole_trajectory_)(trajectory_tracking_idx);
+    1182        1830 :     tracker_status.trajectory_reference.reference.position.z = (*des_z_whole_trajectory_)(trajectory_tracking_idx);
+    1183        1830 :     tracker_status.trajectory_reference.reference.heading    = (*des_heading_whole_trajectory_)(trajectory_tracking_idx);
+    1184             :   }
+    1185             : 
+    1186       18728 :   return tracker_status;
+    1187             : }
+    1188             : 
+    1189             : //}
+    1190             : 
+    1191             : /* //{ enableCallbacks() */
+    1192             : 
+    1193        2156 : const std_srvs::SetBoolResponse::ConstPtr MpcTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr& cmd) {
+    1194             : 
+    1195        4312 :   std::stringstream ss;
+    1196             : 
+    1197        2156 :   if (cmd->data != callbacks_enabled_) {
+    1198             : 
+    1199        1864 :     callbacks_enabled_ = cmd->data;
+    1200        1864 :     ss << "callbacks %s" << (callbacks_enabled_ ? "enabled" : "disabled");
+    1201             : 
+    1202             :   } else {
+    1203             : 
+    1204         292 :     ss << "callbacks were already %s" << (callbacks_enabled_ ? "enabled" : "disabled");
+    1205             :   }
+    1206             : 
+    1207        4312 :   std_srvs::SetBoolResponse res;
+    1208        2156 :   res.message = ss.str();
+    1209        2156 :   res.success = true;
+    1210             : 
+    1211        4312 :   return std_srvs::SetBoolResponse::ConstPtr(new std_srvs::SetBoolResponse(res));
+    1212             : }
+    1213             : 
+    1214             : //}
+    1215             : 
+    1216             : /* switchOdometrySource() //{ */
+    1217             : 
+    1218           5 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::switchOdometrySource(const mrs_msgs::UavState& new_uav_state) {
+    1219             : 
+    1220           5 :   odometry_reset_in_progress_ = true;
+    1221           5 :   mpc_result_invalid_         = true;
+    1222             : 
+    1223          10 :   auto x         = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    1224          10 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1225             : 
+    1226           5 :   ROS_INFO(
+    1227             :       "[MpcTracker]: start of odometry reset, curent state [x: %.2f, y: %.2f, z: %.2f] [x_d: %.2f, y_d: %.2f, z_d: %.2f] [x_dd: %.2f, y_dd: %.2f, z_dd: "
+    1228             :       "%.2f], "
+    1229             :       "new odom [x: %.2f, y: %.2f, z: %.2f] [x_d: %.2f, y_d: %.2f, z_d: %.2f] [x_dd: %.2f, y_dd: %.2f, z_dd: %.2f]",
+    1230             :       x(0, 0), x(4, 0), x(8, 0), x(1, 0), x(5, 0), x(9, 0), x(2, 0), x(6, 0), x(10, 0), new_uav_state.pose.position.x, new_uav_state.pose.position.y,
+    1231             :       new_uav_state.pose.position.z, new_uav_state.velocity.linear.x, new_uav_state.velocity.linear.y, new_uav_state.velocity.linear.z,
+    1232             :       new_uav_state.acceleration.linear.x, new_uav_state.acceleration.linear.y, new_uav_state.acceleration.linear.z);
+    1233             : 
+    1234           5 :   timer_mpc_iteration_.stop();
+    1235           5 :   ROS_INFO("[MpcTracker]: mpc timer stopped");
+    1236             : 
+    1237           5 :   while (mpc_timer_running_) {
+    1238             : 
+    1239           2 :     ROS_DEBUG("[MpcTracker]: the mpc is in the middle of an iteration, waiting for it to finish");
+    1240           2 :     ros::Duration wait(0.001);
+    1241           2 :     wait.sleep();
+    1242             : 
+    1243           2 :     if (!mpc_timer_running_) {
+    1244           2 :       ROS_DEBUG("[MpcTracker]: mpc timer finished");
+    1245           2 :       break;
+    1246             :     }
+    1247             :   }
+    1248             : 
+    1249             :   // | --------- recalculate the goal to new coordinates -------- |
+    1250             : 
+    1251           5 :   double old_heading  = 0;
+    1252           5 :   double new_heading  = 0;
+    1253           5 :   bool   got_headings = true;
+    1254             : 
+    1255             :   try {
+    1256           5 :     old_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1257             :   }
+    1258           0 :   catch (...) {
+    1259           0 :     ROS_ERROR_THROTTLE(1.0, "[LineTracker]: could not calculate the old UAV heading");
+    1260           0 :     got_headings = false;
+    1261             :   }
+    1262             : 
+    1263             :   try {
+    1264           5 :     new_heading = mrs_lib::AttitudeConverter(new_uav_state.pose.orientation).getHeading();
+    1265             :   }
+    1266           0 :   catch (...) {
+    1267           0 :     ROS_ERROR_THROTTLE(1.0, "[LineTracker]: could not calculate the new UAV heading");
+    1268           0 :     got_headings = false;
+    1269             :   }
+    1270             : 
+    1271          10 :   std_srvs::TriggerResponse res;
+    1272             : 
+    1273           5 :   if (!got_headings) {
+    1274           0 :     res.message = "could not calculate the heading difference";
+    1275           0 :     res.success = false;
+    1276             : 
+    1277           0 :     return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1278             :   }
+    1279             : 
+    1280             :   // calculate the difference of position
+    1281           5 :   double dx       = new_uav_state.pose.position.x - uav_state_.pose.position.x;
+    1282           5 :   double dy       = new_uav_state.pose.position.y - uav_state_.pose.position.y;
+    1283           5 :   double dz       = new_uav_state.pose.position.z - uav_state_.pose.position.z;
+    1284           5 :   double dheading = new_heading - old_heading;
+    1285             : 
+    1286           5 :   ROS_INFO("[MpcTracker]: dx %f dy %f dz %f dheading %f", dx, dy, dz, dheading);
+    1287             : 
+    1288             :   {
+    1289           5 :     std::scoped_lock lock(mutex_mpc_x_, mutex_des_trajectory_, mutex_des_whole_trajectory_, mutex_uav_state_);
+    1290             : 
+    1291           5 :     if (trajectory_set_) {
+    1292             : 
+    1293           0 :       for (int i = 0; i < trajectory_size_ + MPC_HORIZON_LENGTH; i++) {
+    1294             : 
+    1295           0 :         Eigen::Vector2d temp_vec((*des_x_whole_trajectory_)(i)-uav_state_.pose.position.x, (*des_y_whole_trajectory_)(i)-uav_state_.pose.position.y);
+    1296           0 :         temp_vec = Eigen::Rotation2D<double>(dheading).toRotationMatrix() * temp_vec;
+    1297             : 
+    1298           0 :         (*des_x_whole_trajectory_)(i) = new_uav_state.pose.position.x + temp_vec(0);
+    1299           0 :         (*des_y_whole_trajectory_)(i) = new_uav_state.pose.position.y + temp_vec(1);
+    1300           0 :         (*des_z_whole_trajectory_)(i) += dz;
+    1301           0 :         (*des_heading_whole_trajectory_)(i) += dheading;
+    1302             :       }
+    1303             :     }
+    1304             : 
+    1305         205 :     for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    1306             : 
+    1307         200 :       Eigen::Vector2d temp_vec(des_x_trajectory_(i) - uav_state_.pose.position.x, des_y_trajectory_(i) - uav_state_.pose.position.y);
+    1308         200 :       temp_vec = Eigen::Rotation2D<double>(dheading).toRotationMatrix() * temp_vec;
+    1309             : 
+    1310         200 :       des_x_trajectory_(i, 0) = new_uav_state.pose.position.x + temp_vec(0);
+    1311         200 :       des_y_trajectory_(i, 0) = new_uav_state.pose.position.y + temp_vec(1);
+    1312         200 :       des_z_trajectory_(i, 0) += dz;
+    1313         200 :       des_heading_trajectory_(i, 0) += dheading;
+    1314             :     }
+    1315             : 
+    1316             :     // update the position
+    1317             :     {
+    1318           5 :       Eigen::Vector2d temp_vec(mpc_x_(0, 0) - uav_state_.pose.position.x, mpc_x_(4, 0) - uav_state_.pose.position.y);
+    1319           5 :       temp_vec     = Eigen::Rotation2D<double>(dheading).toRotationMatrix() * temp_vec;
+    1320           5 :       mpc_x_(0, 0) = new_uav_state.pose.position.x + temp_vec(0);
+    1321           5 :       mpc_x_(4, 0) = new_uav_state.pose.position.y + temp_vec(1);
+    1322           5 :       mpc_x_(8, 0) += dz;
+    1323             :     }
+    1324             : 
+    1325             :     // update the velocity
+    1326             :     {
+    1327           5 :       mpc_x_(1, 0) = new_uav_state.velocity.linear.x;
+    1328           5 :       mpc_x_(5, 0) = new_uav_state.velocity.linear.y;
+    1329             :       // we leave the z velocity as it was in the original frame
+    1330             :     }
+    1331             : 
+    1332             :     // update the acceleration
+    1333             :     {
+    1334           5 :       mpc_x_(2, 0)  = 0;
+    1335           5 :       mpc_x_(6, 0)  = 0;
+    1336           5 :       mpc_x_(10, 0) = 0;
+    1337             :     }
+    1338             : 
+    1339             :     // update the heading and its derivative
+    1340           5 :     mpc_x_heading_(0, 0) += dheading;
+    1341           5 :     mpc_x_heading_(1, 0) = new_uav_state.velocity.angular.x;
+    1342             :   }
+    1343             : 
+    1344           5 :   ROS_INFO(
+    1345             :       "[MpcTracker]: start of odometry reset, curent state [x: %.2f, y: %.2f, z: %.2f] [x_d: %.2f, y_d: %.2f, z_d: %.2f] [x_dd: %.2f, y_dd: %.2f, z_dd: "
+    1346             :       "%.2f]",
+    1347             :       x(0, 0), x(4, 0), x(8, 0), x(1, 0), x(5, 0), x(9, 0), x(2, 0), x(6, 0), x(10, 0));
+    1348             : 
+    1349           5 :   ROS_INFO("[MpcTracker]: starting the MPC timer");
+    1350             : 
+    1351           5 :   if (!mpc_synchronous_) {
+    1352           5 :     timer_mpc_iteration_.start();
+    1353             :   }
+    1354             : 
+    1355           5 :   odometry_reset_in_progress_ = false;
+    1356             : 
+    1357           5 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1358             : }
+    1359             : 
+    1360             : //}
+    1361             : 
+    1362             : /* //{ hover() */
+    1363             : 
+    1364           1 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::hover([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+    1365             : 
+    1366           1 :   toggleHover(true);
+    1367             : 
+    1368           2 :   std::stringstream ss;
+    1369           1 :   ss << "initiating hover";
+    1370             : 
+    1371           2 :   std_srvs::TriggerResponse res;
+    1372           1 :   res.success = true;
+    1373           1 :   res.message = ss.str();
+    1374             : 
+    1375           2 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1376             : }
+    1377             : 
+    1378             : //}
+    1379             : 
+    1380             : /* //{ startTrajectoryTracking() */
+    1381             : 
+    1382           2 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::startTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+    1383           4 :   std::stringstream ss;
+    1384             : 
+    1385           4 :   auto [success, message] = startTrajectoryTrackingImpl();
+    1386             : 
+    1387           4 :   std_srvs::TriggerResponse res;
+    1388           2 :   res.success = success;
+    1389           2 :   res.message = message;
+    1390             : 
+    1391           4 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1392             : }
+    1393             : 
+    1394             : //}
+    1395             : 
+    1396             : /* //{ stopTrajectoryTracking() */
+    1397             : 
+    1398           1 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::stopTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+    1399             : 
+    1400           2 :   auto [success, message] = stopTrajectoryTrackingImpl();
+    1401             : 
+    1402           2 :   std_srvs::TriggerResponse res;
+    1403           1 :   res.success = success;
+    1404           1 :   res.message = message;
+    1405             : 
+    1406           2 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1407             : }
+    1408             : 
+    1409             : //}
+    1410             : 
+    1411             : /* //{ resumeTrajectoryTracking() */
+    1412             : 
+    1413           1 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::resumeTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+    1414             : 
+    1415           2 :   auto [success, message] = resumeTrajectoryTrackingImpl();
+    1416             : 
+    1417           2 :   std_srvs::TriggerResponse res;
+    1418           1 :   res.success = success;
+    1419           1 :   res.message = message;
+    1420             : 
+    1421           2 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1422             : }
+    1423             : 
+    1424             : //}
+    1425             : 
+    1426             : /* //{ gotoTrajectoryStart() */
+    1427             : 
+    1428           2 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::gotoTrajectoryStart([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+    1429             : 
+    1430           4 :   auto [success, message] = gotoTrajectoryStartImpl();
+    1431             : 
+    1432           4 :   std_srvs::TriggerResponse res;
+    1433           2 :   res.success = success;
+    1434           2 :   res.message = message;
+    1435             : 
+    1436           4 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1437             : }
+    1438             : 
+    1439             : //}
+    1440             : 
+    1441             : /* //{ setConstraints() */
+    1442             : 
+    1443         379 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MpcTracker::setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& constraints) {
+    1444             : 
+    1445         379 :   if (!is_initialized_) {
+    1446           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+    1447             :   }
+    1448             : 
+    1449         379 :   mrs_lib::set_mutexed(mutex_constraints_, constraints->constraints, constraints_);
+    1450             : 
+    1451             :   // directly updated the speeds in the constraints
+    1452             :   // the reset needs to wait for manageConstraints()
+    1453             :   {
+    1454         758 :     std::scoped_lock lock(mutex_constraints_filtered_);
+    1455             : 
+    1456             :     // important! this needs to be done to initialize the full struct
+    1457         379 :     if (!got_constraints_) {
+    1458             : 
+    1459         108 :       constraints_filtered_ = constraints->constraints;
+    1460             : 
+    1461             :     } else {
+    1462             : 
+    1463         271 :       constraints_filtered_.horizontal_speed          = constraints->constraints.horizontal_speed;
+    1464         271 :       constraints_filtered_.vertical_ascending_speed  = constraints->constraints.vertical_ascending_speed;
+    1465         271 :       constraints_filtered_.vertical_descending_speed = constraints->constraints.vertical_descending_speed;
+    1466         271 :       constraints_filtered_.heading_speed             = constraints->constraints.heading_speed;
+    1467             :     }
+    1468             :   }
+    1469             : 
+    1470         379 :   got_constraints_ = true;
+    1471             : 
+    1472         379 :   all_constraints_set_ = false;
+    1473             : 
+    1474         379 :   ROS_INFO("[MpcTracker]: updating constraints");
+    1475             : 
+    1476         758 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+    1477         379 :   res.success = true;
+    1478         379 :   res.message = "constraints updated";
+    1479             : 
+    1480         379 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+    1481             : }
+    1482             : 
+    1483             : //}
+    1484             : 
+    1485             : /* //{ setReference() */
+    1486             : 
+    1487         269 : const mrs_msgs::ReferenceSrvResponse::ConstPtr MpcTracker::setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr& cmd) {
+    1488             : 
+    1489         269 :   toggleHover(false);
+    1490             : 
+    1491         269 :   setGoal(cmd->reference.position.x, cmd->reference.position.y, cmd->reference.position.z, cmd->reference.heading, true);
+    1492             : 
+    1493         538 :   mrs_msgs::ReferenceSrvResponse res;
+    1494         269 :   res.success = true;
+    1495         269 :   res.message = "reference set";
+    1496             : 
+    1497         538 :   return mrs_msgs::ReferenceSrvResponse::ConstPtr(new mrs_msgs::ReferenceSrvResponse(res));
+    1498             : }
+    1499             : 
+    1500             : //}
+    1501             : 
+    1502             : /* //{ setVelocityReference() */
+    1503             : 
+    1504         811 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr MpcTracker::setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr& cmd) {
+    1505             : 
+    1506         811 :   if (!is_initialized_) {
+    1507           0 :     return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+    1508             :   }
+    1509             : 
+    1510             :   {
+    1511         811 :     std::scoped_lock lock(mutex_velocity_reference_);
+    1512             : 
+    1513         811 :     velocity_reference_time_ = ros::Time::now();
+    1514             : 
+    1515         811 :     velocity_reference_ = cmd->reference;
+    1516             :   }
+    1517             : 
+    1518         811 :   if (!velocity_tracking_active_) {
+    1519             : 
+    1520           4 :     ROS_INFO("[MpcTracker]: starting velocity tracking timer");
+    1521             : 
+    1522           4 :     timer_velocity_tracking_.stop();
+    1523           4 :     timer_velocity_tracking_.start();
+    1524             : 
+    1525           4 :     velocity_tracking_active_ = true;
+    1526             :   }
+    1527             : 
+    1528        1622 :   mrs_msgs::VelocityReferenceSrvResponse response;
+    1529         811 :   response.success = true;
+    1530         811 :   response.message = "reference set";
+    1531             : 
+    1532         811 :   return mrs_msgs::VelocityReferenceSrvResponse::ConstPtr(new mrs_msgs::VelocityReferenceSrvResponse(response));
+    1533             : }
+    1534             : 
+    1535             : //}
+    1536             : 
+    1537             : /* //{ setTrajectoryReference() */
+    1538             : 
+    1539           6 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr MpcTracker::setTrajectoryReference([
+    1540             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr& cmd) {
+    1541             : 
+    1542          12 :   std::stringstream ss;
+    1543             : 
+    1544          18 :   auto [success, message, modified] = loadTrajectory(cmd->trajectory);
+    1545             : 
+    1546          12 :   mrs_msgs::TrajectoryReferenceSrvResponse response;
+    1547           6 :   response.success  = success;
+    1548           6 :   response.message  = message;
+    1549           6 :   response.modified = modified;
+    1550             : 
+    1551          12 :   return mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr(new mrs_msgs::TrajectoryReferenceSrvResponse(response));
+    1552             : }
+    1553             : 
+    1554             : //}
+    1555             : 
+    1556             : // | ------------------------ callbacks ----------------------- |
+    1557             : 
+    1558             : /* //{ callbackOtherMavTrajectory() */
+    1559             : 
+    1560         343 : void MpcTracker::callbackOtherMavTrajectory(const mrs_msgs::FutureTrajectory::ConstPtr msg) {
+    1561             : 
+    1562         343 :   if (!is_initialized_) {
+    1563           0 :     return;
+    1564             :   }
+    1565             : 
+    1566         686 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("callbackOtherMavTrajectory");
+    1567             :   mrs_lib::ScopeTimer timer =
+    1568         686 :       mrs_lib::ScopeTimer("MpcTracker::callbackOtherMavTrajectory", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1569             : 
+    1570         343 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1571             : 
+    1572         343 :   mrs_msgs::FutureTrajectory trajectory = *msg;
+    1573             : 
+    1574             :   // the times might not be synchronized, so just remember the time of receiving it
+    1575         343 :   trajectory.stamp = ros::Time::now();
+    1576             : 
+    1577             :   // transform it from the utm origin to the currently used frame
+    1578         686 :   auto res = common_handlers_->transformer->getTransform("utm_origin", uav_state.header.frame_id, ros::Time::now());
+    1579             : 
+    1580         343 :   if (!res) {
+    1581             : 
+    1582           0 :     std::string message = "[MpcTracker]: can not transform other drone trajectory to the current frame";
+    1583           0 :     ROS_WARN_STREAM_ONCE(message);
+    1584           0 :     ROS_DEBUG_STREAM_THROTTLE(1.0, message);
+    1585             : 
+    1586           0 :     return;
+    1587             :   }
+    1588             : 
+    1589         343 :   geometry_msgs::TransformStamped tf = res.value();
+    1590             : 
+    1591       14063 :   for (int i = 0; i < int(trajectory.points.size()); i++) {
+    1592             : 
+    1593       13720 :     geometry_msgs::PoseStamped original_pose;
+    1594             : 
+    1595       13720 :     original_pose.pose.position.x = trajectory.points.at(i).x;
+    1596       13720 :     original_pose.pose.position.y = trajectory.points.at(i).y;
+    1597       13720 :     original_pose.pose.position.z = trajectory.points.at(i).z;
+    1598             : 
+    1599       13720 :     original_pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1600             : 
+    1601       13720 :     auto res = common_handlers_->transformer->transform(original_pose, tf);
+    1602             : 
+    1603       13720 :     if (res) {
+    1604       13720 :       trajectory.points.at(i).x = res.value().pose.position.x;
+    1605       13720 :       trajectory.points.at(i).y = res.value().pose.position.y;
+    1606       13720 :       trajectory.points.at(i).z = res.value().pose.position.z;
+    1607             :     } else {
+    1608             : 
+    1609           0 :       std::string message = "[MpcTracker]: could not transform point of other uav future trajectory!";
+    1610           0 :       ROS_WARN_STREAM_ONCE(message);
+    1611           0 :       ROS_DEBUG_STREAM_THROTTLE(1.0, message);
+    1612             : 
+    1613           0 :       return;
+    1614             :     }
+    1615             :   }
+    1616             : 
+    1617             :   {
+    1618         686 :     std::scoped_lock lock(mutex_other_uav_avoidance_trajectories_);
+    1619             : 
+    1620             :     // update the diagnostics
+    1621         343 :     other_uav_avoidance_trajectories_[trajectory.uav_name] = trajectory;
+    1622             :   }
+    1623             : }
+    1624             : 
+    1625             : //}
+    1626             : 
+    1627             : /* //{ callbackOtherMavDiagnostics() */
+    1628             : 
+    1629        2179 : void MpcTracker::callbackOtherMavDiagnostics(const mrs_msgs::MpcTrackerDiagnostics::ConstPtr msg) {
+    1630             : 
+    1631        6537 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("callbackOtherMavDiagnostics");
+    1632             :   mrs_lib::ScopeTimer timer =
+    1633        6537 :       mrs_lib::ScopeTimer("MpcTracker::callbackOtherMavDiagnostics", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1634             : 
+    1635        4358 :   mrs_msgs::MpcTrackerDiagnostics diagnostics = *msg;
+    1636             : 
+    1637             :   // fill in the current time
+    1638             :   // the other uav's time might not be synchronized with ours
+    1639        2179 :   diagnostics.header.stamp = ros::Time::now();
+    1640             : 
+    1641             :   {
+    1642        4358 :     std::scoped_lock lock(mutex_other_uav_diagnostics_);
+    1643             : 
+    1644        2179 :     other_uav_diagnostics_[diagnostics.uav_name] = diagnostics;
+    1645             :   }
+    1646        2179 : }
+    1647             : 
+    1648             : //}
+    1649             : 
+    1650             : /* //{ callbackToggleCollisionAvoidance() */
+    1651             : 
+    1652           0 : bool MpcTracker::callbackToggleCollisionAvoidance(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    1653             : 
+    1654           0 :   collision_avoidance_enabled_ = req.data;
+    1655             : 
+    1656           0 :   ROS_INFO("[MpcTracker]: Collision avoidance was switched %s", collision_avoidance_enabled_ ? "TRUE" : "FALSE");
+    1657             : 
+    1658           0 :   res.message = "Collision avoidance set.";
+    1659           0 :   res.success = true;
+    1660             : 
+    1661           0 :   return true;
+    1662             : }
+    1663             : 
+    1664             : //}
+    1665             : 
+    1666             : /* callbackWiggle() //{ */
+    1667             : 
+    1668           0 : bool MpcTracker::callbackWiggle(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    1669             : 
+    1670           0 :   if (!is_initialized_) {
+    1671             : 
+    1672           0 :     res.success = false;
+    1673           0 :     res.message = "tracker not active";
+    1674           0 :     return true;
+    1675             :   }
+    1676             : 
+    1677             :   {
+    1678           0 :     std::scoped_lock lock(mutex_drs_params_);
+    1679             : 
+    1680           0 :     drs_params_.wiggle_enabled = req.data;
+    1681             : 
+    1682           0 :     reconfigure_server_->updateConfig(drs_params_);
+    1683             :   }
+    1684             : 
+    1685           0 :   res.success = true;
+    1686           0 :   res.message = "wiggle updated";
+    1687             : 
+    1688           0 :   return true;
+    1689             : }
+    1690             : 
+    1691             : //}
+    1692             : 
+    1693             : /* //{ dynamicReconfigureCallback() */
+    1694             : 
+    1695         108 : void MpcTracker::dynamicReconfigureCallback(mrs_uav_trackers::mpc_trackerConfig& config, [[maybe_unused]] uint32_t level) {
+    1696             : 
+    1697         216 :   std::scoped_lock lock(mutex_drs_params_);
+    1698             : 
+    1699         108 :   drs_params_ = config;
+    1700             : 
+    1701         108 :   ROS_INFO("[MpcTracker]: DRS updated");
+    1702         108 : }
+    1703             : 
+    1704             : //}
+    1705             : 
+    1706             : // --------------------------------------------------------------
+    1707             : // |                          routines                          |
+    1708             : // --------------------------------------------------------------
+    1709             : 
+    1710             : // | --------------- mutual collision avoidance --------------- |
+    1711             : 
+    1712             : /* //{ checkCollision() */
+    1713             : 
+    1714      184440 : bool MpcTracker::checkCollision(const double ax, const double ay, const double az, const double bx, const double by, const double bz) {
+    1715             : 
+    1716      184440 :   if (mrs_lib::geometry::dist(vec2_t(ax, ay), vec2_t(bx, by)) < _avoidance_radius_threshold_ && fabs(az - bz) < _avoidance_z_threshold_) {
+    1717             : 
+    1718       11556 :     return true;
+    1719             : 
+    1720             :   } else {
+    1721             : 
+    1722      172884 :     return false;
+    1723             :   }
+    1724             : }
+    1725             : 
+    1726             : //}
+    1727             : 
+    1728             : /* //{ checkCollisionInflated() */
+    1729             : 
+    1730      184440 : bool MpcTracker::checkCollisionInflated(const double ax, const double ay, const double az, const double bx, const double by, const double bz) {
+    1731             : 
+    1732      184440 :   if (mrs_lib::geometry::dist(vec2_t(ax, ay), vec2_t(bx, by)) < _avoidance_radius_threshold_ + 1.0 && fabs(az - bz) < _avoidance_z_threshold_ + 1.0) {
+    1733             : 
+    1734       65312 :     return true;
+    1735             : 
+    1736             :   } else {
+    1737             : 
+    1738      119128 :     return false;
+    1739             :   }
+    1740             : }
+    1741             : 
+    1742             : //}
+    1743             : 
+    1744             : /* //{ checkTrajectoryForCollisions() */
+    1745             : 
+    1746             : // Check for potential collisions and return the needed altitude offset to avoid other drones
+    1747       82980 : double MpcTracker::checkTrajectoryForCollisions(int& first_collision_index) {
+    1748             : 
+    1749       82980 :   std::scoped_lock lock(mutex_predicted_trajectory_, mutex_des_trajectory_, mutex_other_uav_avoidance_trajectories_);
+    1750             : 
+    1751       82980 :   first_collision_index = INT_MAX;
+    1752       82980 :   avoiding_collision_   = false;
+    1753             : 
+    1754       82980 :   std::map<std::string, mrs_msgs::FutureTrajectory>::iterator u = other_uav_avoidance_trajectories_.begin();
+    1755             : 
+    1756       87591 :   while (u != other_uav_avoidance_trajectories_.end()) {
+    1757             : 
+    1758             :     // is the other's trajectory fresh enought?
+    1759        4611 :     if ((ros::Time::now() - u->second.stamp).toSec() < _collision_trajectory_timeout_) {
+    1760             : 
+    1761      189051 :       for (int v = 0; v < MPC_HORIZON_LENGTH; v++) {
+    1762             : 
+    1763             :         // check all points of the trajectory for possible collisions
+    1764      184440 :         if (checkCollision(predicted_trajectory_(v * MPC_N_STATES, 0), predicted_trajectory_(v * MPC_N_STATES + 4, 0),
+    1765      184440 :                            predicted_trajectory_(v * MPC_N_STATES + 8, 0), u->second.points.at(v).x, u->second.points.at(v).y, u->second.points.at(v).z)) {
+    1766             : 
+    1767             :           // collision is detected
+    1768       11556 :           int other_uav_priority = INT_MAX;
+    1769             :           // get the priority of the other uav
+    1770             :           /* sscanf(u->first.c_str(), "uav%d", &other_uav_priority); */
+    1771       11556 :           other_uav_priority = u->second.priority;
+    1772             : 
+    1773             :           // check if we should be avoiding (out priority is higher, or the other uav has collision avoidance turned off)
+    1774       11556 :           if ((u->second.collision_avoidance == false) || (other_uav_priority < avoidance_this_uav_priority_)) {
+    1775             : 
+    1776             :             // we should be avoiding
+    1777        6588 :             avoiding_collision_      = true;
+    1778        6588 :             double tmp_safe_altitude = u->second.points.at(v).z + _avoidance_z_correction_;
+    1779             : 
+    1780        6588 :             if (tmp_safe_altitude > collision_free_altitude_ && v <= _avoidance_collision_start_climbing_) {
+    1781         224 :               collision_free_altitude_ = tmp_safe_altitude;
+    1782             :             }
+    1783             : 
+    1784        6588 :             ROS_ERROR_STREAM_THROTTLE(1, "[MpcTracker]: avoiding collision with uav" << other_uav_priority);
+    1785             : 
+    1786             :           } else {
+    1787             :             // the other uav should avoid us
+    1788        4968 :             ROS_WARN_STREAM_THROTTLE(1, "[MpcTracker]: detected collision with uav" << other_uav_priority << ", not avoiding (my priority is higher)");
+    1789             :           }
+    1790             :         }
+    1791             : 
+    1792      184440 :         if (checkCollisionInflated(predicted_trajectory_(v * MPC_N_STATES, 0), predicted_trajectory_(v * MPC_N_STATES + 4, 0),
+    1793      184440 :                                    predicted_trajectory_(v * MPC_N_STATES + 8, 0), u->second.points.at(v).x, u->second.points.at(v).y,
+    1794      184440 :                                    u->second.points.at(v).z)) {
+    1795             : 
+    1796             :           // collision is detected
+    1797       65312 :           if (first_collision_index > v) {
+    1798        2507 :             first_collision_index = v;
+    1799             :           }
+    1800             :         }
+    1801             :       }
+    1802             :     }
+    1803             : 
+    1804        4611 :     u++;
+    1805             :   }
+    1806             : 
+    1807       82980 :   if (!avoiding_collision_) {
+    1808             : 
+    1809       82323 :     auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    1810             : 
+    1811             :     // we are not avoiding any collisions, so we slowly reduce the collision avoidance offset to return to normal flight
+    1812       82323 :     collision_free_altitude_ -= 2.0 / (1.0 / dt1);
+    1813             : 
+    1814       82323 :     double safety_area_min_z = std::numeric_limits<double>::lowest();
+    1815             : 
+    1816       82323 :     if (collision_free_altitude_ < safety_area_min_z) {
+    1817             : 
+    1818           0 :       collision_free_altitude_ = safety_area_min_z;
+    1819             :     }
+    1820             :   }
+    1821             : 
+    1822      165960 :   return collision_free_altitude_;
+    1823             : }
+    1824             : 
+    1825             : //}
+    1826             : 
+    1827             : // | ------------------ trajectory filtering ------------------ |
+    1828             : 
+    1829             : /* //{ filterReferenceXY() */
+    1830             : 
+    1831       83968 : std::tuple<MatrixXd, MatrixXd> MpcTracker::filterReferenceXY(const VectorXd& des_x_trajectory, const VectorXd& des_y_trajectory, double max_speed_x,
+    1832             :                                                              double max_speed_y) {
+    1833             : 
+    1834       83968 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    1835             : 
+    1836      167936 :   auto mpc_x         = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    1837       83968 :   auto trajectory_dt = mrs_lib::get_mutexed(mutex_des_trajectory_, trajectory_dt_);
+    1838             : 
+    1839      167936 :   MatrixXd filtered_x_trajectory = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+    1840      167936 :   MatrixXd filtered_y_trajectory = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+    1841             : 
+    1842             :   double difference_x;
+    1843             :   double difference_y;
+    1844             :   double max_sample_x;
+    1845             :   double max_sample_y;
+    1846             : 
+    1847       83968 :   if (std::hypot(mpc_x(0, 0) - des_x_trajectory(0, 0), mpc_x(4, 0) - des_y_trajectory(0, 0)) < 2.0) {
+    1848       61968 :     return {des_x_trajectory, des_y_trajectory};
+    1849             :   }
+    1850             : 
+    1851      902000 :   for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    1852             : 
+    1853      880000 :     if (i == 0) {
+    1854       22000 :       max_sample_x = max_speed_x * dt1;
+    1855       22000 :       max_sample_y = max_speed_y * dt1;
+    1856       22000 :       difference_x = des_x_trajectory(i, 0) - mpc_x(0, 0);
+    1857       22000 :       difference_y = des_y_trajectory(i, 0) - mpc_x(4, 0);
+    1858             :     } else {
+    1859      858000 :       max_sample_x = max_speed_x * _dt2_;
+    1860      858000 :       max_sample_y = max_speed_y * _dt2_;
+    1861      858000 :       difference_x = des_x_trajectory(i, 0) - filtered_x_trajectory(i - 1, 0);
+    1862      858000 :       difference_y = des_y_trajectory(i, 0) - filtered_y_trajectory(i - 1, 0);
+    1863             :     }
+    1864             : 
+    1865      880000 :     if (!trajectory_tracking_in_progress_) {
+    1866             : 
+    1867      805000 :       double direction_angle  = atan2(difference_y, difference_x);
+    1868      805000 :       double max_dir_sample_x = abs(max_sample_x * cos(direction_angle));
+    1869      805000 :       double max_dir_sample_y = abs(max_sample_y * sin(direction_angle));
+    1870             : 
+    1871      805000 :       if (max_sample_x > max_dir_sample_x) {
+    1872      240358 :         max_sample_x = max_dir_sample_x;
+    1873             :       }
+    1874      805000 :       if (max_sample_y > max_dir_sample_y) {
+    1875      805000 :         max_sample_y = max_dir_sample_y;
+    1876             :       }
+    1877             : 
+    1878             :       // saturate the difference
+    1879      805000 :       if (difference_x > max_sample_x)
+    1880      158995 :         difference_x = max_sample_x;
+    1881      646005 :       else if (difference_x < -max_sample_x)
+    1882      162504 :         difference_x = -max_sample_x;
+    1883             : 
+    1884      805000 :       if (difference_y > max_sample_y)
+    1885       72600 :         difference_y = max_sample_y;
+    1886      732400 :       else if (difference_y < -max_sample_y)
+    1887      169349 :         difference_y = -max_sample_y;
+    1888             :     }
+    1889             : 
+    1890      880000 :     if (i == 0) {
+    1891       22000 :       filtered_x_trajectory(i, 0) = mpc_x(0, 0) + difference_x;
+    1892       22000 :       filtered_y_trajectory(i, 0) = mpc_x(4, 0) + difference_y;
+    1893             :     } else {
+    1894      858000 :       filtered_x_trajectory(i, 0) = filtered_x_trajectory(i - 1, 0) + difference_x;
+    1895      858000 :       filtered_y_trajectory(i, 0) = filtered_y_trajectory(i - 1, 0) + difference_y;
+    1896             :     }
+    1897             :   }
+    1898             : 
+    1899             :   // | ----------------------- add wiggle ----------------------- |
+    1900             : 
+    1901       22000 :   auto [wiggle_enabled, wiggle_amplitude, wiggle_frequency_] =
+    1902       22000 :       mrs_lib::get_mutexed(mutex_drs_params_, drs_params_.wiggle_enabled, drs_params_.wiggle_amplitude, drs_params_.wiggle_frequency);
+    1903             : 
+    1904       22000 :   if (wiggle_enabled) {
+    1905             : 
+    1906           0 :     for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    1907           0 :       filtered_x_trajectory(i, 0) += wiggle_amplitude * cos(wiggle_frequency_ * 2 * M_PI * i * trajectory_dt + wiggle_phase_);
+    1908           0 :       filtered_y_trajectory(i, 0) += wiggle_amplitude * sin(wiggle_frequency_ * 2 * M_PI * i * trajectory_dt + wiggle_phase_);
+    1909             :     }
+    1910             : 
+    1911           0 :     wiggle_phase_ += wiggle_frequency_ * dt1 * 2 * M_PI;
+    1912             : 
+    1913           0 :     if (wiggle_phase_ > M_PI) {
+    1914           0 :       wiggle_phase_ -= 2 * M_PI;
+    1915             :     }
+    1916             :   }
+    1917             : 
+    1918       22000 :   return std::make_tuple(filtered_x_trajectory, filtered_y_trajectory);
+    1919             : }
+    1920             : 
+    1921             : //}
+    1922             : 
+    1923             : /* //{ filterReferenceZ() */
+    1924             : 
+    1925       83968 : MatrixXd MpcTracker::filterReferenceZ(const VectorXd& des_z_trajectory, const double max_ascending_speed, const double max_descending_speed) {
+    1926             : 
+    1927      167936 :   auto mpc_x = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    1928             : 
+    1929       83968 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    1930             : 
+    1931             :   double difference_z;
+    1932             :   double max_sample_z;
+    1933             : 
+    1934       83968 :   MatrixXd filtered_trajectory = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+    1935             : 
+    1936       83968 :   double current_z = mpc_x(8, 0);
+    1937             : 
+    1938     3442693 :   for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    1939             : 
+    1940     3358720 :     if (i == 0) {
+    1941             : 
+    1942       83968 :       difference_z = des_z_trajectory(i, 0) - current_z;
+    1943             : 
+    1944       83968 :       if (difference_z > 0) {
+    1945       33198 :         max_sample_z = max_ascending_speed * dt1;
+    1946             :       } else {
+    1947       50770 :         max_sample_z = max_descending_speed * dt1;
+    1948             :       }
+    1949             : 
+    1950             :     } else {
+    1951             : 
+    1952     3274747 :       difference_z = des_z_trajectory(i, 0) - filtered_trajectory(i - 1, 0);
+    1953             : 
+    1954     3274747 :       if (difference_z > 0) {
+    1955      215301 :         max_sample_z = max_ascending_speed * _dt2_;
+    1956             :       } else {
+    1957     3059451 :         max_sample_z = max_descending_speed * _dt2_;
+    1958             :       }
+    1959             :     }
+    1960             : 
+    1961     3358720 :     if (!trajectory_tracking_in_progress_) {
+    1962             : 
+    1963             :       // saturate the difference
+    1964     2712400 :       if (difference_z > max_sample_z)
+    1965       81097 :         difference_z = max_sample_z;
+    1966     2631305 :       else if (difference_z < -max_sample_z)
+    1967       22446 :         difference_z = -max_sample_z;
+    1968             :     }
+    1969             : 
+    1970     3358720 :     if (i == 0) {
+    1971       83968 :       filtered_trajectory(i, 0) = current_z + difference_z;
+    1972             :     } else {
+    1973     3274747 :       filtered_trajectory(i, 0) = filtered_trajectory(i - 1, 0) + difference_z;
+    1974             :     }
+    1975             :   }
+    1976             : 
+    1977      167936 :   return filtered_trajectory;
+    1978             : }
+    1979             : 
+    1980             : //}
+    1981             : 
+    1982             : /* //{ manageConstraints() */
+    1983             : 
+    1984       83968 : void MpcTracker::manageConstraints() {
+    1985             : 
+    1986       83968 :   if (!got_constraints_) {
+    1987       83789 :     return;
+    1988             :   }
+    1989             : 
+    1990       83968 :   if (all_constraints_set_) {
+    1991       83789 :     return;
+    1992             :   }
+    1993             : 
+    1994         179 :   auto constraints            = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    1995         358 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    1996             : 
+    1997         358 :   bool can_change = (fabs(mpc_x(1, 0)) < constraints.horizontal_speed) && (fabs(mpc_x(2, 0)) < constraints.horizontal_acceleration) &&
+    1998         179 :                     (fabs(mpc_x(3, 0)) < constraints.horizontal_jerk) && (fabs(mpc_x(5, 0)) < constraints.horizontal_speed) &&
+    1999         179 :                     (fabs(mpc_x(6, 0)) < constraints.horizontal_acceleration) && (fabs(mpc_x(7, 0)) < constraints.horizontal_jerk) &&
+    2000         179 :                     (mpc_x(9, 0) < constraints.vertical_ascending_speed) && (mpc_x(9, 0) > -constraints.vertical_descending_speed) &&
+    2001         179 :                     (mpc_x(10, 0) < constraints.vertical_ascending_acceleration) && (mpc_x(10, 0) > -constraints.vertical_descending_acceleration) &&
+    2002         179 :                     (mpc_x(11, 0) < constraints.vertical_ascending_jerk) && (mpc_x(11, 0) > -constraints.vertical_descending_jerk) &&
+    2003         537 :                     (fabs(mpc_x_heading(1, 0)) < constraints.heading_speed) && (fabs(mpc_x_heading(2, 0)) < constraints.heading_acceleration) &&
+    2004         179 :                     (fabs(mpc_x_heading(3, 0)) < constraints.heading_jerk);
+    2005             : 
+    2006         179 :   if (can_change) {
+    2007             : 
+    2008             :     {
+    2009         179 :       std::scoped_lock lock(mutex_constraints_filtered_);
+    2010             : 
+    2011         179 :       constraints_filtered_.horizontal_acceleration = constraints.horizontal_acceleration;
+    2012         179 :       constraints_filtered_.horizontal_jerk         = constraints.horizontal_jerk;
+    2013         179 :       constraints_filtered_.horizontal_snap         = constraints.horizontal_snap;
+    2014             : 
+    2015         179 :       constraints_filtered_.vertical_ascending_acceleration = constraints.vertical_ascending_acceleration;
+    2016         179 :       constraints_filtered_.vertical_ascending_jerk         = constraints.vertical_ascending_jerk;
+    2017         179 :       constraints_filtered_.vertical_ascending_snap         = constraints.vertical_ascending_snap;
+    2018             : 
+    2019         179 :       constraints_filtered_.vertical_descending_acceleration = constraints.vertical_descending_acceleration;
+    2020         179 :       constraints_filtered_.vertical_descending_jerk         = constraints.vertical_descending_jerk;
+    2021         179 :       constraints_filtered_.vertical_descending_snap         = constraints.vertical_descending_snap;
+    2022             : 
+    2023         179 :       constraints_filtered_.heading_acceleration = constraints.heading_acceleration;
+    2024         179 :       constraints_filtered_.heading_jerk         = constraints.heading_jerk;
+    2025         179 :       constraints_filtered_.heading_snap         = constraints.heading_snap;
+    2026             :     }
+    2027             : 
+    2028         179 :     ROS_INFO_THROTTLE(1.0, "[MpcTracker]: all constraints succesfully applied");
+    2029         179 :     all_constraints_set_ = true;
+    2030             : 
+    2031             :   } else {
+    2032           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: slowing down to apply new constraints");
+    2033             :   }
+    2034             : }
+    2035             : 
+    2036             : //}
+    2037             : 
+    2038             : /* //{ calculateMPC() */
+    2039             : 
+    2040       83968 : void MpcTracker::calculateMPC() {
+    2041             : 
+    2042       83968 :   std::scoped_lock lock(mutex_mpc_calculation_);
+    2043             : 
+    2044       83968 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    2045             : 
+    2046       83968 :   ROS_DEBUG_STREAM_THROTTLE(1.0, "[MpcTracker]: MPC calculation dt = " << dt1);
+    2047             : 
+    2048       83968 :   auto constraints            = mrs_lib::get_mutexed(mutex_constraints_filtered_, constraints_filtered_);
+    2049       83968 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    2050       83968 :   auto uav_state              = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    2051       83968 :   auto drs_params             = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+    2052             : 
+    2053       83968 :   MatrixXd des_x_trajectory, des_y_trajectory, des_z_trajectory, des_heading_trajectory;
+    2054             :   {
+    2055      167936 :     std::scoped_lock lock(mutex_des_trajectory_);
+    2056             : 
+    2057       83968 :     des_x_trajectory       = des_x_trajectory_;
+    2058       83968 :     des_y_trajectory       = des_y_trajectory_;
+    2059       83968 :     des_z_trajectory       = des_z_trajectory_;
+    2060       83968 :     des_heading_trajectory = des_heading_trajectory_;
+    2061             :   }
+    2062             : 
+    2063       83968 :   int    first_collision_index = INT_MAX;
+    2064       83968 :   double lowest_z              = std::numeric_limits<double>::max();
+    2065             : 
+    2066       83968 :   if (collision_avoidance_enabled_ && (uav_state.estimator_horizontal == "lat_gps" || uav_state.estimator_horizontal == "lat_rtk")) {
+    2067             : 
+    2068             :     // determine the lowest point in our trajectory
+    2069     3402177 :     for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    2070     3319200 :       if (des_z_trajectory_(i, 0) < lowest_z) {
+    2071      126021 :         lowest_z = des_z_trajectory_(i, 0);
+    2072             :       }
+    2073             :     }
+    2074             : 
+    2075             :     // check other drone trajectories for collisions
+    2076       82980 :     minimum_collison_free_altitude_ = checkTrajectoryForCollisions(first_collision_index);
+    2077             : 
+    2078             :   } else {
+    2079             : 
+    2080         988 :     minimum_collison_free_altitude_ = std::numeric_limits<double>::lowest();
+    2081             :   }
+    2082             : 
+    2083       83968 :   double max_speed_x = constraints.horizontal_speed;
+    2084       83968 :   double max_speed_y = constraints.horizontal_speed;
+    2085       83968 :   double max_speed_z = constraints.vertical_ascending_speed;
+    2086       83968 :   double min_speed_z = constraints.vertical_descending_speed;
+    2087             : 
+    2088       83968 :   double max_acc_x = constraints.horizontal_acceleration;
+    2089       83968 :   double max_acc_y = constraints.horizontal_acceleration;
+    2090       83968 :   double max_acc_z = constraints.vertical_ascending_acceleration;
+    2091       83968 :   double min_acc_z = constraints.vertical_descending_acceleration;
+    2092             : 
+    2093       83968 :   double max_snap_x = constraints.horizontal_snap;
+    2094       83968 :   double max_snap_y = constraints.horizontal_snap;
+    2095       83968 :   double max_snap_z = constraints.vertical_ascending_snap;
+    2096       83968 :   double min_snap_z = constraints.vertical_descending_snap;
+    2097             : 
+    2098       83968 :   double max_jerk_x = constraints.horizontal_jerk;
+    2099       83968 :   double max_jerk_y = constraints.horizontal_jerk;
+    2100       83968 :   double max_jerk_z = constraints.vertical_ascending_jerk;
+    2101       83968 :   double min_jerk_z = constraints.vertical_descending_jerk;
+    2102             : 
+    2103       83968 :   collision_avoidance_affecting_me_ = false;
+    2104             : 
+    2105       83968 :   if (first_collision_index < MPC_HORIZON_LENGTH) {
+    2106             : 
+    2107        2507 :     collision_avoidance_affecting_me_ = true;
+    2108             :     // the tmp variable is used to scale the speed of our drone in collision avoidance, depending on how far away the collision is
+    2109        2507 :     double tmp = 0;
+    2110             : 
+    2111        2507 :     if (first_collision_index <= _avoidance_collision_slow_down_fully_) {
+    2112        2507 :       tmp = 1;
+    2113           0 :     } else if (first_collision_index <= _avoidance_collision_slow_down_) {
+    2114           0 :       tmp = 1.0 - ((double)(first_collision_index - _avoidance_collision_slow_down_fully_)) /
+    2115           0 :                       (double)(_avoidance_collision_slow_down_ - _avoidance_collision_slow_down_fully_);
+    2116           0 :       tmp = tmp * tmp;
+    2117             :     }
+    2118             : 
+    2119        2507 :     if (!std::isfinite(tmp)) {
+    2120           0 :       tmp = 1.0;
+    2121           0 :       ROS_ERROR("[MpcTracker]: NaN detected in variable 'tmp', setting it to 1.0 and returning!!!");
+    2122           0 :       return;
+    2123        2507 :     } else if (tmp > 1.0) {
+    2124           0 :       tmp = 1.0;
+    2125        2507 :     } else if (tmp < 0.0) {
+    2126           0 :       tmp = 0.0;
+    2127             :     }
+    2128             : 
+    2129        2507 :     if (tmp > coef_scaler) {
+    2130           6 :       coef_scaler = tmp;
+    2131           6 :       coef_time   = ros::Time::now();
+    2132             :     }
+    2133        2507 :     if ((ros::Time::now() - coef_time).toSec() > 2.0) {
+    2134        2050 :       coef_scaler = tmp;
+    2135             :     }
+    2136             : 
+    2137             :     // we are close to a possible collision, better slow down a bit to give everyone more time
+    2138        2507 :     max_speed_x = constraints.horizontal_speed * ((_avoidance_collision_horizontal_speed_coef_ * coef_scaler) + (1.0 - coef_scaler));
+    2139        2507 :     max_speed_y = constraints.horizontal_speed * ((_avoidance_collision_horizontal_speed_coef_ * coef_scaler) + (1.0 - coef_scaler));
+    2140             :   }
+    2141             : 
+    2142       83968 :   if (collision_free_altitude_ > lowest_z) {
+    2143             : 
+    2144        1513 :     collision_avoidance_affecting_me_ = true;
+    2145        1513 :     max_speed_x                       = constraints.horizontal_speed * (_avoidance_collision_horizontal_speed_coef_);
+    2146        1513 :     max_speed_y                       = constraints.horizontal_speed * (_avoidance_collision_horizontal_speed_coef_);
+    2147             :   }
+    2148             : 
+    2149             :   // first control input generated by MPC
+    2150      167936 :   VectorXd mpc_u         = VectorXd::Zero(MPC_N_INPUTS);
+    2151       83968 :   double   mpc_u_heading = 0;
+    2152             : 
+    2153       83968 :   double iters_z       = 0;
+    2154       83968 :   double iters_x       = 0;
+    2155       83968 :   double iters_y       = 0;
+    2156       83968 :   double iters_heading = 0;
+    2157             : 
+    2158       83968 :   ros::Time time_begin = ros::Time::now();
+    2159             : 
+    2160      167936 :   MatrixXd des_z_filtered = filterReferenceZ(des_z_trajectory, max_speed_z, min_speed_z);
+    2161             : 
+    2162     3442693 :   for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    2163     3358720 :     if (des_z_filtered(i, 0) < minimum_collison_free_altitude_) {
+    2164       59455 :       des_z_filtered_offset_(i, 0) = minimum_collison_free_altitude_;
+    2165             :     } else {
+    2166     3299265 :       des_z_filtered_offset_(i, 0) = des_z_filtered(i, 0);
+    2167             :     }
+    2168             :   }
+    2169             : 
+    2170             :   // | ----------------- prepare the references ----------------- |
+    2171             : 
+    2172             :   // | -------------------- MPC solver z-axis ------------------- |
+    2173             : 
+    2174       83968 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2175       64023 :     mpc_solver_z_->setVelQ(drs_params.q_vel_braking);
+    2176             :   } else {
+    2177       19945 :     mpc_solver_z_->setVelQ(drs_params.q_vel_no_braking);
+    2178             :   }
+    2179             : 
+    2180      167936 :   MatrixXd initial_z = MatrixXd::Zero(4, 1);
+    2181             : 
+    2182       83968 :   initial_z(0, 0) = mpc_x(8, 0);
+    2183       83968 :   initial_z(1, 0) = mpc_x(9, 0);
+    2184       83968 :   initial_z(2, 0) = mpc_x(10, 0);
+    2185       83968 :   initial_z(3, 0) = mpc_x(11, 0);
+    2186             : 
+    2187       83968 :   mpc_solver_z_->setDt(dt1);
+    2188       83968 :   mpc_solver_z_->setInitialState(initial_z);
+    2189       83968 :   mpc_solver_z_->loadReference(des_z_filtered_offset_);
+    2190       83968 :   mpc_solver_z_->setLimits(max_speed_z, min_speed_z, max_acc_z, min_acc_z, max_jerk_z, min_jerk_z, max_snap_z, min_snap_z);
+    2191       83968 :   iters_z += mpc_solver_z_->solveMPC();
+    2192             : 
+    2193             :   {
+    2194      167936 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2195             : 
+    2196       83968 :     mpc_solver_z_->getStates(predicted_trajectory_);
+    2197             :   }
+    2198             : 
+    2199       83968 :   mpc_u(2) = mpc_solver_z_->getFirstControlInput();
+    2200             : 
+    2201             :   // if we are climbing to avoid a collision, reduce or arrest our horizontal velocity
+    2202             :   double ascend;
+    2203             :   {
+    2204       83968 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2205             : 
+    2206       83968 :     ascend = (predicted_trajectory_(10, 0) / max_speed_z);
+    2207             :   }
+    2208             : 
+    2209       83968 :   if (ascend > 0 && collision_free_altitude_ > lowest_z) {
+    2210         621 :     max_speed_y = max_speed_y * (1.0 - ascend);
+    2211         621 :     max_speed_x = max_speed_x * (1.0 - ascend);
+    2212             :   }
+    2213             : 
+    2214      251904 :   auto [des_x_filtered, des_y_filtered] = filterReferenceXY(des_x_trajectory, des_y_trajectory, max_speed_x, max_speed_y);
+    2215             : 
+    2216             :   // | -------------------- MPC solver x-axis ------------------- |
+    2217             : 
+    2218       83968 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2219       64021 :     mpc_solver_x_->setVelQ(drs_params.q_vel_braking);
+    2220             :   } else {
+    2221       19947 :     mpc_solver_x_->setVelQ(drs_params.q_vel_no_braking);
+    2222             :   }
+    2223             : 
+    2224      167936 :   MatrixXd initial_x = MatrixXd::Zero(4, 1);
+    2225             : 
+    2226       83968 :   initial_x(0, 0) = mpc_x(0, 0);
+    2227       83968 :   initial_x(1, 0) = mpc_x(1, 0);
+    2228       83968 :   initial_x(2, 0) = mpc_x(2, 0);
+    2229       83968 :   initial_x(3, 0) = mpc_x(3, 0);
+    2230             : 
+    2231       83968 :   mpc_solver_x_->setDt(dt1);
+    2232       83968 :   mpc_solver_x_->setInitialState(initial_x);
+    2233       83968 :   mpc_solver_x_->loadReference(des_x_filtered);
+    2234             : 
+    2235       83968 :   mpc_solver_x_->setLimits(max_speed_x, max_speed_x, max_acc_x, max_acc_x, max_jerk_x, max_jerk_x, max_snap_x, max_snap_x);
+    2236       83968 :   iters_x += mpc_solver_x_->solveMPC();
+    2237             : 
+    2238             :   {
+    2239      167936 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2240             : 
+    2241       83968 :     mpc_solver_x_->getStates(predicted_trajectory_);
+    2242             :   }
+    2243             : 
+    2244       83968 :   mpc_u(0) = mpc_solver_x_->getFirstControlInput();
+    2245             : 
+    2246             :   // | -------------------- MPC solver y-axis ------------------- |
+    2247             : 
+    2248       83968 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2249       64020 :     mpc_solver_y_->setVelQ(drs_params.q_vel_braking);
+    2250             :   } else {
+    2251       19948 :     mpc_solver_y_->setVelQ(drs_params.q_vel_no_braking);
+    2252             :   }
+    2253             : 
+    2254      167936 :   MatrixXd initial_y = MatrixXd::Zero(4, 1);
+    2255             : 
+    2256       83968 :   initial_y(0, 0) = mpc_x(4, 0);
+    2257       83968 :   initial_y(1, 0) = mpc_x(5, 0);
+    2258       83968 :   initial_y(2, 0) = mpc_x(6, 0);
+    2259       83968 :   initial_y(3, 0) = mpc_x(7, 0);
+    2260             : 
+    2261       83968 :   mpc_solver_y_->setDt(dt1);
+    2262       83968 :   mpc_solver_y_->setInitialState(initial_y);
+    2263       83968 :   mpc_solver_y_->loadReference(des_y_filtered);
+    2264       83968 :   mpc_solver_y_->setLimits(max_speed_y, max_speed_y, max_acc_y, max_acc_y, max_jerk_y, max_jerk_y, max_snap_y, max_snap_y);
+    2265       83968 :   iters_y += mpc_solver_y_->solveMPC();
+    2266             :   {
+    2267      167936 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2268             : 
+    2269       83968 :     mpc_solver_y_->getStates(predicted_trajectory_);
+    2270             :   }
+    2271       83968 :   mpc_u(1) = mpc_solver_y_->getFirstControlInput();
+    2272             : 
+    2273             :   // | ------------------- MPC solver heading ------------------- |
+    2274             : 
+    2275             :   // unwrap the heading reference
+    2276             : 
+    2277       83968 :   des_heading_trajectory(0, 0) = sradians::unwrap(des_heading_trajectory(0, 0), mpc_x_heading(0));
+    2278             : 
+    2279     3358720 :   for (int i = 1; i < MPC_HORIZON_LENGTH; i++) {
+    2280     3274747 :     des_heading_trajectory(i, 0) = sradians::unwrap(des_heading_trajectory(i, 0), des_heading_trajectory(i - 1, 0));
+    2281             :   }
+    2282             : 
+    2283       83968 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2284       64020 :     mpc_solver_heading_->setVelQ(drs_params.q_vel_braking);
+    2285             :   } else {
+    2286       19948 :     mpc_solver_heading_->setVelQ(drs_params.q_vel_no_braking);
+    2287             :   }
+    2288             : 
+    2289       83968 :   mpc_solver_heading_->setDt(dt1);
+    2290       83968 :   mpc_solver_heading_->setInitialState(mpc_x_heading);
+    2291       83968 :   mpc_solver_heading_->loadReference(des_heading_trajectory);
+    2292       83968 :   mpc_solver_heading_->setLimits(constraints.heading_speed, constraints.heading_speed, constraints.heading_acceleration, constraints.heading_acceleration,
+    2293             :                                  constraints.heading_jerk, constraints.heading_jerk, constraints.heading_snap, constraints.heading_snap);
+    2294       83968 :   iters_heading += mpc_solver_heading_->solveMPC();
+    2295             :   {
+    2296      167936 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2297             : 
+    2298       83968 :     mpc_solver_heading_->getStates(predicted_heading_trajectory_);
+    2299             :   }
+    2300       83968 :   mpc_u_heading = mpc_solver_heading_->getFirstControlInput();
+    2301             : 
+    2302             :   {
+    2303      167936 :     geometry_msgs::PoseStamped point;
+    2304       83968 :     point.header.stamp    = ros::Time::now();
+    2305       83968 :     point.header.frame_id = uav_state_.header.frame_id;
+    2306             : 
+    2307       83968 :     point.pose.position.x = des_x_filtered(0, 0);
+    2308       83968 :     point.pose.position.y = des_y_filtered(0, 0);
+    2309       83968 :     point.pose.position.z = des_z_filtered(0, 0);
+    2310             : 
+    2311       83968 :     point.pose.orientation = mrs_lib::AttitudeConverter(0, 0, des_heading_trajectory(0, 0));
+    2312             : 
+    2313       83968 :     ph_first_reference_point_.publish(point);
+    2314             :   }
+    2315             : 
+    2316             :   {
+    2317       83968 :     bool saturating = false;
+    2318             : 
+    2319       83968 :     if (mpc_u(0) > max_snap_x * 1.01) {
+    2320           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap X: " << mpc_u(0));
+    2321           0 :       mpc_u(0)   = max_snap_x;
+    2322           0 :       saturating = true;
+    2323             :     }
+    2324       83968 :     if (mpc_u(0) < -max_snap_x * 1.01) {
+    2325           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap X: " << mpc_u(0));
+    2326           0 :       mpc_u(0)   = -max_snap_x;
+    2327           0 :       saturating = true;
+    2328             :     }
+    2329       83968 :     if (mpc_u(1) > max_snap_y * 1.01) {
+    2330           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap Y: " << mpc_u(1));
+    2331           0 :       mpc_u(1)   = max_snap_y;
+    2332           0 :       saturating = true;
+    2333             :     }
+    2334       83968 :     if (mpc_u(1) < -max_snap_y * 1.01) {
+    2335           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap Y: " << mpc_u(1));
+    2336           0 :       mpc_u(1)   = -max_snap_y;
+    2337           0 :       saturating = true;
+    2338             :     }
+    2339       83968 :     if (mpc_u(2) > max_snap_z * 1.01) {
+    2340           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap Z: " << mpc_u(2));
+    2341           0 :       mpc_u(2)   = max_snap_z;
+    2342           0 :       saturating = true;
+    2343             :     }
+    2344       83968 :     if (mpc_u(2) < -min_snap_z * 1.01) {
+    2345           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap Z: " << mpc_u(2));
+    2346           0 :       mpc_u(2)   = -min_snap_z;
+    2347           0 :       saturating = true;
+    2348             :     }
+    2349             : 
+    2350       83968 :     if (saturating) {
+    2351           0 :       debugPrintState(0.1);
+    2352           0 :       debugPrintMPCResult(0.1);
+    2353             :     }
+    2354             :   }
+    2355             : 
+    2356             :   {
+    2357       83968 :     std::scoped_lock lock(mutex_mpc_u_);
+    2358             : 
+    2359       83968 :     mpc_u_         = mpc_u;
+    2360       83968 :     mpc_u_heading_ = mpc_u_heading;
+    2361             :   }
+    2362             : 
+    2363       83968 :   double mpc_solver_time = (ros::Time::now() - time_begin).toSec();
+    2364       83968 :   if (mpc_solver_time > dt1 || iters_x > _max_iters_xy_ || iters_y > _max_iters_xy_ || iters_z > _max_iters_z_ || iters_heading > _max_iters_heading_) {
+    2365           1 :     ROS_DEBUG_STREAM_THROTTLE(1.0, "[MpcTracker]: Total MPC solver time: " << mpc_solver_time << " iters X: " << iters_x << "/" << _max_iters_xy_
+    2366             :                                                                            << " iters Y:  " << iters_y << "/" << _max_iters_xy_ << " iters Z: " << iters_z
+    2367             :                                                                            << "/" << _max_iters_z_ << " iters heading: " << iters_heading << "/"
+    2368             :                                                                            << _max_iters_heading_);
+    2369             :   }
+    2370             : 
+    2371       83968 :   future_was_predicted_ = true;
+    2372             : 
+    2373             :   // | ------------- breaking for the next iteration ------------ |
+    2374             : 
+    2375      158524 :   if (drs_params.braking_enabled && (std::abs(des_x_filtered(MPC_HORIZON_LENGTH - 6) - des_x_filtered(MPC_HORIZON_LENGTH - 1)) <= 0.1) &&
+    2376      144354 :       (std::abs(des_y_filtered(MPC_HORIZON_LENGTH - 6) - des_y_filtered(MPC_HORIZON_LENGTH - 1)) <= 0.1) &&
+    2377      237734 :       (std::abs(des_z_filtered(MPC_HORIZON_LENGTH - 6) - des_z_filtered(MPC_HORIZON_LENGTH - 1)) <= 0.1) &&
+    2378       68152 :       (std::abs(radians::diff(des_heading_trajectory(MPC_HORIZON_LENGTH - 6), des_heading_trajectory(MPC_HORIZON_LENGTH - 1))) <= 0.1)) {
+    2379             : 
+    2380       67940 :     brake_ = true;
+    2381       67940 :     ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: braking");
+    2382             : 
+    2383             :   } else {
+    2384       16028 :     brake_ = false;
+    2385             :   }
+    2386             : 
+    2387             :   /* publish mpc reference //{ */
+    2388             : 
+    2389             :   {
+    2390      167936 :     geometry_msgs::PoseArray debug_trajectory_out;
+    2391       83968 :     debug_trajectory_out.header.stamp    = ros::Time::now();
+    2392       83968 :     debug_trajectory_out.header.frame_id = uav_state_.header.frame_id;
+    2393             : 
+    2394             :     {
+    2395      167936 :       std::scoped_lock lock(mutex_predicted_trajectory_);
+    2396             : 
+    2397     3442693 :       for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    2398             : 
+    2399     3358720 :         geometry_msgs::Pose new_pose;
+    2400             : 
+    2401     3358720 :         new_pose.position.x = des_x_filtered(i, 0);
+    2402     3358720 :         new_pose.position.y = des_y_filtered(i, 0);
+    2403     3358720 :         new_pose.position.z = des_z_filtered(i, 0);
+    2404             : 
+    2405     3358720 :         new_pose.orientation = mrs_lib::AttitudeConverter(0, 0, des_heading_trajectory(i));
+    2406             : 
+    2407     3358720 :         debug_trajectory_out.poses.push_back(new_pose);
+    2408             :       }
+    2409             :     }
+    2410             : 
+    2411       83968 :     ph_mpc_reference_debugging_.publish(debug_trajectory_out);
+    2412             :   }
+    2413             : 
+    2414             :   //}
+    2415             : }
+    2416             : 
+    2417             : //}
+    2418             : 
+    2419             : /* iterateModel() //{ */
+    2420             : 
+    2421       81134 : void MpcTracker::iterateModel(const double& dt) {
+    2422             : 
+    2423       81134 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    2424             : 
+    2425       81134 :   if (model_first_iteration_) {
+    2426             : 
+    2427          99 :     model_iteration_last_time_ = ros::Time::now();
+    2428          99 :     model_first_iteration_     = false;
+    2429             : 
+    2430             :   } else {
+    2431             : 
+    2432       81035 :     dt1 = 0.9 * dt1 + 0.1 * dt;
+    2433             : 
+    2434       81035 :     mrs_lib::set_mutexed(mutex_dt1_, dt1, dt1_);
+    2435       81035 :     timer_mpc_iteration_.setPeriod(ros::Duration(dt1), false);
+    2436             : 
+    2437             :     // clang-format off
+    2438       81035 :     A_ << 1, dt1, 0.5*dt1*dt1, 0,           0, 0,   0,           0,           0, 0,   0,           0,
+    2439       81035 :           0, 1,   dt1,         0.5*dt1*dt1, 0, 0,   0,           0,           0, 0,   0,           0,
+    2440       81035 :           0, 0,   1,           dt1,         0, 0,   0,           0,           0, 0,   0,           0,
+    2441       81035 :           0, 0,   0,           1,           0, 0,   0,           0,           0, 0,   0,           0,
+    2442       81035 :           0, 0,   0,           0,           1, dt1, 0.5*dt1*dt1, 0,           0, 0,   0,           0,
+    2443       81035 :           0, 0,   0,           0,           0, 1,   dt1,         0.5*dt1*dt1, 0, 0,   0,           0,
+    2444       81035 :           0, 0,   0,           0,           0, 0,   1,           dt1,         0, 0,   0,           0,
+    2445       81035 :           0, 0,   0,           0,           0, 0,   0,           1,           0, 0,   0,           0,
+    2446       81035 :           0, 0,   0,           0,           0, 0,   0,           0,           1, dt1, 0.5*dt1*dt1, 0,
+    2447       81035 :           0, 0,   0,           0,           0, 0,   0,           0,           0, 1,   dt1,         0.5*dt1*dt1,
+    2448       81035 :           0, 0,   0,           0,           0, 0,   0,           0,           0, 0,   1,           dt1,
+    2449       81035 :           0, 0,   0,           0,           0, 0,   0,           0,           0, 0,   0,           1;
+    2450             : 
+    2451       81035 :       B_ << 0,   0,   0,
+    2452       81035 :             0,   0,   0,
+    2453       81035 :             0,   0,   0,
+    2454       81035 :             dt1, 0,   0,
+    2455       81035 :             0,   0,   0,
+    2456       81035 :             0,   0,   0,
+    2457       81035 :             0,   0,   0,
+    2458       81035 :             0,   dt1, 0,
+    2459       81035 :             0,   0,   0,
+    2460       81035 :             0,   0,   0,
+    2461       81035 :             0,   0,   0,
+    2462       81035 :             0,   0,   dt1;
+    2463             : 
+    2464       81035 :       A_heading_ << 1, dt1, 0.5*dt1*dt1, 0,
+    2465       81035 :                     0, 1,   dt1,         0.5*dt1*dt1,
+    2466       81035 :                     0, 0,   1,           dt1,
+    2467       81035 :                     0, 0,   0,           1;
+    2468             : 
+    2469       81035 :       B_heading_ << 0,
+    2470       81035 :                     0,
+    2471      162070 :                     0,
+    2472       81035 :                     dt1;
+    2473             : 
+    2474       81035 :     model_iteration_last_time_ = ros::Time::now();
+    2475             :   }
+    2476             : 
+    2477             :   {
+    2478      162268 :     auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    2479      162268 :     auto [mpc_u, mpc_u_heading] = mrs_lib::get_mutexed(mutex_mpc_u_, mpc_u_, mpc_u_heading_);
+    2480             : 
+    2481      162268 :     MatrixXd new_mpc_x         = A_ * mpc_x + B_ * mpc_u;
+    2482      162268 :     MatrixXd new_mpc_x_heading = A_heading_ * mpc_x_heading + B_heading_ * mpc_u_heading;
+    2483             : 
+    2484             :     // | --------------- check the state difference --------------- |
+    2485             :     {
+    2486       81134 :       auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    2487             : 
+    2488       81134 :       bool problem = false;
+    2489             : 
+    2490             :       // position
+    2491             : 
+    2492       81134 :       if (fabs((new_mpc_x(0) - mpc_x(0)) / dt1) > 1.05 * constraints.horizontal_speed) {
+    2493           0 :         ROS_DEBUG("[MpcTracker]: horizontal pos x update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(0), new_mpc_x(0),
+    2494             :                   fabs((new_mpc_x(0) - mpc_x(0)) / dt1), constraints.horizontal_speed);
+    2495           0 :         problem = true;
+    2496             :       }
+    2497             : 
+    2498       81134 :       if (fabs((new_mpc_x(4) - mpc_x(4)) / dt1) > 1.05 * constraints.horizontal_speed) {
+    2499           0 :         ROS_DEBUG("[MpcTracker]: horizontal pos y update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(4), new_mpc_x(4),
+    2500             :                   fabs((new_mpc_x(4) - mpc_x(4)) / dt1), constraints.horizontal_speed);
+    2501           0 :         problem = true;
+    2502             :     }
+    2503             : 
+    2504       81134 :       if (((new_mpc_x(8) - mpc_x(8)) / dt1) > 1.05 * constraints.vertical_ascending_speed) {
+    2505           0 :         ROS_DEBUG("[MpcTracker]: vertical pos z update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(8), new_mpc_x(8),
+    2506             :                   ((new_mpc_x(8) - mpc_x(8)) / dt1), constraints.vertical_ascending_speed);
+    2507           0 :         problem = true;
+    2508             :       }
+    2509             : 
+    2510       81134 :       if (((new_mpc_x(8) - mpc_x(8)) / dt1) < 1.05 * -constraints.vertical_descending_speed) {
+    2511           0 :         ROS_DEBUG("[MpcTracker]: vertical pos z update violates constraints: %.2f -> %.2f = %.2f, < %.2f", mpc_x(8), new_mpc_x(8),
+    2512             :                   ((new_mpc_x(8) - mpc_x(8)) / dt1), -constraints.vertical_descending_speed);
+    2513           0 :         problem = true;
+    2514             :       }
+    2515             : 
+    2516             :       /* if (fabs(radians::diff(new_mpc_x_heading(0), mpc_x_heading(0)) / dt1) > 1.2 * constraints.heading_speed) { */
+    2517             :       /*   ROS_DEBUG("[MpcTracker]: heading update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x_heading(0), new_mpc_x_heading(0), */
+    2518             :       /*             fabs(radians::diff(new_mpc_x_heading(0), mpc_x_heading(0)) / dt1), constraints.heading_speed); */
+    2519             :       /*   problem = true; */
+    2520             :       /* } */
+    2521             : 
+    2522             :       // velocity
+    2523             : 
+    2524       81134 :       if (fabs((new_mpc_x(1) - mpc_x(1)) / dt1) > 1.05 * constraints.horizontal_acceleration) {
+    2525           0 :         ROS_DEBUG("[MpcTracker]: horizontal vel x update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(1), new_mpc_x(1),
+    2526             :                   fabs((new_mpc_x(1) - mpc_x(1)) / dt1), constraints.horizontal_acceleration);
+    2527           0 :         problem = true;
+    2528             :       }
+    2529             : 
+    2530       81134 :       if (fabs((new_mpc_x(5) - mpc_x(5)) / dt1) > 1.05 * constraints.horizontal_acceleration) {
+    2531           0 :         ROS_DEBUG("[MpcTracker]: horizontal vel y update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(5), new_mpc_x(5),
+    2532             :                   fabs((new_mpc_x(5) - mpc_x(5)) / dt1), constraints.horizontal_acceleration);
+    2533           0 :         problem = true;
+    2534             :       }
+    2535             : 
+    2536       81134 :       if (((new_mpc_x(9) - mpc_x(9)) / dt1) > 1.05 * constraints.vertical_ascending_acceleration) {
+    2537           0 :         ROS_DEBUG("[MpcTracker]: vertical vel z update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(9), new_mpc_x(9),
+    2538             :                   ((new_mpc_x(9) - mpc_x(9)) / dt1), constraints.vertical_ascending_acceleration);
+    2539           0 :         problem = true;
+    2540             :       }
+    2541             : 
+    2542       81134 :       if (((new_mpc_x(9) - mpc_x(9)) / dt1) < 1.05 * -constraints.vertical_descending_acceleration) {
+    2543           0 :         ROS_DEBUG("[MpcTracker]: vertical vel z update violates constraints: %.2f -> %.2f = %.2f, < %.2f", mpc_x(9), new_mpc_x(9),
+    2544             :                   ((new_mpc_x(9) - mpc_x(9)) / dt1), -constraints.vertical_descending_acceleration);
+    2545           0 :         problem = true;
+    2546             :       }
+    2547             : 
+    2548             :       // acceleration
+    2549             : 
+    2550       81134 :       if (fabs((new_mpc_x(2) - mpc_x(2)) / dt1) > 1.05 * constraints.horizontal_jerk) {
+    2551           0 :         ROS_DEBUG("[MpcTracker]: horizontal acc x update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(2), new_mpc_x(2),
+    2552             :                   fabs((new_mpc_x(2) - mpc_x(2)) / dt1), constraints.horizontal_jerk);
+    2553           0 :         problem = true;
+    2554             :       }
+    2555             : 
+    2556       81134 :       if (fabs((new_mpc_x(6) - mpc_x(6)) / dt1) > 1.05 * constraints.horizontal_jerk) {
+    2557           0 :         ROS_DEBUG("[MpcTracker]: horizontal acc y update violates constraints: %.2f -> %.2f, = %.2f > %.2f", mpc_x(6), new_mpc_x(6),
+    2558             :                   fabs((new_mpc_x(6) - mpc_x(6)) / dt1), constraints.horizontal_jerk);
+    2559           0 :         problem = true;
+    2560             :       }
+    2561             : 
+    2562       81134 :       if (((new_mpc_x(10) - mpc_x(10)) / dt1) > 1.05 * constraints.vertical_ascending_jerk) {
+    2563           0 :         ROS_DEBUG("[MpcTracker]: vertical acc z update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(10), new_mpc_x(10),
+    2564             :                   ((new_mpc_x(10) - mpc_x(10)) / dt1), constraints.vertical_ascending_jerk);
+    2565           0 :         problem = true;
+    2566             :       }
+    2567             : 
+    2568       81134 :       if (((new_mpc_x(10) - mpc_x(10)) / dt1) < 1.05 * -constraints.vertical_descending_jerk) {
+    2569           0 :         ROS_DEBUG("[MpcTracker]: vertical acc z update violates constraints: %.2f -> %.2f = %.2f, < %.2f", mpc_x(10), new_mpc_x(10),
+    2570             :                   ((new_mpc_x(10) - mpc_x(10)) / dt1), -constraints.vertical_descending_jerk);
+    2571           0 :         problem = true;
+    2572             :       }
+    2573             : 
+    2574             :       // jerk
+    2575             : 
+    2576       81134 :       if (fabs((new_mpc_x(3) - mpc_x(3)) / dt1) > 1.05 * constraints.horizontal_snap) {
+    2577           0 :         ROS_DEBUG("[MpcTracker]: horizontal jerk x update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(3), new_mpc_x(3),
+    2578             :                   fabs((new_mpc_x(3) - mpc_x(3)) / dt1), constraints.horizontal_snap);
+    2579           0 :         problem = true;
+    2580             :       }
+    2581             : 
+    2582       81134 :       if (fabs((new_mpc_x(7) - mpc_x(7)) / dt1) > 1.05 * constraints.horizontal_snap) {
+    2583           0 :         ROS_DEBUG("[MpcTracker]: horizontal jerk y update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(7), new_mpc_x(7),
+    2584             :                   fabs((new_mpc_x(7) - mpc_x(7)) / dt1), constraints.horizontal_snap);
+    2585           0 :         problem = true;
+    2586             :       }
+    2587             : 
+    2588       81134 :       if (((new_mpc_x(11) - mpc_x(11)) / dt1) > 1.05 * constraints.vertical_ascending_snap) {
+    2589           0 :         ROS_DEBUG("[MpcTracker]: vertical jerk z update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(11), new_mpc_x(11),
+    2590             :                   ((new_mpc_x(11) - mpc_x(11)) / dt1), constraints.vertical_ascending_snap);
+    2591           0 :         problem = true;
+    2592             :       }
+    2593             : 
+    2594       81134 :       if (((new_mpc_x(11) - mpc_x(11)) / dt1) < 1.05 * -constraints.vertical_descending_snap) {
+    2595           0 :         ROS_DEBUG("[MpcTracker]: vertical jerk z update violates constraints: %.2f -> %.2f = %.2f, < %.2f", mpc_x(11), new_mpc_x(11),
+    2596             :                   ((new_mpc_x(11) - mpc_x(11)) / dt1), -constraints.vertical_descending_snap);
+    2597           0 :         problem = true;
+    2598             :       }
+    2599             : 
+    2600       81134 :       if (problem) {
+    2601           0 :         debugPrintState(0.001);
+    2602           0 :         debugPrintMPCResult(0.001);
+    2603             :       }
+    2604             :     }
+    2605             : 
+    2606             :     {
+    2607       81134 :       std::scoped_lock lock(mutex_mpc_x_);
+    2608             : 
+    2609       81134 :       mpc_x_         = new_mpc_x;
+    2610       81134 :       mpc_x_heading_ = new_mpc_x_heading;
+    2611             : 
+    2612       81134 :       mpc_x_heading_(0) = sradians::wrap(mpc_x_heading_(0));
+    2613             :     }
+    2614             :   }
+    2615       81134 : }
+    2616             : 
+    2617             : //}
+    2618             : 
+    2619             : // | -------------------- referece setting -------------------- |
+    2620             : 
+    2621             : /* //{ loadTrajectory() */
+    2622             : 
+    2623             : // method for setting desired trajectory
+    2624         830 : std::tuple<bool, std::string, bool> MpcTracker::loadTrajectory(const mrs_msgs::TrajectoryReference msg) {
+    2625             : 
+    2626         830 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    2627             : 
+    2628             :   // copy the member variables
+    2629        1660 :   auto x         = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    2630        1660 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    2631             : 
+    2632        1660 :   std::stringstream ss;
+    2633             : 
+    2634             :   /* check the trajectory dt //{ */
+    2635             : 
+    2636             :   double trajectory_dt;
+    2637         830 :   if (msg.dt <= 1e-4) {
+    2638           0 :     trajectory_dt = 0.2;
+    2639           0 :     ROS_WARN_THROTTLE(10.0, "[MpcTracker]: the trajectory dt was not specified, assuming its the old 0.2 s");
+    2640         830 :   } else if (msg.dt < dt1) {
+    2641           0 :     trajectory_dt = 0.2;
+    2642           0 :     ss << std::setprecision(3) << "the trajectory dt (" << msg.dt << " s) is too small (smaller than the tracker's internal step size: " << dt1 << " s)";
+    2643           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    2644           0 :     return std::tuple(false, ss.str(), false);
+    2645             :   } else {
+    2646         830 :     trajectory_dt = msg.dt;
+    2647             :   }
+    2648             : 
+    2649             :   //}
+    2650             : 
+    2651         830 :   int trajectory_size = msg.points.size();
+    2652             : 
+    2653             :   /* sanitize the time-ness of the trajectory //{ */
+    2654             : 
+    2655         830 :   int    trajectory_sample_offset    = 0;  // how many samples in past is the trajectory
+    2656         830 :   int    trajectory_subsample_offset = 0;  // how many simulation inner loops ahead of the first valid sample
+    2657         830 :   double trajectory_time_offset      = 0;  // how much time in past in [s]
+    2658             : 
+    2659             :   // btw, "trajectory_time_offset = trajectory_dt*trajectory_sample_offset + _dt1_*trajectory_subsample_offset" should hold
+    2660         830 :   if (msg.fly_now) {
+    2661             : 
+    2662         829 :     ros::Time trajectory_time = msg.header.stamp;
+    2663             : 
+    2664             :     // the desired time is 0 => the current time
+    2665             :     // the trajecoty is a single point => the current time
+    2666         829 :     if (trajectory_time == ros::Time(0) || int(msg.points.size()) == 1) {
+    2667             : 
+    2668           3 :       trajectory_time_offset = 0.0;
+    2669             : 
+    2670             :       // the desired time is specified
+    2671             :     } else {
+    2672             : 
+    2673         826 :       trajectory_time_offset = (ros::Time::now() - trajectory_time).toSec();
+    2674             : 
+    2675             :       // when the time offset is negative, thus in the future
+    2676             :       // just say it, but use it like its from the current time
+    2677         826 :       if (trajectory_time_offset < 0.0) {
+    2678             : 
+    2679           0 :         ROS_WARN_THROTTLE(1.0, "[MpcTracker]: received trajectory with timestamp in the future by %.3f s", -trajectory_time_offset);
+    2680             : 
+    2681           0 :         trajectory_time_offset = 0.0;
+    2682             :       }
+    2683             :     }
+    2684             : 
+    2685             :     // if the time offset is set, check if we need to "move the first idx"
+    2686         829 :     if (trajectory_time_offset > 0.0) {
+    2687             : 
+    2688             :       // calculate the offset in samples
+    2689           2 :       trajectory_sample_offset = int(floor(trajectory_time_offset / trajectory_dt));
+    2690             : 
+    2691             :       // and get the subsample offset, which will be used to initialize the interpolator
+    2692           2 :       trajectory_subsample_offset = int(floor(fmod(trajectory_time_offset, trajectory_dt) / dt1));
+    2693             : 
+    2694           2 :       ROS_DEBUG_THROTTLE(0.1, "[MpcTracker]: received trajectory with timestamp in the past by %.3f s",
+    2695             :                          trajectory_dt * trajectory_sample_offset + dt1 * trajectory_subsample_offset);
+    2696             : 
+    2697             :       // if the offset is larger than the number of points in the trajectory
+    2698             :       // the trajectory can not be used
+    2699           2 :       if (trajectory_sample_offset >= trajectory_size) {
+    2700             : 
+    2701           0 :         ss << "trajectory timestamp is too old (time difference = " << trajectory_time_offset << ")";
+    2702           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    2703           0 :         return std::tuple(false, ss.str(), false);
+    2704             : 
+    2705             :       } else {
+    2706             : 
+    2707             :         // if the offset is larger than one trajectory sample,
+    2708             :         // offset the start
+    2709           2 :         if (trajectory_time_offset >= trajectory_dt) {
+    2710             : 
+    2711             :           // decrease the trajectory size
+    2712           0 :           trajectory_size -= trajectory_sample_offset;
+    2713             : 
+    2714           0 :           ROS_DEBUG_THROTTLE(0.1, "[MpcTracker]: offsetting trajectory by %d samples", trajectory_sample_offset);
+    2715             : 
+    2716             :         } else {
+    2717             : 
+    2718           2 :           trajectory_sample_offset = 0;
+    2719             :         }
+    2720             :       }
+    2721             :     }
+    2722             : 
+    2723             :   } else { // not fly_now
+    2724             : 
+    2725           1 :       trajectory_tracking_in_progress_ = false;
+    2726             :   }
+    2727             : 
+    2728             :   //}
+    2729             : 
+    2730         830 :   ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: trajectory sample offset: %d", trajectory_sample_offset);
+    2731         830 :   ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: trajectory subsample offset: %d", trajectory_subsample_offset);
+    2732             : 
+    2733             :   // after this, we should have the correct value of
+    2734             :   // * trajectory_size
+    2735             :   // * trajectory_sample_offset
+    2736             :   // * trajectory_subsample_offset
+    2737             : 
+    2738             :   /* copy the trajectory to a local variable //{ */
+    2739             : 
+    2740             :   // copy only the part from the first valid index
+    2741             : 
+    2742        1660 :   MatrixXd des_x_whole_trajectory       = VectorXd::Zero(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2743        1660 :   MatrixXd des_y_whole_trajectory       = VectorXd::Zero(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2744        1660 :   MatrixXd des_z_whole_trajectory       = VectorXd::Zero(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2745        1660 :   MatrixXd des_heading_whole_trajectory = VectorXd::Zero(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2746             : 
+    2747       42724 :   for (int i = 0; i < trajectory_size; i++) {
+    2748             : 
+    2749       41894 :     des_x_whole_trajectory(i)       = msg.points.at(trajectory_sample_offset + i).position.x;
+    2750       41894 :     des_y_whole_trajectory(i)       = msg.points.at(trajectory_sample_offset + i).position.y;
+    2751       41894 :     des_z_whole_trajectory(i)       = msg.points.at(trajectory_sample_offset + i).position.z;
+    2752       41894 :     des_heading_whole_trajectory(i) = msg.points.at(trajectory_sample_offset + i).heading;
+    2753             :   }
+    2754             : 
+    2755             :   //}
+    2756             : 
+    2757             :   /* set looping //{ */
+    2758             : 
+    2759         830 :   bool loop = false;
+    2760             : 
+    2761         830 :   if (msg.loop) {
+    2762             : 
+    2763           0 :     double first_x = des_x_whole_trajectory(0);
+    2764           0 :     double first_y = des_y_whole_trajectory(0);
+    2765           0 :     double first_z = des_z_whole_trajectory(0);
+    2766           0 :     double first_hdg = des_heading_whole_trajectory(0);
+    2767             : 
+    2768           0 :     double last_x = des_x_whole_trajectory(trajectory_size - 1);
+    2769           0 :     double last_y = des_y_whole_trajectory(trajectory_size - 1);
+    2770           0 :     double last_z = des_z_whole_trajectory(trajectory_size - 1);
+    2771           0 :     double last_hdg = des_heading_whole_trajectory(trajectory_size - 1);
+    2772             : 
+    2773             :     // check whether the trajectory is loopable
+    2774           0 :     if (mrs_lib::geometry::dist(vec3_t(first_x, first_y, first_z), vec3_t(last_x, last_y, last_z)) < 1.0 && abs(sradians::diff(first_hdg, last_hdg)) < 0.2) {
+    2775             : 
+    2776           0 :       ROS_INFO_THROTTLE(1.0, "[MpcTracker]: looping enabled");
+    2777           0 :       loop = true;
+    2778             : 
+    2779             :     } else {
+    2780             : 
+    2781           0 :       ss << "can not loop trajectory, the first and last points are too far apart";
+    2782           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    2783           0 :       return std::tuple(false, ss.str(), false);
+    2784             :     }
+    2785             : 
+    2786             :   } else {
+    2787             : 
+    2788         830 :     loop = false;
+    2789             :   }
+    2790             : 
+    2791             :   //}
+    2792             : 
+    2793             :   // by this time, the values of these should be set:
+    2794             :   // * loop
+    2795             : 
+    2796             :   /* add tail (the last point repeated to fill the prediction horizon) //{ */
+    2797             : 
+    2798         830 :   if (!loop) {
+    2799             : 
+    2800             :     // extend it so it has smooth ending
+    2801       34030 :     for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    2802             : 
+    2803       33200 :       des_x_whole_trajectory(i + trajectory_size)       = des_x_whole_trajectory(i + trajectory_size - 1);
+    2804       33200 :       des_y_whole_trajectory(i + trajectory_size)       = des_y_whole_trajectory(i + trajectory_size - 1);
+    2805       33200 :       des_z_whole_trajectory(i + trajectory_size)       = des_z_whole_trajectory(i + trajectory_size - 1);
+    2806       33200 :       des_heading_whole_trajectory(i + trajectory_size) = des_heading_whole_trajectory(i + trajectory_size - 1);
+    2807             :     }
+    2808             :   }
+    2809             : 
+    2810             :   //}
+    2811             : 
+    2812             :   // by this time, the values of these should be set correctly:
+    2813             :   // * trajectory_size
+    2814             :   // * des_x_whole_trajectory
+    2815             :   // * des_y_whole_trajectory
+    2816             :   // * des_z_whole_trajectory
+    2817             :   // * des_heading_whole_trajectory
+    2818             : 
+    2819             :   /* update the global variables //{ */
+    2820             : 
+    2821             :   {
+    2822        1660 :     std::scoped_lock lock(mutex_des_whole_trajectory_, mutex_des_trajectory_, mutex_trajectory_tracking_states_);
+    2823             : 
+    2824         830 :     des_whole_trajectory_id_ = msg.input_id;
+    2825             : 
+    2826         830 :     auto mpc_x_heading = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_heading_);
+    2827             : 
+    2828         830 :     trajectory_tracking_in_progress_ = msg.fly_now;
+    2829         830 :     trajectory_track_heading_        = msg.use_heading;
+    2830             : 
+    2831             :     // allocate the vectors
+    2832         830 :     des_x_whole_trajectory_       = std::make_shared<VectorXd>(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2833         830 :     des_y_whole_trajectory_       = std::make_shared<VectorXd>(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2834         830 :     des_z_whole_trajectory_       = std::make_shared<VectorXd>(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2835         830 :     des_heading_whole_trajectory_ = std::make_shared<VectorXd>(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2836             : 
+    2837       75924 :     for (int i = 0; i < trajectory_size + MPC_HORIZON_LENGTH; i++) {
+    2838             : 
+    2839       75094 :       (*des_x_whole_trajectory_)(i) = des_x_whole_trajectory(i);
+    2840       75094 :       (*des_y_whole_trajectory_)(i) = des_y_whole_trajectory(i);
+    2841       75094 :       (*des_z_whole_trajectory_)(i) = des_z_whole_trajectory(i);
+    2842             : 
+    2843       75094 :       if (trajectory_track_heading_) {
+    2844       75094 :         (*des_heading_whole_trajectory_)(i) = des_heading_whole_trajectory(i);
+    2845             :       } else {
+    2846           0 :         (*des_heading_whole_trajectory_).fill(mpc_x_heading(0, 0));
+    2847             :       }
+    2848             :     }
+    2849             : 
+    2850             :     // if we are tracking trajectory, copy the setpoint
+    2851         830 :     if (trajectory_tracking_in_progress_) {
+    2852             : 
+    2853         829 :       toggleHover(false);
+    2854             : 
+    2855             :       /* interpolate the trajectory points and fill in the desired_trajectory vector //{ */
+    2856             : 
+    2857       33989 :       for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    2858             : 
+    2859       33160 :         double first_time = dt1 + i * _dt2_ + trajectory_subsample_offset * dt1;
+    2860             : 
+    2861       33160 :         int first_idx  = floor(first_time / trajectory_dt);
+    2862       33160 :         int second_idx = first_idx + 1;
+    2863             : 
+    2864       33160 :         double interp_coeff = std::fmod(first_time / trajectory_dt, 1.0);
+    2865             : 
+    2866       33160 :         if (trajectory_tracking_loop_) {
+    2867             : 
+    2868           0 :           if (second_idx >= trajectory_size) {
+    2869           0 :             second_idx -= trajectory_size;
+    2870             :           }
+    2871             : 
+    2872           0 :           if (first_idx >= trajectory_size) {
+    2873           0 :             first_idx -= trajectory_size;
+    2874             :           }
+    2875             :         } else {
+    2876             : 
+    2877       33160 :           if (second_idx >= trajectory_size) {
+    2878           5 :             second_idx = trajectory_size - 1;
+    2879             :           }
+    2880             : 
+    2881       33160 :           if (first_idx >= trajectory_size) {
+    2882           4 :             first_idx = trajectory_size - 1;
+    2883             :           }
+    2884             :         }
+    2885             : 
+    2886       33160 :         des_x_trajectory_(i, 0) = (1.0 - interp_coeff) * des_x_whole_trajectory(first_idx) + interp_coeff * des_x_whole_trajectory(second_idx);
+    2887       33160 :         des_y_trajectory_(i, 0) = (1.0 - interp_coeff) * des_y_whole_trajectory(first_idx) + interp_coeff * des_y_whole_trajectory(second_idx);
+    2888       33160 :         des_z_trajectory_(i, 0) = (1.0 - interp_coeff) * des_z_whole_trajectory(first_idx) + interp_coeff * des_z_whole_trajectory(second_idx);
+    2889             : 
+    2890       33160 :         des_heading_trajectory_(i, 0) = sradians::interp(des_heading_whole_trajectory(first_idx), des_heading_whole_trajectory(second_idx), interp_coeff);
+    2891             :       }
+    2892             : 
+    2893             :       //}
+    2894             :     }
+    2895             : 
+    2896         830 :     trajectory_size_             = trajectory_size;
+    2897         830 :     trajectory_current_time_     = 0;
+    2898         830 :     trajectory_set_              = true;
+    2899         830 :     trajectory_tracking_loop_    = loop;
+    2900         830 :     trajectory_dt_               = trajectory_dt;
+    2901         830 :     trajectory_count_++;
+    2902             :   }
+    2903             : 
+    2904             :   //}
+    2905             : 
+    2906         830 :   ROS_INFO_THROTTLE(1, "[MpcTracker]: finished setting trajectory with length %d", trajectory_size);
+    2907             : 
+    2908             :   /* publish the debugging topics of the post-processed trajectory //{ */
+    2909             : 
+    2910             :   {
+    2911             : 
+    2912        1660 :     geometry_msgs::PoseArray debug_trajectory_out;
+    2913         830 :     debug_trajectory_out.header.stamp    = ros::Time::now();
+    2914         830 :     debug_trajectory_out.header.frame_id = common_handlers_->transformer->resolveFrame(msg.header.frame_id);
+    2915             : 
+    2916             :     {
+    2917        1660 :       std::scoped_lock lock(mutex_des_whole_trajectory_);
+    2918             : 
+    2919       42724 :       for (int i = 0; i < trajectory_size; i++) {
+    2920             : 
+    2921       41894 :         geometry_msgs::Pose new_pose;
+    2922             : 
+    2923       41894 :         new_pose.position.x = (*des_x_whole_trajectory_)(i);
+    2924       41894 :         new_pose.position.y = (*des_y_whole_trajectory_)(i);
+    2925       41894 :         new_pose.position.z = (*des_z_whole_trajectory_)(i);
+    2926             : 
+    2927       41894 :         new_pose.orientation = mrs_lib::AttitudeConverter(0, 0, (*des_heading_whole_trajectory_)(i));
+    2928             : 
+    2929       41894 :         debug_trajectory_out.poses.push_back(new_pose);
+    2930             :       }
+    2931             :     }
+    2932             : 
+    2933         830 :     pub_debug_processed_trajectory_poses_.publish(debug_trajectory_out);
+    2934             : 
+    2935        1660 :     visualization_msgs::MarkerArray msg_out;
+    2936             : 
+    2937        1660 :     visualization_msgs::Marker marker;
+    2938             : 
+    2939         830 :     marker.header.stamp     = ros::Time::now();
+    2940         830 :     marker.header.frame_id  = common_handlers_->transformer->resolveFrame(msg.header.frame_id);
+    2941         830 :     marker.type             = visualization_msgs::Marker::LINE_LIST;
+    2942         830 :     marker.color.a          = 1;
+    2943         830 :     marker.scale.x          = 0.05;
+    2944         830 :     marker.color.r          = 1;
+    2945         830 :     marker.color.g          = 0;
+    2946         830 :     marker.color.b          = 0;
+    2947         830 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2948             : 
+    2949             :     {
+    2950        1660 :       std::scoped_lock lock(mutex_des_whole_trajectory_);
+    2951             : 
+    2952       41894 :       for (int i = 0; i < trajectory_size - 1; i++) {
+    2953             : 
+    2954       41064 :         geometry_msgs::Point point1;
+    2955             : 
+    2956       41064 :         point1.x = des_x_whole_trajectory(i);
+    2957       41064 :         point1.y = des_y_whole_trajectory(i);
+    2958       41064 :         point1.z = des_z_whole_trajectory(i);
+    2959             : 
+    2960       41064 :         marker.points.push_back(point1);
+    2961             : 
+    2962       41064 :         geometry_msgs::Point point2;
+    2963             : 
+    2964       41064 :         point2.x = des_x_whole_trajectory(i + 1);
+    2965       41064 :         point2.y = des_y_whole_trajectory(i + 1);
+    2966       41064 :         point2.z = des_z_whole_trajectory(i + 1);
+    2967             : 
+    2968       41064 :         marker.points.push_back(point2);
+    2969             :       }
+    2970             :     }
+    2971             : 
+    2972         830 :     msg_out.markers.push_back(marker);
+    2973             : 
+    2974         830 :     pub_debug_processed_trajectory_markers_.publish(msg_out);
+    2975             :   }
+    2976             : 
+    2977             :   //}
+    2978             : 
+    2979         830 :   publishDiagnostics();
+    2980             : 
+    2981        1660 :   return std::tuple(true, "trajectory loaded", false);
+    2982             : }
+    2983             : 
+    2984             : //}
+    2985             : 
+    2986             : /* //{ setSinglePointReference() */
+    2987             : 
+    2988             : // fill the des_*_trajectory based on a single point
+    2989         702 : void MpcTracker::setSinglePointReference(const double x, const double y, const double z, const double heading) {
+    2990             : 
+    2991        1404 :   std::scoped_lock lock(mutex_des_trajectory_);
+    2992             : 
+    2993         702 :   des_x_trajectory_.fill(x);
+    2994         702 :   des_y_trajectory_.fill(y);
+    2995         702 :   des_z_trajectory_.fill(z);
+    2996         702 :   des_heading_trajectory_.fill(heading);
+    2997         702 : }
+    2998             : 
+    2999             : //}
+    3000             : 
+    3001             : /* //{ setGoal() */
+    3002             : 
+    3003             : // set absolute goal
+    3004         271 : void MpcTracker::setGoal(const double pos_x, const double pos_y, const double pos_z, const double heading, const bool use_heading) {
+    3005             : 
+    3006         271 :   double desired_heading = sradians::wrap(heading);
+    3007             : 
+    3008         542 :   auto mpc_x_heading = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_heading_);
+    3009             : 
+    3010         271 :   if (!use_heading) {
+    3011           0 :     desired_heading = mpc_x_heading(0, 0);
+    3012             :   }
+    3013             : 
+    3014         271 :   trajectory_tracking_in_progress_ = false;
+    3015             : 
+    3016         271 :   setSinglePointReference(pos_x, pos_y, pos_z, desired_heading);
+    3017             : 
+    3018         271 :   publishDiagnostics();
+    3019         271 : }
+    3020             : 
+    3021             : //}
+    3022             : 
+    3023             : /* //{ setRelativeGoal() */
+    3024             : 
+    3025         431 : void MpcTracker::setRelativeGoal(const double pos_x, const double pos_y, const double pos_z, const double heading, const bool use_heading) {
+    3026             : 
+    3027         862 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    3028             : 
+    3029         431 :   double abs_x = mpc_x(0, 0) + pos_x;
+    3030         431 :   double abs_y = mpc_x(4, 0) + pos_y;
+    3031         431 :   double abs_z = mpc_x(8, 0) + pos_z;
+    3032             : 
+    3033         431 :   double abs_heading = mpc_x_heading(0, 0);
+    3034             : 
+    3035         431 :   if (use_heading) {
+    3036           0 :     abs_heading += heading;
+    3037             :   }
+    3038             : 
+    3039         431 :   trajectory_tracking_in_progress_ = false;
+    3040             : 
+    3041         431 :   setSinglePointReference(abs_x, abs_y, abs_z, abs_heading);
+    3042             : 
+    3043         431 :   publishDiagnostics();
+    3044         431 : }
+    3045             : 
+    3046             : //}
+    3047             : 
+    3048             : /* toggleHover() //{ */
+    3049             : 
+    3050        1327 : void MpcTracker::toggleHover(bool in) {
+    3051             : 
+    3052        1327 :   if (in == false && hovering_in_progress_) {
+    3053             : 
+    3054         104 :     ROS_DEBUG("[MpcTracker]: stoppping the hover timer");
+    3055             : 
+    3056         104 :     timer_hover_.stop();
+    3057             : 
+    3058         104 :     hovering_in_progress_ = false;
+    3059             : 
+    3060        1223 :   } else if (in == true && !hovering_in_progress_) {
+    3061             : 
+    3062         104 :     ROS_DEBUG("[MpcTracker]: starting the hover timer");
+    3063             : 
+    3064         104 :     hovering_in_progress_ = true;
+    3065             : 
+    3066         104 :     timer_hover_.start();
+    3067             :   }
+    3068        1327 : }
+    3069             : 
+    3070             : //}
+    3071             : 
+    3072             : // | ------------------- trajectory tracking ------------------ |
+    3073             : 
+    3074             : /* startTrajectoryTrackingImpl() //{ */
+    3075             : 
+    3076           2 : std::tuple<bool, std::string> MpcTracker::startTrajectoryTrackingImpl(void) {
+    3077             : 
+    3078           4 :   std::stringstream ss;
+    3079             : 
+    3080           2 :   if (trajectory_set_) {
+    3081             : 
+    3082           2 :     toggleHover(false);
+    3083             : 
+    3084             :     {
+    3085           2 :       std::scoped_lock lock(mutex_des_trajectory_);
+    3086             : 
+    3087           2 :       trajectory_tracking_in_progress_ = true;
+    3088           2 :       trajectory_current_time_ = 0;
+    3089             :     }
+    3090             : 
+    3091           2 :     publishDiagnostics();
+    3092             : 
+    3093           2 :     ss << "trajectory tracking started";
+    3094           2 :     ROS_INFO_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3095             : 
+    3096           2 :     return std::tuple(true, ss.str());
+    3097             : 
+    3098             :   } else {
+    3099             : 
+    3100           0 :     ss << "can not start trajectory tracking, the trajectory is not set";
+    3101           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3102             : 
+    3103           0 :     return std::tuple(false, ss.str());
+    3104             :   }
+    3105             : }
+    3106             : 
+    3107             : //}
+    3108             : 
+    3109             : /* resumeTrajectoryTrackingImpl() //{ */
+    3110             : 
+    3111           1 : std::tuple<bool, std::string> MpcTracker::resumeTrajectoryTrackingImpl(void) {
+    3112             : 
+    3113           2 :   std::stringstream ss;
+    3114             : 
+    3115           1 :   if (trajectory_set_) {
+    3116             : 
+    3117           1 :     toggleHover(false);
+    3118             : 
+    3119           1 :     int trajectory_tracking_idx = getCurrentTrajectoryIdx();
+    3120             : 
+    3121           1 :     if (trajectory_tracking_idx < (trajectory_size_ - 1)) {
+    3122             : 
+    3123             :       {
+    3124           2 :         std::scoped_lock lock(mutex_des_trajectory_);
+    3125             : 
+    3126           1 :         trajectory_tracking_in_progress_ = true;
+    3127             :       }
+    3128             : 
+    3129           1 :       ss << "trajectory tracking resumed";
+    3130           1 :       ROS_INFO_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3131             : 
+    3132           1 :       publishDiagnostics();
+    3133             : 
+    3134           1 :       return std::tuple(true, ss.str());
+    3135             : 
+    3136             :     } else {
+    3137             : 
+    3138           0 :       ss << "can not resume trajectory tracking, trajectory is already finished";
+    3139           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3140             : 
+    3141           0 :       return std::tuple(false, ss.str());
+    3142             :     }
+    3143             : 
+    3144             :   } else {
+    3145             : 
+    3146           0 :     ss << "can not resume trajectory tracking, ther trajectory is not set";
+    3147           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3148             : 
+    3149           0 :     return std::tuple(false, ss.str());
+    3150             :   }
+    3151             : }
+    3152             : 
+    3153             : //}
+    3154             : 
+    3155             : /* stopTrajectoryTrackingImpl() //{ */
+    3156             : 
+    3157           1 : std::tuple<bool, std::string> MpcTracker::stopTrajectoryTrackingImpl(void) {
+    3158             : 
+    3159           1 :   std::stringstream ss;
+    3160             : 
+    3161           1 :   if (trajectory_tracking_in_progress_) {
+    3162             : 
+    3163           1 :     trajectory_tracking_in_progress_ = false;
+    3164             : 
+    3165           1 :     toggleHover(true);
+    3166             : 
+    3167           1 :     ss << "stopping trajectory tracking";
+    3168           1 :     ROS_INFO_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3169             : 
+    3170           1 :     publishDiagnostics();
+    3171             : 
+    3172             :   } else {
+    3173             : 
+    3174           0 :     ss << "can not stop trajectory tracking, already at stop";
+    3175           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3176             :   }
+    3177             : 
+    3178           2 :   return std::tuple(true, ss.str());
+    3179             : }
+    3180             : 
+    3181             : //}
+    3182             : 
+    3183             : /* gotoTrajectoryStartImpl() //{ */
+    3184             : 
+    3185           2 : std::tuple<bool, std::string> MpcTracker::gotoTrajectoryStartImpl(void) {
+    3186             : 
+    3187           4 :   std::stringstream ss;
+    3188             : 
+    3189           2 :   if (trajectory_set_) {
+    3190             : 
+    3191           2 :     toggleHover(false);
+    3192             : 
+    3193           2 :     trajectory_tracking_in_progress_ = false;
+    3194             : 
+    3195             :     {
+    3196           4 :       std::scoped_lock lock(mutex_des_whole_trajectory_);
+    3197             : 
+    3198           2 :       setGoal((*des_x_whole_trajectory_)(0), (*des_y_whole_trajectory_)(0), (*des_z_whole_trajectory_)(0), (*des_heading_whole_trajectory_)(0),
+    3199           2 :               trajectory_track_heading_);
+    3200             :     }
+    3201             : 
+    3202           2 :     publishDiagnostics();
+    3203             : 
+    3204           2 :     ss << "flying to the start of the trajectory";
+    3205           2 :     ROS_INFO_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3206             : 
+    3207           2 :     return std::tuple(true, ss.str());
+    3208             : 
+    3209             :   } else {
+    3210             : 
+    3211           0 :     ss << "can not fly to the start of the trajectory, the trajectory is not set";
+    3212           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3213             : 
+    3214           0 :     return std::tuple(false, ss.str());
+    3215             :   }
+    3216             : }
+    3217             : 
+    3218             : //}
+    3219             : 
+    3220             : // | ------------------------- support ------------------------ |
+    3221             : 
+    3222             : /* //{ publishDiagnostics() */
+    3223             : 
+    3224       24021 : void MpcTracker::publishDiagnostics(void) {
+    3225             : 
+    3226       48042 :   auto des_x_trajectory       = mrs_lib::get_mutexed(mutex_des_trajectory_, des_x_trajectory_);
+    3227       48042 :   auto des_y_trajectory       = mrs_lib::get_mutexed(mutex_des_trajectory_, des_y_trajectory_);
+    3228       48042 :   auto des_z_trajectory       = mrs_lib::get_mutexed(mutex_des_trajectory_, des_z_trajectory_);
+    3229       48042 :   auto des_heading_trajectory = mrs_lib::get_mutexed(mutex_des_trajectory_, des_heading_trajectory_);
+    3230             : 
+    3231       48042 :   mrs_msgs::MpcTrackerDiagnostics diagnostics;
+    3232             : 
+    3233       24021 :   diagnostics.header.stamp    = ros::Time::now();
+    3234       24021 :   diagnostics.header.frame_id = uav_state_.header.frame_id;
+    3235             : 
+    3236       24021 :   diagnostics.active = is_active_;
+    3237             : 
+    3238       24021 :   diagnostics.uav_name = _uav_name_;
+    3239             : 
+    3240       24021 :   diagnostics.collision_avoidance_active = collision_avoidance_enabled_;
+    3241       24021 :   diagnostics.avoiding_collision         = collision_avoidance_affecting_me_;
+    3242             : 
+    3243       24021 :   diagnostics.setpoint.position.x = des_x_trajectory(0, 0);
+    3244       24021 :   diagnostics.setpoint.position.y = des_y_trajectory(0, 0);
+    3245       24021 :   diagnostics.setpoint.position.z = des_z_trajectory(0, 0);
+    3246             : 
+    3247       24021 :   diagnostics.setpoint.orientation = mrs_lib::AttitudeConverter(0, 0, des_heading_trajectory(0, 0));
+    3248             : 
+    3249       48042 :   std::stringstream ss;
+    3250             : 
+    3251             :   {
+    3252       48042 :     std::scoped_lock lock(mutex_other_uav_diagnostics_);
+    3253             : 
+    3254             :     // fill in if other UAVs are sending their trajectories
+    3255       24021 :     std::map<std::string, mrs_msgs::MpcTrackerDiagnostics>::iterator u = other_uav_diagnostics_.begin();
+    3256             : 
+    3257       26212 :     while (u != other_uav_diagnostics_.end()) {
+    3258             : 
+    3259        2191 :       if (u->second.collision_avoidance_active) {
+    3260             : 
+    3261             :         // is the other's trajectory fresh enought?
+    3262        1446 :         if ((ros::Time::now() - u->second.header.stamp).toSec() < _collision_trajectory_timeout_) {
+    3263        1446 :           diagnostics.avoidance_active_uavs.push_back(u->first);
+    3264        1446 :           ss << u->first.c_str() << ", ";
+    3265             :         }
+    3266             :       }
+    3267             : 
+    3268        2191 :       u++;
+    3269             :     }
+    3270             :   }
+    3271             : 
+    3272       48042 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    3273             : 
+    3274       24021 :   if (ss.str().length() > 0) {
+    3275        1446 :     ROS_DEBUG_STREAM_THROTTLE(5.0, "[MpcTracker]: getting avoidance trajectories: " << ss.str());
+    3276       48977 :   } else if (collision_avoidance_enabled_ &&
+    3277       26402 :       (uav_state.estimator_horizontal == "lat_gps" || uav_state.estimator_horizontal == "lat_rtk")) {
+    3278       18549 :     ROS_DEBUG_THROTTLE(10.0, "[MpcTracker]: missing avoidance trajectories!");
+    3279             :   }
+    3280             : 
+    3281       24021 :   pub_diagnostics_.publish(diagnostics);
+    3282             : 
+    3283       48042 :   std_msgs::String string_msg;
+    3284             : 
+    3285       24021 :   if (diagnostics.avoidance_active_uavs.empty()) {
+    3286             : 
+    3287       22575 :     string_msg.data = "-id col_avoid I see: NOTHING";
+    3288             : 
+    3289             :   } else {
+    3290             : 
+    3291        1446 :     string_msg.data = "-id col_avoid I see: ";
+    3292             :   }
+    3293             : 
+    3294       24021 :   if (diagnostics.avoidance_active_uavs.size() <= 3) {
+    3295             : 
+    3296       25467 :     for (size_t i = 0; i < diagnostics.avoidance_active_uavs.size(); i++) {
+    3297        1446 :       if (i == 0) {
+    3298        1446 :         string_msg.data += diagnostics.avoidance_active_uavs.at(i);
+    3299             :       } else {
+    3300           0 :         string_msg.data += ", " + diagnostics.avoidance_active_uavs.at(i);
+    3301             :       }
+    3302             :     }
+    3303             : 
+    3304             :   } else {
+    3305             : 
+    3306           0 :     std::stringstream ss;
+    3307           0 :     ss << diagnostics.avoidance_active_uavs.size();
+    3308             : 
+    3309           0 :     string_msg.data += ss.str() + " UAVs";
+    3310             :   }
+    3311             : 
+    3312       24021 :   pub_status_string_.publish(string_msg);
+    3313       24021 : }
+    3314             : 
+    3315             : //}
+    3316             : 
+    3317             : /* debugPrintState() //{ */
+    3318             : 
+    3319           0 : void MpcTracker::debugPrintState(const double throttle) {
+    3320             : 
+    3321           0 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    3322             : 
+    3323           0 :   ROS_DEBUG_THROTTLE(throttle, "[MpcTracker]: MPC internal state: pos [%.2f, %.2f, %.2f, %.2f]", mpc_x(0), mpc_x(4), mpc_x(8), mpc_x_heading(0));
+    3324           0 :   ROS_DEBUG_THROTTLE(throttle, "[MpcTracker]: MPC internal state: vel [%.2f, %.2f, %.2f, %.2f]", mpc_x(1), mpc_x(5), mpc_x(9), mpc_x_heading(1));
+    3325           0 :   ROS_DEBUG_THROTTLE(throttle, "[MpcTracker]: MPC internal state: acc [%.2f, %.2f, %.2f, %.2f]", mpc_x(2), mpc_x(6), mpc_x(10), mpc_x_heading(2));
+    3326           0 :   ROS_DEBUG_THROTTLE(throttle, "[MpcTracker]: MPC internal state: jerk [%.2f, %.2f, %.2f, %.2f]", mpc_x(3), mpc_x(7), mpc_x(11), mpc_x_heading(3));
+    3327           0 : }
+    3328             : 
+    3329             : //}
+    3330             : 
+    3331             : /* debugPrintMPCu() //{ */
+    3332             : 
+    3333           0 : void MpcTracker::debugPrintMPCResult(const double throttle) {
+    3334             : 
+    3335           0 :   auto [mpc_u, mpc_u_heading] = mrs_lib::get_mutexed(mutex_mpc_u_, mpc_u_, mpc_u_heading_);
+    3336           0 :   auto constraints            = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    3337             : 
+    3338           0 :   ROS_DEBUG_THROTTLE(throttle, "[MpcTracker]: MPC result: [%.2f, %.2f, %.2f, %.2f]", mpc_u(0), mpc_u(1), mpc_u(2), mpc_u_heading);
+    3339           0 :   ROS_DEBUG_THROTTLE(throttle, "[MpcTracker]: snap constraint: hor: %.2f, ver asc: %.2f, vert desc: %.2f, heading: %.2f]", constraints.horizontal_snap,
+    3340             :                      constraints.vertical_ascending_snap, constraints.vertical_descending_snap, constraints.heading_snap);
+    3341           0 : }
+    3342             : 
+    3343             : //}
+    3344             : 
+    3345             : /* getCurrentTrajectoryIdx() //{ */
+    3346             : 
+    3347       25528 : int MpcTracker::getCurrentTrajectoryIdx() {
+    3348             : 
+    3349       25528 :   auto trajectory_current_time = mrs_lib::get_mutexed(mutex_trajectory_tracking_states_, trajectory_current_time_);
+    3350       25528 :   auto trajectory_dt   = mrs_lib::get_mutexed(mutex_trajectory_tracking_states_, trajectory_dt_);
+    3351             : 
+    3352       25528 :   return floor(trajectory_current_time / trajectory_dt);
+    3353             : }
+    3354             : 
+    3355             : //}
+    3356             : 
+    3357             : /* increaseCurrentTrajectoryTime() //{ */
+    3358             : 
+    3359       16163 : void MpcTracker::increaseCurrentTrajectoryTime(const double dt) {
+    3360             : 
+    3361       16163 :   auto trajectory_current_time = mrs_lib::get_mutexed(mutex_trajectory_tracking_states_, trajectory_current_time_);
+    3362       16163 :   auto [trajectory_size, trajectory_dt] = mrs_lib::get_mutexed(mutex_des_trajectory_, trajectory_size_, trajectory_dt_);
+    3363             : 
+    3364       16163 :   trajectory_current_time += dt;
+    3365             : 
+    3366       16163 :   const double trajectory_duration = trajectory_size * trajectory_dt;
+    3367             : 
+    3368             :   // if the tracking idx hits the end of the trajectory
+    3369       16163 :   if (trajectory_current_time >= trajectory_duration) {
+    3370             : 
+    3371           5 :     if (trajectory_tracking_loop_) {
+    3372             : 
+    3373             :       // reset the idx
+    3374           0 :       trajectory_current_time -= trajectory_duration;
+    3375             : 
+    3376           0 :       ROS_INFO("[MpcTracker]: trajectory looped");
+    3377             : 
+    3378             :     } else {
+    3379             : 
+    3380           5 :       trajectory_tracking_in_progress_ = false;
+    3381             : 
+    3382           5 :       ROS_INFO("[MpcTracker]: done tracking trajectory, current time in trajectory=%f, trajectory_duration=%f", trajectory_current_time, trajectory_duration);
+    3383             :     }
+    3384             :   }
+    3385             : 
+    3386       16163 :   if (trajectory_tracking_in_progress_) {
+    3387       16158 :     mrs_lib::set_mutexed(mutex_trajectory_tracking_states_, trajectory_current_time, trajectory_current_time_);
+    3388             :   }
+    3389       16163 : }
+    3390             : 
+    3391             : //}
+    3392             : 
+    3393             : // --------------------------------------------------------------
+    3394             : // |                           timers                           |
+    3395             : // --------------------------------------------------------------
+    3396             : 
+    3397             : /* //{ timerDiagnostics() */
+    3398             : 
+    3399             : // published diagnostics in reguar intervals
+    3400       22443 : void MpcTracker::timerDiagnostics(const ros::TimerEvent& event) {
+    3401             : 
+    3402       22443 :   if (!is_initialized_)
+    3403           0 :     return;
+    3404             : 
+    3405       67329 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerDiagnostics", _diagnostics_rate_, 0.1, event);
+    3406       67329 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcTracker::timerDiagnostics", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3407             : 
+    3408       22443 :   publishDiagnostics();
+    3409             : }
+    3410             : 
+    3411             : //}
+    3412             : 
+    3413             : /* //{ timerMPC() */
+    3414             : 
+    3415       83968 : void MpcTracker::timerMPC(const ros::TimerEvent& event) {
+    3416             : 
+    3417       83968 :   if (odometry_reset_in_progress_) {
+    3418           0 :     ROS_ERROR("[MpcTracker]: mpc iteration tried run while reseting odometry");
+    3419           0 :     return;
+    3420             :   }
+    3421             : 
+    3422       83968 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    3423             : 
+    3424       83968 :   mrs_lib::AtomicScopeFlag unset_running(mpc_timer_running_);
+    3425             : 
+    3426       83968 :   bool started_with_invalid = mpc_result_invalid_;
+    3427             : 
+    3428       83968 :   if (!is_active_) {
+    3429           0 :     return;
+    3430             :   }
+    3431             : 
+    3432       83968 :   if (!is_initialized_) {
+    3433           0 :     return;
+    3434             :   }
+    3435             : 
+    3436      251904 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerMPC", 1.0 / dt1, 0.01, event);
+    3437      251904 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcTracker::timerMPC", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3438             : 
+    3439       83968 :   ros::Time     begin = ros::Time::now();
+    3440       83968 :   ros::Time     end;
+    3441       83968 :   ros::Duration interval;
+    3442             :   int           trajectory_id;
+    3443             : 
+    3444             :   // if we are tracking trajectory, copy the setpoint
+    3445       83968 :   if (trajectory_tracking_in_progress_) {
+    3446             : 
+    3447       32326 :     MatrixXd des_x_trajectory, des_y_trajectory, des_z_trajectory, des_heading_trajectory;
+    3448       32326 :     VectorXd des_x_whole_trajectory, des_y_whole_trajectory, des_z_whole_trajectory, des_heading_whole_trajectory;
+    3449             :     double   trajectory_dt;
+    3450             :     int      trajectory_size;
+    3451             :     {
+    3452       16163 :       std::scoped_lock lock(mutex_des_trajectory_, mutex_des_whole_trajectory_);
+    3453             : 
+    3454       16163 :       des_x_trajectory       = des_x_trajectory_;
+    3455       16163 :       des_y_trajectory       = des_y_trajectory_;
+    3456       16163 :       des_z_trajectory       = des_z_trajectory_;
+    3457       16163 :       des_heading_trajectory = des_heading_trajectory_;
+    3458             : 
+    3459       16163 :       des_x_whole_trajectory       = *des_x_whole_trajectory_;
+    3460       16163 :       des_y_whole_trajectory       = *des_y_whole_trajectory_;
+    3461       16163 :       des_z_whole_trajectory       = *des_z_whole_trajectory_;
+    3462       16163 :       des_heading_whole_trajectory = *des_heading_whole_trajectory_;
+    3463             : 
+    3464       16163 :       trajectory_size = trajectory_size_;
+    3465       16163 :       trajectory_dt   = trajectory_dt_;
+    3466             : 
+    3467       16163 :       trajectory_id = des_whole_trajectory_id_;
+    3468             :     }
+    3469             : 
+    3470             :     /* interpolate the trajectory points and fill in the desired_trajectory vector //{ */
+    3471             : 
+    3472       16163 :     const double dt_from_last_update = (event.current_real - event.last_real).toSec();
+    3473             : 
+    3474       16163 :     if (dt_from_last_update > 0.0 && dt_from_last_update < 1.0) {
+    3475       16163 :       increaseCurrentTrajectoryTime(dt_from_last_update);
+    3476             :     } else {
+    3477           0 :       ROS_WARN_THROTTLE(1.0, "[MpcTracker]: timerMpc(): dt from the last update is not normal, not iterating trajectory, dt=%.4f", dt_from_last_update);
+    3478             :     }
+    3479             : 
+    3480       16163 :     auto trajectory_current_time = mrs_lib::get_mutexed(mutex_trajectory_tracking_states_, trajectory_current_time_);
+    3481             : 
+    3482      662683 :     for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    3483             : 
+    3484      646520 :       auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    3485             : 
+    3486      646520 :       double first_time = trajectory_current_time + dt1 + i * _dt2_;
+    3487             : 
+    3488      646520 :       int first_idx  = int(floor(first_time / trajectory_dt));
+    3489             : 
+    3490      646520 :       int second_idx = first_idx + 1;
+    3491             : 
+    3492      646520 :       double interp_coeff = std::fmod(first_time / trajectory_dt, 1.0);
+    3493             : 
+    3494      646520 :       if (trajectory_tracking_loop_) {
+    3495             : 
+    3496           0 :         if (second_idx >= trajectory_size) {
+    3497           0 :           second_idx = second_idx % trajectory_size;
+    3498             :         }
+    3499             : 
+    3500           0 :         if (first_idx >= trajectory_size) {
+    3501           0 :           first_idx = first_idx % trajectory_size;
+    3502             :         }
+    3503             : 
+    3504             :       } else {
+    3505             : 
+    3506      646520 :         if (second_idx >= trajectory_size) {
+    3507       89640 :           second_idx = trajectory_size - 1;
+    3508             :         }
+    3509             : 
+    3510      646520 :         if (first_idx >= trajectory_size) {
+    3511       82567 :           first_idx = trajectory_size - 1;
+    3512             :         }
+    3513             :       }
+    3514             : 
+    3515      646520 :       if (first_idx < 0 || first_idx > (trajectory_size-1) || second_idx < 0 || second_idx > (trajectory_size-1)) {
+    3516           0 :         ROS_ERROR_THROTTLE(0.1, "[MpcTracker]: trying to index out range when interpolating the trajectory! first_idx=%d, second_idx=%d, trajectory_size=%d", first_idx, second_idx, trajectory_size);
+    3517           0 :         continue;
+    3518             :       }
+    3519             : 
+    3520      646520 :       des_x_trajectory(i, 0) = (1.0 - interp_coeff) * des_x_whole_trajectory(first_idx) + interp_coeff * des_x_whole_trajectory(second_idx);
+    3521      646520 :       des_y_trajectory(i, 0) = (1.0 - interp_coeff) * des_y_whole_trajectory(first_idx) + interp_coeff * des_y_whole_trajectory(second_idx);
+    3522      646520 :       des_z_trajectory(i, 0) = (1.0 - interp_coeff) * des_z_whole_trajectory(first_idx) + interp_coeff * des_z_whole_trajectory(second_idx);
+    3523             : 
+    3524      646520 :       des_heading_trajectory(i, 0) = sradians::interp(des_heading_whole_trajectory(first_idx), des_heading_whole_trajectory(second_idx), interp_coeff);
+    3525             :     }
+    3526             : 
+    3527             :     {
+    3528       32326 :       std::scoped_lock lock(mutex_des_trajectory_);
+    3529             : 
+    3530       16163 :       des_x_trajectory_       = des_x_trajectory;
+    3531       16163 :       des_y_trajectory_       = des_y_trajectory;
+    3532       16163 :       des_z_trajectory_       = des_z_trajectory;
+    3533       16163 :       des_heading_trajectory_ = des_heading_trajectory;
+    3534             :     }
+    3535             : 
+    3536             :     //}
+    3537             : 
+    3538             :     // | ---------- publish the current trajectory point ---------- |
+    3539             : 
+    3540       16163 :     int trajectory_tracking_idx = getCurrentTrajectoryIdx();
+    3541             : 
+    3542       32326 :     geometry_msgs::PoseStamped debug_trajectory_point;
+    3543       16163 :     debug_trajectory_point.header.stamp    = ros::Time::now();
+    3544       16163 :     debug_trajectory_point.header.frame_id = uav_state_.header.frame_id;
+    3545             : 
+    3546       16163 :     debug_trajectory_point.pose.position.x = (*des_x_whole_trajectory_)(trajectory_tracking_idx);
+    3547       16163 :     debug_trajectory_point.pose.position.y = (*des_y_whole_trajectory_)(trajectory_tracking_idx);
+    3548       16163 :     debug_trajectory_point.pose.position.z = (*des_z_whole_trajectory_)(trajectory_tracking_idx);
+    3549             : 
+    3550       16163 :     debug_trajectory_point.pose.orientation = mrs_lib::AttitudeConverter(0, 0, (*des_heading_whole_trajectory_)(trajectory_tracking_idx));
+    3551             : 
+    3552       16163 :     ph_current_trajectory_point_.publish(debug_trajectory_point);
+    3553             : 
+    3554             :   } else {
+    3555             : 
+    3556       67805 :     std::scoped_lock lock(mutex_des_whole_trajectory_);
+    3557             : 
+    3558       67805 :     trajectory_id = des_whole_trajectory_id_;
+    3559             :   }
+    3560             : 
+    3561       83968 :   manageConstraints();
+    3562             : 
+    3563       83968 :   calculateMPC();
+    3564             : 
+    3565       83968 :   end      = ros::Time::now();
+    3566       83968 :   interval = end - begin;
+    3567             : 
+    3568             :   // | ------------------ calculate the MPC RTF ----------------- |
+    3569             : 
+    3570       83968 :   mpc_rtf_ = 0.99 * mpc_rtf_ + 0.01 * (interval.toSec()/dt1);
+    3571             : 
+    3572       83968 :   if (mpc_rtf_ >= 1.0) {
+    3573           0 :     ROS_WARN_THROTTLE(5.0, "[MpcTracker] MPC Real Time Factor (%.3f) is slow", mpc_rtf_);
+    3574             :   }
+    3575             : 
+    3576             :   /* publish predicted future //{ */
+    3577             : 
+    3578             :   {
+    3579      167936 :     geometry_msgs::PoseArray debug_trajectory_out;
+    3580       83968 :     debug_trajectory_out.header.stamp    = ros::Time::now();
+    3581       83968 :     debug_trajectory_out.header.frame_id = uav_state_.header.frame_id;
+    3582             : 
+    3583             :     {
+    3584      167936 :       std::scoped_lock lock(mutex_predicted_trajectory_);
+    3585             : 
+    3586     3442693 :       for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    3587             : 
+    3588     3358720 :         geometry_msgs::Pose newPose;
+    3589             : 
+    3590     3358720 :         newPose.position.x = predicted_trajectory_(i * MPC_N_STATES);
+    3591     3358720 :         newPose.position.y = predicted_trajectory_(i * MPC_N_STATES + 4);
+    3592     3358720 :         newPose.position.z = predicted_trajectory_(i * MPC_N_STATES + 8);
+    3593             : 
+    3594             :         try {
+    3595     3358720 :           newPose.orientation = mrs_lib::AttitudeConverter(0, 0, predicted_heading_trajectory_(i * MPC_N_STATES));
+    3596           0 :         } catch (...) {
+    3597           0 :           ROS_ERROR_THROTTLE(1.0, "[MpcTracker]: failed to fill orientation into debug print trajectory");
+    3598             :         }
+    3599             : 
+    3600     3358720 :         debug_trajectory_out.poses.push_back(newPose);
+    3601             :       }
+    3602             :     }
+    3603             : 
+    3604       83968 :     ph_predicted_trajectory_debugging_.publish(debug_trajectory_out);
+    3605             :   }
+    3606             : 
+    3607             :   //}
+    3608             : 
+    3609             :   /* publish full state prediction //{ */
+    3610             : 
+    3611             :   {
+    3612      167936 :     mrs_msgs::MpcPredictionFullState prediction_fs_out;
+    3613       83968 :     prediction_fs_out.header.stamp    = ros::Time::now();
+    3614       83968 :     prediction_fs_out.header.frame_id = uav_state_.header.frame_id;
+    3615             : 
+    3616       83968 :     ros::Time stamp = prediction_fs_out.header.stamp;
+    3617             : 
+    3618       83968 :     prediction_fs_out.input_id = trajectory_id;
+    3619             : 
+    3620             :     {
+    3621      167936 :       std::scoped_lock lock(mutex_predicted_trajectory_);
+    3622             : 
+    3623     3442693 :       for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    3624             : 
+    3625     3358720 :         if (i == 0) {
+    3626       83968 :           stamp += ros::Duration(0.01);
+    3627             :         } else {
+    3628     3274747 :           stamp += ros::Duration(0.2);
+    3629             :         }
+    3630             : 
+    3631     3358720 :         prediction_fs_out.stamps.push_back(stamp);
+    3632             : 
+    3633             :         {  // position
+    3634     3358720 :           geometry_msgs::Point point;
+    3635             : 
+    3636     3358720 :           point.x = predicted_trajectory_(i * MPC_N_STATES);
+    3637     3358720 :           point.y = predicted_trajectory_(i * MPC_N_STATES + 4);
+    3638     3358720 :           point.z = predicted_trajectory_(i * MPC_N_STATES + 8);
+    3639             : 
+    3640     3358720 :           prediction_fs_out.position.push_back(point);
+    3641             :         }
+    3642             : 
+    3643             :         {  // velocity
+    3644     3358720 :           geometry_msgs::Vector3 vector;
+    3645             : 
+    3646     3358720 :           vector.x = predicted_trajectory_(i * MPC_N_STATES + 1);
+    3647     3358720 :           vector.y = predicted_trajectory_(i * MPC_N_STATES + 5);
+    3648     3358720 :           vector.z = predicted_trajectory_(i * MPC_N_STATES + 9);
+    3649             : 
+    3650     3358720 :           prediction_fs_out.velocity.push_back(vector);
+    3651             :         }
+    3652             : 
+    3653             :         {  // acceleration
+    3654     3358720 :           geometry_msgs::Vector3 vector3;
+    3655             : 
+    3656     3358720 :           vector3.x = predicted_trajectory_(i * MPC_N_STATES + 2);
+    3657     3358720 :           vector3.y = predicted_trajectory_(i * MPC_N_STATES + 6);
+    3658     3358720 :           vector3.z = predicted_trajectory_(i * MPC_N_STATES + 10);
+    3659             : 
+    3660     3358720 :           prediction_fs_out.acceleration.push_back(vector3);
+    3661             :         }
+    3662             : 
+    3663             :         {  // jerk
+    3664     3358720 :           geometry_msgs::Vector3 vector3;
+    3665             : 
+    3666     3358720 :           vector3.x = predicted_trajectory_(i * MPC_N_STATES + 3);
+    3667     3358720 :           vector3.y = predicted_trajectory_(i * MPC_N_STATES + 7);
+    3668     3358720 :           vector3.z = predicted_trajectory_(i * MPC_N_STATES + 11);
+    3669             : 
+    3670     3358720 :           prediction_fs_out.jerk.push_back(vector3);
+    3671             :         }
+    3672             : 
+    3673             :         {
+    3674             :           // heading
+    3675             : 
+    3676     3358720 :           prediction_fs_out.heading.push_back(predicted_heading_trajectory_(i * MPC_N_STATES));
+    3677     3358720 :           prediction_fs_out.heading_rate.push_back(predicted_heading_trajectory_(i * MPC_N_STATES + 1));
+    3678     3358720 :           prediction_fs_out.heading_acceleration.push_back(predicted_heading_trajectory_(i * MPC_N_STATES + 2));
+    3679     3358720 :           prediction_fs_out.heading_jerk.push_back(predicted_heading_trajectory_(i * MPC_N_STATES + 3));
+    3680             :         }
+    3681             :       }
+    3682             :     }
+    3683             : 
+    3684             :     {
+    3685      167936 :       std::scoped_lock lock(mutex_prediction_full_state_);
+    3686       83968 :       prediction_full_state_ = prediction_fs_out;
+    3687             :     }
+    3688             :   }
+    3689             : 
+    3690             :   //}
+    3691             : 
+    3692       83968 :   mpc_computed_ = true;
+    3693             : 
+    3694       83968 :   if (started_with_invalid) {
+    3695             : 
+    3696           5 :     mpc_result_invalid_ = false;
+    3697             : 
+    3698           5 :     ROS_INFO("[MpcTracker]: calculated the first MPC result after invalidation");
+    3699             :   }
+    3700             : }
+    3701             : 
+    3702             : //}
+    3703             : 
+    3704             : /* timerVelocityTracking() //{ */
+    3705             : 
+    3706         827 : void MpcTracker::timerVelocityTracking(const ros::TimerEvent& event) {
+    3707             : 
+    3708         827 :   if (!is_initialized_) {
+    3709           3 :     return;
+    3710             :   }
+    3711             : 
+    3712         827 :   if (!velocity_tracking_active_) {
+    3713           0 :     return;
+    3714             :   }
+    3715             : 
+    3716        1654 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerVelocityTracking", int(30.0), 0.01, event);
+    3717             :   mrs_lib::ScopeTimer timer =
+    3718        1654 :       mrs_lib::ScopeTimer("MpcTracker::timerVelocityTracking", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3719             : 
+    3720             :   // stop the timer when timeout
+    3721         827 :   if ((ros::Time::now() - velocity_reference_time_).toSec() > 0.5) {
+    3722             : 
+    3723           3 :     ROS_WARN_THROTTLE(1.0, "[MpcTracker]: velocity reference timeouted, hovering");
+    3724           3 :     timer_velocity_tracking_.stop();
+    3725             : 
+    3726           3 :     toggleHover(true);
+    3727             : 
+    3728           3 :     velocity_tracking_active_ = false;
+    3729             : 
+    3730           3 :     return;
+    3731             :   }
+    3732             : 
+    3733        1648 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    3734         824 :   auto velocity_reference     = mrs_lib::get_mutexed(mutex_velocity_reference_, velocity_reference_);
+    3735             : 
+    3736        1648 :   mrs_msgs::TrajectoryReference trajectory;
+    3737             : 
+    3738         824 :   trajectory.fly_now         = true;
+    3739         824 :   trajectory.use_heading     = true;
+    3740         824 :   trajectory.dt              = 0.2;
+    3741         824 :   trajectory.header.stamp    = ros::Time::now();
+    3742         824 :   trajectory.header.frame_id = "";
+    3743             : 
+    3744         824 :   double x       = mpc_x(0, 0);
+    3745         824 :   double y       = mpc_x(4, 0);
+    3746         824 :   double z       = mpc_x(8, 0);
+    3747         824 :   double heading = mpc_x_heading(0, 0);
+    3748             : 
+    3749       42024 :   for (int i = 0; i < 50; i++) {
+    3750             : 
+    3751       41200 :     mrs_msgs::Reference reference;
+    3752       41200 :     reference.position.x = x;
+    3753       41200 :     reference.position.y = y;
+    3754       41200 :     reference.position.z = z;
+    3755       41200 :     reference.heading    = heading;
+    3756             : 
+    3757       41200 :     trajectory.points.push_back(reference);
+    3758             : 
+    3759       41200 :     x += velocity_reference.velocity.x * trajectory.dt;
+    3760       41200 :     y += velocity_reference.velocity.y * trajectory.dt;
+    3761       41200 :     z += velocity_reference.velocity.z * trajectory.dt;
+    3762             : 
+    3763       41200 :     if (velocity_reference.use_altitude) {
+    3764           0 :       z = velocity_reference.altitude;
+    3765             :     }
+    3766             : 
+    3767       41200 :     if (velocity_reference.use_heading_rate) {
+    3768       37800 :       heading += velocity_reference.heading_rate * trajectory.dt;
+    3769        3400 :     } else if (velocity_reference.use_heading) {
+    3770           0 :       heading = velocity_reference.heading;
+    3771             :     }
+    3772             :   }
+    3773             : 
+    3774        1648 :   auto [success, message, modified] = loadTrajectory(trajectory);
+    3775             : }
+    3776             : 
+    3777             : //}
+    3778             : 
+    3779             : /* //{ timerAvoidanceTrajectory() */
+    3780             : 
+    3781        4453 : void MpcTracker::timerAvoidanceTrajectory(const ros::TimerEvent& event) {
+    3782             : 
+    3783        4453 :   if (!is_active_) {
+    3784        2127 :     return;
+    3785             :   }
+    3786             : 
+    3787        2361 :   if (!is_initialized_) {
+    3788           0 :     return;
+    3789             :   }
+    3790             : 
+    3791        2361 :   if (!sh_estimation_diag_.hasMsg()) {
+    3792           0 :     return;
+    3793             :   } else {
+    3794             :     // we won't try to transform and publish the avoidance prediction if we cannot transform it
+    3795             : 
+    3796        2361 :     auto                     estimation_diag      = sh_estimation_diag_.getMsg();
+    3797        2361 :     std::vector<std::string> state_estimators = estimation_diag.get()->switchable_state_estimators;
+    3798             : 
+    3799        2361 :     bool got_gps_est = std::find(state_estimators.begin(), state_estimators.end(), "gps_garmin") != state_estimators.end() || std::find(state_estimators.begin(), state_estimators.end(), "gps_baro") != state_estimators.end();
+    3800        2361 :     bool got_rtk_est = std::find(state_estimators.begin(), state_estimators.end(), "rtk") != state_estimators.end();
+    3801             : 
+    3802        2361 :     if (!got_gps_est && !got_rtk_est) {
+    3803          35 :       return;
+    3804             :     }
+    3805             :   }
+    3806             : 
+    3807        4652 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerAvoidanceTrajectory", _avoidance_trajectory_rate_, 0.1, event);
+    3808             :   mrs_lib::ScopeTimer timer =
+    3809        4652 :       mrs_lib::ScopeTimer("MpcTracker::timerAvoidanceTrajectory", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3810             : 
+    3811        2326 :   auto uav_state            = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    3812        2326 :   auto predicted_trajectory = mrs_lib::get_mutexed(mutex_predicted_trajectory_, predicted_trajectory_);
+    3813             : 
+    3814        2326 :   if (future_was_predicted_) {
+    3815             : 
+    3816        2325 :     mrs_msgs::FutureTrajectory avoidance_trajectory;
+    3817             : 
+    3818             :     // fill last trajectory with initial data
+    3819        2325 :     avoidance_trajectory.stamp               = ros::Time::now();
+    3820        2325 :     avoidance_trajectory.uav_name            = _uav_name_;
+    3821        2325 :     avoidance_trajectory.priority            = avoidance_this_uav_priority_;
+    3822        2325 :     avoidance_trajectory.collision_avoidance = collision_avoidance_enabled_ && (uav_state.estimator_horizontal == "lat_gps" || uav_state.estimator_horizontal == "lat_rtk");
+    3823        2325 :     avoidance_trajectory.points.clear();
+    3824        2325 :     avoidance_trajectory.stamp               = ros::Time::now();
+    3825        2325 :     avoidance_trajectory.uav_name            = _uav_name_;
+    3826        2325 :     avoidance_trajectory.priority            = avoidance_this_uav_priority_;
+    3827        2325 :     avoidance_trajectory.collision_avoidance = collision_avoidance_enabled_;
+    3828             : 
+    3829        4650 :     auto res = common_handlers_->transformer->getTransform(uav_state.header.frame_id, "utm_origin", ros::Time::now());
+    3830             : 
+    3831        2325 :     if (!res) {
+    3832             : 
+    3833           0 :       std::string message = "[MpcTracker]: can not transform predicted future to utm_origin";
+    3834           0 :       ROS_WARN_STREAM_ONCE(message);
+    3835           0 :       ROS_DEBUG_STREAM_THROTTLE(1.0, message);
+    3836           0 :       return;
+    3837             : 
+    3838             :     } else {
+    3839             : 
+    3840        4650 :       geometry_msgs::TransformStamped tf = res.value();
+    3841             : 
+    3842       95325 :       for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    3843             : 
+    3844             :         // original point
+    3845      186000 :         geometry_msgs::PoseStamped original_point;
+    3846             : 
+    3847       93000 :         original_point.header.stamp    = ros::Time::now();
+    3848       93000 :         original_point.header.frame_id = uav_state.header.frame_id;
+    3849             : 
+    3850       93000 :         original_point.pose.position.x = predicted_trajectory(i * MPC_N_STATES);
+    3851       93000 :         original_point.pose.position.y = predicted_trajectory(i * MPC_N_STATES + 4);
+    3852       93000 :         original_point.pose.position.z = predicted_trajectory(i * MPC_N_STATES + 8);
+    3853             : 
+    3854       93000 :         original_point.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    3855             : 
+    3856      186000 :         auto res = common_handlers_->transformer->transform(original_point, tf);
+    3857             : 
+    3858       93000 :         if (res) {
+    3859             : 
+    3860       93000 :           mrs_msgs::FuturePoint new_point;
+    3861             : 
+    3862       93000 :           new_point.x = res.value().pose.position.x;
+    3863       93000 :           new_point.y = res.value().pose.position.y;
+    3864       93000 :           new_point.z = res.value().pose.position.z;
+    3865             : 
+    3866       93000 :           avoidance_trajectory.points.push_back(new_point);
+    3867             : 
+    3868             :         } else {
+    3869             : 
+    3870           0 :           std::string message = "[MpcTracker]: can not transform a point of a future trajectory";
+    3871           0 :           ROS_WARN_STREAM_ONCE(message);
+    3872           0 :           ROS_DEBUG_STREAM_THROTTLE(1.0, message);
+    3873             :         }
+    3874             :       }
+    3875             :     }
+    3876             : 
+    3877        2325 :     ph_avoidance_trajectory_.publish(avoidance_trajectory);
+    3878             :   }
+    3879             : }
+    3880             : 
+    3881             : //}
+    3882             : 
+    3883             : /* timerHover() //{ */
+    3884             : 
+    3885         332 : void MpcTracker::timerHover(const ros::TimerEvent& event) {
+    3886             : 
+    3887         664 :   MatrixXd mpc_x = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    3888             : 
+    3889         996 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerHover", 10, 0.01, event);
+    3890         996 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcTracker::timerHover", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3891             : 
+    3892         332 :   setRelativeGoal(0, 0, 0, 0, false);
+    3893             : 
+    3894         332 :   if (fabs(mpc_x(1, 0)) < 0.1 && fabs(mpc_x(5, 0)) < 0.1 && fabs(mpc_x(9, 0)) < 0.1) {
+    3895             : 
+    3896          80 :     toggleHover(false);
+    3897             : 
+    3898          80 :     ROS_INFO("[MpcTracker]: timerHover: speed is low, stopping hover timer");
+    3899             :   }
+    3900         332 : }
+    3901             : 
+    3902             : //}
+    3903             : 
+    3904             : }  // namespace mpc_tracker
+    3905             : 
+    3906             : }  // namespace mrs_uav_trackers
+    3907             : 
+    3908             : #include <pluginlib/class_list_macros.h>
+    3909         108 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::mpc_tracker::MpcTracker, mrs_uav_managers::Tracker)
+
+
+
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literal 0 HcmV?d00001 diff --git a/mrs_uav_trackers/src/speed_tracker/index-detail-sort-f.html b/mrs_uav_trackers/src/speed_tracker/index-detail-sort-f.html new file mode 100644 index 0000000000..11292f6b33 --- /dev/null +++ b/mrs_uav_trackers/src/speed_tracker/index-detail-sort-f.html @@ -0,0 +1,110 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/speed_tracker + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_trackers/src/speed_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:6444814.3 %
Date:2024-08-07 22:18:19Functions:71936.8 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
speed_tracker.cpp +
14.3%14.3%
+ 		14.3 %64 / 44836.8 %7 / 19
<unnamed>14.3 %64 / 44836.8 %7 / 19
+
+
+ + + + +
Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_trackers/src/speed_tracker - speed_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:6444814.3 %
Date:2024-08-07 22:18:19Functions:71936.8 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_trackers::speed_tracker::SpeedTracker::resetStatic()0
mrs_uav_trackers::speed_tracker::SpeedTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::callbackCommand(boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const>)0
mrs_uav_trackers::speed_tracker::SpeedTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::getStatus()0
mrs_uav_trackers::speed_tracker::SpeedTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)6
mrs_uav_trackers::speed_tracker::SpeedTracker::deactivate()20
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_trackers::speed_tracker::SpeedTracker::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)108
mrs_uav_trackers::speed_tracker::SpeedTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)312
mrs_uav_trackers::speed_tracker::SpeedTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)379
mrs_uav_trackers::speed_tracker::SpeedTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)138752
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Current view:top level - mrs_uav_trackers/src/speed_tracker - speed_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:6444814.3 %
Date:2024-08-07 22:18:19Functions:71936.8 %
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_trackers::speed_tracker::SpeedTracker::deactivate()20
mrs_uav_trackers::speed_tracker::SpeedTracker::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)108
mrs_uav_trackers::speed_tracker::SpeedTracker::resetStatic()0
mrs_uav_trackers::speed_tracker::SpeedTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)379
mrs_uav_trackers::speed_tracker::SpeedTracker::callbackCommand(boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const>)0
mrs_uav_trackers::speed_tracker::SpeedTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)312
mrs_uav_trackers::speed_tracker::SpeedTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)6
mrs_uav_trackers::speed_tracker::SpeedTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)138752
mrs_uav_trackers::speed_tracker::SpeedTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::getStatus()0
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LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/speed_tracker - speed_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:6444814.3 %
Date:2024-08-07 22:18:19Functions:71936.8 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : 
+       5             : #include <mrs_uav_managers/tracker.h>
+       6             : 
+       7             : #include <mrs_msgs/SpeedTrackerCommand.h>
+       8             : #include <mrs_msgs/VelocityReferenceSrv.h>
+       9             : 
+      10             : #include <mrs_lib/profiler.h>
+      11             : #include <mrs_lib/mutex.h>
+      12             : #include <mrs_lib/attitude_converter.h>
+      13             : #include <mrs_lib/subscribe_handler.h>
+      14             : #include <mrs_lib/geometry/cyclic.h>
+      15             : #include <mrs_lib/geometry/misc.h>
+      16             : #include <mrs_lib/publisher_handler.h>
+      17             : #include <mrs_lib/service_client_handler.h>
+      18             : 
+      19             : #include <visualization_msgs/Marker.h>
+      20             : #include <visualization_msgs/MarkerArray.h>
+      21             : 
+      22             : #include <mrs_msgs/String.h>
+      23             : 
+      24             : //}
+      25             : 
+      26             : /* defines //{ */
+      27             : 
+      28             : #define STOP_THR 1e-3
+      29             : 
+      30             : //}
+      31             : 
+      32             : /* using //{ */
+      33             : 
+      34             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+      35             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+      36             : 
+      37             : using radians  = mrs_lib::geometry::radians;
+      38             : using sradians = mrs_lib::geometry::sradians;
+      39             : 
+      40             : //}
+      41             : 
+      42             : namespace mrs_uav_trackers
+      43             : {
+      44             : 
+      45             : namespace speed_tracker
+      46             : {
+      47             : 
+      48             : /* //{ class SpeedTracker */
+      49             : 
+      50             : class SpeedTracker : public mrs_uav_managers::Tracker {
+      51             : public:
+      52             :   bool initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      53             :                   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
+      54             : 
+      55             :   std::tuple<bool, std::string> activate(const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd);
+      56             :   void                          deactivate(void);
+      57             :   bool                          resetStatic(void);
+      58             : 
+      59             :   std::optional<mrs_msgs::TrackerCommand>   update(const mrs_msgs::UavState &uav_state, const mrs_uav_managers::Controller::ControlOutput &last_control_output);
+      60             :   const mrs_msgs::TrackerStatus             getStatus();
+      61             :   const std_srvs::SetBoolResponse::ConstPtr enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd);
+      62             :   const std_srvs::TriggerResponse::ConstPtr switchOdometrySource(const mrs_msgs::UavState &new_uav_state);
+      63             : 
+      64             :   const mrs_msgs::ReferenceSrvResponse::ConstPtr           setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd);
+      65             :   const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr   setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd);
+      66             :   const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr setTrajectoryReference(const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd);
+      67             : 
+      68             :   const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd);
+      69             : 
+      70             :   const std_srvs::TriggerResponse::ConstPtr hover(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      71             :   const std_srvs::TriggerResponse::ConstPtr startTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      72             :   const std_srvs::TriggerResponse::ConstPtr stopTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      73             :   const std_srvs::TriggerResponse::ConstPtr resumeTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      74             :   const std_srvs::TriggerResponse::ConstPtr gotoTrajectoryStart(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      75             : 
+      76             : private:
+      77             :   ros::NodeHandle nh_;
+      78             : 
+      79             :   bool callbacks_enabled_ = true;
+      80             : 
+      81             :   std::string _uav_name_;
+      82             : 
+      83             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>  common_handlers_;
+      84             :   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers_;
+      85             : 
+      86             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray> ph_rviz_marker_;
+      87             : 
+      88             :   // | ------------------------ uav state ----------------------- |
+      89             : 
+      90             :   mrs_msgs::UavState uav_state_;
+      91             :   bool               got_uav_state_ = false;
+      92             :   std::mutex         mutex_uav_state_;
+      93             : 
+      94             :   // | ------------------- tracker constraints ------------------ |
+      95             : 
+      96             :   mrs_msgs::DynamicsConstraints constraints_;
+      97             :   std::mutex                    mutex_constraints_;
+      98             : 
+      99             :   // | ---------------- the tracker's inner state --------------- |
+     100             : 
+     101             :   std::atomic<bool> is_initialized_  = false;
+     102             :   std::atomic<bool> is_active_       = false;
+     103             :   std::atomic<bool> first_iteration_ = true;
+     104             : 
+     105             :   double _external_command_timeout_;
+     106             : 
+     107             :   mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand> sh_command_;
+     108             : 
+     109             :   void callbackCommand(const mrs_msgs::SpeedTrackerCommand::ConstPtr msg);
+     110             : 
+     111             :   // stores the post-processed and transformed command
+     112             :   mrs_msgs::SpeedTrackerCommand command_;
+     113             :   std::mutex                    mutex_command_;
+     114             :   ros::Time                     last_command_time_;
+     115             :   std::atomic<bool>             getting_cmd_ = false;
+     116             : 
+     117             :   // | ------------------------ profiler ------------------------ |
+     118             : 
+     119             :   mrs_lib::Profiler profiler_;
+     120             :   bool              _profiler_enabled_ = false;
+     121             : 
+     122             :   // | --------------------- service clients -------------------- |
+     123             : 
+     124             :   mrs_lib::ServiceClientHandler<mrs_msgs::String> sch_switch_tracker_;
+     125             : 
+     126             :   std::string _backup_tracker_;
+     127             : 
+     128             :   std::future<mrs_msgs::String> switch_tracker_future_;
+     129             : 
+     130             :   std::atomic<bool> switch_tracker_called_ = false;
+     131             : };
+     132             : 
+     133             : //}
+     134             : 
+     135             : // | -------------- tracker's interface routines -------------- |
+     136             : 
+     137             : /* //{ initialize() */
+     138             : 
+     139         108 : bool SpeedTracker::initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+     140             :                               std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers) {
+     141             : 
+     142         108 :   this->common_handlers_  = common_handlers;
+     143         108 :   this->private_handlers_ = private_handlers;
+     144             : 
+     145         108 :   _uav_name_ = common_handlers->uav_name;
+     146             : 
+     147         108 :   nh_ = nh;
+     148             : 
+     149         108 :   ros::Time::waitForValid();
+     150             : 
+     151             :   // --------------------------------------------------------------
+     152             :   // |                     loading parameters                     |
+     153             :   // --------------------------------------------------------------
+     154             : 
+     155             :   // | ---------------- load parent's parameters ---------------- |
+     156             : 
+     157         216 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     158             : 
+     159         108 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     160             : 
+     161         108 :   if (!param_loader_parent.loadedSuccessfully()) {
+     162           0 :     ROS_ERROR("[SpeedTracker]: Could not load all parameters!");
+     163           0 :     return false;
+     164             :   }
+     165             : 
+     166             :   // | ---------------- load plugin's parameters ---------------- |
+     167             : 
+     168         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/speed_tracker.yaml");
+     169         108 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/speed_tracker.yaml");
+     170             : 
+     171         216 :   const std::string yaml_prefix = "mrs_uav_trackers/speed_tracker/";
+     172             : 
+     173         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "command_timeout", _external_command_timeout_);
+     174             : 
+     175         108 :   private_handlers->param_loader->loadParam(yaml_prefix + "backup_tracker", _backup_tracker_);
+     176             : 
+     177         108 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     178           0 :     ROS_ERROR("[SpeedTracker]: could not load all parameters!");
+     179           0 :     return false;
+     180             :   }
+     181             : 
+     182             :   // | ------------------------ profiler ------------------------ |
+     183             : 
+     184         108 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "SpeedTracker", _profiler_enabled_);
+     185             : 
+     186             :   // | ----------------------- subscribers ---------------------- |
+     187             : 
+     188         108 :   mrs_lib::SubscribeHandlerOptions shopts;
+     189         108 :   shopts.nh              = nh_;
+     190         108 :   shopts.node_name       = "SpeedTracker";
+     191         108 :   shopts.threadsafe      = true;
+     192         108 :   shopts.autostart       = true;
+     193         108 :   shopts.transport_hints = ros::TransportHints().tcpNoDelay();
+     194             : 
+     195         108 :   sh_command_ = mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand>(shopts, "command", &SpeedTracker::callbackCommand, this);
+     196             : 
+     197             :   // | ----------------------- publishers ----------------------- |
+     198             : 
+     199         108 :   ph_rviz_marker_ = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "rviz_marker", 1);
+     200             : 
+     201             :   // | --------------------- service clients -------------------- |
+     202             : 
+     203         108 :   sch_switch_tracker_ = mrs_lib::ServiceClientHandler<mrs_msgs::String>(common_handlers->parent_nh, "switch_tracker");
+     204             : 
+     205             :   // | --------------------- finish the init -------------------- |
+     206             : 
+     207         108 :   is_initialized_ = true;
+     208             : 
+     209         108 :   ROS_INFO("[SpeedTracker]: initialized");
+     210             : 
+     211         108 :   return true;
+     212             : }
+     213             : 
+     214             : //}
+     215             : 
+     216             : /* //{ activate() */
+     217             : 
+     218           0 : std::tuple<bool, std::string> SpeedTracker::activate([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd) {
+     219             : 
+     220           0 :   std::stringstream ss;
+     221             : 
+     222           0 :   if (!got_uav_state_) {
+     223           0 :     ss << "odometry not set";
+     224           0 :     ROS_ERROR_STREAM("[SpeedTracker]: " << ss.str());
+     225           0 :     return std::tuple(false, ss.str());
+     226             :   }
+     227             : 
+     228           0 :   if (!getting_cmd_) {
+     229             : 
+     230           0 :     std::scoped_lock lock(mutex_command_);
+     231             : 
+     232           0 :     command_.header.stamp    = ros::Time(0);
+     233           0 :     command_.header.frame_id = last_tracker_cmd->header.frame_id;
+     234             : 
+     235           0 :     command_.use_velocity     = true;
+     236           0 :     command_.use_acceleration = false;
+     237           0 :     command_.use_force        = false;
+     238           0 :     command_.use_z            = false;
+     239           0 :     command_.use_heading_rate = false;
+     240             : 
+     241           0 :     command_.velocity.x = 0;
+     242           0 :     command_.velocity.y = 0;
+     243           0 :     command_.velocity.z = 0;
+     244             : 
+     245           0 :     if (last_tracker_cmd->use_heading) {
+     246           0 :       command_.heading     = last_tracker_cmd->heading;
+     247           0 :       command_.use_heading = true;
+     248             :     } else {
+     249           0 :       command_.use_heading = false;
+     250             :     }
+     251             :   }
+     252             : 
+     253           0 :   is_active_       = true;
+     254           0 :   first_iteration_ = true;
+     255             : 
+     256           0 :   ss << "activated";
+     257           0 :   ROS_INFO_STREAM("[SpeedTracker]: " << ss.str());
+     258             : 
+     259           0 :   return std::tuple(true, ss.str());
+     260             : }
+     261             : 
+     262             : //}
+     263             : 
+     264             : /* //{ deactivate() */
+     265             : 
+     266          20 : void SpeedTracker::deactivate(void) {
+     267             : 
+     268          20 :   is_active_   = false;
+     269          20 :   getting_cmd_ = false;
+     270             : 
+     271          20 :   ROS_INFO("[SpeedTracker]: deactivated");
+     272          20 : }
+     273             : 
+     274             : //}
+     275             : 
+     276             : /* //{ resetStatic() */
+     277             : 
+     278           0 : bool SpeedTracker::resetStatic(void) {
+     279             : 
+     280           0 :   return false;
+     281             : }
+     282             : 
+     283             : //}
+     284             : 
+     285             : /* //{ update() */
+     286             : 
+     287      138752 : std::optional<mrs_msgs::TrackerCommand> SpeedTracker::update(const mrs_msgs::UavState &                                          uav_state,
+     288             :                                                              [[maybe_unused]] const mrs_uav_managers::Controller::ControlOutput &last_control_output) {
+     289             : 
+     290      416256 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     291      416256 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("SpeedTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     292             : 
+     293             :   {
+     294      138752 :     std::scoped_lock lock(mutex_uav_state_);
+     295             : 
+     296      138752 :     uav_state_ = uav_state;
+     297             : 
+     298      138752 :     got_uav_state_ = true;
+     299             :   }
+     300             : 
+     301             :   double uav_heading;
+     302             : 
+     303             :   try {
+     304      138752 :     uav_heading = mrs_lib::AttitudeConverter(uav_state_.pose.orientation).getHeading();
+     305             :   }
+     306           0 :   catch (...) {
+     307           0 :     ROS_ERROR_THROTTLE(1.0, "[SpeedTracker]: could not calculate UAV heading");
+     308             : 
+     309           0 :     return {};
+     310             :   }
+     311             : 
+     312             :   // up to this part the update() method is evaluated even when the tracker is not active
+     313      138752 :   if (!is_active_) {
+     314      138752 :     return {};
+     315             :   }
+     316             : 
+     317           0 :   ros::Time external_command_time = sh_command_.lastMsgTime();
+     318             : 
+     319             :   // timeout the external command
+     320           0 :   if (getting_cmd_ && (ros::Time::now() - external_command_time).toSec() > _external_command_timeout_) {
+     321             : 
+     322           0 :     ROS_WARN("[SpeedTracker]: command timeouted");
+     323           0 :     getting_cmd_ = false;
+     324             : 
+     325           0 :     mrs_msgs::String srv;
+     326           0 :     srv.request.value = _backup_tracker_;
+     327             : 
+     328           0 :     switch_tracker_future_ = sch_switch_tracker_.callAsync(srv);
+     329             : 
+     330           0 :     switch_tracker_called_ = true;
+     331             :   }
+     332             : 
+     333           0 :   if (switch_tracker_called_ && switch_tracker_future_.wait_for(std::chrono::milliseconds(1)) == std::future_status::ready) {
+     334             : 
+     335           0 :     switch_tracker_called_ = false;
+     336             : 
+     337           0 :     if (!switch_tracker_future_.get().response.success) {
+     338           0 :       ROS_ERROR("[SpeedTracker]: failed to switch to backup tracker");
+     339           0 :       return {};
+     340             :     }
+     341             : 
+     342           0 :     switch_tracker_future_ = std::future<mrs_msgs::String>();
+     343             :   }
+     344             : 
+     345           0 :   auto command = mrs_lib::get_mutexed(mutex_command_, command_);
+     346             : 
+     347           0 :   mrs_msgs::TrackerCommand tracker_cmd;
+     348             : 
+     349           0 :   tracker_cmd.header.stamp    = ros::Time::now();
+     350           0 :   tracker_cmd.header.frame_id = uav_state.header.frame_id;
+     351             : 
+     352           0 :   tracker_cmd.position.x = uav_state.pose.position.x;
+     353           0 :   tracker_cmd.position.y = uav_state.pose.position.y;
+     354             : 
+     355           0 :   if (command.use_velocity) {
+     356           0 :     tracker_cmd.velocity.x              = command.velocity.x;
+     357           0 :     tracker_cmd.velocity.y              = command.velocity.y;
+     358           0 :     tracker_cmd.velocity.z              = command.velocity.z;
+     359           0 :     tracker_cmd.use_velocity_horizontal = true;
+     360           0 :     tracker_cmd.use_velocity_vertical   = true;
+     361             :   } else {
+     362           0 :     tracker_cmd.velocity.x              = uav_state.velocity.linear.x;
+     363           0 :     tracker_cmd.velocity.y              = uav_state.velocity.linear.y;
+     364           0 :     tracker_cmd.velocity.z              = uav_state.velocity.linear.z;
+     365           0 :     tracker_cmd.use_velocity_horizontal = false;
+     366           0 :     tracker_cmd.use_velocity_vertical   = false;
+     367             :   }
+     368             : 
+     369           0 :   if (command.use_z) {
+     370           0 :     tracker_cmd.position.z            = command.z;
+     371           0 :     tracker_cmd.use_position_vertical = true;
+     372             :   } else {
+     373           0 :     tracker_cmd.position.z            = uav_state.pose.position.z;
+     374           0 :     tracker_cmd.use_position_vertical = false;
+     375             :   }
+     376             : 
+     377           0 :   if (command.use_acceleration) {
+     378           0 :     tracker_cmd.acceleration.x   = command.acceleration.x;
+     379           0 :     tracker_cmd.acceleration.y   = command.acceleration.y;
+     380           0 :     tracker_cmd.acceleration.z   = command.acceleration.z;
+     381           0 :     tracker_cmd.use_acceleration = true;
+     382           0 :   } else if (command.use_force) {
+     383           0 :     tracker_cmd.acceleration.x   = command.force.x / last_control_output.diagnostics.total_mass;
+     384           0 :     tracker_cmd.acceleration.y   = command.force.y / last_control_output.diagnostics.total_mass;
+     385           0 :     tracker_cmd.acceleration.z   = command.force.z / last_control_output.diagnostics.total_mass;
+     386           0 :     tracker_cmd.use_acceleration = true;
+     387             :   } else {
+     388           0 :     tracker_cmd.acceleration.x   = 0;
+     389           0 :     tracker_cmd.acceleration.y   = 0;
+     390           0 :     tracker_cmd.acceleration.z   = 0;
+     391           0 :     tracker_cmd.use_acceleration = false;
+     392             :   }
+     393             : 
+     394           0 :   if (command.use_heading) {
+     395           0 :     tracker_cmd.heading     = command.heading;
+     396           0 :     tracker_cmd.use_heading = true;
+     397             :   } else {
+     398           0 :     tracker_cmd.heading     = uav_heading;
+     399           0 :     tracker_cmd.use_heading = false;
+     400             :   }
+     401             : 
+     402           0 :   if (command.use_heading_rate) {
+     403           0 :     tracker_cmd.heading_rate     = command.heading_rate;
+     404           0 :     tracker_cmd.use_heading_rate = true;
+     405             :   } else {
+     406           0 :     tracker_cmd.heading_rate     = uav_state.velocity.angular.z;
+     407           0 :     tracker_cmd.use_heading_rate = false;
+     408             :   }
+     409             : 
+     410           0 :   return {tracker_cmd};
+     411             : }
+     412             : 
+     413             : //}
+     414             : 
+     415             : /* //{ getStatus() */
+     416             : 
+     417           0 : const mrs_msgs::TrackerStatus SpeedTracker::getStatus() {
+     418             : 
+     419           0 :   mrs_msgs::TrackerStatus tracker_status;
+     420             : 
+     421           0 :   tracker_status.active            = is_active_;
+     422           0 :   tracker_status.callbacks_enabled = callbacks_enabled_;
+     423             : 
+     424           0 :   if (!tracker_status.active || first_iteration_)
+     425           0 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_IDLE;
+     426             :   else
+     427           0 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_REFERENCE;
+     428             : 
+     429           0 :   return tracker_status;
+     430             : }
+     431             : 
+     432             : //}
+     433             : 
+     434             : /* //{ enableCallbacks() */
+     435             : 
+     436         312 : const std_srvs::SetBoolResponse::ConstPtr SpeedTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     437             : 
+     438         624 :   std_srvs::SetBoolResponse res;
+     439         624 :   std::stringstream         ss;
+     440             : 
+     441         312 :   if (cmd->data != callbacks_enabled_) {
+     442             : 
+     443          20 :     callbacks_enabled_ = cmd->data;
+     444             : 
+     445          20 :     ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+     446          20 :     ROS_INFO_STREAM_THROTTLE(1.0, "[SpeedTracker]: " << ss.str());
+     447             : 
+     448             :   } else {
+     449             : 
+     450         292 :     ss << "callbacks were already " << (callbacks_enabled_ ? "enabled" : "disabled");
+     451         292 :     ROS_WARN_STREAM_THROTTLE(1.0, "[SpeedTracker]: " << ss.str());
+     452             :   }
+     453             : 
+     454         312 :   res.message = ss.str();
+     455         312 :   res.success = true;
+     456             : 
+     457         624 :   return std_srvs::SetBoolResponse::ConstPtr(new std_srvs::SetBoolResponse(res));
+     458             : }
+     459             : 
+     460             : //}
+     461             : 
+     462             : /* switchOdometrySource() //{ */
+     463             : 
+     464           0 : const std_srvs::TriggerResponse::ConstPtr SpeedTracker::switchOdometrySource([[maybe_unused]] const mrs_msgs::UavState &new_uav_state) {
+     465             : 
+     466           0 :   return std_srvs::TriggerResponse::Ptr();
+     467             : }
+     468             : 
+     469             : //}
+     470             : 
+     471             : /* //{ hover() */
+     472             : 
+     473           0 : const std_srvs::TriggerResponse::ConstPtr SpeedTracker::hover([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     474             : 
+     475           0 :   ROS_WARN("[SpeedTracker]: initiating hover");
+     476             : 
+     477           0 :   getting_cmd_ = false;
+     478             : 
+     479           0 :   mrs_msgs::String srv;
+     480           0 :   srv.request.value = _backup_tracker_;
+     481             : 
+     482           0 :   switch_tracker_future_ = sch_switch_tracker_.callAsync(srv);
+     483             : 
+     484           0 :   switch_tracker_called_ = true;
+     485             : 
+     486           0 :   std::stringstream ss;
+     487           0 :   ss << "initiating hover";
+     488             : 
+     489           0 :   std_srvs::TriggerResponse res;
+     490           0 :   res.success = true;
+     491           0 :   res.message = ss.str();
+     492             : 
+     493           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+     494             : }
+     495             : 
+     496             : //}
+     497             : 
+     498             : /* //{ startTrajectoryTracking() */
+     499             : 
+     500           0 : const std_srvs::TriggerResponse::ConstPtr SpeedTracker::startTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     501           0 :   return std_srvs::TriggerResponse::Ptr();
+     502             : }
+     503             : 
+     504             : //}
+     505             : 
+     506             : /* //{ stopTrajectoryTracking() */
+     507             : 
+     508           0 : const std_srvs::TriggerResponse::ConstPtr SpeedTracker::stopTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     509           0 :   return std_srvs::TriggerResponse::Ptr();
+     510             : }
+     511             : 
+     512             : //}
+     513             : 
+     514             : /* //{ resumeTrajectoryTracking() */
+     515             : 
+     516           0 : const std_srvs::TriggerResponse::ConstPtr SpeedTracker::resumeTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     517           0 :   return std_srvs::TriggerResponse::Ptr();
+     518             : }
+     519             : 
+     520             : //}
+     521             : 
+     522             : /* //{ gotoTrajectoryStart() */
+     523             : 
+     524           0 : const std_srvs::TriggerResponse::ConstPtr SpeedTracker::gotoTrajectoryStart([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     525           0 :   return std_srvs::TriggerResponse::Ptr();
+     526             : }
+     527             : 
+     528             : //}
+     529             : 
+     530             : /* //{ setConstraints() */
+     531             : 
+     532         379 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr SpeedTracker::setConstraints([
+     533             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     534             : 
+     535             :   {
+     536         379 :     std::scoped_lock lock(mutex_constraints_);
+     537             : 
+     538         379 :     constraints_ = cmd->constraints;
+     539             :   }
+     540             : 
+     541         758 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     542             : 
+     543         379 :   res.success = true;
+     544         379 :   res.message = "constraints updated";
+     545             : 
+     546         758 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     547             : }
+     548             : 
+     549             : //}
+     550             : 
+     551             : /* //{ setReference() */
+     552             : 
+     553           0 : const mrs_msgs::ReferenceSrvResponse::ConstPtr SpeedTracker::setReference([[maybe_unused]] const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd) {
+     554             : 
+     555           0 :   return mrs_msgs::ReferenceSrvResponse::Ptr();
+     556             : }
+     557             : 
+     558             : //}
+     559             : 
+     560             : /* //{ setVelocityReference() */
+     561             : 
+     562           0 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr SpeedTracker::setVelocityReference([
+     563             :     [maybe_unused]] const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd) {
+     564           0 :   return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+     565             : }
+     566             : 
+     567             : //}
+     568             : 
+     569             : /* //{ setTrajectoryReference() */
+     570             : 
+     571           6 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr SpeedTracker::setTrajectoryReference([
+     572             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     573           6 :   return mrs_msgs::TrajectoryReferenceSrvResponse::Ptr();
+     574             : }
+     575             : 
+     576             : //}
+     577             : 
+     578             : // | --------------------- custom methods --------------------- |
+     579             : 
+     580             : /* callbackCommand() //{ */
+     581             : 
+     582           0 : void SpeedTracker::callbackCommand(const mrs_msgs::SpeedTrackerCommand::ConstPtr msg) {
+     583             : 
+     584           0 :   if (!is_initialized_)
+     585           0 :     return;
+     586             : 
+     587           0 :   if (!is_active_)
+     588           0 :     return;
+     589             : 
+     590           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackCommand");
+     591           0 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("SpeedTracker::callbackCommand", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     592             : 
+     593           0 :   mrs_msgs::SpeedTrackerCommandConstPtr external_command = msg;
+     594             : 
+     595             :   double dt;
+     596             : 
+     597           0 :   if (first_iteration_) {
+     598             : 
+     599           0 :     last_command_time_ = ros::Time::now();
+     600           0 :     first_iteration_   = false;
+     601             : 
+     602             :     {
+     603           0 :       std::scoped_lock lock(mutex_command_);
+     604             : 
+     605           0 :       command_ = *external_command;
+     606             :     }
+     607             : 
+     608           0 :     return;
+     609             : 
+     610             :   } else {
+     611           0 :     dt                 = (ros::Time::now() - last_command_time_).toSec();
+     612           0 :     last_command_time_ = ros::Time::now();
+     613             : 
+     614           0 :     if (dt <= 1e-4) {
+     615           0 :       ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: the command dt is %.5f, returning", dt);
+     616           0 :       return;
+     617             :     }
+     618             :   }
+     619             : 
+     620           0 :   getting_cmd_ = true;
+     621             : 
+     622           0 :   mrs_msgs::SpeedTrackerCommand transformed_command = *external_command;
+     623             : 
+     624           0 :   auto old_command = mrs_lib::get_mutexed(mutex_command_, command_);
+     625           0 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     626           0 :   auto uav_state   = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     627             : 
+     628             :   double uav_heading;
+     629             : 
+     630             :   try {
+     631           0 :     uav_heading = mrs_lib::AttitudeConverter(uav_state_.pose.orientation).getHeading();
+     632             :   }
+     633           0 :   catch (...) {
+     634           0 :     ROS_ERROR_THROTTLE(1.0, "[SpeedTracker]: could not calculate UAV heading");
+     635           0 :     return;
+     636             :   }
+     637             : 
+     638             :   // transform the command
+     639             : 
+     640             :   // transform velocity
+     641             : 
+     642           0 :   if (transformed_command.use_velocity) {
+     643             : 
+     644           0 :     geometry_msgs::Vector3Stamped vector3;
+     645           0 :     vector3.header = transformed_command.header;
+     646             : 
+     647           0 :     vector3.vector.x = transformed_command.velocity.x;
+     648           0 :     vector3.vector.y = transformed_command.velocity.y;
+     649           0 :     vector3.vector.z = transformed_command.velocity.z;
+     650             : 
+     651           0 :     auto ret = common_handlers_->transformer->transformSingle(vector3, "");
+     652             : 
+     653           0 :     if (ret) {
+     654           0 :       transformed_command.velocity.x = ret.value().vector.x;
+     655           0 :       transformed_command.velocity.y = ret.value().vector.y;
+     656           0 :       transformed_command.velocity.z = ret.value().vector.z;
+     657             :     } else {
+     658           0 :       return;
+     659             :     }
+     660             : 
+     661             :     /* horizontal speed limit //{ */
+     662             : 
+     663             :     {
+     664           0 :       double des_horizontal_speed = sqrt(pow(transformed_command.velocity.x, 2) + pow(transformed_command.velocity.y, 2));
+     665             : 
+     666           0 :       if (des_horizontal_speed > constraints.horizontal_speed) {
+     667             : 
+     668           0 :         double des_speed_heading = atan2(transformed_command.velocity.y, transformed_command.velocity.x);
+     669             : 
+     670           0 :         transformed_command.velocity.x = cos(des_speed_heading) * constraints.horizontal_speed;
+     671           0 :         transformed_command.velocity.y = sin(des_speed_heading) * constraints.horizontal_speed;
+     672             :       }
+     673             :     }
+     674             : 
+     675             :     //}
+     676             : 
+     677             :     /* horizontal speed change rate limit //{ */
+     678             : 
+     679             :     {
+     680             :       Eigen::Vector2d hor_speed_derivative =
+     681           0 :           Eigen::Vector2d(transformed_command.velocity.x - old_command.velocity.x, transformed_command.velocity.y - old_command.velocity.y) / dt;
+     682             : 
+     683             :       // exceeding the maximum acceleration
+     684           0 :       if (hor_speed_derivative.norm() > constraints.horizontal_acceleration) {
+     685             : 
+     686           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting speed change rate");
+     687           0 :         double direction = atan2(hor_speed_derivative[1], hor_speed_derivative[0]);
+     688             : 
+     689           0 :         transformed_command.velocity.x = old_command.velocity.x + cos(direction) * constraints.horizontal_acceleration * dt;
+     690           0 :         transformed_command.velocity.y = old_command.velocity.y + sin(direction) * constraints.horizontal_acceleration * dt;
+     691             :       }
+     692             :     }
+     693             : 
+     694             :     //}
+     695             : 
+     696             :     /* vertical speed limit //{ */
+     697             : 
+     698             :     {
+     699             :       // if ascending
+     700           0 :       if (transformed_command.velocity.z > constraints.vertical_ascending_speed) {
+     701             : 
+     702           0 :         transformed_command.velocity.z = constraints.vertical_ascending_speed;
+     703             :       }
+     704             : 
+     705             :       // if descending
+     706           0 :       if (transformed_command.velocity.z < -constraints.vertical_descending_speed) {
+     707             : 
+     708           0 :         transformed_command.velocity.z = -constraints.vertical_descending_speed;
+     709             :       }
+     710             :     }
+     711             : 
+     712             :     //}
+     713             : 
+     714             :     /* vertical speed change rate //{ */
+     715             : 
+     716             :     {
+     717             : 
+     718           0 :       double vert_speed_derivative = (transformed_command.velocity.z - old_command.velocity.z) / dt;
+     719             : 
+     720           0 :       if (vert_speed_derivative > constraints.vertical_ascending_acceleration) {
+     721             : 
+     722           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting vertical ascending speed change rate");
+     723           0 :         transformed_command.velocity.z = old_command.velocity.z + constraints.vertical_ascending_acceleration * dt;
+     724             : 
+     725           0 :       } else if (vert_speed_derivative < -constraints.vertical_descending_acceleration) {
+     726             : 
+     727           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting vertical descending speed change rate");
+     728           0 :         transformed_command.velocity.z = old_command.velocity.z - constraints.vertical_descending_acceleration * dt;
+     729             :       }
+     730             :     }
+     731             : 
+     732             :     //}
+     733             :   }
+     734             : 
+     735             :   /* transform and constrain heading //{ */
+     736             : 
+     737           0 :   if (transformed_command.use_heading) {
+     738             : 
+     739           0 :     mrs_msgs::ReferenceStamped temp_ref;
+     740           0 :     temp_ref.header = transformed_command.header;
+     741             : 
+     742           0 :     temp_ref.reference.heading = transformed_command.heading;
+     743             : 
+     744           0 :     auto ret = common_handlers_->transformer->transformSingle(temp_ref, "");
+     745             : 
+     746           0 :     if (ret) {
+     747             : 
+     748             :       // calculate the produced heading rate
+     749           0 :       double des_hdg_rate = sradians::diff(ret.value().reference.heading, old_command.heading) / dt;
+     750             : 
+     751             :       // saturate the change in the desired heading
+     752           0 :       if (des_hdg_rate > constraints.heading_speed) {
+     753             : 
+     754           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting change of the desired heading using constraints");
+     755           0 :         transformed_command.heading = old_command.heading + constraints.heading_speed * dt;
+     756             : 
+     757           0 :       } else if (des_hdg_rate < -constraints.heading_speed) {
+     758             : 
+     759           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting change of the desired heading using constraints");
+     760           0 :         transformed_command.heading = old_command.heading - constraints.heading_speed * dt;
+     761             : 
+     762             :       } else {
+     763             : 
+     764           0 :         transformed_command.heading = ret.value().reference.heading;
+     765             :       }
+     766             : 
+     767             :     } else {
+     768           0 :       return;
+     769             :     }
+     770             :   } else {
+     771           0 :     transformed_command.use_heading = false;
+     772           0 :     transformed_command.heading     = uav_heading;
+     773             :   }
+     774             : 
+     775             :   //}
+     776             : 
+     777           0 :   if (transformed_command.use_heading_rate) {
+     778             : 
+     779           0 :     if (transformed_command.heading_rate > constraints.heading_speed) {
+     780           0 :       transformed_command.heading_rate = constraints.heading_speed;
+     781           0 :     } else if (transformed_command.heading_rate < -constraints.heading_speed) {
+     782           0 :       transformed_command.heading_rate = -constraints.heading_speed;
+     783             :     }
+     784             :   }
+     785             : 
+     786           0 :   if (transformed_command.use_acceleration) {
+     787             : 
+     788           0 :     geometry_msgs::Vector3Stamped vector3;
+     789           0 :     vector3.header = transformed_command.header;
+     790             : 
+     791           0 :     vector3.vector.x = transformed_command.acceleration.x;
+     792           0 :     vector3.vector.y = transformed_command.acceleration.y;
+     793           0 :     vector3.vector.z = transformed_command.acceleration.z;
+     794             : 
+     795           0 :     auto ret = common_handlers_->transformer->transformSingle(vector3, "");
+     796             : 
+     797           0 :     if (ret) {
+     798           0 :       transformed_command.acceleration.x = ret.value().vector.x;
+     799           0 :       transformed_command.acceleration.y = ret.value().vector.y;
+     800           0 :       transformed_command.acceleration.z = ret.value().vector.z;
+     801             :     } else {
+     802           0 :       return;
+     803             :     }
+     804             : 
+     805             :     /* horizontal acceleration limit //{ */
+     806             : 
+     807             :     {
+     808           0 :       double des_horizontal_acceleration = sqrt(pow(transformed_command.acceleration.x, 2) + pow(transformed_command.acceleration.y, 2));
+     809             : 
+     810           0 :       if (des_horizontal_acceleration > constraints.horizontal_acceleration) {
+     811             : 
+     812           0 :         double des_acc_heading = atan2(transformed_command.acceleration.y, transformed_command.acceleration.x);
+     813             : 
+     814           0 :         transformed_command.acceleration.x = cos(des_acc_heading) * constraints.horizontal_acceleration;
+     815           0 :         transformed_command.acceleration.y = sin(des_acc_heading) * constraints.horizontal_acceleration;
+     816             :       }
+     817             :     }
+     818             : 
+     819             :     //}
+     820             : 
+     821             :     /* horizontal acceleration change rate limit //{ */
+     822             : 
+     823             :     {
+     824             :       Eigen::Vector2d hor_acc_derivative =
+     825           0 :           Eigen::Vector2d(transformed_command.acceleration.x - old_command.acceleration.x, transformed_command.acceleration.y - old_command.acceleration.y) /
+     826           0 :           (dt);
+     827             : 
+     828             :       // exceeding the maximum acceleration
+     829           0 :       if (hor_acc_derivative.norm() > constraints.horizontal_jerk) {
+     830             : 
+     831           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting acceleration change rate");
+     832           0 :         double direction = atan2(hor_acc_derivative[1], hor_acc_derivative[0]);
+     833             : 
+     834           0 :         transformed_command.acceleration.x = old_command.acceleration.x + cos(direction) * constraints.horizontal_jerk * dt;
+     835           0 :         transformed_command.acceleration.y = old_command.acceleration.y + sin(direction) * constraints.horizontal_jerk * dt;
+     836             :       }
+     837             :     }
+     838             : 
+     839             :     //}
+     840             : 
+     841             :     /* vertical acceleration limit //{ */
+     842             : 
+     843             :     {
+     844             :       // if ascending
+     845           0 :       if (transformed_command.acceleration.z > constraints.vertical_ascending_acceleration) {
+     846             : 
+     847           0 :         transformed_command.acceleration.z = constraints.vertical_ascending_acceleration;
+     848             :       }
+     849             : 
+     850             :       // if descending
+     851           0 :       if (transformed_command.acceleration.z < -constraints.vertical_descending_acceleration) {
+     852             : 
+     853           0 :         transformed_command.acceleration.z = -constraints.vertical_descending_acceleration;
+     854             :       }
+     855             :     }
+     856             : 
+     857             :     //}
+     858             : 
+     859             :     /* vertical acceleration change rate //{ */
+     860             : 
+     861             :     {
+     862             : 
+     863           0 :       double vert_acc_derivative = (transformed_command.acceleration.z - old_command.acceleration.z) / dt;
+     864             : 
+     865           0 :       if (vert_acc_derivative > constraints.vertical_ascending_jerk) {
+     866             : 
+     867           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting vertical ascending acceleration change rate");
+     868           0 :         transformed_command.acceleration.z = old_command.acceleration.z + constraints.vertical_ascending_jerk * dt;
+     869             : 
+     870           0 :       } else if (vert_acc_derivative < -constraints.vertical_descending_jerk) {
+     871             : 
+     872           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting vertical descending acceleration change rate");
+     873           0 :         transformed_command.acceleration.z = old_command.acceleration.z - constraints.vertical_descending_jerk * dt;
+     874             :       }
+     875             :     }
+     876             : 
+     877             :     //}
+     878             :   }
+     879             : 
+     880             :   // transform force
+     881             : 
+     882           0 :   if (transformed_command.use_force) {
+     883             : 
+     884           0 :     geometry_msgs::Vector3Stamped vector3;
+     885           0 :     vector3.header = transformed_command.header;
+     886             : 
+     887           0 :     vector3.vector.x = transformed_command.force.x;
+     888           0 :     vector3.vector.y = transformed_command.force.y;
+     889           0 :     vector3.vector.z = transformed_command.force.z;
+     890             : 
+     891           0 :     auto ret = common_handlers_->transformer->transformSingle(vector3, "");
+     892             : 
+     893           0 :     if (ret) {
+     894           0 :       transformed_command.force.x = vector3.vector.x;
+     895           0 :       transformed_command.force.y = vector3.vector.y;
+     896           0 :       transformed_command.force.z = vector3.vector.z;
+     897             :     } else {
+     898           0 :       return;
+     899             :     }
+     900             :   }
+     901             : 
+     902             :   // check the feasibility of the z
+     903             :   {
+     904           0 :     double z_derivative = (transformed_command.z - old_command.z) / dt;
+     905             : 
+     906           0 :     if (z_derivative > constraints.vertical_ascending_speed) {
+     907             : 
+     908           0 :       transformed_command.z = old_command.z + constraints.vertical_ascending_speed * dt;
+     909             : 
+     910           0 :     } else if (z_derivative < -constraints.vertical_ascending_speed) {
+     911             : 
+     912           0 :       transformed_command.z = old_command.z - constraints.vertical_descending_speed * dt;
+     913             :     }
+     914             : 
+     915             :     // saturate the desired z using the safety area
+     916           0 :     if (common_handlers_->safety_area.use_safety_area) {
+     917             : 
+     918           0 :       if (transformed_command.z > common_handlers_->safety_area.getMaxZ("")) {
+     919             : 
+     920           0 :         transformed_command.z = common_handlers_->safety_area.getMaxZ("");
+     921             : 
+     922           0 :       } else if (transformed_command.z < common_handlers_->safety_area.getMinZ("")) {
+     923             : 
+     924           0 :         transformed_command.z = common_handlers_->safety_area.getMinZ("");
+     925             :       }
+     926             :     }
+     927             :   }
+     928             : 
+     929             :   // if not active, nullify the desired speeds and accelerations
+     930             :   // this will produce a rumpum (using the constraints) after the activation
+     931           0 :   if (!is_active_) {
+     932             : 
+     933           0 :     auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     934             : 
+     935           0 :     transformed_command.velocity.x = 0;
+     936           0 :     transformed_command.velocity.y = 0;
+     937           0 :     transformed_command.velocity.z = 0;
+     938             : 
+     939           0 :     transformed_command.acceleration.x = 0;
+     940           0 :     transformed_command.acceleration.y = 0;
+     941           0 :     transformed_command.acceleration.z = 0;
+     942             : 
+     943             :     try {
+     944           0 :       transformed_command.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     945             :     }
+     946           0 :     catch (...) {
+     947           0 :       return;
+     948             :     }
+     949             : 
+     950           0 :     transformed_command.z = uav_state_.pose.position.z;
+     951             :   }
+     952             : 
+     953             :   {
+     954           0 :     std::scoped_lock lock(mutex_command_);
+     955             : 
+     956           0 :     command_ = transformed_command;
+     957             :   }
+     958             : 
+     959           0 :   if (!is_active_) {
+     960           0 :     ROS_INFO_ONCE("[SpeedTracker]: getting command");
+     961             :   } else {
+     962           0 :     ROS_INFO_THROTTLE(5.0, "[SpeedTracker]: getting command");
+     963             :   }
+     964             : 
+     965             :   // --------------------------------------------------------------
+     966             :   // |                     publish rviz markers                   |
+     967             :   // --------------------------------------------------------------
+     968             : 
+     969           0 :   visualization_msgs::MarkerArray msg_out;
+     970             : 
+     971           0 :   double id = 0;
+     972             : 
+     973           0 :   geometry_msgs::Point point;
+     974             : 
+     975             :   /* desired speed //{ */
+     976             : 
+     977           0 :   if (transformed_command.use_velocity) {
+     978             : 
+     979           0 :     std::scoped_lock lock(mutex_uav_state_);
+     980             : 
+     981           0 :     visualization_msgs::Marker marker;
+     982             : 
+     983           0 :     marker.header.frame_id = uav_state_.header.frame_id;
+     984           0 :     marker.header.stamp    = ros::Time::now();
+     985           0 :     marker.ns              = "speed_tracker";
+     986           0 :     marker.id              = id++;
+     987           0 :     marker.type            = visualization_msgs::Marker::ARROW;
+     988           0 :     marker.action          = visualization_msgs::Marker::ADD;
+     989             : 
+     990             :     /* position //{ */
+     991             : 
+     992           0 :     marker.pose.position.x = 0.0;
+     993           0 :     marker.pose.position.y = 0.0;
+     994           0 :     marker.pose.position.z = 0.0;
+     995             : 
+     996             :     //}
+     997             : 
+     998             :     /* orientation //{ */
+     999             : 
+    1000           0 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1001             : 
+    1002             :     //}
+    1003             : 
+    1004             :     /* origin //{ */
+    1005           0 :     point.x = uav_state_.pose.position.x;
+    1006           0 :     point.y = uav_state_.pose.position.y;
+    1007           0 :     point.z = uav_state_.pose.position.z;
+    1008             : 
+    1009           0 :     marker.points.push_back(point);
+    1010             : 
+    1011             :     //}
+    1012             : 
+    1013             :     /* tip //{ */
+    1014             : 
+    1015           0 :     point.x = uav_state_.pose.position.x + transformed_command.velocity.x;
+    1016           0 :     point.y = uav_state_.pose.position.y + transformed_command.velocity.y;
+    1017           0 :     point.z = uav_state_.pose.position.z + transformed_command.velocity.z;
+    1018             : 
+    1019           0 :     marker.points.push_back(point);
+    1020             : 
+    1021             :     //}
+    1022             : 
+    1023           0 :     marker.scale.x = 0.05;
+    1024           0 :     marker.scale.y = 0.05;
+    1025           0 :     marker.scale.z = 0.05;
+    1026             : 
+    1027           0 :     marker.color.a = 0.5;
+    1028           0 :     marker.color.r = 0.0;
+    1029           0 :     marker.color.g = 1.0;
+    1030           0 :     marker.color.b = 0.0;
+    1031             : 
+    1032           0 :     marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+    1033             : 
+    1034           0 :     msg_out.markers.push_back(marker);
+    1035             :   }
+    1036             : 
+    1037             :   //}
+    1038             : 
+    1039             :   /* desired acceleration //{ */
+    1040           0 :   if (transformed_command.use_acceleration) {
+    1041             : 
+    1042           0 :     std::scoped_lock lock(mutex_uav_state_);
+    1043             : 
+    1044           0 :     visualization_msgs::Marker marker;
+    1045             : 
+    1046           0 :     marker.header.frame_id = uav_state_.header.frame_id;
+    1047           0 :     marker.header.stamp    = ros::Time::now();
+    1048           0 :     marker.ns              = "speed_tracker";
+    1049           0 :     marker.id              = id++;
+    1050           0 :     marker.type            = visualization_msgs::Marker::ARROW;
+    1051           0 :     marker.action          = visualization_msgs::Marker::ADD;
+    1052             : 
+    1053             :     /* position //{ */
+    1054             : 
+    1055           0 :     marker.pose.position.x = 0.0;
+    1056           0 :     marker.pose.position.y = 0.0;
+    1057           0 :     marker.pose.position.z = 0.0;
+    1058             : 
+    1059             :     //}
+    1060             : 
+    1061             :     /* orientation //{ */
+    1062             : 
+    1063           0 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1064             : 
+    1065             :     //}
+    1066             : 
+    1067             :     /* origin //{ */
+    1068           0 :     point.x = uav_state_.pose.position.x;
+    1069           0 :     point.y = uav_state_.pose.position.y;
+    1070           0 :     point.z = uav_state_.pose.position.z;
+    1071             : 
+    1072           0 :     marker.points.push_back(point);
+    1073             : 
+    1074             :     //}
+    1075             : 
+    1076             :     /* tip //{ */
+    1077             : 
+    1078           0 :     point.x = uav_state_.pose.position.x + transformed_command.acceleration.x;
+    1079           0 :     point.y = uav_state_.pose.position.y + transformed_command.acceleration.y;
+    1080           0 :     point.z = uav_state_.pose.position.z + transformed_command.acceleration.z;
+    1081             : 
+    1082           0 :     marker.points.push_back(point);
+    1083             : 
+    1084             :     //}
+    1085             : 
+    1086           0 :     marker.scale.x = 0.05;
+    1087           0 :     marker.scale.y = 0.05;
+    1088           0 :     marker.scale.z = 0.05;
+    1089             : 
+    1090           0 :     marker.color.a = 0.5;
+    1091           0 :     marker.color.r = 1.0;
+    1092           0 :     marker.color.g = 0.0;
+    1093           0 :     marker.color.b = 0.0;
+    1094             : 
+    1095           0 :     marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+    1096             : 
+    1097           0 :     msg_out.markers.push_back(marker);
+    1098             :   }
+    1099             : 
+    1100             :   //}
+    1101             : 
+    1102             :   /* desired force //{ */
+    1103           0 :   if (transformed_command.use_force) {
+    1104             : 
+    1105           0 :     std::scoped_lock lock(mutex_uav_state_);
+    1106             : 
+    1107           0 :     visualization_msgs::Marker marker;
+    1108             : 
+    1109           0 :     marker.header.frame_id = uav_state_.header.frame_id;
+    1110           0 :     marker.header.stamp    = ros::Time::now();
+    1111           0 :     marker.ns              = "speed_tracker";
+    1112           0 :     marker.id              = id++;
+    1113           0 :     marker.type            = visualization_msgs::Marker::ARROW;
+    1114           0 :     marker.action          = visualization_msgs::Marker::ADD;
+    1115             : 
+    1116             :     /* position //{ */
+    1117             : 
+    1118           0 :     marker.pose.position.x = 0.0;
+    1119           0 :     marker.pose.position.y = 0.0;
+    1120           0 :     marker.pose.position.z = 0.0;
+    1121             : 
+    1122             :     //}
+    1123             : 
+    1124             :     /* orientation //{ */
+    1125             : 
+    1126           0 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1127             : 
+    1128             :     //}
+    1129             : 
+    1130             :     /* origin //{ */
+    1131           0 :     point.x = uav_state_.pose.position.x;
+    1132           0 :     point.y = uav_state_.pose.position.y;
+    1133           0 :     point.z = uav_state_.pose.position.z;
+    1134             : 
+    1135           0 :     marker.points.push_back(point);
+    1136             : 
+    1137             :     //}
+    1138             : 
+    1139             :     /* tip //{ */
+    1140             : 
+    1141           0 :     point.x = uav_state_.pose.position.x + transformed_command.force.x;
+    1142           0 :     point.y = uav_state_.pose.position.y + transformed_command.force.y;
+    1143           0 :     point.z = uav_state_.pose.position.z + transformed_command.force.z;
+    1144             : 
+    1145           0 :     marker.points.push_back(point);
+    1146             : 
+    1147             :     //}
+    1148             : 
+    1149           0 :     marker.scale.x = 0.05;
+    1150           0 :     marker.scale.y = 0.05;
+    1151           0 :     marker.scale.z = 0.05;
+    1152             : 
+    1153           0 :     marker.color.a = 0.5;
+    1154           0 :     marker.color.r = 0.0;
+    1155           0 :     marker.color.g = 0.0;
+    1156           0 :     marker.color.b = 1.0;
+    1157             : 
+    1158           0 :     marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+    1159             : 
+    1160           0 :     msg_out.markers.push_back(marker);
+    1161             :   }
+    1162             : 
+    1163             :   //}
+    1164             : 
+    1165           0 :   ph_rviz_marker_.publish(msg_out);
+    1166             : }
+    1167             : 
+    1168             : //}
+    1169             : 
+    1170             : }  // namespace speed_tracker
+    1171             : 
+    1172             : }  // namespace mrs_uav_trackers
+    1173             : 
+    1174             : #include <pluginlib/class_list_macros.h>
+    1175         108 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::speed_tracker::SpeedTracker, mrs_uav_managers::Tracker)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.gcov.overview.html b/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.gcov.overview.html new file mode 100644 index 0000000000..ac79bb7468 --- /dev/null +++ b/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.gcov.overview.html @@ -0,0 +1,314 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:751111467.4 %
Date:2024-08-07 22:18:19Functions:2222100.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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<unnamed>67.4 %751 / 1114100.0 %22 / 22
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:751111467.4 %
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:751111467.4 %
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67.4%67.4%
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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67.4%67.4%
+ 		67.4 %751 / 1114100.0 %22 / 22
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trajectory_generation/src/index-sort-l.html b/mrs_uav_trajectory_generation/src/index-sort-l.html new file mode 100644 index 0000000000..fdf195abcb --- /dev/null +++ b/mrs_uav_trajectory_generation/src/index-sort-l.html @@ -0,0 +1,102 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src + + + + + + + + + + + + + + +
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Test:MRS UAV System - Test coverage reportLines:751111467.4 %
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67.4%67.4%
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trajectory_generation/src/index.html b/mrs_uav_trajectory_generation/src/index.html new file mode 100644 index 0000000000..0ab3ce6c9d --- /dev/null +++ b/mrs_uav_trajectory_generation/src/index.html @@ -0,0 +1,102 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:751111467.4 %
Date:2024-08-07 22:18:19Functions:2222100.0 %
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mrs_trajectory_generation.cpp +
67.4%67.4%
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+
+
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Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.func-sort-c.html b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.func-sort-c.html new file mode 100644 index 0000000000..af0a191223 --- /dev/null +++ b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.func-sort-c.html @@ -0,0 +1,168 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src - mrs_trajectory_generation.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:751111467.4 %
Date:2024-08-07 22:18:19Functions:2222100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackPath(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackGetPathSrv(mrs_msgs::GetPathSrvRequest_<std::allocator<void> >&, mrs_msgs::GetPathSrvResponse_<std::allocator<void> >&)2
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackPathSrv(mrs_msgs::PathSrvRequest_<std::allocator<void> >&, mrs_msgs::PathSrvResponse_<std::allocator<void> >&)3
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::trajectorySrv(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&)4
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::transformPath(mrs_msgs::Path_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)6
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectoryFallback(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, double const&, bool const&)6
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::getTrajectoryReference(std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, double const&)6
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::preprocessPath(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&)11
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::prepareInitialCondition(ros::Time)11
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::optimize[abi:cxx11](std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, std_msgs::Header_<std::allocator<void> > const&, bool, bool)11
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectory(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, double const&, bool const&)15
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectoryAsync(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, double const&, bool const&)15
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::timeLeft()15
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::validateTrajectorySpatial(std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> > const&, std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&)16
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::checkNaN(Waypoint_t const&)24
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackDrs(mrs_uav_trajectory_generation::drsConfig&, unsigned int)108
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::onInit()108
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::interpolatePoint(Waypoint_t const&, Waypoint_t const&, double const&)1009
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::distFromSegment(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)4630
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::overtime()9725
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)172563
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src - mrs_trajectory_generation.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:751111467.4 %
Date:2024-08-07 22:18:19Functions:2222100.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()108
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackDrs(mrs_uav_trajectory_generation::drsConfig&, unsigned int)108
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackPath(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::trajectorySrv(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&)4
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::transformPath(mrs_msgs::Path_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)6
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectory(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, double const&, bool const&)15
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::preprocessPath(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&)11
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackPathSrv(mrs_msgs::PathSrvRequest_<std::allocator<void> >&, mrs_msgs::PathSrvResponse_<std::allocator<void> >&)3
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::distFromSegment(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)4630
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)172563
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::interpolatePoint(Waypoint_t const&, Waypoint_t const&, double const&)1009
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackGetPathSrv(mrs_msgs::GetPathSrvRequest_<std::allocator<void> >&, mrs_msgs::GetPathSrvResponse_<std::allocator<void> >&)2
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectoryAsync(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, double const&, bool const&)15
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectoryFallback(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, double const&, bool const&)6
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::getTrajectoryReference(std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, double const&)6
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::prepareInitialCondition(ros::Time)11
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::validateTrajectorySpatial(std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> > const&, std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&)16
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::onInit()108
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::checkNaN(Waypoint_t const&)24
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::optimize[abi:cxx11](std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, std_msgs::Header_<std::allocator<void> > const&, bool, bool)11
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::overtime()9725
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::timeLeft()15
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.frameset.html b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.frameset.html new file mode 100644 index 0000000000..492e4b05ac --- /dev/null +++ b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.html b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.html new file mode 100644 index 0000000000..a5db1f6363 --- /dev/null +++ b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.html @@ -0,0 +1,2507 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src - mrs_trajectory_generation.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:751111467.4 %
Date:2024-08-07 22:18:19Functions:2222100.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : #include <nodelet/nodelet.h>
+       6             : 
+       7             : #include <mrs_msgs/TrajectoryReferenceSrv.h>
+       8             : #include <mrs_msgs/TrajectoryReference.h>
+       9             : 
+      10             : #include <std_srvs/Trigger.h>
+      11             : 
+      12             : #include <geometry_msgs/Vector3Stamped.h>
+      13             : 
+      14             : #include <mrs_msgs/DynamicsConstraints.h>
+      15             : #include <mrs_msgs/Path.h>
+      16             : #include <mrs_msgs/PathSrv.h>
+      17             : #include <mrs_msgs/GetPathSrv.h>
+      18             : #include <mrs_msgs/TrackerCommand.h>
+      19             : #include <mrs_msgs/MpcPredictionFullState.h>
+      20             : #include <mrs_msgs/Reference.h>
+      21             : #include <mrs_msgs/ControlManagerDiagnostics.h>
+      22             : #include <mrs_msgs/UavState.h>
+      23             : 
+      24             : #include <eth_trajectory_generation/impl/polynomial_optimization_nonlinear_impl.h>
+      25             : #include <eth_trajectory_generation/trajectory.h>
+      26             : #include <eth_trajectory_generation/trajectory_sampling.h>
+      27             : 
+      28             : #include <mrs_lib/param_loader.h>
+      29             : #include <mrs_lib/geometry/cyclic.h>
+      30             : #include <mrs_lib/geometry/misc.h>
+      31             : #include <mrs_lib/mutex.h>
+      32             : #include <mrs_lib/batch_visualizer.h>
+      33             : #include <mrs_lib/transformer.h>
+      34             : #include <mrs_lib/utils.h>
+      35             : #include <mrs_lib/scope_timer.h>
+      36             : #include <mrs_lib/attitude_converter.h>
+      37             : #include <mrs_lib/publisher_handler.h>
+      38             : #include <mrs_lib/subscribe_handler.h>
+      39             : 
+      40             : #include <dynamic_reconfigure/server.h>
+      41             : #include <mrs_uav_trajectory_generation/drsConfig.h>
+      42             : 
+      43             : #include <future>
+      44             : 
+      45             : //}
+      46             : 
+      47             : /* using //{ */
+      48             : 
+      49             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+      50             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+      51             : using mat3_t = Eigen::Matrix3Xd;
+      52             : 
+      53             : using radians  = mrs_lib::geometry::radians;
+      54             : using sradians = mrs_lib::geometry::sradians;
+      55             : 
+      56             : //}
+      57             : 
+      58             : /* defines //{ */
+      59             : 
+      60             : #define FUTURIZATION_EXEC_TIME_FACTOR 0.5        // [0, 1]
+      61             : #define FUTURIZATION_FIRST_WAYPOINT_FACTOR 0.50  // [0, 1]
+      62             : #define OVERTIME_SAFETY_FACTOR 0.95              // [0, 1]
+      63             : #define OVERTIME_SAFETY_OFFSET 0.01              // [s]
+      64             : #define NLOPT_EXEC_TIME_FACTOR 0.95              // [0, 1]
+      65             : 
+      66             : typedef struct
+      67             : {
+      68             :   Eigen::Vector4d coords;
+      69             :   bool            stop_at;
+      70             : } Waypoint_t;
+      71             : 
+      72             : //}
+      73             : 
+      74             : namespace mrs_uav_trajectory_generation
+      75             : {
+      76             : 
+      77             : /* class MrsTrajectoryGeneration //{ */
+      78             : class MrsTrajectoryGeneration : public nodelet::Nodelet {
+      79             : 
+      80             : public:
+      81             :   virtual void onInit();
+      82             : 
+      83             : private:
+      84             :   ros::NodeHandle nh_;
+      85             : 
+      86             :   bool is_initialized_ = false;
+      87             : 
+      88             :   // | ----------------------- parameters ----------------------- |
+      89             : 
+      90             :   double _sampling_dt_;
+      91             : 
+      92             :   double _max_trajectory_len_factor_;
+      93             :   double _min_trajectory_len_factor_;
+      94             : 
+      95             :   int _n_attempts_;
+      96             : 
+      97             :   double _min_waypoint_distance_;
+      98             : 
+      99             :   bool   _fallback_sampling_enabled_;
+     100             :   double _fallback_sampling_speed_factor_;
+     101             :   double _fallback_sampling_accel_factor_;
+     102             :   double _fallback_sampling_stopping_time_;
+     103             :   bool   _fallback_sampling_first_waypoint_additional_stop_;
+     104             : 
+     105             :   double _takeoff_height_;
+     106             : 
+     107             :   std::string _uav_name_;
+     108             : 
+     109             :   bool   _trajectory_max_segment_deviation_enabled_;
+     110             :   double trajectory_max_segment_deviation_;
+     111             :   int    _trajectory_max_segment_deviation_max_iterations_;
+     112             : 
+     113             :   bool   _path_straightener_enabled_;
+     114             :   double _path_straightener_max_deviation_;
+     115             :   double _path_straightener_max_hdg_deviation_;
+     116             : 
+     117             :   bool _override_heading_atan2_;
+     118             : 
+     119             :   // | -------- variable parameters (come with the path) -------- |
+     120             : 
+     121             :   std::string frame_id_;
+     122             :   bool        fly_now_                              = false;
+     123             :   bool        use_heading_                          = false;
+     124             :   bool        stop_at_waypoints_                    = false;
+     125             :   bool        override_constraints_                 = false;
+     126             :   bool        loop_                                 = false;
+     127             :   double      override_max_velocity_horizontal_     = 0.0;
+     128             :   double      override_max_velocity_vertical_       = 0.0;
+     129             :   double      override_max_acceleration_horizontal_ = 0.0;
+     130             :   double      override_max_acceleration_vertical_   = 0.0;
+     131             :   double      override_max_jerk_horizontal_         = 0.0;
+     132             :   double      override_max_jerk_vertical_           = 0.0;
+     133             : 
+     134             :   // | -------------- variable parameters (deduced) ------------- |
+     135             : 
+     136             :   double     max_execution_time_ = 0;
+     137             :   std::mutex mutex_max_execution_time_;
+     138             : 
+     139             :   bool max_deviation_first_segment_;
+     140             : 
+     141             :   std::atomic<bool> dont_prepend_initial_condition_ = false;
+     142             : 
+     143             :   // | -------------------- the transformer  -------------------- |
+     144             : 
+     145             :   std::shared_ptr<mrs_lib::Transformer> transformer_;
+     146             : 
+     147             :   // | ------------------- scope timer logger ------------------- |
+     148             : 
+     149             :   bool                                       scope_timer_enabled_ = false;
+     150             :   std::shared_ptr<mrs_lib::ScopeTimerLogger> scope_timer_logger_;
+     151             : 
+     152             :   // service client for input
+     153             :   bool               callbackPathSrv(mrs_msgs::PathSrv::Request& req, mrs_msgs::PathSrv::Response& res);
+     154             :   ros::ServiceServer service_server_path_;
+     155             : 
+     156             :   // service client for returning result to the user
+     157             :   bool               callbackGetPathSrv(mrs_msgs::GetPathSrv::Request& req, mrs_msgs::GetPathSrv::Response& res);
+     158             :   ros::ServiceServer service_server_get_path_;
+     159             : 
+     160             :   void                                      callbackPath(const mrs_msgs::Path::ConstPtr msg);
+     161             :   mrs_lib::SubscribeHandler<mrs_msgs::Path> sh_path_;
+     162             : 
+     163             :   mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand>      sh_tracker_cmd_;
+     164             :   mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints> sh_constraints_;
+     165             : 
+     166             :   void                                          callbackUavState(const mrs_msgs::UavState::ConstPtr msg);
+     167             :   mrs_lib::SubscribeHandler<mrs_msgs::UavState> sh_uav_state_;
+     168             : 
+     169             :   mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics> sh_control_manager_diag_;
+     170             : 
+     171             :   // service client for publishing trajectory out
+     172             :   ros::ServiceClient service_client_trajectory_reference_;
+     173             : 
+     174             :   // solve the whole problem
+     175             :   std::tuple<bool, std::string, mrs_msgs::TrajectoryReference> optimize(const std::vector<Waypoint_t>& waypoints_in, const std_msgs::Header& waypoints_stamp,
+     176             :                                                                         bool fallback_sampling, const bool relax_heading);
+     177             : 
+     178             :   std::tuple<std::optional<mrs_msgs::TrackerCommand>, bool, int> prepareInitialCondition(const ros::Time path_time);
+     179             : 
+     180             :   // batch vizualizer
+     181             :   mrs_lib::BatchVisualizer bw_original_;
+     182             :   mrs_lib::BatchVisualizer bw_final_;
+     183             : 
+     184             :   // transforming TrackerCommand
+     185             :   std::optional<mrs_msgs::Path> transformPath(const mrs_msgs::Path& path, const std::string& target_frame);
+     186             : 
+     187             :   // | ------------------ trajectory validation ----------------- |
+     188             : 
+     189             :   /**
+     190             :    * @brief validates samples of a trajectory agains a path of waypoints
+     191             :    *
+     192             :    * @param trajectory
+     193             :    * @param segments
+     194             :    *
+     195             :    * @return <success, traj_fail_idx, path_fail_segment>
+     196             :    */
+     197             :   std::tuple<bool, int, std::vector<bool>, double> validateTrajectorySpatial(const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory,
+     198             :                                                                              const std::vector<Waypoint_t>&                    waypoints);
+     199             : 
+     200             :   std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> findTrajectory(const std::vector<Waypoint_t>&                 waypoints,
+     201             :                                                                            const std::optional<mrs_msgs::TrackerCommand>& initial_state,
+     202             :                                                                            const double& sampling_dt, const bool& relax_heading);
+     203             : 
+     204             :   std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> findTrajectoryFallback(const std::vector<Waypoint_t>& waypoints, const double& sampling_dt,
+     205             :                                                                                    const bool& relax_heading);
+     206             : 
+     207             :   std::future<std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector>> future_trajectory_result_;
+     208             :   std::atomic<bool>                                                      running_async_planning_ = false;
+     209             : 
+     210             :   std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> findTrajectoryAsync(const std::vector<Waypoint_t>&                 waypoints,
+     211             :                                                                                 const std::optional<mrs_msgs::TrackerCommand>& initial_state,
+     212             :                                                                                 const double& sampling_dt, const bool& relax_heading);
+     213             : 
+     214             :   std::vector<Waypoint_t> preprocessPath(const std::vector<Waypoint_t>& waypoints_in);
+     215             : 
+     216             :   mrs_msgs::TrajectoryReference getTrajectoryReference(const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory,
+     217             :                                                        const std::optional<mrs_msgs::TrackerCommand>& initial_condition, const double& sampling_dt);
+     218             : 
+     219             :   Waypoint_t interpolatePoint(const Waypoint_t& a, const Waypoint_t& b, const double& coeff);
+     220             : 
+     221             :   bool checkNaN(const Waypoint_t& a);
+     222             : 
+     223             :   double distFromSegment(const vec3_t& point, const vec3_t& seg1, const vec3_t& seg2);
+     224             : 
+     225             :   bool trajectorySrv(const mrs_msgs::TrajectoryReference& msg);
+     226             : 
+     227             :   // | --------------- dynamic reconfigure server --------------- |
+     228             : 
+     229             :   boost::recursive_mutex                           mutex_drs_;
+     230             :   typedef mrs_uav_trajectory_generation::drsConfig DrsParams_t;
+     231             :   typedef dynamic_reconfigure::Server<DrsParams_t> Drs_t;
+     232             :   boost::shared_ptr<Drs_t>                         drs_;
+     233             :   void                                             callbackDrs(mrs_uav_trajectory_generation::drsConfig& params, uint32_t level);
+     234             :   DrsParams_t                                      params_;
+     235             :   std::mutex                                       mutex_params_;
+     236             : 
+     237             :   // | ------------ Republisher for the desired path ------------ |
+     238             : 
+     239             :   mrs_lib::PublisherHandler<mrs_msgs::Path> ph_original_path_;
+     240             : 
+     241             :   // | ------------- measuring the time of execution ------------ |
+     242             : 
+     243             :   ros::Time  start_time_total_;
+     244             :   std::mutex mutex_start_time_total_;
+     245             :   bool       overtime(void);
+     246             :   double     timeLeft(void);
+     247             : };
+     248             : 
+     249             : //}
+     250             : 
+     251             : /* onInit() //{ */
+     252             : 
+     253         108 : void MrsTrajectoryGeneration::onInit() {
+     254             : 
+     255             :   /* obtain node handle */
+     256         108 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     257             : 
+     258             :   /* waits for the ROS to publish clock */
+     259         108 :   ros::Time::waitForValid();
+     260             : 
+     261             :   // | ----------------------- publishers ----------------------- |
+     262             : 
+     263         108 :   ph_original_path_ = mrs_lib::PublisherHandler<mrs_msgs::Path>(nh_, "original_path_out", 1);
+     264             : 
+     265             :   // | ----------------------- subscribers ---------------------- |
+     266             : 
+     267         216 :   mrs_lib::SubscribeHandlerOptions shopts;
+     268         108 :   shopts.nh                 = nh_;
+     269         108 :   shopts.node_name          = "TrajectoryGeneration";
+     270         108 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     271         108 :   shopts.threadsafe         = true;
+     272         108 :   shopts.autostart          = true;
+     273         108 :   shopts.queue_size         = 10;
+     274         108 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     275             : 
+     276         108 :   sh_constraints_          = mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints>(shopts, "constraints_in");
+     277         108 :   sh_tracker_cmd_          = mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand>(shopts, "tracker_cmd_in");
+     278         108 :   sh_uav_state_            = mrs_lib::SubscribeHandler<mrs_msgs::UavState>(shopts, "uav_state_in", &MrsTrajectoryGeneration::callbackUavState, this);
+     279         108 :   sh_control_manager_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diag_in");
+     280             : 
+     281         108 :   sh_path_ = mrs_lib::SubscribeHandler<mrs_msgs::Path>(shopts, "path_in", &MrsTrajectoryGeneration::callbackPath, this);
+     282             : 
+     283             :   // | --------------------- service servers -------------------- |
+     284             : 
+     285         108 :   service_server_path_ = nh_.advertiseService("path_in", &MrsTrajectoryGeneration::callbackPathSrv, this);
+     286             : 
+     287         108 :   service_server_get_path_ = nh_.advertiseService("get_path_in", &MrsTrajectoryGeneration::callbackGetPathSrv, this);
+     288             : 
+     289         108 :   service_client_trajectory_reference_ = nh_.serviceClient<mrs_msgs::TrajectoryReferenceSrv>("trajectory_reference_out");
+     290             : 
+     291             :   // | ----------------------- parameters ----------------------- |
+     292             : 
+     293         216 :   mrs_lib::ParamLoader param_loader(nh_, "MrsTrajectoryGeneration");
+     294             : 
+     295         216 :   std::string custom_config_path;
+     296         216 :   std::string platform_config_path;
+     297         216 :   std::string uav_manager_config_path;
+     298             : 
+     299         108 :   param_loader.loadParam("custom_config", custom_config_path);
+     300         108 :   param_loader.loadParam("platform_config", platform_config_path);
+     301         108 :   param_loader.loadParam("uav_manager_config", uav_manager_config_path);
+     302             : 
+     303         108 :   if (uav_manager_config_path == "") {
+     304           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: uav_manager_config param is empty");
+     305           0 :     ros::shutdown();
+     306             :   }
+     307             : 
+     308         108 :   if (custom_config_path != "") {
+     309         108 :     param_loader.addYamlFile(custom_config_path);
+     310             :   }
+     311             : 
+     312         108 :   if (platform_config_path != "") {
+     313         108 :     param_loader.addYamlFile(platform_config_path);
+     314             :   }
+     315             : 
+     316         108 :   param_loader.addYamlFile(uav_manager_config_path);
+     317             : 
+     318         108 :   param_loader.addYamlFileFromParam("private_config");
+     319         108 :   param_loader.addYamlFileFromParam("public_config");
+     320             : 
+     321         216 :   const std::string yaml_prefix = "mrs_uav_trajectory_generation/";
+     322             : 
+     323         108 :   param_loader.loadParam("uav_name", _uav_name_);
+     324             : 
+     325         108 :   param_loader.loadParam(yaml_prefix + "sampling_dt", _sampling_dt_);
+     326             : 
+     327         108 :   param_loader.loadParam(yaml_prefix + "enforce_fallback_solver", params_.enforce_fallback_solver);
+     328             : 
+     329         108 :   param_loader.loadParam(yaml_prefix + "max_trajectory_len_factor", _max_trajectory_len_factor_);
+     330         108 :   param_loader.loadParam(yaml_prefix + "min_trajectory_len_factor", _min_trajectory_len_factor_);
+     331             : 
+     332         108 :   param_loader.loadParam(yaml_prefix + "n_attempts", _n_attempts_);
+     333         108 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/enabled", _fallback_sampling_enabled_);
+     334         108 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/speed_factor", _fallback_sampling_speed_factor_);
+     335         108 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/accel_factor", _fallback_sampling_accel_factor_);
+     336         108 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/stopping_time", _fallback_sampling_stopping_time_);
+     337         108 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/first_waypoint_additional_stop", _fallback_sampling_first_waypoint_additional_stop_);
+     338             : 
+     339         108 :   param_loader.loadParam(yaml_prefix + "check_trajectory_deviation/enabled", _trajectory_max_segment_deviation_enabled_);
+     340         108 :   param_loader.loadParam(yaml_prefix + "check_trajectory_deviation/max_deviation", params_.max_deviation);
+     341         108 :   param_loader.loadParam(yaml_prefix + "check_trajectory_deviation/max_iterations", _trajectory_max_segment_deviation_max_iterations_);
+     342             : 
+     343         108 :   param_loader.loadParam(yaml_prefix + "path_straightener/enabled", _path_straightener_enabled_);
+     344         108 :   param_loader.loadParam(yaml_prefix + "path_straightener/max_deviation", _path_straightener_max_deviation_);
+     345         108 :   param_loader.loadParam(yaml_prefix + "path_straightener/max_hdg_deviation", _path_straightener_max_hdg_deviation_);
+     346             : 
+     347         108 :   param_loader.loadParam(yaml_prefix + "override_heading_atan2", _override_heading_atan2_);
+     348             : 
+     349         108 :   param_loader.loadParam(yaml_prefix + "min_waypoint_distance", _min_waypoint_distance_);
+     350             : 
+     351         108 :   param_loader.loadParam("mrs_uav_managers/uav_manager/takeoff/takeoff_height", _takeoff_height_);
+     352             : 
+     353             :   // | --------------------- tf transformer --------------------- |
+     354             : 
+     355         108 :   transformer_ = std::make_shared<mrs_lib::Transformer>(nh_, "TrajectoryGeneration");
+     356         108 :   transformer_->setDefaultPrefix(_uav_name_);
+     357         108 :   transformer_->retryLookupNewest(true);
+     358             : 
+     359             :   // | ------------------- scope timer logger ------------------- |
+     360             : 
+     361         108 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     362         324 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     363         108 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     364             : 
+     365             :   // | --------------------- service clients -------------------- |
+     366             : 
+     367         108 :   param_loader.loadParam(yaml_prefix + "time_penalty", params_.time_penalty);
+     368         108 :   param_loader.loadParam(yaml_prefix + "soft_constraints_enabled", params_.soft_constraints_enabled);
+     369         108 :   param_loader.loadParam(yaml_prefix + "soft_constraints_weight", params_.soft_constraints_weight);
+     370         108 :   param_loader.loadParam(yaml_prefix + "time_allocation", params_.time_allocation);
+     371         108 :   param_loader.loadParam(yaml_prefix + "equality_constraint_tolerance", params_.equality_constraint_tolerance);
+     372         108 :   param_loader.loadParam(yaml_prefix + "inequality_constraint_tolerance", params_.inequality_constraint_tolerance);
+     373         108 :   param_loader.loadParam(yaml_prefix + "max_iterations", params_.max_iterations);
+     374         108 :   param_loader.loadParam(yaml_prefix + "derivative_to_optimize", params_.derivative_to_optimize);
+     375             : 
+     376         108 :   param_loader.loadParam(yaml_prefix + "max_time", params_.max_execution_time);
+     377             : 
+     378         108 :   max_execution_time_ = params_.max_execution_time;
+     379             : 
+     380         108 :   if (!param_loader.loadedSuccessfully()) {
+     381           0 :     ROS_ERROR("[TrajectoryGeneration]: could not load all parameters!");
+     382           0 :     ros::shutdown();
+     383             :   }
+     384             : 
+     385             :   // | -------------------- batch visualizer -------------------- |
+     386             : 
+     387         108 :   bw_original_ = mrs_lib::BatchVisualizer(nh_, "markers/original", "");
+     388             : 
+     389         108 :   bw_original_.clearBuffers();
+     390         108 :   bw_original_.clearVisuals();
+     391             : 
+     392         108 :   bw_final_ = mrs_lib::BatchVisualizer(nh_, "markers/final", "");
+     393             : 
+     394         108 :   bw_final_.clearBuffers();
+     395         108 :   bw_final_.clearVisuals();
+     396             : 
+     397             :   // | --------------- dynamic reconfigure server --------------- |
+     398             : 
+     399         108 :   drs_.reset(new Drs_t(mutex_drs_, nh_));
+     400         108 :   drs_->updateConfig(params_);
+     401         108 :   Drs_t::CallbackType f = boost::bind(&MrsTrajectoryGeneration::callbackDrs, this, _1, _2);
+     402         108 :   drs_->setCallback(f);
+     403             : 
+     404             :   // | --------------------- finish the init -------------------- |
+     405             : 
+     406         108 :   ROS_INFO_ONCE("[TrajectoryGeneration]: initialized");
+     407             : 
+     408         108 :   is_initialized_ = true;
+     409         108 : }
+     410             : 
+     411             : //}
+     412             : 
+     413             : // | ---------------------- main routines --------------------- |
+     414             : 
+     415             : /*
+     416             :  * 1. preprocessPath(): preprocessing the incoming path
+     417             :  *    - throughs away too close waypoints
+     418             :  *    - straightness path by neglecting waypoints close to segments
+     419             :  * 2. optimize(): solves the whole problem including
+     420             :  *    - subdivision for satisfying max deviation
+     421             :  * 3. findTrajectory(): solves single instance by the ETH tool
+     422             :  * 4. findTrajectoryFallback(): Baca's sampling for backup solution
+     423             :  * 5. validateTrajectorySpatial(): checks for the spatial soundness of a trajectory vs. the original path
+     424             :  */
+     425             : 
+     426             : /* preprocessPath() //{ */
+     427             : 
+     428          11 : std::vector<Waypoint_t> MrsTrajectoryGeneration::preprocessPath(const std::vector<Waypoint_t>& waypoints_in) {
+     429             : 
+     430          33 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::preprocessPath", scope_timer_logger_, scope_timer_enabled_);
+     431             : 
+     432          11 :   std::vector<Waypoint_t> waypoints;
+     433             : 
+     434          11 :   size_t last_added_idx = 0;  // in "waypoints_in"
+     435             : 
+     436          66 :   for (size_t i = 0; i < waypoints_in.size(); i++) {
+     437             : 
+     438          55 :     double x       = waypoints_in.at(i).coords(0);
+     439          55 :     double y       = waypoints_in.at(i).coords(1);
+     440          55 :     double z       = waypoints_in.at(i).coords(2);
+     441          55 :     double heading = waypoints_in.at(i).coords(3);
+     442             : 
+     443          55 :     bw_original_.addPoint(vec3_t(x, y, z), 1.0, 0.0, 0.0, 1.0);
+     444             : 
+     445          55 :     if (_path_straightener_enabled_ && waypoints_in.size() >= 3 && i > 0 && i < (waypoints_in.size() - 1)) {
+     446             : 
+     447           0 :       vec3_t first(waypoints_in.at(last_added_idx).coords(0), waypoints_in.at(last_added_idx).coords(1), waypoints_in.at(last_added_idx).coords(2));
+     448           0 :       vec3_t last(waypoints_in.at(i + 1).coords(0), waypoints_in.at(i + 1).coords(1), waypoints_in.at(i + 1).coords(2));
+     449             : 
+     450           0 :       double first_hdg = waypoints_in.at(last_added_idx).coords(3);
+     451           0 :       double last_hdg  = waypoints_in.at(i + 1).coords(3);
+     452             : 
+     453           0 :       size_t next_point = last_added_idx + 1;
+     454             : 
+     455           0 :       bool segment_is_ok = true;
+     456             : 
+     457           0 :       for (size_t j = next_point; j < i + 1; j++) {
+     458             : 
+     459           0 :         vec3_t mid(waypoints_in.at(j).coords(0), waypoints_in.at(j).coords(1), waypoints_in.at(j).coords(2));
+     460           0 :         double mid_hdg = waypoints_in.at(j).coords(3);
+     461             : 
+     462           0 :         double dist_from_segment = distFromSegment(mid, first, last);
+     463             : 
+     464           0 :         if (dist_from_segment > _path_straightener_max_deviation_ || fabs(radians::diff(first_hdg, mid_hdg) > _path_straightener_max_hdg_deviation_) ||
+     465           0 :             fabs(radians::diff(last_hdg, mid_hdg) > _path_straightener_max_hdg_deviation_)) {
+     466           0 :           segment_is_ok = false;
+     467           0 :           break;
+     468             :         }
+     469             :       }
+     470             : 
+     471           0 :       if (segment_is_ok) {
+     472           0 :         continue;
+     473             :       }
+     474             :     }
+     475             : 
+     476          55 :     if (i > 0 && i < (waypoints_in.size() - 1)) {
+     477             : 
+     478          33 :       vec3_t first(waypoints_in.at(last_added_idx).coords(0), waypoints_in.at(last_added_idx).coords(1), waypoints_in.at(last_added_idx).coords(2));
+     479          33 :       vec3_t last(waypoints_in.at(i).coords(0), waypoints_in.at(i).coords(1), waypoints_in.at(i).coords(2));
+     480             : 
+     481          33 :       if (mrs_lib::geometry::dist(first, last) < _min_waypoint_distance_) {
+     482           0 :         ROS_INFO("[TrajectoryGeneration]: waypoint #%d too close (< %.3f m) to the previous one (#%d), throwing it away", int(i), _min_waypoint_distance_,
+     483             :                  int(last_added_idx));
+     484           0 :         continue;
+     485             :       }
+     486             :     }
+     487             : 
+     488          55 :     Waypoint_t wp;
+     489          55 :     wp.coords  = Eigen::Vector4d(x, y, z, heading);
+     490          55 :     wp.stop_at = waypoints_in.at(i).stop_at;
+     491          55 :     waypoints.push_back(wp);
+     492             : 
+     493          55 :     last_added_idx = i;
+     494             :   }
+     495             : 
+     496          22 :   return waypoints;
+     497             : }
+     498             : 
+     499             : //}
+     500             : 
+     501             : /* prepareInitialCondition() //{ */
+     502             : 
+     503          11 : std::tuple<std::optional<mrs_msgs::TrackerCommand>, bool, int> MrsTrajectoryGeneration::prepareInitialCondition(const ros::Time path_time) {
+     504             : 
+     505          11 :   if (dont_prepend_initial_condition_) {
+     506           0 :     return {{}, false, 0};
+     507             :   }
+     508             : 
+     509          22 :   auto tracker_cmd = sh_tracker_cmd_.getMsg();
+     510             : 
+     511             :   // | ------------- prepare the initial conditions ------------- |
+     512             : 
+     513          22 :   mrs_msgs::TrackerCommand initial_condition;
+     514             : 
+     515          11 :   if (!sh_tracker_cmd_.hasMsg() || ((ros::Time::now() - sh_tracker_cmd_.lastMsgTime())).toSec() > 1.0) {
+     516             : 
+     517           4 :     auto uav_state = sh_uav_state_.getMsg();
+     518             : 
+     519           4 :     initial_condition.position = uav_state->pose.position;
+     520             : 
+     521             :     try {
+     522           4 :       initial_condition.heading = mrs_lib::AttitudeConverter(uav_state->pose.orientation).getHeading();
+     523             :     }
+     524           0 :     catch (...) {
+     525           0 :       ROS_WARN_THROTTLE(1.0, "[MrsTrajectoryGeneration]: could not obtain heading from the UAV State");
+     526             :     }
+     527             : 
+     528           4 :     initial_condition.position.z += _takeoff_height_;
+     529             : 
+     530           4 :     initial_condition.header = uav_state->header;
+     531             : 
+     532           8 :     return {initial_condition, false, 0};
+     533             :   }
+     534             : 
+     535           7 :   bool path_from_future = false;
+     536             : 
+     537             :   // positive = in the future
+     538           7 :   double path_time_offset = 0;
+     539             : 
+     540           7 :   if (path_time != ros::Time(0)) {
+     541           0 :     path_time_offset = (path_time - ros::Time::now()).toSec();
+     542             :   }
+     543             : 
+     544           7 :   int path_sample_offset = 0;
+     545             : 
+     546             :   // if the desired path starts in the future, more than one MPC step ahead
+     547           7 :   if (path_time_offset > 0.2) {
+     548             : 
+     549           0 :     ROS_INFO("[TrajectoryGeneration]: desired path is from the future by %.2f s", path_time_offset);
+     550             : 
+     551             :     // calculate the offset in samples in the predicted trajectory
+     552             :     // 0.01 is subtracted for the first sample, which is smaller
+     553             :     // +1 is added due to the first sample, which was subtarcted
+     554           0 :     path_sample_offset = int(ceil((path_time_offset * FUTURIZATION_FIRST_WAYPOINT_FACTOR - 0.01) / 0.2)) + 1;
+     555             : 
+     556           0 :     if (path_sample_offset > (int(tracker_cmd->full_state_prediction.position.size()) - 1)) {
+     557             : 
+     558           0 :       ROS_ERROR("[TrajectoryGeneration]: can not extrapolate into the waypoints, using tracker_cmd instead");
+     559           0 :       initial_condition = *tracker_cmd;
+     560             : 
+     561             :     } else {
+     562             : 
+     563             :       // copy the sample from the current prediction into TrackerCommand, so that we can easily transform it
+     564           0 :       mrs_msgs::TrackerCommand full_state;
+     565             : 
+     566           0 :       full_state.header = tracker_cmd->full_state_prediction.header;
+     567             : 
+     568           0 :       full_state.position     = tracker_cmd->full_state_prediction.position.at(path_sample_offset);
+     569           0 :       full_state.velocity     = tracker_cmd->full_state_prediction.velocity.at(path_sample_offset);
+     570           0 :       full_state.acceleration = tracker_cmd->full_state_prediction.acceleration.at(path_sample_offset);
+     571           0 :       full_state.jerk         = tracker_cmd->full_state_prediction.jerk.at(path_sample_offset);
+     572             : 
+     573           0 :       full_state.heading              = tracker_cmd->full_state_prediction.heading.at(path_sample_offset);
+     574           0 :       full_state.heading_rate         = tracker_cmd->full_state_prediction.heading_rate.at(path_sample_offset);
+     575           0 :       full_state.heading_acceleration = tracker_cmd->full_state_prediction.heading_acceleration.at(path_sample_offset);
+     576           0 :       full_state.heading_jerk         = tracker_cmd->full_state_prediction.heading_jerk.at(path_sample_offset);
+     577             : 
+     578           0 :       ROS_INFO("[TrajectoryGeneration]: getting initial condition from the %d-th sample of the MPC prediction", path_sample_offset);
+     579             : 
+     580           0 :       initial_condition.header = full_state.header;
+     581             : 
+     582           0 :       initial_condition.position     = full_state.position;
+     583           0 :       initial_condition.velocity     = full_state.velocity;
+     584           0 :       initial_condition.acceleration = full_state.acceleration;
+     585           0 :       initial_condition.jerk         = full_state.jerk;
+     586             : 
+     587           0 :       initial_condition.heading              = full_state.heading;
+     588           0 :       initial_condition.heading_rate         = full_state.heading_rate;
+     589           0 :       initial_condition.heading_acceleration = full_state.heading_acceleration;
+     590           0 :       initial_condition.heading_jerk         = full_state.heading_jerk;
+     591             : 
+     592           0 :       path_from_future = true;
+     593             :     }
+     594             : 
+     595             :   } else {
+     596             : 
+     597           7 :     ROS_INFO("[TrajectoryGeneration]: desired path is NOT from the future, using tracker_cmd as the initial condition");
+     598             : 
+     599           7 :     initial_condition = *tracker_cmd;
+     600             :   }
+     601             : 
+     602           7 :   auto control_manager_diag = sh_control_manager_diag_.getMsg();
+     603             : 
+     604           7 :   if (path_time == ros::Time(0)) {
+     605           7 :     if (!control_manager_diag->tracker_status.have_goal) {
+     606           3 :       initial_condition.header.stamp = ros::Time(0);
+     607             :     }
+     608             :   }
+     609             : 
+     610           7 :   return {{initial_condition}, path_from_future, path_sample_offset};
+     611             : }
+     612             : 
+     613             : //}
+     614             : 
+     615             : /* optimize() //{ */
+     616             : 
+     617          11 : std::tuple<bool, std::string, mrs_msgs::TrajectoryReference> MrsTrajectoryGeneration::optimize(const std::vector<Waypoint_t>& waypoints_in,
+     618             :                                                                                                const std_msgs::Header&        waypoints_header,
+     619             :                                                                                                const bool fallback_sampling, const bool relax_heading) {
+     620             : 
+     621          33 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::optimize", scope_timer_logger_, scope_timer_enabled_);
+     622             : 
+     623          11 :   ros::Time optimize_time_start = ros::Time::now();
+     624             : 
+     625             :   // | ---------------- reset the visual markers ---------------- |
+     626             : 
+     627          11 :   bw_original_.clearBuffers();
+     628          11 :   bw_original_.clearVisuals();
+     629          11 :   bw_final_.clearBuffers();
+     630          11 :   bw_final_.clearVisuals();
+     631             : 
+     632          11 :   bw_original_.setParentFrame(transformer_->resolveFrame(frame_id_));
+     633          11 :   bw_final_.setParentFrame(transformer_->resolveFrame(frame_id_));
+     634             : 
+     635          11 :   bw_original_.setPointsScale(0.4);
+     636          11 :   bw_final_.setPointsScale(0.35);
+     637             : 
+     638             :   // empty path is invalid
+     639          11 :   if (waypoints_in.size() == 0) {
+     640           0 :     std::stringstream ss;
+     641           0 :     ss << "the path is empty (before postprocessing)";
+     642           0 :     ROS_ERROR_STREAM("[TrajectoryGeneration]: " << ss.str());
+     643           0 :     return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     644             :   }
+     645             : 
+     646          22 :   std::vector<Waypoint_t> waypoints_in_with_init = waypoints_in;
+     647             : 
+     648          11 :   double path_time_offset = (waypoints_header.stamp - ros::Time::now()).toSec();
+     649             : 
+     650          11 :   if (path_time_offset > 0.2 && waypoints_in_with_init.size() >= 2) {
+     651           0 :     waypoints_in_with_init.erase(waypoints_in_with_init.begin());
+     652             :   }
+     653             : 
+     654          22 :   auto [initial_condition, path_from_future, path_sample_offset] = prepareInitialCondition(waypoints_header.stamp);
+     655             : 
+     656             :   // prepend the initial condition
+     657          11 :   if (initial_condition) {
+     658             : 
+     659          11 :     Waypoint_t initial_waypoint;
+     660             :     initial_waypoint.coords =
+     661          11 :         Eigen::Vector4d(initial_condition->position.x, initial_condition->position.y, initial_condition->position.z, initial_condition->heading);
+     662          11 :     initial_waypoint.stop_at = false;
+     663          11 :     waypoints_in_with_init.insert(waypoints_in_with_init.begin(), initial_waypoint);
+     664             : 
+     665             :   } else {
+     666           0 :     if (!dont_prepend_initial_condition_) {
+     667           0 :       fly_now_ = false;
+     668             :     }
+     669             :   }
+     670             : 
+     671          22 :   std::vector<Waypoint_t> waypoints = preprocessPath(waypoints_in_with_init);
+     672             : 
+     673          11 :   if (waypoints.size() <= 1) {
+     674           0 :     std::stringstream ss;
+     675           0 :     ss << "the path is empty (after postprocessing)";
+     676           0 :     ROS_ERROR_STREAM("[TrajectoryGeneration]: " << ss.str());
+     677           0 :     return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     678             :   }
+     679             : 
+     680          11 :   bool              safe = false;
+     681             :   int               traj_idx;
+     682          22 :   std::vector<bool> segment_safeness;
+     683          11 :   double            max_deviation = 0;
+     684             : 
+     685          22 :   eth_mav_msgs::EigenTrajectoryPoint::Vector trajectory;
+     686             : 
+     687          11 :   double sampling_dt = 0;
+     688             : 
+     689          11 :   if (path_from_future) {
+     690           0 :     ROS_INFO("[TrajectoryGeneration]: changing dt = 0.2, cause the path is from the future");
+     691           0 :     sampling_dt = 0.2;
+     692             :   } else {
+     693          11 :     sampling_dt = _sampling_dt_;
+     694             :   }
+     695             : 
+     696          11 :   std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> result;
+     697             : 
+     698          22 :   auto params = mrs_lib::get_mutexed(mutex_params_, params_);
+     699             : 
+     700          11 :   if (params.enforce_fallback_solver) {
+     701           0 :     ROS_WARN("[TrajectoryGeneration]: fallback sampling enforced");
+     702           0 :     result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     703          11 :   } else if (fallback_sampling) {
+     704           0 :     ROS_WARN("[TrajectoryGeneration]: executing fallback sampling");
+     705           0 :     result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     706          11 :   } else if (running_async_planning_) {
+     707           5 :     ROS_WARN("[TrajectoryGeneration]: executing fallback sampling, the previous async task is still running");
+     708           5 :     result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     709           6 :   } else if (overtime()) {
+     710           1 :     ROS_WARN("[TrajectoryGeneration]: executing fallback sampling, we are running over time");
+     711           1 :     result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     712             :   } else {
+     713             : 
+     714           5 :     result = findTrajectoryAsync(waypoints, initial_condition, sampling_dt, relax_heading);
+     715             :   }
+     716             : 
+     717          11 :   if (result) {
+     718          11 :     trajectory = result.value();
+     719             :   } else {
+     720           0 :     std::stringstream ss;
+     721           0 :     ss << "failed to find trajectory";
+     722           0 :     ROS_ERROR_STREAM("[TrajectoryGeneration]: " << ss.str());
+     723           0 :     return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     724             :   }
+     725             : 
+     726          16 :   for (int k = 0; k < _trajectory_max_segment_deviation_max_iterations_; k++) {
+     727             : 
+     728          16 :     ROS_DEBUG("[TrajectoryGeneration]: revalidation cycle #%d", k);
+     729             : 
+     730          16 :     std::tie(safe, traj_idx, segment_safeness, max_deviation) = validateTrajectorySpatial(trajectory, waypoints);
+     731             : 
+     732          16 :     if (_trajectory_max_segment_deviation_enabled_ && !safe) {
+     733             : 
+     734          10 :       ROS_DEBUG("[TrajectoryGeneration]: trajectory is not safe, max deviation %.3f m", max_deviation);
+     735             : 
+     736          10 :       std::vector<Waypoint_t>::iterator waypoint = waypoints.begin();
+     737          10 :       std::vector<bool>::iterator       safeness = segment_safeness.begin();
+     738             : 
+     739          91 :       for (; waypoint < waypoints.end() - 1; waypoint++) {
+     740             : 
+     741          81 :         if (!(*safeness)) {
+     742             : 
+     743          46 :           if (waypoint > waypoints.begin() || max_deviation_first_segment_ || int(waypoints.size()) <= 2) {
+     744          46 :             Waypoint_t midpoint2 = interpolatePoint(*waypoint, *(waypoint + 1), 0.5);
+     745          46 :             waypoint             = waypoints.insert(waypoint + 1, midpoint2);
+     746             :           }
+     747             :         }
+     748             : 
+     749          81 :         safeness++;
+     750             :       }
+     751             : 
+     752          10 :       if (params.enforce_fallback_solver) {
+     753           0 :         ROS_WARN("[TrajectoryGeneration]: fallback sampling enforced");
+     754           0 :         result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     755          10 :       } else if (fallback_sampling) {
+     756           0 :         ROS_WARN("[TrajectoryGeneration]: executing fallback sampling");
+     757           0 :         result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     758          10 :       } else if (running_async_planning_) {
+     759           0 :         ROS_WARN("[TrajectoryGeneration]: executing fallback sampling, the previous async task is still running");
+     760           0 :         result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     761          10 :       } else if (overtime()) {
+     762           0 :         ROS_WARN("[TrajectoryGeneration]: executing fallback sampling, we are running over time");
+     763           0 :         result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     764             :       } else {
+     765          10 :         result = findTrajectoryAsync(waypoints, initial_condition, sampling_dt, relax_heading);
+     766             :       }
+     767             : 
+     768          10 :       if (result) {
+     769           5 :         trajectory = result.value();
+     770             :       } else {
+     771           5 :         std::stringstream ss;
+     772           5 :         ss << "failed to find trajectory";
+     773           5 :         ROS_WARN_STREAM("[TrajectoryGeneration]: " << ss.str());
+     774           5 :         return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     775           5 :       }
+     776             : 
+     777             :     } else {
+     778           6 :       ROS_DEBUG("[TrajectoryGeneration]: trajectory is safe (%.2f)", max_deviation);
+     779           6 :       safe = true;
+     780           6 :       break;
+     781             :     }
+     782             :   }
+     783             : 
+     784           6 :   ROS_INFO("[TrajectoryGeneration]: final max trajectory-path deviation: %.2f m, total trajectory time: %.2fs ", max_deviation,
+     785             :            trajectory.size() * sampling_dt);
+     786             : 
+     787             :   // prepare rviz markers
+     788          36 :   for (int i = 0; i < int(waypoints.size()); i++) {
+     789          30 :     bw_final_.addPoint(vec3_t(waypoints.at(i).coords(0), waypoints.at(i).coords(1), waypoints.at(i).coords(2)), 0.0, 1.0, 0.0, 1.0);
+     790             :   }
+     791             : 
+     792          12 :   mrs_msgs::TrajectoryReference mrs_trajectory;
+     793             : 
+     794             :   // convert the optimized trajectory to mrs_msgs::TrajectoryReference
+     795           6 :   mrs_trajectory = getTrajectoryReference(trajectory, initial_condition, sampling_dt);
+     796             : 
+     797             :   // insert part of the MPC prediction in the front of the generated trajectory to compensate for the future
+     798           6 :   if (path_from_future) {
+     799             : 
+     800           0 :     auto current_prediction = sh_tracker_cmd_.getMsg()->full_state_prediction;
+     801             : 
+     802             :     // calculate the starting idx that we will use from the current_prediction
+     803           0 :     double path_time_offset_2   = (ros::Time::now() - current_prediction.header.stamp).toSec();  // = how long did it take to optimize
+     804           0 :     int    path_sample_offset_2 = int(floor((path_time_offset_2 - 0.01) / 0.2)) + 1;
+     805             : 
+     806             :     // if there is anything to insert
+     807           0 :     if (path_sample_offset > path_sample_offset_2) {
+     808             : 
+     809           0 :       ROS_INFO("[TrajectoryGeneration]: inserting pre-trajectory from the prediction, idxs %d to %d", path_sample_offset_2, path_sample_offset);
+     810             : 
+     811           0 :       for (int i = path_sample_offset - 1; i >= 0; i--) {
+     812             : 
+     813           0 :         ROS_DEBUG("[TrajectoryGeneration]: inserting idx %d", i);
+     814             : 
+     815           0 :         mrs_msgs::ReferenceStamped reference;
+     816             : 
+     817           0 :         reference.header = current_prediction.header;
+     818             : 
+     819           0 :         reference.reference.heading = current_prediction.heading.at(i);
+     820             : 
+     821           0 :         reference.reference.position = current_prediction.position.at(i);
+     822             : 
+     823           0 :         auto res = transformer_->transformSingle(reference, waypoints_header.frame_id);
+     824             : 
+     825           0 :         if (res) {
+     826           0 :           reference = res.value();
+     827             :         } else {
+     828           0 :           std::stringstream ss;
+     829           0 :           ss << "could not transform reference to the path frame";
+     830           0 :           ROS_ERROR_STREAM("[TrajectoryGeneration]: " << ss.str());
+     831           0 :           return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     832             :         }
+     833             : 
+     834           0 :         mrs_trajectory.points.insert(mrs_trajectory.points.begin(), reference.reference);
+     835             :       }
+     836             :     }
+     837             :   }
+     838             : 
+     839           6 :   bw_original_.publish();
+     840           6 :   bw_final_.publish();
+     841             : 
+     842           6 :   std::stringstream ss;
+     843           6 :   ss << "trajectory generated";
+     844             : 
+     845           6 :   ROS_DEBUG("[TrajectoryGeneration]: trajectory generated, took %.3f s", (ros::Time::now() - optimize_time_start).toSec());
+     846             : 
+     847           6 :   return std::tuple(true, ss.str(), mrs_trajectory);
+     848             : }
+     849             : 
+     850             : //}
+     851             : 
+     852             : /* findTrajectory() //{ */
+     853             : 
+     854          15 : std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> MrsTrajectoryGeneration::findTrajectory(const std::vector<Waypoint_t>&                 waypoints,
+     855             :                                                                                                   const std::optional<mrs_msgs::TrackerCommand>& initial_state,
+     856             :                                                                                                   const double& sampling_dt, const bool& relax_heading) {
+     857             : 
+     858          45 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::findTrajectory", scope_timer_logger_, scope_timer_enabled_);
+     859             : 
+     860          30 :   mrs_lib::AtomicScopeFlag unset_running(running_async_planning_);
+     861             : 
+     862          15 :   ROS_DEBUG("[TrajectoryGeneration]: findTrajectory() started");
+     863             : 
+     864          15 :   ros::Time find_trajectory_time_start = ros::Time::now();
+     865             : 
+     866          30 :   auto params      = mrs_lib::get_mutexed(mutex_params_, params_);
+     867          30 :   auto constraints = sh_constraints_.getMsg();
+     868             : 
+     869          30 :   auto control_manager_diag = sh_control_manager_diag_.getMsg();
+     870             : 
+     871          15 :   if (initial_state && (initial_state->header.stamp - ros::Time::now()).toSec() < 0.2 && control_manager_diag->tracker_status.have_goal) {
+     872           3 :     max_deviation_first_segment_ = false;
+     873             :   } else {
+     874          12 :     max_deviation_first_segment_ = true;
+     875             :   }
+     876             : 
+     877             :   // optimizer
+     878             : 
+     879          15 :   eth_trajectory_generation::NonlinearOptimizationParameters parameters;
+     880             : 
+     881          15 :   parameters.f_rel                  = 0.05;
+     882          15 :   parameters.x_rel                  = 0.1;
+     883          15 :   parameters.time_penalty           = params.time_penalty;
+     884          15 :   parameters.use_soft_constraints   = params.soft_constraints_enabled;
+     885          15 :   parameters.soft_constraint_weight = params.soft_constraints_weight;
+     886          15 :   parameters.time_alloc_method      = static_cast<eth_trajectory_generation::NonlinearOptimizationParameters::TimeAllocMethod>(params.time_allocation);
+     887          15 :   if (params.time_allocation == 2) {
+     888          15 :     parameters.algorithm = nlopt::LD_LBFGS;
+     889             :   }
+     890          15 :   parameters.initial_stepsize_rel            = 0.1;
+     891          15 :   parameters.inequality_constraint_tolerance = params.inequality_constraint_tolerance;
+     892          15 :   parameters.equality_constraint_tolerance   = params.equality_constraint_tolerance;
+     893          15 :   parameters.max_iterations                  = params.max_iterations;
+     894             : 
+     895             :   // let's tell the solver tha it is more time then it thinks, to not stop prematurely
+     896          15 :   parameters.max_time = 2 * (NLOPT_EXEC_TIME_FACTOR * timeLeft());
+     897             : 
+     898          30 :   eth_trajectory_generation::Vertex::Vector vertices;
+     899          15 :   const int                                 dimension = 4;
+     900             : 
+     901          15 :   int derivative_to_optimize = eth_trajectory_generation::derivative_order::ACCELERATION;
+     902             : 
+     903          15 :   switch (params.derivative_to_optimize) {
+     904          15 :     case 0: {
+     905          15 :       derivative_to_optimize = eth_trajectory_generation::derivative_order::ACCELERATION;
+     906          15 :       break;
+     907             :     }
+     908           0 :     case 1: {
+     909           0 :       derivative_to_optimize = eth_trajectory_generation::derivative_order::JERK;
+     910           0 :       break;
+     911             :     }
+     912           0 :     case 2: {
+     913           0 :       derivative_to_optimize = eth_trajectory_generation::derivative_order::SNAP;
+     914           0 :       break;
+     915             :     }
+     916             :   }
+     917             : 
+     918             :   // | --------------- add constraints to vertices -------------- |
+     919             : 
+     920             :   double last_heading;
+     921             : 
+     922          15 :   if (initial_state) {
+     923          15 :     last_heading = initial_state->heading;
+     924             :   } else {
+     925           0 :     last_heading = waypoints.at(0).coords(3);
+     926             :   }
+     927             : 
+     928         177 :   for (size_t i = 0; i < waypoints.size(); i++) {
+     929         162 :     double x       = waypoints.at(i).coords(0);
+     930         162 :     double y       = waypoints.at(i).coords(1);
+     931         162 :     double z       = waypoints.at(i).coords(2);
+     932         162 :     double heading = sradians::unwrap(waypoints.at(i).coords(3), last_heading);
+     933         162 :     last_heading   = heading;
+     934             : 
+     935         324 :     eth_trajectory_generation::Vertex vertex(dimension);
+     936             : 
+     937         162 :     if (i == 0) {
+     938             : 
+     939          15 :       vertex.makeStartOrEnd(Eigen::Vector4d(x, y, z, heading), derivative_to_optimize);
+     940             : 
+     941          15 :       vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+     942             : 
+     943          15 :       if (initial_state) {
+     944             : 
+     945          15 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::VELOCITY,
+     946          15 :                              Eigen::Vector4d(initial_state->velocity.x, initial_state->velocity.y, initial_state->velocity.z, initial_state->heading_rate));
+     947             : 
+     948          15 :         vertex.addConstraint(
+     949             :             eth_trajectory_generation::derivative_order::ACCELERATION,
+     950          15 :             Eigen::Vector4d(initial_state->acceleration.x, initial_state->acceleration.y, initial_state->acceleration.z, initial_state->heading_acceleration));
+     951             : 
+     952          15 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::JERK,
+     953          30 :                              Eigen::Vector4d(initial_state->jerk.x, initial_state->jerk.y, initial_state->jerk.z, initial_state->heading_jerk));
+     954             :       }
+     955             : 
+     956         147 :     } else if (i == (waypoints.size() - 1)) {  // the last point
+     957             : 
+     958          15 :       vertex.makeStartOrEnd(Eigen::Vector4d(x, y, z, heading), derivative_to_optimize);
+     959             : 
+     960          15 :       vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+     961             : 
+     962             :     } else {  // mid points
+     963             : 
+     964         132 :       vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+     965             : 
+     966         132 :       if (waypoints.at(i).stop_at) {
+     967           0 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::VELOCITY, Eigen::Vector4d(0, 0, 0, 0));
+     968           0 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::ACCELERATION, Eigen::Vector4d(0, 0, 0, 0));
+     969           0 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::JERK, Eigen::Vector4d(0, 0, 0, 0));
+     970             :       }
+     971             :     }
+     972             : 
+     973         162 :     vertices.push_back(vertex);
+     974             :   }
+     975             : 
+     976             :   // | ---------------- compute the segment times --------------- |
+     977             : 
+     978             :   double v_max_horizontal, a_max_horizontal, j_max_horizontal;
+     979             :   double v_max_vertical, a_max_vertical, j_max_vertical;
+     980             : 
+     981             :   // use the small of the ascending/descending values
+     982          15 :   double vertical_speed_lim        = std::min(constraints->vertical_ascending_speed, constraints->vertical_descending_speed);
+     983          15 :   double vertical_acceleration_lim = std::min(constraints->vertical_ascending_acceleration, constraints->vertical_descending_acceleration);
+     984             : 
+     985          15 :   v_max_horizontal = constraints->horizontal_speed;
+     986          15 :   a_max_horizontal = constraints->horizontal_acceleration;
+     987             : 
+     988          15 :   v_max_vertical = vertical_speed_lim;
+     989          15 :   a_max_vertical = vertical_acceleration_lim;
+     990             : 
+     991          15 :   j_max_horizontal = constraints->horizontal_jerk;
+     992          15 :   j_max_vertical   = std::min(constraints->vertical_ascending_jerk, constraints->vertical_descending_jerk);
+     993             : 
+     994          15 :   if (override_constraints_) {
+     995             : 
+     996           0 :     bool can_change = true;
+     997             : 
+     998             : 
+     999           0 :     if (initial_state) {
+    1000           0 :       can_change = (hypot(initial_state->velocity.x, initial_state->velocity.y) < override_max_velocity_horizontal_) &&
+    1001           0 :                    (hypot(initial_state->acceleration.x, initial_state->acceleration.y) < override_max_acceleration_horizontal_) &&
+    1002           0 :                    (hypot(initial_state->jerk.x, initial_state->jerk.y) < override_max_jerk_horizontal_) &&
+    1003           0 :                    (fabs(initial_state->velocity.z) < override_max_velocity_vertical_) &&
+    1004           0 :                    (fabs(initial_state->acceleration.z) < override_max_acceleration_vertical_) && (fabs(initial_state->jerk.z) < override_max_jerk_vertical_);
+    1005             :     }
+    1006             : 
+    1007           0 :     if (can_change) {
+    1008             : 
+    1009           0 :       v_max_horizontal = override_max_velocity_horizontal_;
+    1010           0 :       a_max_horizontal = override_max_acceleration_horizontal_;
+    1011           0 :       j_max_horizontal = override_max_jerk_horizontal_;
+    1012             : 
+    1013           0 :       v_max_vertical = override_max_velocity_vertical_;
+    1014           0 :       a_max_vertical = override_max_acceleration_vertical_;
+    1015           0 :       j_max_vertical = override_max_jerk_vertical_;
+    1016             : 
+    1017           0 :       ROS_DEBUG("[TrajectoryGeneration]: overriding constraints by a user");
+    1018             : 
+    1019             :     } else {
+    1020             : 
+    1021           0 :       ROS_WARN("[TrajectoryGeneration]: overrifing constraints refused due to possible infeasibility");
+    1022             :     }
+    1023             :   }
+    1024             : 
+    1025             :   double v_max_heading, a_max_heading, j_max_heading;
+    1026             : 
+    1027          15 :   if (relax_heading) {
+    1028           0 :     v_max_heading = std::numeric_limits<float>::max();
+    1029           0 :     a_max_heading = std::numeric_limits<float>::max();
+    1030           0 :     j_max_heading = std::numeric_limits<float>::max();
+    1031             :   } else {
+    1032          15 :     v_max_heading = constraints->heading_speed;
+    1033          15 :     a_max_heading = constraints->heading_acceleration;
+    1034          15 :     j_max_heading = constraints->heading_jerk;
+    1035             :   }
+    1036             : 
+    1037          15 :   ROS_DEBUG("[TrajectoryGeneration]: using constraints:");
+    1038          15 :   ROS_DEBUG("[TrajectoryGeneration]: horizontal: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_horizontal, a_max_horizontal, j_max_horizontal);
+    1039          15 :   ROS_DEBUG("[TrajectoryGeneration]: vertical: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_vertical, a_max_vertical, j_max_vertical);
+    1040          15 :   ROS_DEBUG("[TrajectoryGeneration]: heading: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_heading, a_max_heading, j_max_heading);
+    1041             : 
+    1042          30 :   std::vector<double> segment_times, segment_times_baca;
+    1043          30 :   segment_times      = estimateSegmentTimes(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+    1044          15 :                                        v_max_heading, a_max_heading);
+    1045          30 :   segment_times_baca = estimateSegmentTimesBaca(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+    1046          15 :                                                 v_max_heading, a_max_heading);
+    1047             : 
+    1048          15 :   double initial_total_time      = 0;
+    1049          15 :   double initial_total_time_baca = 0;
+    1050         162 :   for (int i = 0; i < int(segment_times_baca.size()); i++) {
+    1051         147 :     initial_total_time += segment_times.at(i);
+    1052         147 :     initial_total_time_baca += segment_times_baca.at(i);
+    1053             :   }
+    1054             : 
+    1055          15 :   ROS_DEBUG("[TrajectoryGeneration]: initial total time (Euclidean): %.2f", initial_total_time);
+    1056          15 :   ROS_DEBUG("[TrajectoryGeneration]: initial total time (Baca): %.2f", initial_total_time_baca);
+    1057             : 
+    1058             :   // | --------- create an optimizer object and solve it -------- |
+    1059             : 
+    1060          15 :   const int                                                     N = 10;
+    1061          30 :   eth_trajectory_generation::PolynomialOptimizationNonLinear<N> opt(dimension, parameters);
+    1062          15 :   opt.setupFromVertices(vertices, segment_times, derivative_to_optimize);
+    1063             : 
+    1064          15 :   opt.addMaximumMagnitudeConstraint(0, eth_trajectory_generation::derivative_order::VELOCITY, v_max_horizontal);
+    1065          15 :   opt.addMaximumMagnitudeConstraint(0, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_horizontal);
+    1066          15 :   opt.addMaximumMagnitudeConstraint(0, eth_trajectory_generation::derivative_order::JERK, j_max_horizontal);
+    1067             : 
+    1068          15 :   opt.addMaximumMagnitudeConstraint(1, eth_trajectory_generation::derivative_order::VELOCITY, v_max_horizontal);
+    1069          15 :   opt.addMaximumMagnitudeConstraint(1, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_horizontal);
+    1070          15 :   opt.addMaximumMagnitudeConstraint(1, eth_trajectory_generation::derivative_order::JERK, j_max_horizontal);
+    1071             : 
+    1072          15 :   opt.addMaximumMagnitudeConstraint(2, eth_trajectory_generation::derivative_order::VELOCITY, v_max_vertical);
+    1073          15 :   opt.addMaximumMagnitudeConstraint(2, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_vertical);
+    1074          15 :   opt.addMaximumMagnitudeConstraint(2, eth_trajectory_generation::derivative_order::JERK, j_max_vertical);
+    1075             : 
+    1076          15 :   opt.addMaximumMagnitudeConstraint(3, eth_trajectory_generation::derivative_order::VELOCITY, v_max_heading);
+    1077          15 :   opt.addMaximumMagnitudeConstraint(3, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_heading);
+    1078          15 :   opt.addMaximumMagnitudeConstraint(3, eth_trajectory_generation::derivative_order::JERK, j_max_heading);
+    1079             : 
+    1080          15 :   opt.optimize();
+    1081             : 
+    1082          15 :   if (overtime()) {
+    1083           5 :     return {};
+    1084             :   }
+    1085             : 
+    1086          20 :   std::string result_str;
+    1087             : 
+    1088          10 :   switch (opt.getOptimizationInfo().stopping_reason) {
+    1089           7 :     case nlopt::FAILURE: {
+    1090           7 :       result_str = "generic failure";
+    1091           7 :       break;
+    1092             :     }
+    1093           0 :     case nlopt::INVALID_ARGS: {
+    1094           0 :       result_str = "invalid args";
+    1095           0 :       break;
+    1096             :     }
+    1097           0 :     case nlopt::OUT_OF_MEMORY: {
+    1098           0 :       result_str = "out of memory";
+    1099           0 :       break;
+    1100             :     }
+    1101           0 :     case nlopt::ROUNDOFF_LIMITED: {
+    1102           0 :       result_str = "roundoff limited";
+    1103           0 :       break;
+    1104             :     }
+    1105           0 :     case nlopt::FORCED_STOP: {
+    1106           0 :       result_str = "forced stop";
+    1107           0 :       break;
+    1108             :     }
+    1109           0 :     case nlopt::STOPVAL_REACHED: {
+    1110           0 :       result_str = "stopval reached";
+    1111           0 :       break;
+    1112             :     }
+    1113           1 :     case nlopt::FTOL_REACHED: {
+    1114           1 :       result_str = "ftol reached";
+    1115           1 :       break;
+    1116             :     }
+    1117           0 :     case nlopt::XTOL_REACHED: {
+    1118           0 :       result_str = "xtol reached";
+    1119           0 :       break;
+    1120             :     }
+    1121           2 :     case nlopt::MAXEVAL_REACHED: {
+    1122           2 :       result_str = "maxeval reached";
+    1123           2 :       break;
+    1124             :     }
+    1125           0 :     case nlopt::MAXTIME_REACHED: {
+    1126           0 :       result_str = "maxtime reached";
+    1127           0 :       break;
+    1128             :     }
+    1129           0 :     default: {
+    1130           0 :       result_str = "UNKNOWN FAILURE CODE";
+    1131           0 :       break;
+    1132             :     }
+    1133             :   }
+    1134             : 
+    1135          10 :   if (opt.getOptimizationInfo().stopping_reason >= 1 && opt.getOptimizationInfo().stopping_reason != 6) {
+    1136           3 :     ROS_DEBUG("[TrajectoryGeneration]: optimization finished successfully with code %d, '%s'", opt.getOptimizationInfo().stopping_reason, result_str.c_str());
+    1137             : 
+    1138           7 :   } else if (opt.getOptimizationInfo().stopping_reason == -1) {
+    1139           7 :     ROS_DEBUG("[TrajectoryGeneration]: optimization finished with a generic error code %d, '%s'", opt.getOptimizationInfo().stopping_reason,
+    1140             :               result_str.c_str());
+    1141             : 
+    1142             :   } else {
+    1143           0 :     ROS_WARN("[TrajectoryGeneration]: optimization failed with code %d, '%s', took %.3f s", opt.getOptimizationInfo().stopping_reason, result_str.c_str(),
+    1144             :              (ros::Time::now() - find_trajectory_time_start).toSec());
+    1145           0 :     return {};
+    1146             :   }
+    1147             : 
+    1148             :   // | ------------- obtain the polynomial segments ------------- |
+    1149             : 
+    1150          20 :   eth_trajectory_generation::Segment::Vector segments;
+    1151          10 :   opt.getPolynomialOptimizationRef().getSegments(&segments);
+    1152             : 
+    1153          10 :   if (overtime()) {
+    1154           0 :     return {};
+    1155             :   }
+    1156             : 
+    1157             :   // | --------------- create the trajectory class -------------- |
+    1158             : 
+    1159          20 :   eth_trajectory_generation::Trajectory trajectory;
+    1160          10 :   opt.getTrajectory(&trajectory);
+    1161             : 
+    1162          20 :   eth_mav_msgs::EigenTrajectoryPoint::Vector states;
+    1163             : 
+    1164          10 :   ROS_DEBUG("[TrajectoryGeneration]: starting eth sampling with dt = %.2f s ", sampling_dt);
+    1165             : 
+    1166          10 :   bool success = eth_trajectory_generation::sampleWholeTrajectory(trajectory, sampling_dt, &states);
+    1167             : 
+    1168          10 :   if (overtime()) {
+    1169           0 :     return {};
+    1170             :   }
+    1171             : 
+    1172             :   // validate the temporal sampling of the trajectory
+    1173             : 
+    1174             :   // only check this if the trajectory is > 1.0 sec, this check does not make much sense for the short ones
+    1175          10 :   if ((states.size() * sampling_dt) > 1.0 && (states.size() * sampling_dt) > (_max_trajectory_len_factor_ * initial_total_time_baca)) {
+    1176           0 :     ROS_ERROR("[TrajectoryGeneration]: the final trajectory sampling is too long = %.2f, initial 'baca' estimate = %.2f, allowed factor %.2f, aborting",
+    1177             :               (states.size() * sampling_dt), initial_total_time_baca, _max_trajectory_len_factor_);
+    1178             : 
+    1179           0 :     std::stringstream ss;
+    1180           0 :     ss << "trajectory sampling failed";
+    1181           0 :     ROS_ERROR_STREAM("[TrajectoryGeneration]: " << ss.str());
+    1182           0 :     return {};
+    1183             : 
+    1184          10 :   } else if ((states.size() * sampling_dt) > 1.0 && (states.size() * sampling_dt) < (_min_trajectory_len_factor_ * initial_total_time_baca)) {
+    1185           0 :     ROS_ERROR("[TrajectoryGeneration]: the final trajectory sampling is too short = %.2f, initial 'baca' estimate = %.2f, allowed factor %.2f, aborting",
+    1186             :               (states.size() * sampling_dt), initial_total_time_baca, _min_trajectory_len_factor_);
+    1187             : 
+    1188           0 :     std::stringstream ss;
+    1189           0 :     ss << "trajectory sampling failed";
+    1190           0 :     ROS_ERROR_STREAM("[TrajectoryGeneration]: " << ss.str());
+    1191           0 :     return {};
+    1192             : 
+    1193             :   } else {
+    1194          10 :     ROS_DEBUG("[TrajectoryGeneration]: estimated/final trajectory length ratio (final/estimated) %.2f",
+    1195             :               (states.size() * sampling_dt) / initial_total_time_baca);
+    1196             :   }
+    1197             : 
+    1198          10 :   if (success) {
+    1199          10 :     ROS_DEBUG("[TrajectoryGeneration]: eth sampling finished, took %.3f s", (ros::Time::now() - find_trajectory_time_start).toSec());
+    1200          10 :     return std::optional(states);
+    1201             : 
+    1202             :   } else {
+    1203           0 :     ROS_ERROR("[TrajectoryGeneration]: eth could not sample the trajectory, took %.3f s", (ros::Time::now() - find_trajectory_time_start).toSec());
+    1204           0 :     return {};
+    1205             :   }
+    1206             : }
+    1207             : 
+    1208             : //}
+    1209             : 
+    1210             : /* findTrajectoryFallback() //{ */
+    1211             : 
+    1212           6 : std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> MrsTrajectoryGeneration::findTrajectoryFallback(const std::vector<Waypoint_t>& waypoints,
+    1213             :                                                                                                           const double&                  sampling_dt,
+    1214             :                                                                                                           const bool&                    relax_heading) {
+    1215             : 
+    1216          18 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::findTrajectoryFallback", scope_timer_logger_, scope_timer_enabled_);
+    1217             : 
+    1218           6 :   ros::Time time_start = ros::Time::now();
+    1219             : 
+    1220           6 :   ROS_WARN("[TrajectoryGeneration]: fallback sampling started");
+    1221             : 
+    1222          12 :   auto params      = mrs_lib::get_mutexed(mutex_params_, params_);
+    1223          12 :   auto constraints = sh_constraints_.getMsg();
+    1224             : 
+    1225          12 :   eth_trajectory_generation::Vertex::Vector vertices;
+    1226           6 :   const int                                 dimension = 4;
+    1227             : 
+    1228             :   // | --------------- add constraints to vertices -------------- |
+    1229             : 
+    1230           6 :   double last_heading = waypoints.at(0).coords(3);
+    1231             : 
+    1232          36 :   for (size_t i = 0; i < waypoints.size(); i++) {
+    1233             : 
+    1234          30 :     double x       = waypoints.at(i).coords(0);
+    1235          30 :     double y       = waypoints.at(i).coords(1);
+    1236          30 :     double z       = waypoints.at(i).coords(2);
+    1237          30 :     double heading = sradians::unwrap(waypoints.at(i).coords(3), last_heading);
+    1238          30 :     last_heading   = heading;
+    1239             : 
+    1240          60 :     eth_trajectory_generation::Vertex vertex(dimension);
+    1241             : 
+    1242          30 :     vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+    1243             : 
+    1244          30 :     vertices.push_back(vertex);
+    1245             :   }
+    1246             : 
+    1247             :   // | ---------------- compute the segment times --------------- |
+    1248             : 
+    1249             :   double v_max_horizontal, a_max_horizontal, j_max_horizontal;
+    1250             :   double v_max_vertical, a_max_vertical, j_max_vertical;
+    1251             : 
+    1252             :   // use the small of the ascending/descending values
+    1253           6 :   double vertical_speed_lim        = std::min(constraints->vertical_ascending_speed, constraints->vertical_descending_speed);
+    1254           6 :   double vertical_acceleration_lim = std::min(constraints->vertical_ascending_acceleration, constraints->vertical_descending_acceleration);
+    1255             : 
+    1256           6 :   if (override_constraints_) {
+    1257             : 
+    1258           0 :     v_max_horizontal = override_max_velocity_horizontal_;
+    1259           0 :     a_max_horizontal = override_max_acceleration_horizontal_;
+    1260           0 :     j_max_horizontal = override_max_jerk_horizontal_;
+    1261             : 
+    1262           0 :     v_max_vertical = override_max_velocity_vertical_;
+    1263           0 :     a_max_vertical = override_max_acceleration_vertical_;
+    1264           0 :     j_max_vertical = override_max_jerk_vertical_;
+    1265             : 
+    1266           0 :     ROS_DEBUG("[TrajectoryGeneration]: overriding constraints by a user");
+    1267             :   } else {
+    1268             : 
+    1269           6 :     v_max_horizontal = constraints->horizontal_speed;
+    1270           6 :     a_max_horizontal = constraints->horizontal_acceleration;
+    1271             : 
+    1272           6 :     v_max_vertical = vertical_speed_lim;
+    1273           6 :     a_max_vertical = vertical_acceleration_lim;
+    1274             : 
+    1275           6 :     j_max_horizontal = constraints->horizontal_jerk;
+    1276           6 :     j_max_vertical   = std::min(constraints->vertical_ascending_jerk, constraints->vertical_descending_jerk);
+    1277             :   }
+    1278             : 
+    1279             : 
+    1280             :   double v_max_heading, a_max_heading, j_max_heading;
+    1281             : 
+    1282           6 :   if (relax_heading) {
+    1283           0 :     v_max_heading = std::numeric_limits<float>::max();
+    1284           0 :     a_max_heading = std::numeric_limits<float>::max();
+    1285           0 :     j_max_heading = std::numeric_limits<float>::max();
+    1286             :   } else {
+    1287           6 :     v_max_heading = constraints->heading_speed;
+    1288           6 :     a_max_heading = constraints->heading_acceleration;
+    1289           6 :     j_max_heading = constraints->heading_jerk;
+    1290             :   }
+    1291             : 
+    1292           6 :   v_max_horizontal *= _fallback_sampling_speed_factor_;
+    1293           6 :   v_max_vertical *= _fallback_sampling_speed_factor_;
+    1294             : 
+    1295           6 :   a_max_horizontal *= _fallback_sampling_accel_factor_;
+    1296           6 :   a_max_vertical *= _fallback_sampling_accel_factor_;
+    1297             : 
+    1298           6 :   ROS_DEBUG("[TrajectoryGeneration]: using constraints:");
+    1299           6 :   ROS_DEBUG("[TrajectoryGeneration]: horizontal: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_horizontal, a_max_horizontal, j_max_horizontal);
+    1300           6 :   ROS_DEBUG("[TrajectoryGeneration]: vertical: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_vertical, a_max_vertical, j_max_vertical);
+    1301           6 :   ROS_DEBUG("[TrajectoryGeneration]: heading: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_heading, a_max_heading, j_max_heading);
+    1302             : 
+    1303          12 :   std::vector<double> segment_times, segment_times_baca;
+    1304          12 :   segment_times      = estimateSegmentTimes(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+    1305           6 :                                        v_max_heading, a_max_heading);
+    1306          12 :   segment_times_baca = estimateSegmentTimesBaca(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+    1307           6 :                                                 v_max_heading, a_max_heading);
+    1308             : 
+    1309           6 :   double initial_total_time      = 0;
+    1310           6 :   double initial_total_time_baca = 0;
+    1311          30 :   for (int i = 0; i < int(segment_times_baca.size()); i++) {
+    1312          24 :     initial_total_time += segment_times.at(i);
+    1313          24 :     initial_total_time_baca += segment_times_baca.at(i);
+    1314             : 
+    1315          24 :     ROS_DEBUG("[TrajectoryGeneration]: segment time [%d] = %.2f", i, segment_times_baca.at(i));
+    1316             :   }
+    1317             : 
+    1318           6 :   ROS_WARN("[TrajectoryGeneration]: fallback: initial total time (Euclidean): %.2f", initial_total_time);
+    1319           6 :   ROS_WARN("[TrajectoryGeneration]: fallback: initial total time (Baca): %.2f", initial_total_time_baca);
+    1320             : 
+    1321          12 :   eth_mav_msgs::EigenTrajectoryPoint::Vector states;
+    1322             : 
+    1323             :   // interpolate each segment
+    1324          30 :   for (size_t i = 0; i < waypoints.size() - 1; i++) {
+    1325             : 
+    1326          48 :     Eigen::VectorXd start, end;
+    1327             : 
+    1328          24 :     const double segment_time = segment_times_baca.at(i);
+    1329             : 
+    1330             :     int    n_samples;
+    1331             :     double interp_step;
+    1332             : 
+    1333          24 :     if (segment_time > 1e-1) {
+    1334             : 
+    1335          24 :       n_samples = ceil(segment_time / sampling_dt);
+    1336             : 
+    1337             :       // important
+    1338          24 :       if (n_samples > 0) {
+    1339          24 :         interp_step = 1.0 / double(n_samples);
+    1340             :       } else {
+    1341           0 :         interp_step = 0.5;
+    1342             :       }
+    1343             : 
+    1344             :     } else {
+    1345           0 :       n_samples   = 0;
+    1346           0 :       interp_step = 0;
+    1347             :     }
+    1348             : 
+    1349          24 :     ROS_DEBUG("[TrajectoryGeneration]: segment n_samples [%lu] = %d", i, n_samples);
+    1350             : 
+    1351             :     // for the last segment, hit the last waypoint completely
+    1352             :     // otherwise, it is hit as the first sample of the following segment
+    1353          24 :     if (n_samples > 0 && i == waypoints.size() - 2) {
+    1354           6 :       n_samples++;
+    1355             :     }
+    1356             : 
+    1357         987 :     for (int j = 0; j < n_samples; j++) {
+    1358             : 
+    1359         963 :       Waypoint_t point = interpolatePoint(waypoints.at(i), waypoints.at(i + 1), j * interp_step);
+    1360             : 
+    1361         963 :       eth_mav_msgs::EigenTrajectoryPoint eth_point;
+    1362         963 :       eth_point.position_W(0) = point.coords(0);
+    1363         963 :       eth_point.position_W(1) = point.coords(1);
+    1364         963 :       eth_point.position_W(2) = point.coords(2);
+    1365         963 :       eth_point.setFromYaw(point.coords(3));
+    1366             : 
+    1367         963 :       states.push_back(eth_point);
+    1368             : 
+    1369         963 :       if (j == 0 && i > 0 && waypoints.at(i).stop_at) {
+    1370             : 
+    1371           0 :         int insert_samples = int(round(_fallback_sampling_stopping_time_ / sampling_dt));
+    1372             : 
+    1373           0 :         for (int k = 0; k < insert_samples; k++) {
+    1374           0 :           states.push_back(eth_point);
+    1375             :         }
+    1376             :       }
+    1377             :     }
+    1378             :   }
+    1379             : 
+    1380           6 :   bool success = true;
+    1381             : 
+    1382           6 :   ROS_WARN("[TrajectoryGeneration]: fallback: sampling finished, took %.3f s", (ros::Time::now() - time_start).toSec());
+    1383             : 
+    1384             :   // | --------------- create the trajectory class -------------- |
+    1385             : 
+    1386           6 :   if (success) {
+    1387           6 :     return std::optional(states);
+    1388             :   } else {
+    1389           0 :     ROS_ERROR("[TrajectoryGeneration]: fallback: sampling failed");
+    1390           0 :     return {};
+    1391             :   }
+    1392             : }
+    1393             : 
+    1394             : //}
+    1395             : 
+    1396             : /* validateTrajectorySpatial() //{ */
+    1397             : 
+    1398          16 : std::tuple<bool, int, std::vector<bool>, double> MrsTrajectoryGeneration::validateTrajectorySpatial(
+    1399             :     const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory, const std::vector<Waypoint_t>& waypoints) {
+    1400             : 
+    1401          48 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::validateTrajectorySpatial", scope_timer_logger_, scope_timer_enabled_);
+    1402             : 
+    1403             :   // prepare the output
+    1404             : 
+    1405          16 :   std::vector<bool> segments;
+    1406         121 :   for (size_t i = 0; i < waypoints.size() - 1; i++) {
+    1407         105 :     segments.push_back(true);
+    1408             :   }
+    1409             : 
+    1410          16 :   int waypoint_idx = 0;
+    1411             : 
+    1412          16 :   bool   is_safe       = true;
+    1413          16 :   double max_deviation = 0;
+    1414             : 
+    1415        2331 :   for (size_t i = 0; i < trajectory.size() - 1; i++) {
+    1416             : 
+    1417             :     // the trajectory sample
+    1418        2315 :     const vec3_t sample = vec3_t(trajectory.at(i).position_W(0), trajectory.at(i).position_W(1), trajectory.at(i).position_W(2));
+    1419             : 
+    1420             :     // next sample
+    1421        2315 :     const vec3_t next_sample = vec3_t(trajectory.at(i + 1).position_W(0), trajectory.at(i + 1).position_W(1), trajectory.at(i + 1).position_W(2));
+    1422             : 
+    1423             :     // segment start
+    1424        2315 :     const vec3_t segment_start = vec3_t(waypoints.at(waypoint_idx).coords(0), waypoints.at(waypoint_idx).coords(1), waypoints.at(waypoint_idx).coords(2));
+    1425             : 
+    1426             :     // segment end
+    1427             :     const vec3_t segment_end =
+    1428        2315 :         vec3_t(waypoints.at(waypoint_idx + 1).coords(0), waypoints.at(waypoint_idx + 1).coords(1), waypoints.at(waypoint_idx + 1).coords(2));
+    1429             : 
+    1430        2315 :     const double distance_from_segment = distFromSegment(sample, segment_start, segment_end);
+    1431             : 
+    1432        2315 :     const double segment_end_dist = distFromSegment(segment_end, sample, next_sample);
+    1433             : 
+    1434        2315 :     if (waypoint_idx > 0 || max_deviation_first_segment_ || int(waypoints.size()) <= 2) {
+    1435             : 
+    1436        2161 :       if (distance_from_segment > max_deviation) {
+    1437         324 :         max_deviation = distance_from_segment;
+    1438             :       }
+    1439             : 
+    1440        2161 :       if (distance_from_segment > trajectory_max_segment_deviation_) {
+    1441         860 :         segments.at(waypoint_idx) = false;
+    1442         860 :         is_safe                   = false;
+    1443             :       }
+    1444             :     }
+    1445             : 
+    1446        2315 :     if (segment_end_dist < 0.05 && waypoint_idx < (int(waypoints.size()) - 2)) {
+    1447          89 :       waypoint_idx++;
+    1448             :     }
+    1449             :   }
+    1450             : 
+    1451          48 :   return std::tuple(is_safe, trajectory.size(), segments, max_deviation);
+    1452             : }
+    1453             : 
+    1454             : //}
+    1455             : 
+    1456             : // | --------------------- minor routines --------------------- |
+    1457             : 
+    1458             : /* findTrajectoryAsync() //{ */
+    1459             : 
+    1460          15 : std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> MrsTrajectoryGeneration::findTrajectoryAsync(
+    1461             :     const std::vector<Waypoint_t>& waypoints, const std::optional<mrs_msgs::TrackerCommand>& initial_state, const double& sampling_dt,
+    1462             :     const bool& relax_heading) {
+    1463             : 
+    1464          15 :   ROS_DEBUG("[TrajectoryGeneration]: starting the async planning task");
+    1465             : 
+    1466             :   future_trajectory_result_ =
+    1467          15 :       std::async(std::launch::async, &MrsTrajectoryGeneration::findTrajectory, this, waypoints, initial_state, sampling_dt, relax_heading);
+    1468             : 
+    1469        9684 :   while (ros::ok() && future_trajectory_result_.wait_for(std::chrono::milliseconds(1)) != std::future_status::ready) {
+    1470             : 
+    1471        9674 :     if (overtime()) {
+    1472           5 :       ROS_WARN("[TrajectoryGeneration]: async task planning timeout, breaking");
+    1473           5 :       return {};
+    1474             :     }
+    1475             :   }
+    1476             : 
+    1477          10 :   ROS_DEBUG("[TrajectoryGeneration]: async planning task finished successfully");
+    1478             : 
+    1479          10 :   return future_trajectory_result_.get();
+    1480             : }
+    1481             : 
+    1482             : //}
+    1483             : 
+    1484             : /* distFromSegment() //{ */
+    1485             : 
+    1486        4630 : double MrsTrajectoryGeneration::distFromSegment(const vec3_t& point, const vec3_t& seg1, const vec3_t& seg2) {
+    1487             : 
+    1488        4630 :   vec3_t segment_vector = seg2 - seg1;
+    1489        4630 :   double segment_len    = segment_vector.norm();
+    1490             : 
+    1491        4630 :   vec3_t segment_vector_norm = segment_vector;
+    1492        4630 :   segment_vector_norm.normalize();
+    1493             : 
+    1494        4630 :   double point_coordinate = segment_vector_norm.dot(point - seg1);
+    1495             : 
+    1496        4630 :   if (point_coordinate < 0) {
+    1497          13 :     return (point - seg1).norm();
+    1498        4617 :   } else if (point_coordinate > segment_len) {
+    1499        2262 :     return (point - seg2).norm();
+    1500             :   } else {
+    1501             : 
+    1502        2355 :     mat3_t segment_projector = segment_vector_norm * segment_vector_norm.transpose();
+    1503        2355 :     vec3_t projection        = seg1 + segment_projector * (point - seg1);
+    1504             : 
+    1505        2355 :     return (point - projection).norm();
+    1506             :   }
+    1507             : }
+    1508             : 
+    1509             : //}
+    1510             : 
+    1511             : /* getTrajectoryReference() //{ */
+    1512             : 
+    1513           6 : mrs_msgs::TrajectoryReference MrsTrajectoryGeneration::getTrajectoryReference(const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory,
+    1514             :                                                                               const std::optional<mrs_msgs::TrackerCommand>&    initial_condition,
+    1515             :                                                                               const double&                                     sampling_dt) {
+    1516             : 
+    1517           6 :   mrs_msgs::TrajectoryReference msg;
+    1518             : 
+    1519           6 :   if (initial_condition) {
+    1520           6 :     msg.header.stamp = initial_condition->header.stamp;
+    1521             :   } else {
+    1522           0 :     msg.header.stamp = ros::Time::now();
+    1523             :   }
+    1524             : 
+    1525           6 :   msg.header.frame_id = frame_id_;
+    1526           6 :   msg.fly_now         = fly_now_;
+    1527           6 :   msg.loop            = loop_;
+    1528           6 :   msg.use_heading     = use_heading_;
+    1529           6 :   msg.dt              = sampling_dt;
+    1530             : 
+    1531         969 :   for (size_t it = 0; it < trajectory.size(); it++) {
+    1532             : 
+    1533         963 :     mrs_msgs::Reference point;
+    1534             : 
+    1535         963 :     point.position.x = trajectory.at(it).position_W(0);
+    1536         963 :     point.position.y = trajectory.at(it).position_W(1);
+    1537         963 :     point.position.z = trajectory.at(it).position_W(2);
+    1538             : 
+    1539         963 :     if (_override_heading_atan2_ && it < (trajectory.size() - 1)) {
+    1540             : 
+    1541           0 :       const double points_dist = std::hypot(trajectory.at(it + 1).position_W(1) - point.position.y, trajectory.at(it + 1).position_W(0) - point.position.x);
+    1542             : 
+    1543           0 :       if (points_dist < 0.05 && it > 0) {
+    1544             : 
+    1545           0 :         point.heading = msg.points.at(it - 1).heading;
+    1546             : 
+    1547             :       } else {
+    1548           0 :         point.heading = atan2(trajectory.at(it + 1).position_W(1) - point.position.y, trajectory.at(it + 1).position_W(0) - point.position.x);
+    1549             :       }
+    1550             : 
+    1551             :     } else {
+    1552         963 :       point.heading = trajectory.at(it).getYaw();
+    1553             :     }
+    1554             : 
+    1555         963 :     msg.points.push_back(point);
+    1556             :   }
+    1557             : 
+    1558           6 :   return msg;
+    1559             : }
+    1560             : 
+    1561             : //}
+    1562             : 
+    1563             : /* interpolatePoint() //{ */
+    1564             : 
+    1565        1009 : Waypoint_t MrsTrajectoryGeneration::interpolatePoint(const Waypoint_t& a, const Waypoint_t& b, const double& coeff) {
+    1566             : 
+    1567        1009 :   Waypoint_t      out;
+    1568        1009 :   Eigen::Vector4d diff = b.coords - a.coords;
+    1569             : 
+    1570        1009 :   out.coords(0) = a.coords(0) + coeff * diff(0);
+    1571        1009 :   out.coords(1) = a.coords(1) + coeff * diff(1);
+    1572        1009 :   out.coords(2) = a.coords(2) + coeff * diff(2);
+    1573        1009 :   out.coords(3) = radians::interp(a.coords(3), b.coords(3), coeff);
+    1574             : 
+    1575        1009 :   out.stop_at = false;
+    1576             : 
+    1577        2018 :   return out;
+    1578             : }
+    1579             : 
+    1580             : //}
+    1581             : 
+    1582             : /* checkNaN() //{ */
+    1583             : 
+    1584          24 : bool MrsTrajectoryGeneration::checkNaN(const Waypoint_t& a) {
+    1585             : 
+    1586          24 :   if (!std::isfinite(a.coords(0))) {
+    1587           0 :     ROS_ERROR("NaN detected in variable \"a.coords(0)\"!!!");
+    1588           0 :     return false;
+    1589             :   }
+    1590             : 
+    1591          24 :   if (!std::isfinite(a.coords(1))) {
+    1592           0 :     ROS_ERROR("NaN detected in variable \"a.coords(1)\"!!!");
+    1593           0 :     return false;
+    1594             :   }
+    1595             : 
+    1596          24 :   if (!std::isfinite(a.coords(2))) {
+    1597           0 :     ROS_ERROR("NaN detected in variable \"a.coords(2)\"!!!");
+    1598           0 :     return false;
+    1599             :   }
+    1600             : 
+    1601          24 :   if (!std::isfinite(a.coords(3))) {
+    1602           0 :     ROS_ERROR("NaN detected in variable \"a.coords(3)\"!!!");
+    1603           0 :     return false;
+    1604             :   }
+    1605             : 
+    1606          24 :   return true;
+    1607             : }
+    1608             : 
+    1609             : //}
+    1610             : 
+    1611             : /* trajectorySrv() //{ */
+    1612             : 
+    1613           4 : bool MrsTrajectoryGeneration::trajectorySrv(const mrs_msgs::TrajectoryReference& msg) {
+    1614             : 
+    1615           8 :   mrs_msgs::TrajectoryReferenceSrv srv;
+    1616           4 :   srv.request.trajectory = msg;
+    1617             : 
+    1618           4 :   bool res = service_client_trajectory_reference_.call(srv);
+    1619             : 
+    1620           4 :   if (res) {
+    1621             : 
+    1622           4 :     if (!srv.response.success) {
+    1623           0 :       ROS_WARN("[TrajectoryGeneration]: service call for trajectory_reference returned: '%s'", srv.response.message.c_str());
+    1624             :     }
+    1625             : 
+    1626           4 :     return srv.response.success;
+    1627             : 
+    1628             :   } else {
+    1629             : 
+    1630           0 :     ROS_ERROR("[TrajectoryGeneration]: service call for trajectory_reference failed!");
+    1631             : 
+    1632           0 :     return false;
+    1633             :   }
+    1634             : }
+    1635             : 
+    1636             : //}
+    1637             : 
+    1638             : /* transformTrackerCmd() //{ */
+    1639             : 
+    1640           6 : std::optional<mrs_msgs::Path> MrsTrajectoryGeneration::transformPath(const mrs_msgs::Path& path_in, const std::string& target_frame) {
+    1641             : 
+    1642             :   // if we transform to the current control frame, which is in fact the same frame as the tracker_cmd is in
+    1643           6 :   if (target_frame == path_in.header.frame_id) {
+    1644           6 :     return path_in;
+    1645             :   }
+    1646             : 
+    1647             :   // find the transformation
+    1648           0 :   auto tf = transformer_->getTransform(path_in.header.frame_id, target_frame, path_in.header.stamp);
+    1649             : 
+    1650           0 :   if (!tf) {
+    1651           0 :     ROS_ERROR("[TrajectoryGeneration]: could not find transform from '%s' to '%s' in time %f", path_in.header.frame_id.c_str(), target_frame.c_str(),
+    1652             :               path_in.header.stamp.toSec());
+    1653           0 :     return {};
+    1654             :   }
+    1655             : 
+    1656           0 :   mrs_msgs::Path path_out = path_in;
+    1657             : 
+    1658           0 :   path_out.header.stamp    = tf.value().header.stamp;
+    1659           0 :   path_out.header.frame_id = transformer_->frame_to(tf.value());
+    1660             : 
+    1661           0 :   for (size_t i = 0; i < path_in.points.size(); i++) {
+    1662             : 
+    1663           0 :     mrs_msgs::ReferenceStamped waypoint;
+    1664             : 
+    1665           0 :     waypoint.header    = path_in.header;
+    1666           0 :     waypoint.reference = path_in.points.at(i);
+    1667             : 
+    1668           0 :     if (auto ret = transformer_->transform(waypoint, tf.value())) {
+    1669             : 
+    1670           0 :       path_out.points.at(i) = ret.value().reference;
+    1671             : 
+    1672             :     } else {
+    1673           0 :       return {};
+    1674             :     }
+    1675             :   }
+    1676             : 
+    1677           0 :   return path_out;
+    1678             : }
+    1679             : 
+    1680             : //}
+    1681             : 
+    1682             : /* overtime() //{ */
+    1683             : 
+    1684        9725 : bool MrsTrajectoryGeneration::overtime(void) {
+    1685             : 
+    1686        9725 :   auto start_time_total   = mrs_lib::get_mutexed(mutex_start_time_total_, start_time_total_);
+    1687        9725 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    1688             : 
+    1689        9725 :   double overtime = (ros::Time::now() - start_time_total).toSec();
+    1690             : 
+    1691        9725 :   if (overtime > (OVERTIME_SAFETY_FACTOR * max_execution_time - OVERTIME_SAFETY_OFFSET)) {
+    1692          11 :     return true;
+    1693             :   }
+    1694             : 
+    1695        9714 :   return false;
+    1696             : }
+    1697             : 
+    1698             : //}
+    1699             : 
+    1700             : /* timeLeft() //{ */
+    1701             : 
+    1702          15 : double MrsTrajectoryGeneration::timeLeft(void) {
+    1703             : 
+    1704          15 :   auto start_time_total   = mrs_lib::get_mutexed(mutex_start_time_total_, start_time_total_);
+    1705          15 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    1706             : 
+    1707          15 :   double current_execution_time = (ros::Time::now() - start_time_total).toSec();
+    1708             : 
+    1709          15 :   if (current_execution_time >= max_execution_time) {
+    1710           0 :     return 0;
+    1711             :   } else {
+    1712          15 :     return max_execution_time - current_execution_time;
+    1713             :   }
+    1714             : }
+    1715             : 
+    1716             : //}
+    1717             : 
+    1718             : // | ------------------------ callbacks ----------------------- |
+    1719             : 
+    1720             : /* callbackPath() //{ */
+    1721             : 
+    1722           1 : void MrsTrajectoryGeneration::callbackPath(const mrs_msgs::Path::ConstPtr msg) {
+    1723             : 
+    1724           1 :   if (!is_initialized_) {
+    1725           0 :     return;
+    1726             :   }
+    1727             : 
+    1728             :   /* preconditions //{ */
+    1729             : 
+    1730           1 :   if (!sh_constraints_.hasMsg()) {
+    1731           0 :     std::stringstream ss;
+    1732           0 :     ss << "missing constraints";
+    1733           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    1734           0 :     return;
+    1735             :   }
+    1736             : 
+    1737           1 :   if (!sh_control_manager_diag_.hasMsg()) {
+    1738           0 :     std::stringstream ss;
+    1739           0 :     ss << "missing control manager diagnostics";
+    1740           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    1741           0 :     return;
+    1742             :   }
+    1743             : 
+    1744           1 :   if (!sh_uav_state_.hasMsg()) {
+    1745           0 :     std::stringstream ss;
+    1746           0 :     ss << "missing UAV state";
+    1747           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    1748           0 :     return;
+    1749             :   }
+    1750             : 
+    1751             :   //}
+    1752             : 
+    1753             :   {
+    1754           2 :     std::scoped_lock lock(mutex_start_time_total_);
+    1755             : 
+    1756           1 :     start_time_total_ = ros::Time::now();
+    1757             :   }
+    1758             : 
+    1759           1 :   double path_time_offset = 0;
+    1760             : 
+    1761           1 :   if (msg->header.stamp != ros::Time(0)) {
+    1762           0 :     path_time_offset = (msg->header.stamp - ros::Time::now()).toSec();
+    1763             :   }
+    1764             : 
+    1765           1 :   if (path_time_offset > 1e-3) {
+    1766             : 
+    1767           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    1768             : 
+    1769           0 :     max_execution_time_ = std::min(FUTURIZATION_EXEC_TIME_FACTOR * path_time_offset, params_.max_execution_time);
+    1770             : 
+    1771           0 :     ROS_INFO("[TrajectoryGeneration]: setting the max execution time to %.3f s = %.1f * %.3f", max_execution_time_, FUTURIZATION_EXEC_TIME_FACTOR,
+    1772             :              path_time_offset);
+    1773             :   } else {
+    1774             : 
+    1775           1 :     std::scoped_lock lock(mutex_max_execution_time_, mutex_params_);
+    1776             : 
+    1777           1 :     max_execution_time_ = params_.max_execution_time;
+    1778             :   }
+    1779             : 
+    1780           1 :   ROS_INFO("[TrajectoryGeneration]: got path from message");
+    1781             : 
+    1782           1 :   ph_original_path_.publish(msg);
+    1783             : 
+    1784           1 :   if (msg->points.empty()) {
+    1785           0 :     std::stringstream ss;
+    1786           0 :     ss << "received an empty message";
+    1787           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    1788           0 :     return;
+    1789             :   }
+    1790             : 
+    1791           2 :   auto transformed_path = transformPath(*msg, "");
+    1792             : 
+    1793           1 :   if (!transformed_path) {
+    1794           0 :     std::stringstream ss;
+    1795           0 :     ss << "could not transform the path to the current control frame";
+    1796           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    1797           0 :     return;
+    1798             :   }
+    1799             : 
+    1800           1 :   fly_now_                              = transformed_path->fly_now;
+    1801           1 :   use_heading_                          = transformed_path->use_heading;
+    1802           1 :   frame_id_                             = transformed_path->header.frame_id;
+    1803           1 :   override_constraints_                 = transformed_path->override_constraints;
+    1804           1 :   loop_                                 = transformed_path->loop;
+    1805           1 :   override_max_velocity_horizontal_     = transformed_path->override_max_velocity_horizontal;
+    1806           1 :   override_max_velocity_vertical_       = transformed_path->override_max_velocity_vertical;
+    1807           1 :   override_max_acceleration_horizontal_ = transformed_path->override_max_acceleration_horizontal;
+    1808           1 :   override_max_acceleration_vertical_   = transformed_path->override_max_acceleration_vertical;
+    1809           1 :   override_max_jerk_horizontal_         = transformed_path->override_max_jerk_horizontal;
+    1810           1 :   override_max_jerk_vertical_           = transformed_path->override_max_jerk_horizontal;
+    1811           1 :   stop_at_waypoints_                    = transformed_path->stop_at_waypoints;
+    1812             : 
+    1813           1 :   auto params = mrs_lib::get_mutexed(mutex_params_, params_);
+    1814             : 
+    1815           1 :   if (transformed_path->max_execution_time > 0) {
+    1816             : 
+    1817           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    1818             : 
+    1819           0 :     max_execution_time_ = transformed_path->max_execution_time;
+    1820             : 
+    1821             :   } else {
+    1822             : 
+    1823           1 :     std::scoped_lock lock(mutex_max_execution_time_);
+    1824             : 
+    1825           1 :     max_execution_time_ = params.max_execution_time;
+    1826             :   }
+    1827             : 
+    1828           1 :   if (transformed_path->max_deviation_from_path > 0) {
+    1829           0 :     trajectory_max_segment_deviation_ = transformed_path->max_deviation_from_path;
+    1830             :   } else {
+    1831           1 :     trajectory_max_segment_deviation_ = params.max_deviation;
+    1832             :   }
+    1833             : 
+    1834           1 :   dont_prepend_initial_condition_ = transformed_path->dont_prepend_current_state;
+    1835             : 
+    1836           1 :   std::vector<Waypoint_t> waypoints;
+    1837             : 
+    1838           5 :   for (size_t i = 0; i < transformed_path->points.size(); i++) {
+    1839             : 
+    1840           4 :     double x       = transformed_path->points.at(i).position.x;
+    1841           4 :     double y       = transformed_path->points.at(i).position.y;
+    1842           4 :     double z       = transformed_path->points.at(i).position.z;
+    1843           4 :     double heading = transformed_path->points.at(i).heading;
+    1844             : 
+    1845           4 :     Waypoint_t wp;
+    1846           4 :     wp.coords  = Eigen::Vector4d(x, y, z, heading);
+    1847           4 :     wp.stop_at = stop_at_waypoints_;
+    1848             : 
+    1849           4 :     if (!checkNaN(wp)) {
+    1850           0 :       ROS_ERROR("[TrajectoryGeneration]: NaN detected in waypoint #%d", int(i));
+    1851           0 :       return;
+    1852             :     }
+    1853             : 
+    1854           4 :     waypoints.push_back(wp);
+    1855             :   }
+    1856             : 
+    1857           1 :   if (loop_) {
+    1858           0 :     waypoints.push_back(waypoints.at(0));
+    1859             :   }
+    1860             : 
+    1861           1 :   bool                          success = false;
+    1862           2 :   std::string                   message;
+    1863           2 :   mrs_msgs::TrajectoryReference trajectory;
+    1864             : 
+    1865           2 :   for (int i = 0; i < _n_attempts_; i++) {
+    1866             : 
+    1867             :     // the last iteration and the fallback sampling is enabled
+    1868           2 :     bool fallback_sampling = (_n_attempts_ > 1) && (i == (_n_attempts_ - 1)) && _fallback_sampling_enabled_;
+    1869             : 
+    1870           2 :     std::tie(success, message, trajectory) = optimize(waypoints, transformed_path->header, fallback_sampling, transformed_path->relax_heading);
+    1871             : 
+    1872           2 :     if (success) {
+    1873           1 :       break;
+    1874             :     } else {
+    1875           1 :       if (i < _n_attempts_) {
+    1876           1 :         ROS_WARN("[TrajectoryGeneration]: failed to calculate a feasible trajectory, trying again with different initial conditions!");
+    1877             :       } else {
+    1878           0 :         ROS_WARN("[TrajectoryGeneration]: failed to calculate a feasible trajectory");
+    1879             :       }
+    1880             :     }
+    1881             :   }
+    1882             : 
+    1883           1 :   double total_time = (ros::Time::now() - start_time_total_).toSec();
+    1884             : 
+    1885           1 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    1886             : 
+    1887           1 :   if (total_time > max_execution_time) {
+    1888           0 :     ROS_ERROR("[TrajectoryGeneration]: trajectory ready, took %.3f s in total (exceeding maxtime %.3f s by %.3f s)", total_time, max_execution_time,
+    1889             :               total_time - max_execution_time);
+    1890             :   } else {
+    1891           1 :     ROS_INFO("[TrajectoryGeneration]: trajectory ready, took %.3f s in total (out of %.3f)", total_time, max_execution_time);
+    1892             :   }
+    1893             : 
+    1894           1 :   trajectory.input_id = transformed_path->input_id;
+    1895             : 
+    1896           1 :   if (success) {
+    1897             : 
+    1898           1 :     bool published = trajectorySrv(trajectory);
+    1899             : 
+    1900           1 :     if (published) {
+    1901             : 
+    1902           1 :       ROS_INFO("[TrajectoryGeneration]: trajectory successfully published");
+    1903             : 
+    1904             :     } else {
+    1905             : 
+    1906           0 :       ROS_ERROR("[TrajectoryGeneration]: could not publish the trajectory");
+    1907             :     }
+    1908             : 
+    1909             :   } else {
+    1910             : 
+    1911           0 :     ROS_ERROR("[TrajectoryGeneration]: failed to calculate a feasible trajectory, no publishing a result");
+    1912             :   }
+    1913             : }
+    1914             : 
+    1915             : //}
+    1916             : 
+    1917             : /* callbackPathSrv() //{ */
+    1918             : 
+    1919           3 : bool MrsTrajectoryGeneration::callbackPathSrv(mrs_msgs::PathSrv::Request& req, mrs_msgs::PathSrv::Response& res) {
+    1920             : 
+    1921           3 :   if (!is_initialized_) {
+    1922           0 :     return false;
+    1923             :   }
+    1924             : 
+    1925             :   /* preconditions //{ */
+    1926             : 
+    1927           3 :   if (!sh_constraints_.hasMsg()) {
+    1928           0 :     std::stringstream ss;
+    1929           0 :     ss << "missing constraints";
+    1930           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    1931             : 
+    1932           0 :     res.message = ss.str();
+    1933           0 :     res.success = false;
+    1934           0 :     return true;
+    1935             :   }
+    1936             : 
+    1937           3 :   if (!sh_control_manager_diag_.hasMsg()) {
+    1938           0 :     std::stringstream ss;
+    1939           0 :     ss << "missing control manager diagnostics";
+    1940           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    1941             : 
+    1942           0 :     res.message = ss.str();
+    1943           0 :     res.success = false;
+    1944           0 :     return true;
+    1945             :   }
+    1946             : 
+    1947           3 :   if (!sh_uav_state_.hasMsg()) {
+    1948           0 :     std::stringstream ss;
+    1949           0 :     ss << "missing UAV state";
+    1950           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    1951             : 
+    1952           0 :     res.message = ss.str();
+    1953           0 :     res.success = false;
+    1954           0 :     return true;
+    1955             :   }
+    1956             : 
+    1957             :   //}
+    1958             : 
+    1959             :   {
+    1960           6 :     std::scoped_lock lock(mutex_start_time_total_);
+    1961             : 
+    1962           3 :     start_time_total_ = ros::Time::now();
+    1963             :   }
+    1964             : 
+    1965           3 :   double path_time_offset = 0;
+    1966             : 
+    1967           3 :   if (req.path.header.stamp != ros::Time(0)) {
+    1968           0 :     path_time_offset = (req.path.header.stamp - ros::Time::now()).toSec();
+    1969             :   }
+    1970             : 
+    1971           3 :   if (path_time_offset > 1e-3) {
+    1972             : 
+    1973           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    1974             : 
+    1975           0 :     max_execution_time_ = std::min(FUTURIZATION_EXEC_TIME_FACTOR * path_time_offset, params_.max_execution_time);
+    1976             : 
+    1977           0 :     ROS_INFO("[TrajectoryGeneration]: setting the max execution time to %.3f s = %.1f * %.3f", max_execution_time_, FUTURIZATION_EXEC_TIME_FACTOR,
+    1978             :              path_time_offset);
+    1979             :   } else {
+    1980             : 
+    1981           3 :     std::scoped_lock lock(mutex_max_execution_time_, mutex_params_);
+    1982             : 
+    1983           3 :     max_execution_time_ = params_.max_execution_time;
+    1984             :   }
+    1985             : 
+    1986           3 :   ROS_INFO("[TrajectoryGeneration]: got path from service");
+    1987             : 
+    1988           3 :   ph_original_path_.publish(req.path);
+    1989             : 
+    1990           3 :   if (req.path.points.empty()) {
+    1991           0 :     std::stringstream ss;
+    1992           0 :     ss << "received an empty message";
+    1993           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    1994             : 
+    1995           0 :     res.message = ss.str();
+    1996           0 :     res.success = false;
+    1997           0 :     return true;
+    1998             :   }
+    1999             : 
+    2000           9 :   auto transformed_path = transformPath(req.path, "");
+    2001             : 
+    2002           3 :   if (!transformed_path) {
+    2003           0 :     std::stringstream ss;
+    2004           0 :     ss << "could not transform the path to the current control frame";
+    2005           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    2006             : 
+    2007           0 :     res.message = ss.str();
+    2008           0 :     res.success = false;
+    2009           0 :     return true;
+    2010             :   }
+    2011             : 
+    2012           3 :   fly_now_                              = transformed_path->fly_now;
+    2013           3 :   use_heading_                          = transformed_path->use_heading;
+    2014           3 :   frame_id_                             = transformed_path->header.frame_id;
+    2015           3 :   override_constraints_                 = transformed_path->override_constraints;
+    2016           3 :   loop_                                 = transformed_path->loop;
+    2017           3 :   override_max_velocity_horizontal_     = transformed_path->override_max_velocity_horizontal;
+    2018           3 :   override_max_velocity_vertical_       = transformed_path->override_max_velocity_vertical;
+    2019           3 :   override_max_acceleration_horizontal_ = transformed_path->override_max_acceleration_horizontal;
+    2020           3 :   override_max_acceleration_vertical_   = transformed_path->override_max_acceleration_vertical;
+    2021           3 :   override_max_jerk_horizontal_         = transformed_path->override_max_jerk_horizontal;
+    2022           3 :   override_max_jerk_vertical_           = transformed_path->override_max_jerk_horizontal;
+    2023           3 :   stop_at_waypoints_                    = transformed_path->stop_at_waypoints;
+    2024             : 
+    2025           6 :   auto params = mrs_lib::get_mutexed(mutex_params_, params_);
+    2026             : 
+    2027           3 :   if (transformed_path->max_execution_time > 0) {
+    2028             : 
+    2029           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    2030             : 
+    2031           0 :     max_execution_time_ = transformed_path->max_execution_time;
+    2032             : 
+    2033             :   } else {
+    2034             : 
+    2035           3 :     std::scoped_lock lock(mutex_max_execution_time_);
+    2036             : 
+    2037           3 :     max_execution_time_ = params.max_execution_time;
+    2038             :   }
+    2039             : 
+    2040           3 :   if (transformed_path->max_deviation_from_path > 0) {
+    2041           0 :     trajectory_max_segment_deviation_ = transformed_path->max_deviation_from_path;
+    2042             :   } else {
+    2043           3 :     trajectory_max_segment_deviation_ = params.max_deviation;
+    2044             :   }
+    2045             : 
+    2046           3 :   dont_prepend_initial_condition_ = transformed_path->dont_prepend_current_state;
+    2047             : 
+    2048           6 :   std::vector<Waypoint_t> waypoints;
+    2049             : 
+    2050          15 :   for (size_t i = 0; i < req.path.points.size(); i++) {
+    2051             : 
+    2052          12 :     double x       = transformed_path->points.at(i).position.x;
+    2053          12 :     double y       = transformed_path->points.at(i).position.y;
+    2054          12 :     double z       = transformed_path->points.at(i).position.z;
+    2055          12 :     double heading = transformed_path->points.at(i).heading;
+    2056             : 
+    2057          12 :     Waypoint_t wp;
+    2058          12 :     wp.coords  = Eigen::Vector4d(x, y, z, heading);
+    2059          12 :     wp.stop_at = stop_at_waypoints_;
+    2060             : 
+    2061          12 :     if (!checkNaN(wp)) {
+    2062           0 :       ROS_ERROR("[TrajectoryGeneration]: NaN detected in waypoint #%d", int(i));
+    2063           0 :       res.success = false;
+    2064           0 :       res.message = "invalid path";
+    2065           0 :       return true;
+    2066             :     }
+    2067             : 
+    2068          12 :     waypoints.push_back(wp);
+    2069             :   }
+    2070             : 
+    2071           3 :   if (loop_) {
+    2072           0 :     waypoints.push_back(waypoints.at(0));
+    2073             :   }
+    2074             : 
+    2075           3 :   bool                          success = false;
+    2076           6 :   std::string                   message;
+    2077           3 :   mrs_msgs::TrajectoryReference trajectory;
+    2078             : 
+    2079           5 :   for (int i = 0; i < _n_attempts_; i++) {
+    2080             : 
+    2081             :     // the last iteration and the fallback sampling is enabled
+    2082           5 :     bool fallback_sampling = (_n_attempts_ > 1) && (i == (_n_attempts_ - 1)) && _fallback_sampling_enabled_;
+    2083             : 
+    2084           5 :     std::tie(success, message, trajectory) = optimize(waypoints, transformed_path->header, fallback_sampling, transformed_path->relax_heading);
+    2085             : 
+    2086           5 :     if (success) {
+    2087           3 :       break;
+    2088             :     } else {
+    2089           2 :       if (i < _n_attempts_) {
+    2090           2 :         ROS_WARN("[TrajectoryGeneration]: failed to calculate a feasible trajectory, trying again with different initial conditions!");
+    2091             :       } else {
+    2092           0 :         ROS_WARN("[TrajectoryGeneration]: failed to calculate a feasible trajectory");
+    2093             :       }
+    2094             :     }
+    2095             :   }
+    2096             : 
+    2097           3 :   double total_time = (ros::Time::now() - start_time_total_).toSec();
+    2098             : 
+    2099           3 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    2100             : 
+    2101           3 :   if (total_time > max_execution_time) {
+    2102           1 :     ROS_ERROR("[TrajectoryGeneration]: trajectory ready, took %.3f s in total (exceeding maxtime %.3f s by %.3f s)", total_time, max_execution_time,
+    2103             :               total_time - max_execution_time);
+    2104             :   } else {
+    2105           2 :     ROS_INFO("[TrajectoryGeneration]: trajectory ready, took %.3f s in total (out of %.3f)", total_time, max_execution_time);
+    2106             :   }
+    2107             : 
+    2108           3 :   trajectory.input_id = transformed_path->input_id;
+    2109             : 
+    2110           3 :   if (success) {
+    2111             : 
+    2112           3 :     bool published = trajectorySrv(trajectory);
+    2113             : 
+    2114           3 :     if (published) {
+    2115             : 
+    2116           3 :       res.success = success;
+    2117           3 :       res.message = message;
+    2118             : 
+    2119             :     } else {
+    2120             : 
+    2121           0 :       std::stringstream ss;
+    2122           0 :       ss << "could not publish the trajectory";
+    2123             : 
+    2124           0 :       res.success = false;
+    2125           0 :       res.message = ss.str();
+    2126             : 
+    2127           0 :       ROS_ERROR_STREAM("[TrajectoryGeneration]: " << ss.str());
+    2128             :     }
+    2129             : 
+    2130             :   } else {
+    2131             : 
+    2132           0 :     ROS_ERROR("[TrajectoryGeneration]: failed to calculate a feasible trajectory, not publishing a result");
+    2133             : 
+    2134           0 :     res.success = success;
+    2135           0 :     res.message = message;
+    2136             :   }
+    2137             : 
+    2138           3 :   return true;
+    2139             : }
+    2140             : 
+    2141             : //}
+    2142             : 
+    2143             : /* callbackGetPathSrv() //{ */
+    2144             : 
+    2145           2 : bool MrsTrajectoryGeneration::callbackGetPathSrv(mrs_msgs::GetPathSrv::Request& req, mrs_msgs::GetPathSrv::Response& res) {
+    2146             : 
+    2147           2 :   if (!is_initialized_) {
+    2148           0 :     return false;
+    2149             :   }
+    2150             : 
+    2151             :   /* preconditions //{ */
+    2152             : 
+    2153           2 :   if (!sh_constraints_.hasMsg()) {
+    2154           0 :     std::stringstream ss;
+    2155           0 :     ss << "missing constraints";
+    2156           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    2157             : 
+    2158           0 :     res.message = ss.str();
+    2159           0 :     res.success = false;
+    2160           0 :     return true;
+    2161             :   }
+    2162             : 
+    2163           2 :   if (!sh_control_manager_diag_.hasMsg()) {
+    2164           0 :     std::stringstream ss;
+    2165           0 :     ss << "missing control manager diagnostics";
+    2166           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    2167             : 
+    2168           0 :     res.message = ss.str();
+    2169           0 :     res.success = false;
+    2170           0 :     return true;
+    2171             :   }
+    2172             : 
+    2173           2 :   if (!sh_uav_state_.hasMsg()) {
+    2174           0 :     std::stringstream ss;
+    2175           0 :     ss << "missing UAV state";
+    2176           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    2177             : 
+    2178           0 :     res.message = ss.str();
+    2179           0 :     res.success = false;
+    2180           0 :     return true;
+    2181             :   }
+    2182             : 
+    2183             :   //}
+    2184             : 
+    2185             :   {
+    2186           4 :     std::scoped_lock lock(mutex_start_time_total_);
+    2187             : 
+    2188           2 :     start_time_total_ = ros::Time::now();
+    2189             :   }
+    2190             : 
+    2191           2 :   double path_time_offset = 0;
+    2192             : 
+    2193           2 :   if (req.path.header.stamp != ros::Time(0)) {
+    2194           0 :     path_time_offset = (req.path.header.stamp - ros::Time::now()).toSec();
+    2195             :   }
+    2196             : 
+    2197           2 :   if (path_time_offset > 1e-3) {
+    2198             : 
+    2199           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    2200             : 
+    2201           0 :     max_execution_time_ = FUTURIZATION_EXEC_TIME_FACTOR * path_time_offset;
+    2202             : 
+    2203           0 :     ROS_INFO("[TrajectoryGeneration]: setting the max execution time to %.3f s = %.1f * %.3f", max_execution_time_, FUTURIZATION_EXEC_TIME_FACTOR,
+    2204             :              path_time_offset);
+    2205             :   } else {
+    2206             : 
+    2207           2 :     std::scoped_lock lock(mutex_max_execution_time_, mutex_params_);
+    2208             : 
+    2209           2 :     max_execution_time_ = params_.max_execution_time;
+    2210             :   }
+    2211             : 
+    2212           2 :   ROS_INFO("[TrajectoryGeneration]: got path from service");
+    2213             : 
+    2214           2 :   ph_original_path_.publish(req.path);
+    2215             : 
+    2216           2 :   if (req.path.points.empty()) {
+    2217           0 :     std::stringstream ss;
+    2218           0 :     ss << "received an empty message";
+    2219           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    2220             : 
+    2221           0 :     res.message = ss.str();
+    2222           0 :     res.success = false;
+    2223           0 :     return true;
+    2224             :   }
+    2225             : 
+    2226           6 :   auto transformed_path = transformPath(req.path, "");
+    2227             : 
+    2228           2 :   if (!transformed_path) {
+    2229           0 :     std::stringstream ss;
+    2230           0 :     ss << "could not transform the path to the current control frame";
+    2231           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    2232             : 
+    2233           0 :     res.message = ss.str();
+    2234           0 :     res.success = false;
+    2235           0 :     return true;
+    2236             :   }
+    2237             : 
+    2238           2 :   fly_now_                              = transformed_path->fly_now;
+    2239           2 :   use_heading_                          = transformed_path->use_heading;
+    2240           2 :   frame_id_                             = transformed_path->header.frame_id;
+    2241           2 :   override_constraints_                 = transformed_path->override_constraints;
+    2242           2 :   loop_                                 = transformed_path->loop;
+    2243           2 :   override_max_velocity_horizontal_     = transformed_path->override_max_velocity_horizontal;
+    2244           2 :   override_max_velocity_vertical_       = transformed_path->override_max_velocity_vertical;
+    2245           2 :   override_max_acceleration_horizontal_ = transformed_path->override_max_acceleration_horizontal;
+    2246           2 :   override_max_acceleration_vertical_   = transformed_path->override_max_acceleration_vertical;
+    2247           2 :   override_max_jerk_horizontal_         = transformed_path->override_max_jerk_horizontal;
+    2248           2 :   override_max_jerk_vertical_           = transformed_path->override_max_jerk_horizontal;
+    2249           2 :   stop_at_waypoints_                    = transformed_path->stop_at_waypoints;
+    2250             : 
+    2251           4 :   auto params = mrs_lib::get_mutexed(mutex_params_, params_);
+    2252             : 
+    2253           2 :   if (transformed_path->max_execution_time > 0) {
+    2254             : 
+    2255           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    2256             : 
+    2257           0 :     max_execution_time_ = transformed_path->max_execution_time;
+    2258             : 
+    2259             :   } else {
+    2260             : 
+    2261           2 :     std::scoped_lock lock(mutex_max_execution_time_);
+    2262             : 
+    2263           2 :     max_execution_time_ = params.max_execution_time;
+    2264             :   }
+    2265             : 
+    2266           2 :   if (transformed_path->max_deviation_from_path > 0) {
+    2267           0 :     trajectory_max_segment_deviation_ = transformed_path->max_deviation_from_path;
+    2268             :   } else {
+    2269           2 :     trajectory_max_segment_deviation_ = params.max_deviation;
+    2270             :   }
+    2271             : 
+    2272           2 :   dont_prepend_initial_condition_ = transformed_path->dont_prepend_current_state;
+    2273             : 
+    2274           4 :   std::vector<Waypoint_t> waypoints;
+    2275             : 
+    2276          10 :   for (size_t i = 0; i < transformed_path->points.size(); i++) {
+    2277             : 
+    2278           8 :     double x       = transformed_path->points.at(i).position.x;
+    2279           8 :     double y       = transformed_path->points.at(i).position.y;
+    2280           8 :     double z       = transformed_path->points.at(i).position.z;
+    2281           8 :     double heading = transformed_path->points.at(i).heading;
+    2282             : 
+    2283           8 :     Waypoint_t wp;
+    2284           8 :     wp.coords  = Eigen::Vector4d(x, y, z, heading);
+    2285           8 :     wp.stop_at = stop_at_waypoints_;
+    2286             : 
+    2287           8 :     if (!checkNaN(wp)) {
+    2288           0 :       ROS_ERROR("[TrajectoryGeneration]: NaN detected in waypoint #%d", int(i));
+    2289           0 :       res.success = false;
+    2290           0 :       res.message = "invalid path";
+    2291           0 :       return true;
+    2292             :     }
+    2293             : 
+    2294           8 :     waypoints.push_back(wp);
+    2295             :   }
+    2296             : 
+    2297           2 :   if (loop_) {
+    2298           0 :     waypoints.push_back(waypoints.at(0));
+    2299             :   }
+    2300             : 
+    2301           2 :   bool                          success = false;
+    2302           4 :   std::string                   message;
+    2303           2 :   mrs_msgs::TrajectoryReference trajectory;
+    2304             : 
+    2305           4 :   for (int i = 0; i < _n_attempts_; i++) {
+    2306             : 
+    2307             :     // the last iteration and the fallback sampling is enabled
+    2308           4 :     bool fallback_sampling = (_n_attempts_ > 1) && (i == (_n_attempts_ - 1)) && _fallback_sampling_enabled_;
+    2309             : 
+    2310           4 :     std::tie(success, message, trajectory) = optimize(waypoints, transformed_path->header, fallback_sampling, transformed_path->relax_heading);
+    2311             : 
+    2312           4 :     if (success) {
+    2313           2 :       break;
+    2314             :     } else {
+    2315           2 :       if (i < _n_attempts_) {
+    2316           2 :         ROS_WARN("[TrajectoryGeneration]: failed to calculate a feasible trajectory, trying again with different initial conditions!");
+    2317             :       } else {
+    2318           0 :         ROS_WARN("[TrajectoryGeneration]: failed to calculate a feasible trajectory");
+    2319             :       }
+    2320             :     }
+    2321             :   }
+    2322             : 
+    2323           2 :   double total_time = (ros::Time::now() - start_time_total_).toSec();
+    2324             : 
+    2325           2 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    2326             : 
+    2327           2 :   if (total_time > max_execution_time) {
+    2328           0 :     ROS_ERROR("[TrajectoryGeneration]: trajectory ready, took %.3f s in total (exceeding maxtime %.3f s by %.3f s)", total_time, max_execution_time,
+    2329             :               total_time - max_execution_time);
+    2330             :   } else {
+    2331           2 :     ROS_INFO("[TrajectoryGeneration]: trajectory ready, took %.3f s in total (out of %.3f)", total_time, max_execution_time);
+    2332             :   }
+    2333             : 
+    2334           2 :   if (success) {
+    2335             : 
+    2336           6 :     std::optional<geometry_msgs::TransformStamped> tf_traj_state = transformer_->getTransform("", req.path.header.frame_id, ros::Time::now());
+    2337             : 
+    2338           4 :     std::stringstream ss;
+    2339             : 
+    2340           2 :     if (!tf_traj_state) {
+    2341           0 :       ss << "could not create TF transformer for the trajectory to the requested frame";
+    2342           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    2343           0 :       res.success = false;
+    2344           0 :       res.message = ss.str();
+    2345             :     }
+    2346             : 
+    2347           2 :     trajectory.header.frame_id = transformer_->frame_to(*tf_traj_state);
+    2348             : 
+    2349         328 :     for (unsigned long i = 0; i < trajectory.points.size(); i++) {
+    2350             : 
+    2351         652 :       mrs_msgs::ReferenceStamped trajectory_point;
+    2352         326 :       trajectory_point.header    = trajectory.header;
+    2353         326 :       trajectory_point.reference = trajectory.points.at(i);
+    2354             : 
+    2355         652 :       auto ret = transformer_->transform(trajectory_point, *tf_traj_state);
+    2356             : 
+    2357         326 :       if (!ret) {
+    2358             : 
+    2359           0 :         ss << "trajectory cannnot be transformed to the requested frame";
+    2360           0 :         ROS_WARN_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    2361           0 :         res.success = false;
+    2362           0 :         res.message = ss.str();
+    2363             : 
+    2364             :       } else {
+    2365             : 
+    2366             :         // transform the points in the trajectory to the current frame
+    2367         326 :         trajectory.points.at(i) = ret.value().reference;
+    2368             :       }
+    2369             :     }
+    2370             : 
+    2371           2 :     res.trajectory = trajectory;
+    2372           2 :     res.success    = success;
+    2373           2 :     res.message    = message;
+    2374             : 
+    2375             :   } else {
+    2376             : 
+    2377           0 :     ROS_ERROR("[TrajectoryGeneration]: failed to calculate a feasible trajectory");
+    2378             : 
+    2379           0 :     res.success = success;
+    2380           0 :     res.message = message;
+    2381             :   }
+    2382             : 
+    2383           2 :   return true;
+    2384             : }
+    2385             : 
+    2386             : //}
+    2387             : 
+    2388             : /* callbackUavState() //{ */
+    2389             : 
+    2390      172563 : void MrsTrajectoryGeneration::callbackUavState(const mrs_msgs::UavState::ConstPtr msg) {
+    2391             : 
+    2392      172563 :   if (!is_initialized_) {
+    2393           0 :     return;
+    2394             :   }
+    2395             : 
+    2396      172563 :   ROS_INFO_ONCE("[TrajectoryGeneration]: getting uav state");
+    2397             : 
+    2398      172563 :   transformer_->setDefaultFrame(msg->header.frame_id);
+    2399             : }
+    2400             : 
+    2401             : //}
+    2402             : 
+    2403             : /* //{ callbackDrs() */
+    2404             : 
+    2405         108 : void MrsTrajectoryGeneration::callbackDrs(mrs_uav_trajectory_generation::drsConfig& params, [[maybe_unused]] uint32_t level) {
+    2406             : 
+    2407         108 :   mrs_lib::set_mutexed(mutex_params_, params, params_);
+    2408             : 
+    2409             :   {
+    2410         108 :     std::scoped_lock lock(mutex_max_execution_time_);
+    2411             : 
+    2412         108 :     max_execution_time_ = params.max_execution_time;
+    2413             :   }
+    2414             : 
+    2415         108 :   ROS_INFO("[TrajectoryGeneration]: DRS updated");
+    2416         108 : }
+    2417             : 
+    2418             : //}
+    2419             : 
+    2420             : }  // namespace mrs_uav_trajectory_generation
+    2421             : 
+    2422             : #include <pluginlib/class_list_macros.h>
+    2423         108 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trajectory_generation::MrsTrajectoryGeneration, nodelet::Nodelet);
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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