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Test:MRS UAV System - Test coverage reportLines:143892212965.0 %
Date:2024-12-11 22:27:27Functions:2654443759.8 %
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_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination +
0.0%
+ 		0.0 %0 / 260.0 %0 / 4
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_uav_state_estimators/include/mrs_uav_state_estimators/processors +
56.4%56.4%
+ 		56.4 %133 / 23640.5 %17 / 42
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_lib/include/mrs_lib/impl +
78.5%78.5%
+ 		78.5 %366 / 46655.4 %835 / 1506
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 / 98857.8 %853 / 1475
mrs_uav_managers/include/mrs_uav_managers +
100.0%
+ 		100.0 %12 / 1260.0 %6 / 10
mrs_uav_state_estimators/src/estimators/agl +
65.0%65.0%
+ 		65.0 %80 / 12360.0 %6 / 10
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators +
36.9%36.9%
+ 		36.9 %415 / 112560.4 %67 / 111
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 +
48.5%48.5%
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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/src/estimators/state +
65.0%65.0%
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mrs_uav_state_estimators/src/estimators/lateral +
55.0%55.0%
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mrs_lib/src/transformer +
66.1%66.1%
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mrs_lib/src/timeout_manager +
79.0%79.0%
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100.0%
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100.0%
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100.0%
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84.0%84.0%
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80.6%80.6%
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63.3%63.3%
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mrs_lib/src/profiler +
37.6%37.6%
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mrs_uav_trackers/src/mpc_tracker +
83.0%83.0%
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mrs_uav_managers/src/transform_manager +
81.4%81.4%
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89.1%89.1%
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mrs_uav_managers/include/mrs_uav_managers/estimation_manager +
97.2%97.2%
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mrs_lib/src/attitude_converter +
94.6%94.6%
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mrs_lib/src/math +
100.0%
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100.0%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl +
100.0%
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mrs_lib/src/param_loader +
80.0%80.0%
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mrs_uav_managers/include/control_manager +
100.0%
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mrs_uav_managers/src/estimation_manager/estimators +
60.7%60.7%
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mrs_uav_controllers/include +
98.3%98.3%
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mrs_uav_trajectory_generation/src +
67.5%67.5%
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mrs_uav_autostart/src +
87.5%87.5%
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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_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination +
0.0%
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mrs_lib/src/scope_timer +
14.1%14.1%
+ 		14.1 %20 / 14250.0 %5 / 10
mrs_uav_trackers/src/speed_tracker +
14.3%14.3%
+ 		14.3 %64 / 44836.8 %7 / 19
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_state_estimators/include/mrs_uav_state_estimators/estimators +
36.9%36.9%
+ 		36.9 %415 / 112560.4 %67 / 111
mrs_lib/src/profiler +
37.6%37.6%
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mrs_lib/src/safety_zone/polygon +
40.8%40.8%
+ 		40.8 %42 / 10350.0 %4 / 8
mrs_uav_managers/src/control_manager/common +
41.3%41.3%
+ 		41.3 %234 / 56767.7 %21 / 31
mrs_lib/src/batch_visualizer +
44.1%44.1%
+ 		44.1 %192 / 43544.4 %20 / 45
mrs_uav_trackers/src/joy_tracker +
46.5%46.5%
+ 		46.5 %66 / 14238.9 %7 / 18
mrs_uav_managers/include/transform_manager +
48.5%48.5%
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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%
+ 		53.8 %213 / 39666.7 %22 / 33
mrs_uav_state_estimators/src/estimators/lateral +
55.0%55.0%
+ 		55.0 %241 / 43875.8 %25 / 33
mrs_uav_managers/include/mrs_uav_managers/control_manager +
55.2%55.2%
+ 		55.2 %53 / 9670.4 %19 / 27
mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors +
56.4%56.4%
+ 		56.4 %133 / 23640.5 %17 / 42
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading +
58.3%58.3%
+ 		58.3 %7 / 1257.1 %4 / 7
mrs_uav_managers/src/estimation_manager/estimators +
60.7%60.7%
+ 		60.7 %82 / 135100.0 %13 / 13
mrs_lib/src/safety_zone +
63.3%63.3%
+ 		63.3 %31 / 4988.9 %8 / 9
mrs_uav_state_estimators/src/estimators/state +
65.0%65.0%
+ 		65.0 %328 / 50573.7 %28 / 38
mrs_uav_state_estimators/src/estimators/agl +
65.0%65.0%
+ 		65.0 %80 / 12360.0 %6 / 10
mrs_uav_managers/src/estimation_manager +
65.6%65.6%
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mrs_lib/src/transformer +
66.1%66.1%
+ 		66.1 %185 / 28076.9 %20 / 26
mrs_uav_trajectory_generation/src +
67.5%67.5%
+ 		67.5 %755 / 1118100.0 %22 / 22
mrs_uav_trackers/src/line_tracker +
68.1%68.1%
+ 		68.1 %325 / 47763.3 %19 / 30
mrs_uav_managers/src/control_manager +
69.1%69.1%
+ 		69.1 %2587 / 374586.3 %107 / 124
mrs_lib/include/mrs_lib/geometry +
71.0%71.0%
+ 		71.0 %66 / 9342.5 %51 / 120
mrs_uav_managers/src +
72.4%72.4%
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mrs_uav_trackers/src/midair_activation_tracker +
72.8%72.8%
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mrs_uav_trackers/src/landoff_tracker +
73.4%73.4%
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mrs_lib/include/mrs_lib/impl +
78.5%78.5%
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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 +
80.6%80.6%
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mrs_uav_managers/src/transform_manager +
81.4%81.4%
+ 		81.4 %351 / 43192.9 %13 / 14
mrs_uav_trackers/src/mpc_tracker +
83.0%83.0%
+ 		83.0 %1396 / 168290.0 %45 / 50
mrs_lib/src/timer +
84.0%84.0%
+ 		84.0 %105 / 12583.3 %15 / 18
mrs_uav_autostart/src +
87.5%87.5%
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mrs_lib/src/median_filter +
89.1%89.1%
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mrs_lib/src/attitude_converter +
94.6%94.6%
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mrs_uav_managers/include/mrs_uav_managers/estimation_manager +
97.2%97.2%
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mrs_uav_controllers/include +
98.3%98.3%
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mrs_uav_managers/include/control_manager +
100.0%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl +
100.0%
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mrs_lib/src/utils +
100.0%
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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/state +
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_uav_managers/include/mrs_uav_managers +
100.0%
+ 		100.0 %12 / 1260.0 %6 / 10
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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Test:MRS UAV System - Test coverage reportLines:143892212965.0 %
Date:2024-12-11 22:27:27Functions:2654443759.8 %
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 +
78.5%78.5%
+ 		78.5 %366 / 46655.4 %835 / 1506
mrs_lib/include/mrs_lib/safety_zone +
0.0%
+ 		0.0 %0 / 80.0 %0 / 4
mrs_lib/src/attitude_converter +
94.6%94.6%
+ 		94.6 %212 / 22495.1 %39 / 41
mrs_lib/src/batch_visualizer +
44.1%44.1%
+ 		44.1 %192 / 43544.4 %20 / 45
mrs_lib/src/geometry +
15.1%15.1%
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mrs_lib/src/math +
100.0%
+ 		100.0 %17 / 17100.0 %1 / 1
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%
+ 		100.0 %7 / 7100.0 %2 / 2
mrs_uav_autostart/src +
87.5%87.5%
+ 		87.5 %293 / 335100.0 %22 / 22
mrs_uav_controllers/include +
98.3%98.3%
+ 		98.3 %57 / 58100.0 %14 / 14
mrs_uav_controllers/src +
80.6%80.6%
+ 		80.6 %1752 / 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%
+ 		97.2 %106 / 10994.4 %17 / 18
mrs_uav_managers/include/transform_manager +
48.5%48.5%
+ 		48.5 %195 / 40268.4 %13 / 19
mrs_uav_managers/src +
72.4%72.4%
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mrs_uav_managers/src/control_manager +
69.1%69.1%
+ 		69.1 %2587 / 374586.3 %107 / 124
mrs_uav_managers/src/control_manager/common +
41.3%41.3%
+ 		41.3 %234 / 56767.7 %21 / 31
mrs_uav_managers/src/estimation_manager +
65.6%65.6%
+ 		65.6 %437 / 66683.3 %40 / 48
mrs_uav_managers/src/estimation_manager/estimators +
60.7%60.7%
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mrs_uav_managers/src/transform_manager +
81.4%81.4%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators +
36.9%36.9%
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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 +
56.4%56.4%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination +
0.0%
+ 		0.0 %0 / 260.0 %0 / 4
mrs_uav_state_estimators/src/estimators/agl +
65.0%65.0%
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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%
+ 		55.0 %241 / 43875.8 %25 / 33
mrs_uav_state_estimators/src/estimators/state +
65.0%65.0%
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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%
+ 		68.1 %325 / 47763.3 %19 / 30
mrs_uav_trackers/src/midair_activation_tracker +
72.8%72.8%
+ 		72.8 %67 / 9250.0 %9 / 18
mrs_uav_trackers/src/mpc_tracker +
83.0%83.0%
+ 		83.0 %1396 / 168290.0 %45 / 50
mrs_uav_trackers/src/speed_tracker +
14.3%14.3%
+ 		14.3 %64 / 44836.8 %7 / 19
mrs_uav_trajectory_generation/src +
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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:2024-12-11 22:27:27Functions:91181.8 %
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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_Li0EEEIdEEv104356
mrs_lib::Vector3Converter::Vector3Converter(tf2::Vector3 const&)324686
mrs_lib::AttitudeConverter::AttitudeConverter<double>(Eigen::AngleAxis<double>)662819
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Current view:top level - mrs_lib/include/mrs_lib - attitude_converter.h (source / functions)HitTotalCoverage
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mrs_lib::Vector3Converter::Vector3Converter(tf2::Vector3 const&)324686
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>)662819
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_Li0EEEIdEEv104356
_ZNK7mrs_lib17AttitudeConvertercvN5Eigen9AngleAxisIT_EEIdEEv1
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Date:2024-12-11 22:27:27Functions: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      324686 :   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    15213762 :   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      662819 :   AttitudeConverter(const Eigen::AngleAxis<T> angle_axis) {
+     254      659656 :     double       angle = angle_axis.angle();
+     255      660760 :     tf2::Vector3 axis(angle_axis.axis()[0], angle_axis.axis()[1], angle_axis.axis()[2]);
+     256             : 
+     257      661260 :     tf2_quaternion_.setRotation(axis, angle);
+     258      661073 :   }
+     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      104356 :   operator Eigen::Quaternion<T>() const {
+     334             : 
+     335      104356 :     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
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/attitude_converter.h.gcov.overview.html b/mrs_lib/include/mrs_lib/attitude_converter.h.gcov.overview.html new file mode 100644 index 0000000000..2b64ca38c0 --- /dev/null +++ b/mrs_lib/include/mrs_lib/attitude_converter.h.gcov.overview.html @@ -0,0 +1,154 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/attitude_converter.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 + + +
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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:2024-12-11 22:27:27Functions: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&)116
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::LateralEstimatorConfig const&)116
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)116
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&)116
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::load_defaults(mrs_uav_state_estimators::AltitudeEstimatorConfig&)196
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)196
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)196
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&)196
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::update_config(mrs_uav_state_estimators::LateralEstimatorConfig const&)232
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&)348
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&)348
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_cast<double>(boost::any&, double*&)348
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_cast<int>(boost::any&, int*&)348
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::update_config(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)392
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&)402
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&)402
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::load_defaults(mrs_uav_state_estimators::CorrectionConfig&)402
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::print_changed_params(mrs_uav_state_estimators::CorrectionConfig const&)402
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::CorrectionConfig&, unsigned int)402
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_cast<double>(boost::any&, double*&)402
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_cast<int>(boost::any&, int*&)402
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::DynamicReconfigureMgr(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)402
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&)402
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&)588
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&)588
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_cast<double>(boost::any&, double*&)588
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_cast<int>(boost::any&, int*&)588
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::update_config(mrs_uav_state_estimators::CorrectionConfig const&)804
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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..f4e7e0fa59 --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions: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&)402
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&)402
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&)402
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::update_config(mrs_uav_state_estimators::CorrectionConfig const&)804
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::print_changed_params(mrs_uav_state_estimators::CorrectionConfig const&)402
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::CorrectionConfig&, unsigned int)402
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*&)402
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_cast<int>(boost::any&, int*&)402
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::DynamicReconfigureMgr(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)402
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&)402
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&)348
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&)348
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&)116
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::update_config(mrs_uav_state_estimators::LateralEstimatorConfig const&)232
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::LateralEstimatorConfig const&)116
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)116
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*&)348
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_cast<int>(boost::any&, int*&)348
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&)116
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&)588
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&)588
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&)196
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::update_config(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)392
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)196
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)196
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*&)588
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_cast<int>(boost::any&, int*&)588
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&)196
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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:2024-12-11 22:27:27Functions: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         714 :   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         714 :         m_server(m_server_mtx, nh),
+      54             :         m_usr_cbf(user_callback),
+      55         714 :         m_pl(nh, print_values, node_name)
+      56             :   {
+      57             :     // initialize the dynamic reconfigure callback
+      58         714 :     m_server.setCallback(boost::bind(&DynamicReconfigureMgr<ConfigType>::dynamic_reconfigure_callback, this, _1, _2));
+      59         714 :   };
+      60             : 
+      61             :   /* Constructor overloads //{ */
+      62             :   // Convenience constructor to enable writing DynamicReconfigureMgr<MyConfig> drmgr(nh, node_name)
+      63         402 :   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        1428 :   void update_config(const ConfigType& cfg)
+      72             :   {
+      73        1428 :     m_server.updateConfig(cfg);
+      74        1428 :   }
+      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         714 :   void dynamic_reconfigure_callback(ConfigType& new_config, uint32_t level)
+     107             :   {
+     108         714 :     if (m_print_values)
+     109             :     {
+     110         714 :       if (m_node_name.empty())
+     111           0 :         ROS_INFO("Dynamic reconfigure request received");
+     112             :       else
+     113         714 :         ROS_INFO("[%s]: Dynamic reconfigure request received", m_node_name.c_str());
+     114             :     }
+     115             : 
+     116         714 :     if (m_not_initialized)
+     117             :     {
+     118         714 :       load_defaults(new_config);
+     119         714 :       update_config(new_config);
+     120             :     }
+     121         714 :     if (m_print_values)
+     122             :     {
+     123         714 :       print_changed_params(new_config);
+     124             :     }
+     125         714 :     m_not_initialized = false;
+     126         714 :     config = new_config;
+     127         714 :     if (m_usr_cbf)
+     128         312 :       m_usr_cbf(new_config, level);
+     129         714 :   }
+     130             : 
+     131             :   template <typename T>
+     132        1338 :   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        2676 :     boost::shared_ptr<const param_descr_t> cast_descr = boost::dynamic_pointer_cast<const param_descr_t>(descr);
+     136        1338 :     m_pl.loadParam(name, config.*(cast_descr->field));
+     137        1338 :   }
+     138             :   
+     139         714 :   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        1428 :     std::vector<typename ConfigType::AbstractParamDescriptionConstPtr> descrs = new_config.__getParamDescriptions__();
+     143        2052 :     for (auto& descr : descrs)
+     144             :     {
+     145        2676 :       std::string name = descr->name;
+     146        1338 :       size_t pos = name.find("__");
+     147        1338 :       while (pos != name.npos)
+     148             :       {
+     149           0 :         name.replace(pos, 2, "/");
+     150           0 :         pos = name.find("__");
+     151             :       }
+     152             : 
+     153        1338 :       if (descr->type == "bool")
+     154           0 :         load_param<bool>(name, descr, new_config);
+     155        1338 :       else if (descr->type == "int")
+     156           0 :         load_param<int>(name, descr, new_config);
+     157        1338 :       else if (descr->type == "double")
+     158        1338 :         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         714 :   }
+     168             : 
+     169             :   // method for printing names and values of new received parameters (prints only the changed ones) //{
+     170         714 :   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        1428 :     std::vector<typename ConfigType::AbstractParamDescriptionConstPtr> descrs = new_config.__getParamDescriptions__();
+     174        2052 :     for (auto& descr : descrs)
+     175             :     {
+     176           0 :       boost::any val, old_val;
+     177        1338 :       descr->getValue(new_config, val);
+     178        1338 :       descr->getValue(config, old_val);
+     179        1338 :       std::string name = descr->name;
+     180        1338 :       const size_t pos = name.find("__");
+     181        1338 :       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        1338 :       if (try_cast(val, intval))
+     199             :       {
+     200           0 :         if (m_not_initialized || !try_compare(old_val, intval))
+     201           0 :           print_value(name, *intval);
+     202        1338 :       } else if (try_cast(val, doubleval))
+     203             :       {
+     204        1338 :         if (m_not_initialized || !try_compare(old_val, doubleval))
+     205        1338 :           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         714 :   }
+     220             :   //}
+     221             :   
+     222             :   // helper method for parameter printing
+     223             :   template <typename T>
+     224        1338 :   inline void print_value(const std::string& name, const T& val)
+     225             :   {
+     226        1338 :     if (m_node_name.empty())
+     227           0 :       std::cout << "\t" << name << ":\t" << val << std::endl;
+     228             :     else
+     229        1338 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << name << "':\t" << val);
+     230        1338 :   }
+     231             :   // helper methods for automatic parameter value parsing
+     232             :   template <typename T>
+     233        2676 :   inline bool try_cast(boost::any& val, T*& out)
+     234             :   {
+     235        2676 :     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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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:2024-12-11 22:27:27Functions:4811741.0 %
Legend: Lines: + hit + not hit +
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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)1012
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interpUnwrapped(double, double, double)1012
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interp(double, double, double)1012
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)10380
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>)469665
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::diff(double, double)534239
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)666520
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interpUnwrapped(double, double, double)666520
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interp(double, double, double)666520
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(mrs_lib::geometry::radians const&)917481
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)960660
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>)1014828
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)1353068
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(double)2059345
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::wrap(double)2081799
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::unwrap(double, double)3342732
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::diff(double, double)3356665
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>)4033430
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic(double)8166849
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::wrap(double)8964002
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/geometry/cyclic.h.func.html b/mrs_lib/include/mrs_lib/geometry/cyclic.h.func.html new file mode 100644 index 0000000000..0e78b653c5 --- /dev/null +++ b/mrs_lib/include/mrs_lib/geometry/cyclic.h.func.html @@ -0,0 +1,548 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/geometry/cyclic.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions:4811741.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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)1012
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interpUnwrapped(double, double, double)1012
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>)1014828
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::diff(double, double)534239
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>)469665
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::dist(double, double)10380
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::wrap(double)2081799
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)1012
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&)917481
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)960660
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(double)2059345
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)666520
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interpUnwrapped(double, double, double)666520
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>)4033430
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::diff(double, double)3356665
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)8964002
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)666520
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::unwrap(double, double)3342732
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&)1353068
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic(double)8166849
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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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/geometry - cyclic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:608769.0 %
Date:2024-12-11 22:27:27Functions:4811741.0 %
Legend: Lines: + hit + not hit +
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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    10266199 :       cyclic(const flt val) : val(wrap(val)){};
+      62             :       /*!
+      63             :        * \brief Copy constructor.
+      64             :        *
+      65             :        * \param val initialization value.
+      66             :        */
+      67     2313728 :       cyclic(const cyclic& other) : val(other.val){};
+      68             :       /*!
+      69             :        * \brief Copy constructor.
+      70             :        *
+      71             :        * \param val initialization value.
+      72             :        */
+      73      917481 :       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    11105806 :       static flt wrap(const flt val)
+     115             :       {
+     116             :         // these few ifs should cover most cases, improving speed and precision
+     117    11105806 :         if (val >= minimum)
+     118             :         {
+     119    10265746 :           if (val < supremum)  // value is actually in range and doesn't need to be wrapped
+     120    10038121 :             return val;
+     121      227623 :           else if (val < supremum + range)
+     122       63848 :             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      840063 :           if (val >= minimum - range)
+     126      677100 :             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      326749 :         const flt rem = std::fmod(val - minimum, range);
+     131      326749 :         const flt wrapped = rem + minimum + std::signbit(rem) * range;
+     132      326595 :         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     3372733 :       static flt unwrap(const flt what, const flt from)
+     158             :       {
+     159     3372733 :         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     3910904 :       static flt diff(const flt minuend, const flt subtrahend)
+     194             :       {
+     195     3910904 :         return diff(cyclic(minuend), cyclic(subtrahend));
+     196             :       }
+     197             : 
+     198     5068258 :       static flt diff(const cyclic minuend, const cyclic subtrahend)
+     199             :       {
+     200     5068258 :         const flt d = minuend.val - subtrahend.val;
+     201     5068258 :         if (d < -half_range)
+     202       43076 :           return d + range;
+     203     5025183 :         if (d >= half_range)
+     204       27307 :           return d - range;
+     205     4997868 :         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       20382 :       static flt dist(const flt from, const flt to)
+     220             :       {
+     221       20382 :         return dist(cyclic(from), cyclic(to));
+     222             :       }
+     223             : 
+     224      479675 :       static flt dist(const cyclic from, const cyclic to)
+     225             :       {
+     226      479675 :         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      667532 :       static flt interpUnwrapped(const flt from, const flt to, const flt coeff)
+     243             :       {
+     244      667532 :         return interpUnwrapped(cyclic(from), cyclic(to), coeff);
+     245             :       }
+     246             : 
+     247      667532 :       static flt interpUnwrapped(const cyclic from, const cyclic to, const flt coeff)
+     248             :       {
+     249      667532 :         const flt dang = diff(to, from);
+     250      667532 :         const flt intp = from.val + coeff * dang;
+     251      667532 :         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      667532 :       static flt interp(const flt from, const flt to, const flt coeff)
+     265             :       {
+     266      667532 :         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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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&)152956
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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::Quaternion<double, 0> >(Eigen::Quaternion<double, 0> const&)152956
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      152962 :     double headingFromRot(const T& rot)
+      58             :     {
+      59      152962 :       const vec3_t rot_vec = rot*vec3_t::UnitX();
+      60      305924 :       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&)2183
mrs_lib::UTM(double, double, double*, double*)6098
mrs_lib::UTMLetterDesignator(double)158316
mrs_lib::LLtoUTM(double, double, double&, double&, char*)158428
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mrs_lib::UTMLetterDesignator(double)158316
mrs_lib::UTM(double, double, double*, double*)6098
mrs_lib::LLtoUTM(double, double, double&, double&, char*)158428
mrs_lib::UTMtoLL(double, double, char const*, double&, double&)2183
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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        6098 :   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        6098 :     int cm = ((lon >= 0.0) ? ((int)lon - ((int)lon) % 6 + 3) : ((int)lon - ((int)lon) % 6 - 3));
+      63             : 
+      64             :     // convert degrees into radians
+      65        6098 :     double rlat  = lat * RADIANS_PER_DEGREE;
+      66        6098 :     double rlon  = lon * RADIANS_PER_DEGREE;
+      67        6098 :     double rlon0 = cm * RADIANS_PER_DEGREE;
+      68             : 
+      69             :     // compute trigonometric functions
+      70        6098 :     double slat = sin(rlat);
+      71        6098 :     double clat = cos(rlat);
+      72        6098 :     double tlat = tan(rlat);
+      73             : 
+      74             :     // decide the false northing at origin
+      75        6098 :     double fn = (lat > 0) ? UTM_FN_N : UTM_FN_S;
+      76             : 
+      77        6098 :     double T = tlat * tlat;
+      78        6098 :     double C = UTM_EP2 * clat * clat;
+      79        6098 :     double A = (rlon - rlon0) * clat;
+      80        6098 :     double M = WGS84_A * (m0 * rlat + m1 * sin(2 * rlat) + m2 * sin(4 * rlat) + m3 * sin(6 * rlat));
+      81        6098 :     double V = WGS84_A / sqrt(1 - UTM_E2 * slat * slat);
+      82             : 
+      83             :     // compute the easting-northing coordinates
+      84        6098 :     *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        6059 :     *y = fn +
+      86        6059 :          UTM_K0 *
+      87        6073 :              (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        6059 :     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      158316 :   static inline char UTMLetterDesignator(double Lat) {
+     102             :     char LetterDesignator;
+     103             : 
+     104      158316 :     if ((84 >= Lat) && (Lat >= 72))
+     105           0 :       LetterDesignator = 'X';
+     106      158316 :     else if ((72 > Lat) && (Lat >= 64))
+     107           0 :       LetterDesignator = 'W';
+     108      158316 :     else if ((64 > Lat) && (Lat >= 56))
+     109           0 :       LetterDesignator = 'V';
+     110      158316 :     else if ((56 > Lat) && (Lat >= 48))
+     111           0 :       LetterDesignator = 'U';
+     112      158316 :     else if ((48 > Lat) && (Lat >= 40))
+     113      157513 :       LetterDesignator = 'T';
+     114         803 :     else if ((40 > Lat) && (Lat >= 32))
+     115           0 :       LetterDesignator = 'S';
+     116         803 :     else if ((32 > Lat) && (Lat >= 24))
+     117           0 :       LetterDesignator = 'R';
+     118         803 :     else if ((24 > Lat) && (Lat >= 16))
+     119           0 :       LetterDesignator = 'Q';
+     120         803 :     else if ((16 > Lat) && (Lat >= 8))
+     121           0 :       LetterDesignator = 'P';
+     122         803 :     else if ((8 > Lat) && (Lat >= 0))
+     123           2 :       LetterDesignator = 'N';
+     124         801 :     else if ((0 > Lat) && (Lat >= -8))
+     125           0 :       LetterDesignator = 'M';
+     126         801 :     else if ((-8 > Lat) && (Lat >= -16))
+     127           0 :       LetterDesignator = 'L';
+     128         801 :     else if ((-16 > Lat) && (Lat >= -24))
+     129           0 :       LetterDesignator = 'K';
+     130         801 :     else if ((-24 > Lat) && (Lat >= -32))
+     131           0 :       LetterDesignator = 'J';
+     132         801 :     else if ((-32 > Lat) && (Lat >= -40))
+     133           0 :       LetterDesignator = 'H';
+     134         801 :     else if ((-40 > Lat) && (Lat >= -48))
+     135           0 :       LetterDesignator = 'G';
+     136         801 :     else if ((-48 > Lat) && (Lat >= -56))
+     137           0 :       LetterDesignator = 'F';
+     138         801 :     else if ((-56 > Lat) && (Lat >= -64))
+     139           0 :       LetterDesignator = 'E';
+     140         801 :     else if ((-64 > Lat) && (Lat >= -72))
+     141           0 :       LetterDesignator = 'D';
+     142         801 :     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         801 :       LetterDesignator = 'Z';
+     147      158316 :     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      158428 :   static inline void LLtoUTM(const double Lat, const double Long, double& UTMNorthing, double& UTMEasting, char* UTMZone) {
+     160      158428 :     double a          = WGS84_A;
+     161      158428 :     double eccSquared = UTM_E2;
+     162      158428 :     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      158428 :     double LongTemp = (Long + 180) - int((Long + 180) / 360) * 360 - 180;
+     170             : 
+     171      158428 :     double LatRad  = Lat * RADIANS_PER_DEGREE;
+     172      158428 :     double LongRad = LongTemp * RADIANS_PER_DEGREE;
+     173             :     double LongOriginRad;
+     174             :     int    ZoneNumber;
+     175             : 
+     176      158428 :     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      158428 :     if (ZoneNumber > 99)
+     180           0 :       ZoneNumber = 99;
+     181      158428 :     if (ZoneNumber < -9)
+     182           0 :       ZoneNumber = -9;
+     183             : 
+     184      158428 :     if (Lat >= 56.0 && Lat < 64.0 && LongTemp >= 3.0 && LongTemp < 12.0)
+     185           0 :       ZoneNumber = 32;
+     186             : 
+     187             :     // Special zones for Svalbard
+     188      158428 :     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      158428 :     LongOrigin    = (ZoneNumber - 1) * 6 - 180 + 3;
+     200      158428 :     LongOriginRad = LongOrigin * RADIANS_PER_DEGREE;
+     201             : 
+     202             :     // compute the UTM Zone from the latitude and longitude
+     203      158428 :     snprintf(UTMZone, 4, "%d%c", ZoneNumber, UTMLetterDesignator(Lat));
+     204             : 
+     205      157798 :     eccPrimeSquared = (eccSquared) / (1 - eccSquared);
+     206             : 
+     207      157798 :     N = a / sqrt(1 - eccSquared * sin(LatRad) * sin(LatRad));
+     208      157798 :     T = tan(LatRad) * tan(LatRad);
+     209      157798 :     C = eccPrimeSquared * cos(LatRad) * cos(LatRad);
+     210      157798 :     A = cos(LatRad) * (LongRad - LongOriginRad);
+     211             : 
+     212      157798 :     M = a * ((1 - eccSquared / 4 - 3 * eccSquared * eccSquared / 64 - 5 * eccSquared * eccSquared * eccSquared / 256) * LatRad -
+     213      157798 :              (3 * eccSquared / 8 + 3 * eccSquared * eccSquared / 32 + 45 * eccSquared * eccSquared * eccSquared / 1024) * sin(2 * LatRad) +
+     214      157798 :              (15 * eccSquared * eccSquared / 256 + 45 * eccSquared * eccSquared * eccSquared / 1024) * sin(4 * LatRad) -
+     215      157798 :              (35 * eccSquared * eccSquared * eccSquared / 3072) * sin(6 * LatRad));
+     216             : 
+     217      157798 :     UTMEasting =
+     218      157798 :         (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      157798 :     UTMNorthing = (double)(k0 * (M + N * tan(LatRad) *
+     221      157798 :                                          (A * A / 2 + (5 - T + 9 * C + 4 * C * C) * A * A * A * A / 24 +
+     222      157798 :                                           (61 - 58 * T + T * T + 600 * C - 330 * eccPrimeSquared) * A * A * A * A * A * A / 720)));
+     223      157798 :     if (Lat < 0)
+     224           0 :       UTMNorthing += 10000000.0;  // 10000000 meter offset for southern hemisphere
+     225      157798 :   }
+     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        2183 :   static inline void UTMtoLL(const double UTMNorthing, const double UTMEasting, const char* UTMZone, double& Lat, double& Long) {
+     246        2183 :     double                  k0         = UTM_K0;
+     247        2183 :     double                  a          = WGS84_A;
+     248        2183 :     double                  eccSquared = UTM_E2;
+     249             :     double                  eccPrimeSquared;
+     250        2183 :     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        2183 :     x = UTMEasting - 500000.0;  // remove 500,000 meter offset for longitude
+     261        2183 :     y = UTMNorthing;
+     262             : 
+     263        2183 :     ZoneNumber = strtoul(UTMZone, &ZoneLetter, 10);
+     264        2183 :     if ((*ZoneLetter - 'N') >= 0)
+     265        2183 :       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        2183 :     LongOrigin = (ZoneNumber - 1) * 6 - 180 + 3;  //+3 puts origin in middle of zone
+     272             : 
+     273        2183 :     eccPrimeSquared = (eccSquared) / (1 - eccSquared);
+     274             : 
+     275        2183 :     M  = y / k0;
+     276        2183 :     mu = M / (a * (1 - eccSquared / 4 - 3 * eccSquared * eccSquared / 64 - 5 * eccSquared * eccSquared * eccSquared / 256));
+     277             : 
+     278        2183 :     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        2183 :               (151 * e1 * e1 * e1 / 96) * sin(6 * mu);
+     280        2183 :     phi1 = phi1Rad * DEGREES_PER_RADIAN;
+     281             : 
+     282        2183 :     N1 = a / sqrt(1 - eccSquared * sin(phi1Rad) * sin(phi1Rad));
+     283        2183 :     T1 = tan(phi1Rad) * tan(phi1Rad);
+     284        2183 :     C1 = eccPrimeSquared * cos(phi1Rad) * cos(phi1Rad);
+     285        2183 :     R1 = a * (1 - eccSquared) / pow(1 - eccSquared * sin(phi1Rad) * sin(phi1Rad), 1.5);
+     286        2183 :     D  = x / (N1 * k0);
+     287             : 
+     288        2183 :     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        2183 :                                                 (61 + 90 * T1 + 298 * C1 + 45 * T1 * T1 - 252 * eccPrimeSquared - 3 * C1 * C1) * D * D * D * D * D * D / 720);
+     290        2183 :     Lat = Lat * DEGREES_PER_RADIAN;
+     291             : 
+     292        2183 :     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        2183 :            cos(phi1Rad);
+     294        2183 :     Long = LongOrigin + Long * DEGREES_PER_RADIAN;
+     295        2183 :   }
+     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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Generated by: LCOV version 1.14
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+ + + 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..4587c1f697 --- /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:2024-12-11 22:27:27Functions:835150655.4 %
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
publisher_handler.hpp +
81.5%81.5%
+ 		81.5 %44 / 5495.3 %201 / 211
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 / 13143.6 %500 / 1147
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
+
+ + + 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..16d0bf5b18 --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions:1616100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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> >&) const1951
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> >&) const1951
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> > > >&) const3808
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> > > >&) const3808
bool mrs_lib::ParamProvider::getParamImpl<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const5505
bool mrs_lib::ParamProvider::getParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const5505
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> >&) const18634
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> >&) const18634
bool mrs_lib::ParamProvider::getParamImpl<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&) const22398
bool mrs_lib::ParamProvider::getParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&) const22398
bool mrs_lib::ParamProvider::getParamImpl<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const44602
bool mrs_lib::ParamProvider::getParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const44602
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..09de9915de --- /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:2024-12-11 22:27:27Functions: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> >&) const18634
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> > > >&) const3808
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> >&) const1951
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&) const22398
bool mrs_lib::ParamProvider::getParamImpl<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const44602
bool mrs_lib::ParamProvider::getParamImpl<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const5505
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> >&) const18634
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> > > >&) const3808
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> >&) const1951
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&) const22398
bool mrs_lib::ParamProvider::getParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const44602
bool mrs_lib::ParamProvider::getParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const5505
+
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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.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..18cef0c002 --- /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
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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:2024-12-11 22:27:27Functions: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       96913 :   bool ParamProvider::getParam(const std::string& param_name, T& value_out) const
+      10             :   {
+      11             :     try
+      12             :     {
+      13       96913 :       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       96913 :   bool ParamProvider::getParamImpl(const std::string& param_name, T& value_out) const
+      24             :   {
+      25             :     {
+      26       96913 :       const auto found_node = findYamlNode(param_name);
+      27       96913 :       if (found_node.has_value())
+      28             :       {
+      29             :         try
+      30             :         {
+      31             :           // try catch is the only type-generic option...
+      32       82818 :           value_out = found_node.value().as<T>();
+      33       82818 :           return true;
+      34             :         }
+      35           0 :         catch (const YAML::BadConversion& e)
+      36             :         {}
+      37             :       }
+      38             : 
+      39             :     }
+      40             : 
+      41       14095 :     if (m_use_rosparam)
+      42       14095 :       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
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+ + + 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
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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:2024-12-11 22:27:27Functions:20121195.3 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::PublisherHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::publish(geometry_msgs::PointStamped_<std::allocator<void> > const&)0
mrs_lib::PublisherHandler<geometry_msgs::PointStamped_<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<geometry_msgs::PointStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PointStamped_<std::allocator<void> > > const&)0
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<geometry_msgs::PointStamped_<std::allocator<void> > >::publish(geometry_msgs::PointStamped_<std::allocator<void> > const&)0
mrs_lib::PublisherHandler_impl<geometry_msgs::PointStamped_<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::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&)32
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > > const&)32
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&)32
mrs_lib::PublisherHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::publish(mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)90
mrs_lib::PublisherHandler_impl<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::publish(mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)90
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&)109
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > > const&)109
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&)109
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > > const&)109
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&)109
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)109
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&)109
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > > const&)109
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&)109
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&)109
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&)109
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&)109
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > > const&)109
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&)109
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&)109
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&)109
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > > const&)109
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&)109
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > > const&)109
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&)109
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > > const&)109
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&)109
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > > const&)109
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&)109
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > > const&)109
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&)109
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&)109
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&)109
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > > const&)109
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&)109
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&)109
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > > const&)109
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&)109
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > > const&)109
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&)109
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > > const&)109
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&)109
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > > const&)109
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&)109
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&)109
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&)109
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&)109
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&)109
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&)109
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&)109
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&)109
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&)109
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&)109
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&)109
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&)109
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&)109
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&)109
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&)109
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&)109
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&)109
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&)109
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&)109
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&)109
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&)109
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&)109
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&)109
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&)110
mrs_lib::PublisherHandler<std_msgs::Int64_<std::allocator<void> > >::publish(std_msgs::Int64_<std::allocator<void> > const&)110
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&)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&)116
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > > const&)116
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&)116
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&)218
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > > const&)218
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > > const&)218
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > > const&)218
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > > const&)218
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > > const&)218
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > > const&)218
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > > const&)218
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > > const&)218
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > > const&)218
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&)218
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > > const&)219
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&)226
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > > const&)226
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&)226
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&)312
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > > const&)312
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&)312
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&)428
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > > const&)428
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&)428
mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::publish(mrs_msgs::ObstacleSectors_<std::allocator<void> > const&)435
mrs_lib::PublisherHandler_impl<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::publish(mrs_msgs::ObstacleSectors_<std::allocator<void> > const&)435
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&)436
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > > const&)436
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&)436
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > > const&)436
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&)436
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&)436
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)445
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&)528
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&)528
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)563
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)563
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&)625
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > > const&)625
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&)625
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&)654
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > > const&)654
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&)654
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&)804
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > > const&)804
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&)804
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1083
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1083
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1115
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1115
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)1858
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)1858
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)1863
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)1863
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)2207
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)2207
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)2250
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)2250
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::publish(mrs_msgs::FutureTrajectory_<std::allocator<void> > const&)2329
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::publish(mrs_msgs::FutureTrajectory_<std::allocator<void> > const&)2329
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2441
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2441
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3936
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3936
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3962
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3962
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::publish(mrs_msgs::HwApiRcChannels_<std::allocator<void> > const&)7359
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::publish(mrs_msgs::HwApiRcChannels_<std::allocator<void> > const&)7359
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)8230
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)8230
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)10024
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)10024
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)11986
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)11986
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)13129
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)13129
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)16207
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)16207
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)19033
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)19033
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)19392
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)19392
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)24440
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::publish(std_msgs::String_<std::allocator<void> > const&)24440
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)24440
mrs_lib::PublisherHandler_impl<std_msgs::String_<std::allocator<void> > >::publish(std_msgs::String_<std::allocator<void> > const&)24440
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)37078
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)37078
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)95840
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)95840
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)98904
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)98904
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)102352
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)102352
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)110429
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)110429
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)132387
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)149726
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)149726
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::publish(geometry_msgs::PoseArray_<std::allocator<void> > const&)167455
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::publish(geometry_msgs::PoseArray_<std::allocator<void> > const&)167455
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)218083
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)218085
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)249422
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)249422
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)331690
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)331735
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)387039
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)387068
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)509021
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)509967
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)727718
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)728021
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)796526
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)796543
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)1460825
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)1461005
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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..92f832da61 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.func.html @@ -0,0 +1,924 @@ + + + + + + + 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:2024-12-11 22:27:27Functions:20121195.3 %
Legend: Lines: + hit + not hit +
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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&)167455
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&)436
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > > const&)436
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)98904
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&)218
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > > const&)218
mrs_lib::PublisherHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::publish(geometry_msgs::PointStamped_<std::allocator<void> > const&)0
mrs_lib::PublisherHandler<geometry_msgs::PointStamped_<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<geometry_msgs::PointStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PointStamped_<std::allocator<void> > > const&)0
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)218085
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&)116
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > > const&)116
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)37078
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&)654
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > > const&)654
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)11986
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&)109
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > > const&)109
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)95840
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&)109
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > > const&)109
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)331735
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&)625
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > > const&)625
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)110429
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&)109
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)109
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)728021
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&)428
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > > const&)428
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::publish(mrs_msgs::HwApiRcChannels_<std::allocator<void> > const&)7359
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&)435
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&)2329
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&)109
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > > const&)109
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3936
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&)109
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > > const&)218
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)8230
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&)109
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > > const&)218
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)563
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&)109
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > > const&)218
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)16207
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&)109
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > > const&)109
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)1461005
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&)804
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > > const&)804
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)509967
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&)312
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > > const&)312
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)2207
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&)110
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > > const&)219
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&)102352
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&)109
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > > const&)218
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3962
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&)109
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > > const&)218
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)149726
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&)109
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > > const&)109
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)19033
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&)109
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > > const&)109
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)24440
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&)109
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > > const&)109
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)2250
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&)109
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > > const&)109
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)1858
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&)109
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > > const&)109
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1083
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&)109
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > > const&)218
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2441
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&)109
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > > const&)218
mrs_lib::PublisherHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::publish(mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)90
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)19392
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&)109
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > > const&)109
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1115
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&)109
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > > const&)218
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)1863
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&)109
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > > const&)109
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&)109
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > > const&)109
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)387068
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&)226
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > > const&)226
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)796543
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)132387
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&)528
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)445
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)10024
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&)32
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > > const&)32
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)13129
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&)109
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > > const&)109
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&)24440
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&)109
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > > const&)109
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)249422
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&)436
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > > const&)436
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::publish(geometry_msgs::PoseArray_<std::allocator<void> > const&)167455
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&)436
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)98904
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&)218
mrs_lib::PublisherHandler_impl<geometry_msgs::PointStamped_<std::allocator<void> > >::publish(geometry_msgs::PointStamped_<std::allocator<void> > const&)0
mrs_lib::PublisherHandler_impl<geometry_msgs::PointStamped_<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<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)218083
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&)116
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)37078
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&)654
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)11986
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&)109
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)95840
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&)109
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)331690
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&)625
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)110429
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&)109
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)727718
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&)428
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::publish(mrs_msgs::HwApiRcChannels_<std::allocator<void> > const&)7359
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&)435
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&)2329
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&)109
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3936
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&)109
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)8230
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&)109
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)563
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&)109
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)16207
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&)109
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)1460825
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&)804
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)509021
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&)312
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)2207
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&)110
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&)102352
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&)109
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3962
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&)109
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)149726
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&)109
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)19033
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&)109
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)24440
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&)109
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)2250
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&)109
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)1858
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&)109
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1083
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&)109
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2441
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&)109
mrs_lib::PublisherHandler_impl<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::publish(mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)90
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)19392
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&)109
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1115
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&)109
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)1863
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&)109
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&)109
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)387039
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&)226
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)796526
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&)528
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)10024
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&)32
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)13129
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&)109
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&)24440
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&)109
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)249422
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&)436
+
+
+ + + +
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..468ba4efa7 --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions:20121195.3 %
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        7437 : PublisherHandler_impl<TopicType>::PublisherHandler_impl(ros::NodeHandle& nh, const std::string& address, const unsigned int& buffer_size, const bool& latch,
+      23        7437 :                                                         const double& rate) {
+      24             : 
+      25             :   {
+      26        7437 :     std::scoped_lock lock(mutex_publisher_);
+      27             : 
+      28        7437 :     publisher_ = nh.advertise<TopicType>(address, buffer_size, latch);
+      29             : 
+      30        7437 :     if (rate > 0.0) {
+      31             : 
+      32         764 :       throttle_ = true;
+      33             : 
+      34         764 :       throttle_min_dt_ = 1.0 / rate;
+      35             : 
+      36             :     } else {
+      37             : 
+      38        6673 :       throttle_ = false;
+      39             : 
+      40        6673 :       throttle_min_dt_ = 0;
+      41             :     }
+      42             : 
+      43        7437 :     last_time_published_ = ros::Time(0);
+      44             :   }
+      45             : 
+      46        7437 :   publisher_initialized_ = true;
+      47        7437 : }
+      48             : 
+      49             : //}
+      50             : 
+      51             : /* publish(TopicType& msg) //{ */
+      52             : 
+      53             : template <class TopicType>
+      54     5620597 : void PublisherHandler_impl<TopicType>::publish(const TopicType& msg) {
+      55             : 
+      56     5620597 :   if (!publisher_initialized_) {
+      57           0 :     return;
+      58             :   }
+      59             : 
+      60             :   {
+      61     5619185 :     std::scoped_lock lock(mutex_publisher_);
+      62             : 
+      63     5619274 :     if (throttle_) {
+      64             : 
+      65      301945 :       if ((ros::Time::now() - last_time_published_).toSec() < throttle_min_dt_) {
+      66      195899 :         return;
+      67             :       }
+      68             : 
+      69      106046 :       last_time_published_ = ros::Time::now();
+      70             :     }
+      71             : 
+      72             :     try {
+      73     5423375 :       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        8333 : PublisherHandler<TopicType>& PublisherHandler<TopicType>::operator=(const PublisherHandler<TopicType>& other) {
+     169             : 
+     170        8333 :   if (this == &other) {
+     171           0 :     return *this;
+     172             :   }
+     173             : 
+     174        8333 :   if (other.impl_) {
+     175        8333 :     this->impl_ = other.impl_;
+     176             :   }
+     177             : 
+     178        8333 :   return *this;
+     179             : }
+     180             : 
+     181             : //}
+     182             : 
+     183             : /* copy constructor //{ */
+     184             : 
+     185             : template <class TopicType>
+     186      132387 : PublisherHandler<TopicType>::PublisherHandler(const PublisherHandler<TopicType>& other) {
+     187             : 
+     188      132387 :   if (other.impl_) {
+     189      132387 :     this->impl_ = other.impl_;
+     190             :   }
+     191      132387 : }
+     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        7437 : PublisherHandler<TopicType>::PublisherHandler(ros::NodeHandle& nh, const std::string& address, const unsigned int& buffer_size, const bool& latch,
+     199        7437 :                                               const double& rate) {
+     200             : 
+     201        7437 :   impl_ = std::make_shared<PublisherHandler_impl<TopicType>>(nh, address, buffer_size, latch, rate);
+     202        7437 : }
+     203             : 
+     204             : //}
+     205             : 
+     206             : /* publish(const TopicType& msg) //{ */
+     207             : 
+     208             : template <class TopicType>
+     209     5622119 : void PublisherHandler<TopicType>::publish(const TopicType& msg) {
+     210             : 
+     211     5622119 :   impl_->publish(msg);
+     212     5623192 : }
+     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
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + 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 + + +
+ Top

+ Overview +
+ + 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..8bdb84280e --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions:475192.2 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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&)21
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::call(mrs_msgs::Vec1&)21
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::call(mrs_msgs::ReferenceStampedSrv&)101
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::call(mrs_msgs::ReferenceStampedSrv&)101
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)109
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv> const&)109
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)109
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::Vec1> const&)109
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::initialize(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)109
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)109
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)109
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)111
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv> const&)111
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)111
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)112
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)112
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::call(std_srvs::Trigger&)205
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::call(std_srvs::Trigger&)205
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)327
mrs_lib::ServiceClientHandler<mrs_msgs::String>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::String> const&)327
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)327
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&)427
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::call(mrs_msgs::String&)427
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)656
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::operator=(mrs_lib::ServiceClientHandler<std_srvs::SetBool> const&)656
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)656
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1083
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::operator=(mrs_lib::ServiceClientHandler<std_srvs::Trigger> const&)1083
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1192
+
+
+ + + +
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..a61a7607cb --- /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:2024-12-11 22:27:27Functions:475192.2 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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&)101
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)111
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv> const&)111
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)112
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)109
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv> const&)109
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::call(mrs_msgs::Vec1&)21
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)109
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::Vec1> const&)109
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::call(mrs_msgs::Vec4&)1
mrs_lib::ServiceClientHandler<mrs_msgs::String>::call(mrs_msgs::String&)427
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&)327
mrs_lib::ServiceClientHandler<mrs_msgs::String>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::String> const&)327
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&)656
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::operator=(mrs_lib::ServiceClientHandler<std_srvs::SetBool> const&)656
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::initialize(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)109
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::call(std_srvs::Trigger&)205
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&)1083
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::operator=(mrs_lib::ServiceClientHandler<std_srvs::Trigger> const&)1083
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&)101
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)111
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)112
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)109
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::call(mrs_msgs::Vec1&)21
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)109
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec4>::call(mrs_msgs::Vec4&)1
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::call(mrs_msgs::String&)427
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&)327
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&)656
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::call(std_srvs::Trigger&)205
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&)1192
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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:2024-12-11 22:27:27Functions: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        2507 : ServiceClientHandler_impl<ServiceType>::ServiceClientHandler_impl(ros::NodeHandle& nh, const std::string& address) {
+      23             : 
+      24             :   {
+      25        2507 :     std::scoped_lock lock(mutex_service_client_);
+      26             : 
+      27        2507 :     service_client_ = nh.serviceClient<ServiceType>(address);
+      28             :   }
+      29             : 
+      30        2507 :   _address_       = address;
+      31        2507 :   async_attempts_ = 1;
+      32             : 
+      33             :   /* thread_oneshot_ = std::make_shared<std::thread>(std::thread(&ServiceClientHandler_impl::threadOneshot, this, true, false)); */
+      34             : 
+      35        2507 :   service_initialized_ = true;
+      36        2507 : }
+      37             : 
+      38             : //}
+      39             : 
+      40             : /* call(ServiceType& srv) //{ */
+      41             : 
+      42             : template <class ServiceType>
+      43        1242 : bool ServiceClientHandler_impl<ServiceType>::call(ServiceType& srv) {
+      44             : 
+      45        1242 :   if (!service_initialized_) {
+      46           0 :     return false;
+      47             :   }
+      48             : 
+      49        1242 :   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        2398 : ServiceClientHandler<ServiceType>& ServiceClientHandler<ServiceType>::operator=(const ServiceClientHandler<ServiceType>& other) {
+     205             : 
+     206        2398 :   if (this == &other) {
+     207           0 :     return *this;
+     208             :   }
+     209             : 
+     210        2398 :   if (other.impl_) {
+     211        2398 :     this->impl_ = other.impl_;
+     212             :   }
+     213             : 
+     214        2398 :   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        2398 : ServiceClientHandler<ServiceType>::ServiceClientHandler(ros::NodeHandle& nh, const std::string& address) {
+     235             : 
+     236        2398 :   impl_ = std::make_shared<ServiceClientHandler_impl<ServiceType>>(nh, address);
+     237        2398 : }
+     238             : 
+     239             : //}
+     240             : 
+     241             : /* initialize(ros::NodeHandle& nh, const std::string& address) //{ */
+     242             : 
+     243             : template <class ServiceType>
+     244         109 : void ServiceClientHandler<ServiceType>::initialize(ros::NodeHandle& nh, const std::string& address) {
+     245             : 
+     246         109 :   impl_ = std::make_shared<ServiceClientHandler_impl<ServiceType>>(nh, address);
+     247         109 : }
+     248             : 
+     249             : //}
+     250             : 
+     251             : /* call(ServiceType& srv) //{ */
+     252             : 
+     253             : template <class ServiceType>
+     254        1242 : bool ServiceClientHandler<ServiceType>::call(ServiceType& srv) {
+     255             : 
+     256        1242 :   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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Date:2024-12-11 22:27:27Functions:500114743.6 %
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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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::MagneticField_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::start()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().20
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<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::MagneticField_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::start()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::~Impl().20
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::MagneticField_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() 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> > >::ImplThreadsafe::topicName[abi:cxx11]() 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<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&)1
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<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<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()22
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::getMsg()22
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const22
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::peekMsg() const22
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::start()32
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&)32
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()32
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().232
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::start()32
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&)32
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::~Impl().232
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()32
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&)32
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()32
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().232
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::start()32
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&)32
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().232
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()32
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&)32
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()32
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().232
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::start()32
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&)32
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::~Impl().232
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const64
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const64
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const64
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const> const&)90
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const> const&)90
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::getMsg()94
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::getMsg()94
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const94
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::hasMsg() const94
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const95
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::peekMsg() const95
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const105
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const105
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const105
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const105
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()109
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2109
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::~Impl().2109
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()109
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2109
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::~Impl().2109
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()109
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2109
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::~Impl().2109
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()109
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2109
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::~Impl().2109
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()109
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2109
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::~Impl().2109
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()109
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2109
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::~Impl().2109
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()109
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2109
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2109
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()109
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2109
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2109
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()109
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2109
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::~Impl().2109
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()109
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2109
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2109
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()109
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2109
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::~Impl().2109
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const110
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const110
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const110
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&)113
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()113
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2113
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&)113
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::~Impl().2113
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::start()116
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&)116
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()116
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2116
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::start()116
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&)116
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::~Impl().2116
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::start()117
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::start()117
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const121
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const137
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::start()196
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&)196
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()196
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2196
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::start()196
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&)196
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::~Impl().2196
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const215
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::lastMsgTime() const215
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::start()218
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&)218
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()218
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2218
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::start()218
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&)218
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::~Impl().2218
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::start()218
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&)218
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()218
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2218
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::start()218
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&)218
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::~Impl().2218
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::start()218
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&)218
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()218
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2218
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::start()218
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&)218
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::~Impl().2218
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const218
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const218
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const218
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const218
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const218
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const218
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const218
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const218
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const218
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const218
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const218
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::start()222
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&)222
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()222
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2222
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::start()222
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&)222
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::~Impl().2222
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const226
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const232
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::start()250
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&)250
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()250
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2250
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::start()250
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&)250
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::~Impl().2250
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const278
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::lastMsgTime() const278
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::getMsg()308
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::getMsg()308
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const308
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::peekMsg() const308
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::start()327
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&)327
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()327
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2327
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::start()327
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&)327
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::~Impl().2327
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::start()337
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&)337
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()337
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2337
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::start()337
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&)337
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::~Impl().2337
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const> const&)342
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const> const&)342
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::start()352
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&)352
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()352
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2352
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::start()352
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&)352
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::~Impl().2352
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::start()359
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&)359
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()359
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2359
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::start()359
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&)359
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::~Impl().2359
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::getMsg()382
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::getMsg()382
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const382
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::peekMsg() const382
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const> const&)389
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const> const&)389
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const392
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::start()421
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&)421
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()421
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2421
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::start()421
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&)421
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::~Impl().2421
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::start()436
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&)436
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()436
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2436
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::start()436
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&)436
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::~Impl().2436
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::start()436
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&)436
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()436
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2436
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::start()436
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&)436
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::~Impl().2436
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const436
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const436
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const436
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const444
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()468
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&)468
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()468
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2468
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::start()468
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&)468
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::~Impl().2468
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()468
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&)468
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()468
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2468
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::start()468
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&)468
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2468
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const500
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const> const&)585
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const> const&)585
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::start()650
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&)650
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()650
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2650
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::start()650
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&)650
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::~Impl().2650
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const654
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const674
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const704
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::getMsg()785
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::getMsg()785
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const785
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::peekMsg() const785
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::getMsg()794
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::getMsg()794
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const794
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const794
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::hasMsg() const794
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::peekMsg() const794
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const828
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const842
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const872
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const872
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const936
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const1057
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const1438
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const> const&)1855
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const> const&)1855
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const> const&)1862
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const> const&)1862
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const> const&)2159
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const> const&)2159
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const2749
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::hasMsg() const2749
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const> const&)3466
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const> const&)3466
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()4162
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::getMsg()4162
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const4162
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::peekMsg() const4162
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&)5699
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&)5701
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)8219
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)8233
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::getMsg()10174
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::getMsg()10174
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const10174
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const10174
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::hasMsg() const10174
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::peekMsg() const10174
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const12880
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::getMsg()12882
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::getMsg()12882
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::peekMsg() const12883
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)16190
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)16190
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::hasMsg() const16692
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const16693
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const17475
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::hasMsg() const17475
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const19232
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const19232
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const> const&)19433
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const> const&)19433
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const19465
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::hasMsg() const19465
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::getMsg()20430
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::getMsg()20431
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const20431
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::peekMsg() const20431
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const> const&)24726
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const> const&)24726
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const39584
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::hasMsg() const39584
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::getMsg()40923
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::getMsg()40923
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const40923
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const40923
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::lastMsgTime() const40923
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::peekMsg() const40923
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()50652
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const50658
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::getMsg()50659
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::peekMsg() const50660
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&)58323
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&)58323
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const58775
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::hasMsg() const58775
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::hasMsg() const73970
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const73978
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()75048
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const75059
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::getMsg()75062
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const75064
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)79711
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)80481
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)82734
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)82855
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const88217
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const88225
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const119805
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::hasMsg() const119805
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const> const&)149629
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const> const&)149629
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()151412
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const151418
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const151420
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::getMsg()151421
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const153711
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const153734
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::getMsg()185441
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::getMsg()185441
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const185441
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::peekMsg() const185441
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const185447
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::hasMsg() const185447
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const209929
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::getMsg()209930
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()209931
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::peekMsg() const209931
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const> const&)215227
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const> const&)215425
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const> const&)216201
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const> const&)216202
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const> const&)218424
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const> const&)218458
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)220246
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)220420
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const231742
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::lastMsgTime() const231742
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::getMsg()248939
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::getMsg()248945
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const248945
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::peekMsg() const248945
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const270303
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::hasMsg() const270314
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const> const&)300300
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const> const&)300350
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const> const&)314416
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const> const&)314808
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const> const&)318965
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const> const&)318970
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&)387333
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&)387351
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::hasMsg() const434692
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const434743
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const442977
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::getMsg()443063
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::getMsg()443189
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::peekMsg() const443299
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::lastMsgTime() const463725
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const463775
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const> const&)526848
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const> const&)526917
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::newMsg() const561345
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::newMsg() const562147
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)565220
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)565358
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const584360
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::hasMsg() const584366
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const> const&)692992
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const> const&)693618
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()796933
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const796999
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::getMsg()797026
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::peekMsg() const797059
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::hasMsg() const1024778
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const1024820
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const> const&)1026793
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const> const&)1027027
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)1277409
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)1277893
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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/impl - subscribe_handler.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9713174.0 %
Date:2024-12-11 22:27:27Functions:500114743.6 %
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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&)318970
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::start()436
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&)436
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()436
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2436
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&)318965
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()436
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&)436
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::~Impl().2436
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::start()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().20
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<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::MagneticField_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::start()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::~Impl().20
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&)58323
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::start()32
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::getMsg()10174
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&)32
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()32
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().232
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&)58323
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()32
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::getMsg()10174
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&)32
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::~Impl().232
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()218
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&)218
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()218
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2218
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()218
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&)218
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::~Impl().2218
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const> const&)314808
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::start()196
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::getMsg()12882
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&)196
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()196
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2196
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&)314416
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()196
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::getMsg()12882
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&)196
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::~Impl().2196
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&)218424
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::stop()5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::start()117
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()4162
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&)113
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()113
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2113
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&)218458
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()117
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::getMsg()4162
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&)113
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::~Impl().2113
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const> const&)692992
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::start()352
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()209931
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&)352
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()352
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2352
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&)693618
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()352
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::getMsg()209930
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&)352
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::~Impl().2352
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)1277409
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::start()650
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()796933
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&)650
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()650
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2650
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&)1277893
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&)1
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::start()650
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::getMsg()797026
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&)650
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::~Impl().2650
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const> const&)1027027
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::start()250
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::getMsg()308
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&)250
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()250
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2250
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&)1026793
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()250
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::getMsg()308
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&)250
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::~Impl().2250
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const> const&)215425
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::start()222
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::getMsg()185441
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&)222
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()222
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2222
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&)215227
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()222
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::getMsg()185441
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&)222
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::~Impl().2222
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&)387351
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::start()421
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::getMsg()443189
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&)421
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()421
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2421
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&)387333
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()421
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::getMsg()443063
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&)421
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::~Impl().2421
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const> const&)300350
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::start()436
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()50652
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&)436
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()436
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2436
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&)300300
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()436
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::getMsg()50659
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&)436
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::~Impl().2436
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)220420
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::start()218
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::getMsg()785
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&)218
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()218
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2218
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&)220246
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()218
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::getMsg()785
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&)218
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::~Impl().2218
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const> const&)216201
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::start()116
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&)116
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()116
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2116
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&)216202
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()116
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&)116
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::~Impl().2116
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const> const&)24726
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::start()109
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::getMsg()794
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()109
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2109
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&)24726
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()109
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::getMsg()794
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::~Impl().2109
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const> const&)389
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::start()109
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::getMsg()382
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()109
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2109
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&)389
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()109
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::getMsg()382
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::~Impl().2109
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const> const&)342
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&)342
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()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()109
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2109
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()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::~Impl().2109
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&)5701
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::start()359
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::getMsg()20430
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&)359
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()359
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2359
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&)5699
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()359
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::getMsg()20431
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&)359
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::~Impl().2359
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)16190
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::start()109
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::getMsg()22
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()109
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2109
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&)16190
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()109
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::getMsg()22
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::~Impl().2109
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()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()109
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2109
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()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::~Impl().2109
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()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()109
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2109
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()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::~Impl().2109
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const> const&)149629
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()109
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2109
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&)149629
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()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2109
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)80481
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()468
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()75048
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&)468
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()468
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2468
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&)79711
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()468
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::getMsg()75062
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&)468
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::~Impl().2468
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const> const&)2159
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&)2159
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&)585
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()32
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&)32
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()32
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().232
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&)585
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()32
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&)32
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().232
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const> const&)1855
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()109
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2109
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&)1855
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()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2109
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const> const&)3466
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()32
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&)32
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()32
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().232
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&)3466
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()32
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&)32
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::~Impl().232
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const> const&)90
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()109
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2109
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&)90
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()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::~Impl().2109
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)82855
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()468
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()151412
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&)468
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()468
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2468
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&)82734
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()468
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::getMsg()151421
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&)468
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2468
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const> const&)1862
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()109
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2109
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&)1862
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()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2109
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()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()109
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2109
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()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::~Impl().2109
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)8219
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()94
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&)8233
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()94
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&)526848
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::start()327
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&)327
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()327
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2327
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&)526917
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()327
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&)327
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::~Impl().2327
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)565358
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::start()337
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::getMsg()248939
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&)337
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()337
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2337
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&)565220
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()337
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::getMsg()248945
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&)337
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::~Impl().2337
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const> const&)19433
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::start()218
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::getMsg()40923
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&)218
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()218
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2218
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&)19433
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()218
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::getMsg()40923
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&)218
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::~Impl().2218
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]() const872
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const10174
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const10174
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() const10174
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::peekMsg() const10174
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]() const64
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]() const436
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const16693
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const12880
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() const16692
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::peekMsg() const12883
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]() const392
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() const17475
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const4162
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() const17475
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::peekMsg() const4162
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]() const226
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const434743
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const209929
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() const434692
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::peekMsg() const209931
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]() const704
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const1024820
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const796999
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]() const137
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() const1024778
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::peekMsg() const797059
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]() const1438
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const215
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const19465
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const308
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() const215
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::hasMsg() const19465
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::peekMsg() const308
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]() const500
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const185447
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const185441
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() const185447
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::peekMsg() const185441
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]() const444
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const463775
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const119805
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::newMsg() const562147
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const442977
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() const463725
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::hasMsg() const119805
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::newMsg() const561345
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::peekMsg() const443299
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]() const842
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const73978
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const50658
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() const73970
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::peekMsg() const50660
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]() const872
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() const785
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() const785
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]() const436
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]() const232
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const794
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const794
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() const794
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::peekMsg() const794
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]() const218
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const278
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const2749
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const382
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() const278
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::hasMsg() const2749
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::peekMsg() const382
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]() const218
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]() const218
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const39584
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const20431
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]() const110
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() const39584
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::peekMsg() const20431
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]() const828
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() const22
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() const22
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]() const218
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]() const218
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]() const218
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const110
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() const110
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]() const218
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const88217
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const75059
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() const88225
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const75064
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]() const936
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() const19232
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() const19232
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]() const64
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const105
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() const105
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]() const218
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]() const64
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]() const218
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const153711
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const151418
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]() const121
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() const153734
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const151420
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]() const1057
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const105
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() const105
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]() const218
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]() const218
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const95
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const94
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() const94
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::peekMsg() const95
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() const231742
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const270303
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() const231742
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::hasMsg() const270314
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]() const654
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const584360
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const248945
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]() 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::hasMsg() const584366
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::peekMsg() const248945
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]() const674
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const40923
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const58775
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const40923
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() const40923
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::getNumPublishers() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::hasMsg() const58775
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::peekMsg() const40923
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]() const436
+
+
+ + + +
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..32c50714e3 --- /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:2024-12-11 22:27:27Functions:500114743.6 %
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        7129 :     Impl(const SubscribeHandlerOptions& options, const message_callback_t& message_callback = message_callback_t())
+      29        7129 :         : m_nh(options.nh),
+      30        7129 :           m_topic_name(options.topic_name),
+      31        7129 :           m_node_name(options.node_name),
+      32             :           m_got_data(false),
+      33             :           m_new_data(false),
+      34             :           m_used_data(false),
+      35        7129 :           m_timeout_manager(options.timeout_manager),
+      36             :           m_latest_message_time(0),
+      37             :           m_latest_message(nullptr),
+      38             :           m_message_callback(message_callback),
+      39        7129 :           m_queue_size(options.queue_size),
+      40        7129 :           m_transport_hints(options.transport_hints)
+      41             :     {
+      42             :       // initialize the callback for the TimeoutManager
+      43        7129 :       if (options.timeout_callback)
+      44           1 :         m_timeout_mgr_callback = std::bind(options.timeout_callback, topicName(), std::placeholders::_1);
+      45             :       else
+      46        7128 :         m_timeout_mgr_callback = std::bind(&Impl::default_timeout_callback, this, topicName(), std::placeholders::_1);
+      47             : 
+      48        7129 :       if (options.no_message_timeout != mrs_lib::no_timeout)
+      49             :       {
+      50             :         // initialize a new TimeoutManager if not provided by the user
+      51          85 :         if (!m_timeout_manager)
+      52          85 :           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          85 :         m_timeout_id = m_timeout_manager->registerNew(options.no_message_timeout, m_timeout_mgr_callback);
+      56             :       }
+      57             : 
+      58       21387 :       const std::string msg = "Subscribed to topic '" + m_topic_name + "' -> '" + topicName() + "'";
+      59        7129 :       if (m_node_name.empty())
+      60           1 :         ROS_INFO_STREAM(msg);
+      61             :       else
+      62        7128 :         ROS_INFO_STREAM("[" << m_node_name << "]: " << msg);
+      63        7129 :     }
+      64             :     //}
+      65             : 
+      66        7129 :     virtual ~Impl() = default;
+      67             : 
+      68             :   public:
+      69             :     /* getMsg() method //{ */
+      70     2252513 :     virtual typename MessageType::ConstPtr getMsg()
+      71             :     {
+      72     2252513 :       m_new_data = false;
+      73     2252513 :       m_used_data = true;
+      74     2252513 :       return peekMsg();
+      75             :     }
+      76             :     //}
+      77             : 
+      78             :     /* peekMsg() method //{ */
+      79     2252787 :     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     2252787 :       return m_latest_message;
+      86             :     }
+      87             :     //}
+      88             : 
+      89             :     /* hasMsg() method //{ */
+      90     3120497 :     virtual bool hasMsg() const
+      91             :     {
+      92     3120497 :       return m_got_data;
+      93             :     }
+      94             :     //}
+      95             : 
+      96             :     /* newMsg() method //{ */
+      97      561345 :     virtual bool newMsg() const
+      98             :     {
+      99      561345 :       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      737105 :     virtual ros::Time lastMsgTime() const
+     129             :     {
+     130      737105 :       return m_latest_message_time;
+     131             :     };
+     132             :     //}
+     133             : 
+     134             :     /* topicName() method //{ */
+     135       14627 :     virtual std::string topicName() const
+     136             :     {
+     137       14627 :       std::string ret = m_sub.getTopic();
+     138       14627 :       if (ret.empty())
+     139       14258 :         ret = m_nh.resolveName(m_topic_name);
+     140       14627 :       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        7133 :     virtual void start()
+     179             :     {
+     180        7133 :       if (m_timeout_manager && m_timeout_id.has_value())
+     181          89 :         m_timeout_manager->start(m_timeout_id.value());
+     182        7133 :       m_sub = m_nh.subscribe(m_topic_name, m_queue_size, &Impl::data_callback, this, m_transport_hints);
+     183        7133 :     }
+     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           1 :     void default_timeout_callback(const std::string& topic_name, const ros::Time& last_msg)
+     229             :     {
+     230           1 :       const ros::Duration since_msg = (ros::Time::now() - last_msg);
+     231           1 :       const auto n_pubs = m_sub.getNumPublishers();
+     232           3 :       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           1 :       if (m_node_name.empty())
+     235           0 :         ROS_WARN_STREAM(txt);
+     236             :       else
+     237           1 :         ROS_WARN_STREAM("[" << m_node_name << "]: " << txt);
+     238           1 :     }
+     239             :     //}
+     240             : 
+     241             :     /* process_new_message() method //{ */
+     242     6737018 :     void process_new_message(const typename MessageType::ConstPtr& msg)
+     243             :     {
+     244     6737018 :       m_latest_message_time = ros::Time::now();
+     245     6734400 :       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     6738660 :       m_new_data = !m_message_callback;
+     249     6735844 :       m_got_data = true;
+     250     6735844 :       m_new_data_cv.notify_one();
+     251     6742199 :     }
+     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        7129 :     ImplThreadsafe(const SubscribeHandlerOptions& options, const message_callback_t& message_callback = message_callback_t())
+     287        7129 :         : impl_class_t::Impl(options, message_callback)
+     288             :     {
+     289        7129 :     }
+     290             : 
+     291             :   public:
+     292     3120552 :     virtual bool hasMsg() const override
+     293             :     {
+     294     6240994 :       std::lock_guard lck(m_mtx);
+     295     6241239 :       return impl_class_t::hasMsg();
+     296             :     }
+     297      562147 :     virtual bool newMsg() const override
+     298             :     {
+     299     1122421 :       std::lock_guard lck(m_mtx);
+     300     1122784 :       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     2252510 :     virtual typename MessageType::ConstPtr getMsg() override
+     308             :     {
+     309     4505130 :       std::lock_guard lck(m_mtx);
+     310     4504925 :       return impl_class_t::getMsg();
+     311             :     }
+     312     2252390 :     virtual typename MessageType::ConstPtr peekMsg() const override
+     313             :     {
+     314     4504763 :       std::lock_guard lck(m_mtx);
+     315     4504694 :       return impl_class_t::peekMsg();
+     316             :     }
+     317      737155 :     virtual ros::Time lastMsgTime() const override
+     318             :     {
+     319     1474298 :       std::lock_guard lck(m_mtx);
+     320     1474286 :       return impl_class_t::lastMsgTime();
+     321             :     };
+     322         368 :     virtual std::string topicName() const override
+     323             :     {
+     324         737 :       std::lock_guard lck(m_mtx);
+     325         738 :       return impl_class_t::topicName();
+     326             :     };
+     327        7133 :     virtual void start() override
+     328             :     {
+     329       14266 :       std::lock_guard lck(m_mtx);
+     330       14266 :       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       14258 :     virtual ~ImplThreadsafe() override = default;
+     339             : 
+     340             :   protected:
+     341     6737892 :     virtual void data_callback(const typename MessageType::ConstPtr& msg) override
+     342             :     {
+     343             :       {
+     344    13479088 :         std::scoped_lock lck(m_mtx, this->m_new_data_mtx);
+     345     6717991 :         if (this->m_timeout_manager && this->m_timeout_id.has_value())
+     346      143394 :           this->m_timeout_manager->reset(this->m_timeout_id.value());
+     347     6708633 :         impl_class_t::process_new_message(msg);
+     348             :       }
+     349             : 
+     350             :       // execute the callback after unlocking the mutex to enable multi-threaded callback execution
+     351     6718693 :       if (this->m_message_callback)
+     352     3715722 :         impl_class_t::m_message_callback(msg);
+     353     6712258 :     }
+     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
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+ + + 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..f51573e2ae --- /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:2024-12-11 22:27:27Functions: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
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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..29a1ea2051 --- /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
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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:2024-12-11 22:27:27Functions: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
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+ + + 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..133c03b43c --- /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
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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:2024-12-11 22:27:27Functions: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
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/impl/timer.hpp.gcov.overview.html b/mrs_lib/include/mrs_lib/impl/timer.hpp.gcov.overview.html new file mode 100644 index 0000000000..fcb66ffefa --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/timer.hpp.gcov.overview.html @@ -0,0 +1,44 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/timer.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 + + +
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+ + diff --git a/mrs_lib/include/mrs_lib/impl/timer.hpp.gcov.png b/mrs_lib/include/mrs_lib/impl/timer.hpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..5eaff0c12ba0f0ee0c40adf9de476fcd7273979a GIT binary patch literal 532 zcmV+v0_**WP)WYG+H!gJy;wixEWkN+2HI)NNz7^h?e(6ei$EBmECa$YZdPbo z&&?9qN!l`6XNE9?C@%|f+=+O+hxoa^dC8|ovlXdJZ8P5Mb^}htY{=^O2l4r0f>@&z zs8-G-GtlRs7WS8Q4Naj!VYlL#*dr>O}oC~oA&GPcoS+nZ3=NZ9cU>_BRGE{}RklLXi&dpW;c zBPdq`J%+YgIsodmKUOYNAghxH_$}Pe8ijGBtP>l>ErpzMWuQ`Sl)LSv@r6H4l4sjS zx9^Ei-P+t!q)t6)>`2qi&SnbFW}=WM6nrvUXlj^Fio7N%@i_Cs-1BmH0tK`Cf-@K| zG8cLl(@=qVKn&f+P2+K#=lS`>-!T-NNCQh?%^=ZVsQ0Nei5g|Z{u?uHY__wee90dK WkIr@^1TfP80000 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/transformer.hpp - functions + + + + + + + + + + + + + + +
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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:2024-12-11 22:27:27Functions:424887.5 %
Legend: Lines: + hit + not hit +
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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&)90
void mrs_lib::Transformer::setHeader<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)90
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&)816
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&)22339
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&)22339
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)22339
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&)26652
void mrs_lib::Transformer::setHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)26652
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&)103234
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&)107656
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&)201141
void mrs_lib::Transformer::setHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)201141
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&)250800
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&)277230
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&)277334
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&)277452
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> > const&)303973
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&)586440
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&)586816
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&)635662
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> > const&)787491
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&)826340
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&)826463
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&)826653
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&)827322
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&)827417
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&)836807
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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:2024-12-11 22:27:27Functions:424887.5 %
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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&)635662
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&)250800
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&)827322
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&)836807
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&)277452
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&)827417
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&)201141
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&)26652
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&)90
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&)586816
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&)586440
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&)277230
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&)277334
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&)826340
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&)826463
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&)22339
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&)22339
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> > const&)787491
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> > const&)303973
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&)826653
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)22339
void mrs_lib::Transformer::setHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)201141
void mrs_lib::Transformer::setHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)26652
void mrs_lib::Transformer::setHeader<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)90
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&)107656
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&)816
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&)103234
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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:2024-12-11 22:27:27Functions: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     1940456 :   std_msgs::Header Transformer::getHeader(const msg_t& msg)
+      15             :   {
+      16     1940456 :     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      227883 :   void Transformer::setHeader(msg_t& msg, const std_msgs::Header& header)
+      33             :   {
+      34      227883 :     msg.header = header;
+      35      227883 :   }
+      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      227883 :   T Transformer::copyChangeFrame(const T& what, const std::string& frame_id)
+      49             :   {
+      50      227883 :     T ret = what;
+      51             :     if constexpr (has_header_member_v<T>)
+      52             :     {
+      53      455766 :       std_msgs::Header new_header = getHeader(what);
+      54      227883 :       new_header.frame_id = frame_id;
+      55      227883 :       setHeader(ret, new_header);
+      56             :     }
+      57      227883 :     return ret;
+      58             :   }
+      59             : 
+      60             :   //}
+      61             : 
+      62             :   /* transformImpl() //{ */
+      63             : 
+      64             :   template <class T>
+      65     1941719 :   std::optional<T> Transformer::transformImpl(const geometry_msgs::TransformStamped& tf, const T& what)
+      66             :   {
+      67     3883422 :     const std::string from_frame = frame_from(tf);
+      68     3883389 :     const std::string to_frame = frame_to(tf);
+      69             : 
+      70     1941704 :     if (from_frame == to_frame)
+      71      227883 :       return copyChangeFrame(what, from_frame);
+      72             : 
+      73     3427661 :     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      886471 :       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      886472 :       else if (to_frame == latlon_frame_name)
+      89             :       {
+      90        4364 :         const std::optional<T> tmp = doTransform(what, tf);
+      91        2183 :         if (!tmp.has_value())
+      92           0 :           return std::nullopt;
+      93        2183 :         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      827354 :       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     1711645 :     return doTransform(what, tf);
+     108             :   }
+     109             : 
+     110             :   //}
+     111             : 
+     112             :   /* doTransform() //{ */
+     113             : 
+     114             :   template <class T>
+     115     1713825 :   std::optional<T> Transformer::doTransform(const T& what, const geometry_msgs::TransformStamped& tf)
+     116             :   {
+     117             :     try
+     118             :     {
+     119     3427576 :       T result;
+     120     1713810 :       tf2::doTransform(what, result, tf);
+     121     1713819 :       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     1712576 :   std::optional<T> Transformer::transformSingle(const T& what, const std::string& to_frame_raw)
+     139             :   {
+     140     3426237 :     const std_msgs::Header orig_header = getHeader(what);
+     141     3425969 :     return transformSingle(orig_header.frame_id, what, to_frame_raw, orig_header.stamp);
+     142             :   }
+     143             : 
+     144             :   template <class T>
+     145     1712726 :   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     3426398 :     std::scoped_lock lck(mutex_);
+     148             : 
+     149     1713686 :     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     3427350 :     const std::string from_frame = resolveFrameImpl(from_frame_raw);
+     156     3427320 :     const std::string to_frame = resolveFrameImpl(to_frame_raw);
+     157     3427329 :     const std::string latlon_frame = resolveFrameImpl(LATLON_ORIGIN);
+     158             : 
+     159             :     // get the transform
+     160     3427349 :     const auto tf_opt = getTransformImpl(from_frame, to_frame, time_stamp, latlon_frame);
+     161     1713686 :     if (!tf_opt.has_value())
+     162       11105 :       return std::nullopt;
+     163     1702577 :     const geometry_msgs::TransformStamped& tf = tf_opt.value();
+     164             : 
+     165             :     // do the transformation
+     166     3405120 :     const geometry_msgs::TransformStamped tf_resolved = create_transform(from_frame, to_frame, tf.header.stamp, tf.transform);
+     167     1702578 :     return transformImpl(tf_resolved, what);
+     168             :   }
+     169             : 
+     170             :   //}
+     171             : 
+     172             :   /* transform() //{ */
+     173             : 
+     174             :   template <class T>
+     175      211724 :   std::optional<T> Transformer::transform(const T& what, const geometry_msgs::TransformStamped& tf)
+     176             :   {
+     177      423448 :     std::scoped_lock lck(mutex_);
+     178             : 
+     179      211724 :     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      423448 :     const std::string from_frame = resolveFrameImpl(frame_from(tf));
+     186      423448 :     const std::string to_frame = resolveFrameImpl(frame_to(tf));
+     187      423448 :     const geometry_msgs::TransformStamped tf_resolved = create_transform(from_frame, to_frame, tf.header.stamp, tf.transform);
+     188             : 
+     189      211724 :     return transformImpl(tf_resolved, what);
+     190             :   }
+     191             : 
+     192             :   /* //} */
+     193             : 
+     194             : }
+     195             : 
+     196             : #endif // TRANSFORMER_HPP
+
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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:2024-12-11 22:27:27Functions: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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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:2024-12-11 22:27:27Functions: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:2024-12-11 22:27:27Functions:81266.7 %
Legend: Lines: + hit + not hit +
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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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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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LCOV - code coverage report
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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 %
Date:2024-12-11 22:27:27Functions:1818100.0 %
Legend: Lines: + hit + not hit +
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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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Generated by: LCOV version 1.14
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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 %
Date:2024-12-11 22:27:27Functions:1818100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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 %
Date:2024-12-11 22:27:27Functions:853147557.8 %
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
ukf.h +
0.0%
+ 		0.0 %0 / 40.0 %0 / 2
dynamic_reconfigure_mgr.h +
65.5%65.5%
+ 		65.5 %57 / 8732.9 %28 / 85
<unnamed>65.5 %57 / 8732.9 %28 / 85
scope_timer.h +
33.3%33.3%
+ 		33.3 %2 / 633.3 %1 / 3
<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%
+ 		90.1 %100 / 11145.5 %20 / 44
<unnamed>90.1 %100 / 11145.5 %20 / 44
subscribe_handler.h +
86.3%86.3%
+ 		86.3 %44 / 5146.2 %398 / 862
<unnamed>86.3 %44 / 5146.2 %398 / 862
lkf.h +
81.5%81.5%
+ 		81.5 %44 / 5453.2 %25 / 47
<unnamed>81.5 %44 / 5453.2 %25 / 47
transformer.h +
85.0%85.0%
+ 		85.0 %51 / 6077.8 %14 / 18
<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
mutex.h +
100.0%
+ 		100.0 %11 / 1183.8 %67 / 80
<unnamed>100.0 %11 / 1183.8 %67 / 80
timer.h +
100.0%
+ 		100.0 %4 / 485.7 %6 / 7
<unnamed>100.0 %4 / 485.7 %6 / 7
publisher_handler.h +
100.0%
+ 		100.0 %4 / 498.4 %120 / 122
<unnamed>100.0 %4 / 498.4 %120 / 122
timeout_manager.h +
80.0%80.0%
+ 		80.0 %4 / 5-0 / 0
<unnamed>80.0 %4 / 5-0 / 0
visual_object.h +
100.0%
+ 		100.0 %2 / 2100.0 %1 / 1
<unnamed>100.0 %2 / 2100.0 %1 / 1
quadratic_throttle_model.h +
100.0%
+ 		100.0 %4 / 4100.0 %2 / 2
<unnamed>100.0 %4 / 4100.0 %2 / 2
gps_conversions.h +
76.5%76.5%
+ 		76.5 %104 / 136100.0 %4 / 4
<unnamed>76.5 %104 / 136100.0 %4 / 4
utils.h +
100.0%
+ 		100.0 %15 / 15100.0 %5 / 5
<unnamed>100.0 %15 / 15100.0 %5 / 5
service_client_handler.h +
100.0%
+ 		100.0 %3 / 3100.0 %24 / 24
<unnamed>100.0 %3 / 3100.0 %24 / 24
vector_converter.h +
100.0%
+ 		100.0 %5 / 5100.0 %36 / 36
<unnamed>100.0 %5 / 5100.0 %36 / 36
param_loader.h +
90.3%90.3%
+ 		90.3 %271 / 300100.0 %78 / 78
<unnamed>90.3 %271 / 300100.0 %78 / 78
+
+
+ + + + +
Generated by: LCOV version 1.14
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Current view:top level - mrs_lib/include/mrs_libHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:78198879.0 %
Date:2024-12-11 22:27:27Functions:853147557.8 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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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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attitude_converter.h +
85.2%85.2%
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<unnamed>85.2 %23 / 2781.8 %9 / 11
subscribe_handler.h +
86.3%86.3%
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<unnamed>86.3 %44 / 5146.2 %398 / 862
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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service_client_handler.h +
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publisher_handler.h +
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<unnamed>100.0 %4 / 485.7 %6 / 7
quadratic_throttle_model.h +
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vector_converter.h +
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mutex.h +
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85.2%85.2%
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dynamic_reconfigure_mgr.h +
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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 +
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<unnamed>81.5 %44 / 5453.2 %25 / 47
msg_extractor.h +
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repredictor.h +
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scope_timer.h +
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dynamic_reconfigure_mgr.h +
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attitude_converter.h +
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publisher_handler.h +
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visual_object.h +
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gps_conversions.h +
76.5%76.5%
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vector_converter.h +
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param_loader.h +
90.3%90.3%
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attitude_converter.h +
85.2%85.2%
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param_loader.h +
90.3%90.3%
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publisher_handler.h +
100.0%
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timer.h +
100.0%
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quadratic_throttle_model.h +
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vector_converter.h +
100.0%
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utils.h +
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attitude_converter.h +
85.2%85.2%
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dynamic_reconfigure_mgr.h +
65.5%65.5%
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msg_extractor.h +
33.3%33.3%
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100.0%
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quadratic_throttle_model.h +
100.0%
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repredictor.h +
90.1%90.1%
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scope_timer.h +
33.3%33.3%
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service_client_handler.h +
100.0%
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subscribe_handler.h +
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timeout_manager.h +
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timer.h +
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transformer.h +
85.0%85.0%
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100.0%
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vector_converter.h +
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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&)116
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&)196
mrs_lib::LKF<2, 1, 1>::invert_W(Eigen::Matrix<double, 1, 1, 0, 1, 1>)5838
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&) const5838
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&) const5838
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&) const5838
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&)16911
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)16911
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) const16911
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)198185
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) const198186
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&)198195
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&) const228328
mrs_lib::LKF<6, 2, 2>::invert_W(Eigen::Matrix<double, 2, 2, 0, 2, 2>)228550
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&) const228806
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&) const228867
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&)311554
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) const311619
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)311812
mrs_lib::LKF<3, 1, 1>::invert_W(Eigen::Matrix<double, 1, 1, 0, 1, 1>)486018
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&) const488027
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&) const488130
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&) const488256
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - lkf.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:445481.5 %
Date:2024-12-11 22:27:27Functions:254753.2 %
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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&)16911
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)16911
mrs_lib::LKF<2, 1, 1>::invert_W(Eigen::Matrix<double, 1, 1, 0, 1, 1>)5838
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&)311554
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)311812
mrs_lib::LKF<3, 1, 1>::invert_W(Eigen::Matrix<double, 1, 1, 0, 1, 1>)486018
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&)196
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&)198195
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)198185
mrs_lib::LKF<6, 2, 2>::invert_W(Eigen::Matrix<double, 2, 2, 0, 2, 2>)228550
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&)116
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) const16911
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&) const5838
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&) const5838
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&) const5838
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&) const488130
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&) const488256
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&) const488027
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) const311619
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&) const228806
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&) const228867
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&) const228328
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) const198186
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Current view:top level - mrs_lib/include/mrs_lib - lkf.h (source / functions)HitTotalCoverage
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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         312 :     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      722193 :     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      722193 :       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      509805 :     virtual statecov_t predict(const statecov_t& sc, const u_t& u, const Q_t& Q, [[maybe_unused]] double dt) const override
+     139             :     {
+     140      509805 :       statecov_t ret;
+     141      508281 :       ret.x = state_predict(A, sc.x, B, u);
+     142      508869 :       ret.P = covariance_predict(A, sc.P, Q, dt);
+     143      508457 :       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      526908 :     static P_t covariance_predict(const A_t& A, const P_t& P, const Q_t& Q, const double dt)
+     155             :     {
+     156      526908 :       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      526660 :     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      526660 :       return A * x + B * u;
+     172             :     }
+     173             :     //}
+     174             : 
+     175             :   protected:
+     176             :     /* invert_W() method //{ */
+     177      720406 :     static R_t invert_W(R_t W)
+     178             :     {
+     179      720406 :       Eigen::ColPivHouseholderQR<R_t> qr(W);
+     180      722373 :       if (!qr.isInvertible())
+     181             :       {
+     182             :         // add some stuff to the tmp matrix diagonal to make it invertible
+     183       53644 :         R_t ident = R_t::Identity(W.rows(), W.cols());
+     184       53642 :         W += 1e-9 * ident;
+     185       53683 :         qr.compute(W);
+     186       53719 :         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      718393 :       const R_t W_inv = qr.inverse();
+     193     1444930 :       return W_inv;
+     194             :     }
+     195             :     //}
+     196             : 
+     197             :     /* computeKalmanGain() method //{ */
+     198      722961 :     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      722961 :       const R_t W = H * sc.P * H.transpose() + R;
+     202      722398 :       const R_t W_inv = invert_W(W);
+     203      722437 :       const K_t K = sc.P * H.transpose() * W_inv;
+     204     1443394 :       return K;
+     205             :     }
+     206             :     //}
+     207             : 
+     208             :     /* correction_impl() method //{ */
+     209             :     template<int check=n>
+     210      722774 :     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      722774 :       statecov_t ret;
+     214      722231 :       const K_t K = computeKalmanGain(sc, z, R, H);
+     215      721880 :       ret.x = sc.x + K * (z - (H * sc.x));
+     216      722322 :       ret.P = (P_t::Identity() - (K * H)) * sc.P;
+     217     1444032 :       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       16911 :     virtual statecov_t predict(const statecov_t& sc, const u_t& u, const Q_t& Q, double dt) const override
+     317             :     {
+     318       16911 :       statecov_t ret;
+     319       16911 :       A_t A = m_generateA(dt);
+     320       16911 :       B_t B = m_generateB(dt);
+     321       16911 :       ret.x = Base_class::state_predict(A, sc.x, B, u);
+     322       16911 :       ret.P = Base_class::covariance_predict(A, sc.P, Q, dt);
+     323       33822 :       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..ef988e53d4 --- /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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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:2024-12-11 22:27:27Functions: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&)345
mrs_lib::getHeading(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)345
mrs_lib::getPosition(mrs_msgs::Reference_<std::allocator<void> > const&)345
mrs_lib::getPosition(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)345
mrs_lib::getPosition(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)345
mrs_lib::getPose(nav_msgs::Odometry_<std::allocator<void> > const&)1844
mrs_lib::getHeading(geometry_msgs::Pose_<std::allocator<void> > const&)246229
mrs_lib::getHeading(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)246229
mrs_lib::getHeading(nav_msgs::Odometry_<std::allocator<void> > const&)246230
mrs_lib::getHeading(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)246231
mrs_lib::getPosition(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)246235
mrs_lib::getPosition(geometry_msgs::Pose_<std::allocator<void> > const&)246235
mrs_lib::getPosition(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)246235
mrs_lib::getPosition(nav_msgs::Odometry_<std::allocator<void> > const&)246235
mrs_lib::getXYZ(geometry_msgs::Point_<std::allocator<void> > const&)246924
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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..aa48e11e93 --- /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:2024-12-11 22:27:27Functions: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&)246231
mrs_lib::getHeading(geometry_msgs::Pose_<std::allocator<void> > const&)246229
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&)246229
mrs_lib::getHeading(mrs_msgs::Reference_<std::allocator<void> > const&)345
mrs_lib::getHeading(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)0
mrs_lib::getHeading(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)345
mrs_lib::getHeading(nav_msgs::Odometry_<std::allocator<void> > const&)246230
mrs_lib::getPosition(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)246235
mrs_lib::getPosition(geometry_msgs::Pose_<std::allocator<void> > const&)246235
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&)246235
mrs_lib::getPosition(mrs_msgs::Reference_<std::allocator<void> > const&)345
mrs_lib::getPosition(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)345
mrs_lib::getPosition(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)345
mrs_lib::getPosition(nav_msgs::Odometry_<std::allocator<void> > const&)246235
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&)246924
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&)1844
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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:2024-12-11 22:27:27Functions: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      246924 : std::tuple<double, double, double> getXYZ(const geometry_msgs::Point& data) {
+      30             : 
+      31      246924 :   double x = data.x;
+      32      246924 :   double y = data.y;
+      33      246924 :   double z = data.z;
+      34             : 
+      35      493845 :   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      246235 : std::tuple<double, double, double> getPosition(const geometry_msgs::Pose& data) {
+      96             : 
+      97      246235 :   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      246229 : double getHeading(const geometry_msgs::Pose& data) {
+     124             : 
+     125      246229 :   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      246235 : std::tuple<double, double, double> getPosition(const geometry_msgs::PoseWithCovariance& data) {
+     184             : 
+     185      246235 :   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      246231 : double getHeading(const geometry_msgs::PoseWithCovariance& data) {
+     212             : 
+     213      246231 :   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      246235 : std::tuple<double, double, double> getPosition(const nav_msgs::Odometry& data) {
+     336             : 
+     337      246235 :   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      246235 : std::tuple<double, double, double> getPosition(const nav_msgs::OdometryConstPtr& data) {
+     348             : 
+     349      246235 :   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      246230 : double getHeading(const nav_msgs::Odometry& data) {
+     392             : 
+     393      246230 :   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      246229 : double getHeading(const nav_msgs::OdometryConstPtr& data) {
+     404             : 
+     405      246229 :   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        1844 : geometry_msgs::Pose getPose(const nav_msgs::Odometry& data) {
+     448             : 
+     449        1844 :   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         345 : std::tuple<double, double, double> getPosition(const mrs_msgs::TrackerCommand& data) {
+     480             : 
+     481         345 :   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         345 : std::tuple<double, double, double> getPosition(const mrs_msgs::Reference& data) {
+     579             : 
+     580         345 :   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         345 : double getHeading(const mrs_msgs::Reference& data) {
+     607             : 
+     608         345 :   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         345 : std::tuple<double, double, double> getPosition(const mrs_msgs::ReferenceStamped& data) {
+     639             : 
+     640         345 :   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         345 : double getHeading(const mrs_msgs::ReferenceStamped& data) {
+     667             : 
+     668         345 :   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
+
+
+
+ + + + +
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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..18d5c2a2c6 --- /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:2024-12-11 22:27:27Functions:678083.8 %
Legend: Lines: + hit + not hit +
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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&)39
auto mrs_lib::set_mutexed<mrs_uav_trajectory_generation::drsConfig>(std::mutex&, mrs_uav_trajectory_generation::drsConfig, mrs_uav_trajectory_generation::drsConfig&)109
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> >&)156
auto mrs_lib::set_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig, mrs_uav_controllers::mpc_controllerConfig&)218
auto mrs_lib::set_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig, mrs_uav_controllers::se3_controllerConfig&)219
mrs_msgs::ObstacleSectors_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ObstacleSectors_<std::allocator<void> > >(std::mutex&, mrs_msgs::ObstacleSectors_<std::allocator<void> >&)435
mrs_msgs::VelocityReference_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::VelocityReference_<std::allocator<void> > >(std::mutex&, mrs_msgs::VelocityReference_<std::allocator<void> >&)817
mrs_msgs::ReferenceStamped_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(std::mutex&, mrs_msgs::ReferenceStamped_<std::allocator<void> >&)1111
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> >&)2478
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&)4651
int mrs_lib::get_mutexed<int>(std::mutex&, int&)9438
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&)13240
std::tuple<int, double> mrs_lib::get_mutexed<int, double>(std::mutex&, int&, double&)15589
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&)16446
std::tuple<double, double> mrs_lib::get_mutexed<double, double>(std::mutex&, double&, double&)17277
std::optional<double> mrs_lib::get_mutexed<std::optional<double> >(std::mutex&, std::optional<double>&)19283
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&)19949
std::tuple<bool, double, double> mrs_lib::get_mutexed<bool, double, double>(std::mutex&, bool&, double&, double&)21560
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&)23918
std::tuple<double, double, double> mrs_lib::get_mutexed<double, double, double>(std::mutex&, double&, double&, double&)28520
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&)32682
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> >&)38170
mrs_uav_controllers::se3_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig&)57920
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&)80385
mrs_msgs::MpcPredictionFullState_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::MpcPredictionFullState_<std::allocator<void> > >(std::mutex&, mrs_msgs::MpcPredictionFullState_<std::allocator<void> >&)80511
mrs_uav_trackers::mpc_trackerConfig mrs_lib::get_mutexed<mrs_uav_trackers::mpc_trackerConfig>(std::mutex&, mrs_uav_trackers::mpc_trackerConfig&)83313
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&)87523
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> >&)91060
auto mrs_lib::set_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput, mrs_uav_managers::Controller::ControlOutput&)110660
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> >&)129462
mrs_uav_controllers::mpc_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig&)159453
mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> >&)166591
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>&)198124
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&)209773
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&)211169
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&)217963
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> >&)230398
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>&)231524
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> >&)250807
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>&)255207
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&)260850
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>&)269104
mrs_msgs::DynamicsConstraints_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraints_<std::allocator<void> >&)289320
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>&)309202
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&)348363
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&)351808
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&)387076
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> >&)422337
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&)426807
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&)426994
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> >&)551778
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&)637574
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> > >&)727451
double const mrs_lib::get_mutexed<double const>(std::mutex&, double const&)763368
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&)798634
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&)800057
mrs_uav_managers::Controller::ControlOutput mrs_lib::get_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput&)831823
ros::Time mrs_lib::get_mutexed<ros::Time>(std::mutex&, ros::Time&)950439
unsigned int mrs_lib::get_mutexed<unsigned int>(std::mutex&, unsigned int&)1035364
mrs_msgs::UavState_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::UavState_<std::allocator<void> > >(std::mutex&, mrs_msgs::UavState_<std::allocator<void> >&)1062900
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> >&)1090086
auto mrs_lib::set_mutexed<double>(std::mutex&, double, double&)1245924
double mrs_lib::get_mutexed<double>(std::mutex&, double&)1794368
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&)2466552
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&)2735599
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&)2937364
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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..a4a4de8d66 --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - mutex.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1111100.0 %
Date:2024-12-11 22:27:27Functions:678083.8 %
Legend: Lines: + hit + not hit +
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+ +
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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&)80385
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>&)255207
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&)348363
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>&)231524
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&)13240
std::tuple<bool, double, double> mrs_lib::get_mutexed<bool, double, double>(std::mutex&, bool&, double&, double&)21560
std::tuple<double, double> mrs_lib::get_mutexed<double, double>(std::mutex&, double&, double&)17277
std::tuple<double, double, double> mrs_lib::get_mutexed<double, double, double>(std::mutex&, double&, double&, double&)28520
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&)23918
std::tuple<int, double> mrs_lib::get_mutexed<int, double>(std::mutex&, int&, double&)15589
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&)2735599
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&)209773
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&)637574
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&)217963
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&)260850
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&)211169
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&)387076
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&)2466552
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&)2937364
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&)19949
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&)351808
double const mrs_lib::get_mutexed<double const>(std::mutex&, double const&)763368
mrs_uav_managers::Controller::ControlOutput mrs_lib::get_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput&)831823
mrs_uav_trackers::mpc_trackerConfig mrs_lib::get_mutexed<mrs_uav_trackers::mpc_trackerConfig>(std::mutex&, mrs_uav_trackers::mpc_trackerConfig&)83313
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&)87523
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&)32682
mrs_uav_controllers::mpc_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig&)159453
mrs_uav_controllers::se3_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig&)57920
mrs_uav_trajectory_generation::drsConfig mrs_lib::get_mutexed<mrs_uav_trajectory_generation::drsConfig>(std::mutex&, mrs_uav_trajectory_generation::drsConfig&)39
ros::Time mrs_lib::get_mutexed<ros::Time>(std::mutex&, ros::Time&)950439
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>&)309202
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>&)198124
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>&)269104
mrs_msgs::ObstacleSectors_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ObstacleSectors_<std::allocator<void> > >(std::mutex&, mrs_msgs::ObstacleSectors_<std::allocator<void> >&)435
mrs_msgs::ReferenceStamped_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(std::mutex&, mrs_msgs::ReferenceStamped_<std::allocator<void> >&)1111
mrs_msgs::VelocityReference_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::VelocityReference_<std::allocator<void> > >(std::mutex&, mrs_msgs::VelocityReference_<std::allocator<void> >&)817
mrs_msgs::DynamicsConstraints_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraints_<std::allocator<void> >&)289320
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> >&)80511
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> >&)166591
mrs_msgs::UavState_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::UavState_<std::allocator<void> > >(std::mutex&, mrs_msgs::UavState_<std::allocator<void> >&)1062900
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&)800057
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&)426807
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> >&)91060
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> >&)250807
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> > >&)727451
std::optional<double> mrs_lib::get_mutexed<std::optional<double> >(std::mutex&, std::optional<double>&)19283
double mrs_lib::get_mutexed<double>(std::mutex&, double&)1794368
int mrs_lib::get_mutexed<int>(std::mutex&, int&)9438
unsigned int mrs_lib::get_mutexed<unsigned int>(std::mutex&, unsigned int&)1035364
auto mrs_lib::set_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput, mrs_uav_managers::Controller::ControlOutput&)110660
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&)16446
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&)4651
auto mrs_lib::set_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig, mrs_uav_controllers::mpc_controllerConfig&)218
auto mrs_lib::set_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig, mrs_uav_controllers::se3_controllerConfig&)219
auto mrs_lib::set_mutexed<mrs_uav_trajectory_generation::drsConfig>(std::mutex&, mrs_uav_trajectory_generation::drsConfig, mrs_uav_trajectory_generation::drsConfig&)109
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> >&)129462
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> >&)2478
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> >&)551778
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> >&)156
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> >&)1090086
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> >&)422337
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&)798634
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&)426994
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> >&)38170
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> >&)230398
auto mrs_lib::set_mutexed<double>(std::mutex&, double, double&)1245924
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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..df3dfeaf63 --- /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:2024-12-11 22:27:27Functions:678083.8 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          Line data    Source code
+
+       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     1035583 : std::tuple<Args...> get_mutexed(std::mutex& mut, Args&... args) {
+      49             : 
+      50     2071168 :   std::scoped_lock lock(mut);
+      51             : 
+      52     1035585 :   std::tuple result = std::tuple(args...);
+      53             : 
+      54     2071170 :   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    20934988 : T get_mutexed(std::mutex& mut, T& arg) {
+      69             : 
+      70    33982152 :   std::scoped_lock lock(mut);
+      71             : 
+      72    41872858 :   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     5068720 : auto set_mutexed(std::mutex& mut, const T what, T& where) {
+     117             : 
+     118     8863109 :   std::scoped_lock lock(mut);
+     119             : 
+     120     5060426 :   where = what;
+     121             : 
+     122    10131261 :   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:2024-12-11 22:27:27Functions: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&)42
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)88
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)90
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&)109
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)109
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)109
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)201
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)436
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)436
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&)545
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)752
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&)756
bool mrs_lib::ParamLoader::loadParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&, double const&)872
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&)1199
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)1199
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> >&)1199
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, std::basic_string_view<char, std::char_traits<char> >)1841
mrs_lib::ParamLoader::setPrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2124
mrs_lib::ParamLoader::addYamlFileFromParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2924
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&)3807
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)3808
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> > > >&)3808
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, bool, std::basic_string_view<char, std::char_traits<char> >)4226
mrs_lib::ParamLoader::loadedSuccessfully()4713
void mrs_lib::ParamLoader::printValue<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int const&)5500
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)5500
bool mrs_lib::ParamLoader::loadParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&)5500
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&, bool const&)6971
mrs_lib::ParamLoader::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)12174
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&)12851
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> >&)18046
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&)18634
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)18634
void mrs_lib::ParamLoader::printValue<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool const&)19822
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)19822
bool mrs_lib::ParamLoader::loadParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&)43730
void mrs_lib::ParamLoader::printValue<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double const&)44602
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)44602
mrs_lib::ParamLoader::check_duplicit_loading(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)94336
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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:2024-12-11 22:27:27Functions: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&)545
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&)3807
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&)18634
void mrs_lib::ParamLoader::printValue<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool const&)19822
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&)756
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&)1199
void mrs_lib::ParamLoader::printValue<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double const&)44602
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&)5500
mrs_lib::ParamLoader::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)12174
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)752
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)436
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&)109
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)90
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)109
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)88
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()4713
mrs_lib::ParamLoader::addYamlFileFromParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2924
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&)94336
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)436
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)109
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)201
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)18634
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)3808
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)1199
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)19822
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)44602
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)5500
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> >&)18046
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&)42
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> > > >&)3808
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> >&)1199
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&)12851
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&, bool const&)6971
bool mrs_lib::ParamLoader::loadParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&)43730
bool mrs_lib::ParamLoader::loadParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&, double const&)872
bool mrs_lib::ParamLoader::loadParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&)5500
mrs_lib::ParamLoader::setPrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2124
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, std::basic_string_view<char, std::char_traits<char> >)1841
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, bool, std::basic_string_view<char, std::char_traits<char> >)4226
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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:2024-12-11 22:27:27Functions:7878100.0 %
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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             :   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       88558 :   void printValue(const std::string& name, const T& value)
+      96             :   {
+      97       88558 :     if (m_node_name.empty())
+      98       49309 :       std::cout << "\t" << name << ":\t" << value << std::endl;
+      99             :     else
+     100       39249 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << name << "':\t" << value);
+     101       88558 :   }
+     102             : 
+     103             :   template <typename T>
+     104        5006 :   void printValue(const std::string& name, const std::vector<T>& value)
+     105             :   {
+     106       10012 :     std::stringstream strstr;
+     107        5006 :     if (m_node_name.empty())
+     108        2431 :       strstr << "\t";
+     109        5006 :     strstr << name << ":\t";
+     110        5006 :     size_t it = 0;
+     111       17499 :     for (const auto& elem : value)
+     112             :     {
+     113       12493 :       strstr << elem;
+     114       12493 :       if (it < value.size() - 1)
+     115        8047 :         strstr << ", ";
+     116       12493 :       it++;
+     117             :     }
+     118        5006 :     if (m_node_name.empty())
+     119        2431 :       std::cout << strstr.str() << std::endl;
+     120             :     else
+     121        2575 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << strstr.str());
+     122        5006 :   }
+     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         764 :   void printValue(const std::string& name, const MatrixX<T>& value)
+     147             :   {
+     148        1528 :     std::stringstream strstr;
+     149             :     /* const Eigen::IOFormat fmt(4, 0, ", ", "\n", "\t\t[", "]"); */
+     150             :     /* strstr << value.format(fmt); */
+     151        2292 :     const Eigen::IOFormat fmt;
+     152         764 :     strstr << value.format(fmt);
+     153         764 :     if (m_node_name.empty())
+     154         110 :       std::cout << "\t" << name << ":\t" << std::endl << strstr.str() << std::endl;
+     155             :     else
+     156         654 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << name << "':" << std::endl << strstr.str());
+     157         764 :   }
+     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       94336 :   bool check_duplicit_loading(const std::string& name)
+     216             :   {
+     217       94336 :     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       94334 :       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         762 :   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        1524 :     const std::string name_prefixed = m_prefix + name;
+     235        1524 :     MatrixX<T> loaded = default_value;
+     236         762 :     bool used_rosparam_value = false;
+     237             :     // first, check if the user already tried to load this parameter
+     238         762 :     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         762 :     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         762 :     const bool expect_zero_matrix = rows == 0;
+     250         762 :     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         762 :     bool cur_load_successful = true;
+     261         762 :     bool check_size_exact = true;
+     262         762 :     if (cols <= 0)  // this means that the cols dimension is dynamic or a zero matrix is expected
+     263         199 :       check_size_exact = false;
+     264             : 
+     265        1524 :     std::vector<T> tmp_vec;
+     266             :     // try to load the parameter
+     267         762 :     const bool success = m_pp.getParam(name_prefixed, tmp_vec);
+     268             :     // check if the loaded vector has correct length
+     269         762 :     bool correct_size = (int)tmp_vec.size() == rows * cols;
+     270         762 :     if (!check_size_exact && !expect_zero_matrix)
+     271         198 :       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         762 :     if (success && correct_size)
+     274             :     {
+     275             :       // if successfully loaded, everything is in order
+     276             :       // transform the vector to the matrix
+     277         644 :       if (cols <= 0 && rows > 0)
+     278         198 :         cols = tmp_vec.size() / rows;
+     279         644 :       if (swap)
+     280          88 :         std::swap(rows, cols);
+     281         644 :       loaded = Eigen::Map<Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>, Eigen::Unaligned>(tmp_vec.data(), rows, cols);
+     282         644 :       used_rosparam_value = true;
+     283             :     } else
+     284             :     {
+     285         118 :       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         118 :       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         762 :     if (cur_load_successful)
+     309             :     {
+     310         759 :       if (m_print_values && printValues)
+     311         754 :         printValue(name_prefixed, loaded);
+     312         759 :       m_loaded_params.insert(name_prefixed);
+     313             :     } else
+     314             :     {
+     315           3 :       m_load_successful = false;
+     316             :     }
+     317             :     // finally, return the resulting value
+     318         762 :     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         116 :   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         348 :     const auto [dynamic, loaded_ok] = loadMatrixX(name, MatrixX<T>(default_value), rows, cols, optional, unique, NO_SWAP);
+     327         232 :     return {dynamic, loaded_ok};
+     328             :   }
+     329             :   //}
+     330             : 
+     331             :   /* loadMatrixKnown_internal helper function for loading EigenXd matrices with known dimensions //{ */
+     332             :   template <typename T>
+     333         440 :   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         880 :     MatrixX<T> loaded = default_value;
+     336             :     // first, check that at least one dimension is set
+     337         440 :     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         440 :     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         201 :   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         402 :     MatrixX<T> loaded = default_value;
+     353             : 
+     354             :     // next, check that at least one dimension is set
+     355         201 :     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         201 :     swap_t swap = NO_SWAP;
+     363         201 :     if (rows <= 0)
+     364             :     {
+     365          88 :       std::swap(rows, cols);
+     366          88 :       swap = SWAP;
+     367             :     }
+     368         201 :     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       93571 :   std::pair<T, bool> load(const std::string& name, const T& default_value, optional_t optional = OPTIONAL, unique_t unique = UNIQUE)
+     453             :   {
+     454      187142 :     const std::string name_prefixed = m_prefix + name;
+     455      117218 :     T loaded = default_value;
+     456       93571 :     if (unique && check_duplicit_loading(name_prefixed))
+     457           2 :       return {loaded, false};
+     458             : 
+     459       93569 :     bool cur_load_successful = true;
+     460             :     // try to load the parameter
+     461       93569 :     const bool success = m_pp.getParam(name_prefixed, loaded);
+     462       93569 :     if (!success)
+     463             :     {
+     464             :       // if it was not loaded, set the default value
+     465        2188 :       loaded = default_value;
+     466        2188 :       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       93569 :     if (cur_load_successful)
+     475             :     {
+     476             :       // everything is fine and just print the name_prefixed and value if required
+     477       93567 :       if (m_print_values)
+     478       93567 :         printValue(name_prefixed, loaded);
+     479             :       // mark the param name_prefixed as successfully loaded
+     480       93567 :       m_loaded_params.insert(name_prefixed);
+     481             :     } else
+     482             :     {
+     483           2 :       m_load_successful = false;
+     484             :     }
+     485             :     // finally, return the resulting value
+     486       93568 :     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        4226 :   ParamLoader(const ros::NodeHandle& nh, bool printValues = true, std::string_view node_name = std::string())
+     499        4226 :       : m_load_successful(true),
+     500             :         m_print_values(printValues),
+     501             :         m_node_name(node_name),
+     502             :         m_nh(nh),
+     503        4226 :         m_pp(nh, m_node_name)
+     504             :   {
+     505             :     /* std::cout << "Initialized1 ParamLoader for node " << node_name << std::endl; */
+     506        4226 :   }
+     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        1841 :   ParamLoader(const ros::NodeHandle& nh, std::string_view node_name)
+     516        1841 :       : ParamLoader(nh, true, node_name)
+     517             :   {
+     518             :     /* std::cout << "Initialized2 ParamLoader for node " << node_name << std::endl; */
+     519        1841 :   }
+     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        2124 :   void setPrefix(const std::string& prefix)
+     542             :   {
+     543        2124 :     m_prefix = prefix;
+     544        2124 :   }
+     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       12174 :   bool addYamlFile(const std::string& filepath)
+     571             :   {
+     572       12174 :     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        2924 :   bool addYamlFileFromParam(const std::string& param_name)
+     585             :   {
+     586        5848 :     std::string filepath;
+     587        2924 :     if (!loadParam(param_name, filepath))
+     588           0 :       return false;
+     589        2924 :     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        4713 :   bool loadedSuccessfully()
+     600             :   {
+     601        4713 :     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        7887 :   bool loadParam(const std::string& name, T& out_value, const T& default_value)
+     640             :   {
+     641        7887 :     const auto [ret, success] = load<T>(name, default_value, OPTIONAL, UNIQUE);
+     642        7887 :     out_value = ret;
+     643        7931 :     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         546 :   T loadParam2(const std::string& name, const T& default_value)
+     658             :   {
+     659        1092 :     const auto loaded = load<T>(name, default_value, OPTIONAL, UNIQUE);
+     660        1092 :     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       85137 :   bool loadParam(const std::string& name, T& out_value)
+     714             :   {
+     715      108193 :     const auto [ret, success] = load<T>(name, T(), COMPULSORY, UNIQUE);
+     716       85135 :     out_value = ret;
+     717      108191 :     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         112 :   bool loadMatrixStatic(const std::string& name, Eigen::Matrix<T, rows, cols>& mat, const Eigen::MatrixBase<Derived>& default_value)
+    1001             :   {
+    1002         112 :     const auto [ret, loaded_ok] = loadMatrixStatic_internal<rows, cols, T>(name, Eigen::Matrix<T, rows, cols>(default_value), OPTIONAL, UNIQUE);
+    1003         112 :     mat = ret;
+    1004         112 :     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         438 :   bool loadMatrixKnown(const std::string& name, MatrixX<T>& mat, int rows, int cols)
+    1076             :   {
+    1077         876 :     const auto [ret, loaded_ok] = loadMatrixKnown_internal(name, MatrixX<T>(), rows, cols, COMPULSORY, UNIQUE);
+    1078         438 :     mat = ret;
+    1079         876 :     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          90 :   bool loadMatrixDynamic(const std::string& name, MatrixX<T>& mat, int rows, int cols)
+    1171             :   {
+    1172         180 :     const auto [ret, loaded_ok] = loadMatrixDynamic_internal(name, MatrixX<T>(), rows, cols, COMPULSORY, UNIQUE);
+    1173          90 :     mat = ret;
+    1174         180 :     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         111 :   bool loadMatrixDynamic(const std::string& name, MatrixX<T>& mat, const Eigen::MatrixBase<Derived>& default_value, int rows, int cols)
+    1195             :   {
+    1196         222 :     const auto [ret, loaded_ok] = loadMatrixDynamic_internal(name, MatrixX<T>(default_value), rows, cols, OPTIONAL, UNIQUE);
+    1197         111 :     mat = ret;
+    1198         222 :     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          88 :   MatrixX<T> loadMatrixDynamic2(const std::string& name, int rows, int cols)
+    1217             :   {
+    1218          88 :     MatrixX<T> ret;
+    1219          88 :     loadMatrixDynamic(name, ret, rows, cols);
+    1220          88 :     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
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LCOV - code coverage report
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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:2024-12-11 22:27:27Functions:12012298.4 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::PublisherHandler_impl<geometry_msgs::PointStamped_<std::allocator<void> > >::~PublisherHandler_impl()0
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()32
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler_impl()32
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler()64
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::PublisherHandler()109
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::PublisherHandler()109
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::PublisherHandler()109
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::PublisherHandler()109
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::PublisherHandler()109
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::PublisherHandler()109
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::PublisherHandler()109
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::PublisherHandler()109
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()109
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()109
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()109
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()109
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::PublisherHandler()109
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::PublisherHandler()109
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::PublisherHandler()109
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<std_msgs::String_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()110
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler_impl()116
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::~PublisherHandler()218
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler()218
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::~PublisherHandler()218
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler_impl()218
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::PublisherHandler()219
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::PublisherHandler()226
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::PublisherHandler()226
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler_impl()226
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler_impl()312
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler()327
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler()327
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler()327
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::~PublisherHandler()327
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler()327
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler()327
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()327
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()327
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler()329
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler()342
mrs_lib::PublisherHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::PublisherHandler()402
mrs_lib::PublisherHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::~PublisherHandler()402
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::PublisherHandler()428
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler_impl()428
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::PublisherHandler()436
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler()436
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::PublisherHandler()436
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler_impl()436
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler_impl()436
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler()452
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler_impl()528
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::PublisherHandler()625
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::~PublisherHandler()625
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler_impl()625
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::PublisherHandler()654
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler_impl()654
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler()671
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::PublisherHandler()742
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::PublisherHandler()804
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler_impl()804
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler()856
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler()872
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler()872
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler()1054
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::PublisherHandler()1136
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler()1308
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler()1608
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler()1761
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler()133586
+
+
+ + + +
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..32bf580c51 --- /dev/null +++ b/mrs_lib/include/mrs_lib/publisher_handler.h.func.html @@ -0,0 +1,568 @@ + + + + + + + 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:2024-12-11 22:27:27Functions:12012298.4 %
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()436
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler()872
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::PublisherHandler()218
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler()436
mrs_lib::PublisherHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::PublisherHandler()402
mrs_lib::PublisherHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::~PublisherHandler()402
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::PublisherHandler()226
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler()342
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::PublisherHandler()654
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler()1308
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::PublisherHandler()109
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::PublisherHandler()109
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::PublisherHandler()1136
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler()1761
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::PublisherHandler()109
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::PublisherHandler()428
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler()856
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()109
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler()327
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler()327
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler()327
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::PublisherHandler()109
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::PublisherHandler()804
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler()1608
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::PublisherHandler()742
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler()1054
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::PublisherHandler()219
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler()329
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::PublisherHandler()625
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::~PublisherHandler()625
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::~PublisherHandler()327
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler()327
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::PublisherHandler()109
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::PublisherHandler()109
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::PublisherHandler()109
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()109
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()109
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler()327
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()327
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()109
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()327
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()109
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::PublisherHandler()109
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::~PublisherHandler()218
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::PublisherHandler()226
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler()452
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler()671
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler()133586
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::PublisherHandler()32
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler()64
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::PublisherHandler()109
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler()218
mrs_lib::PublisherHandler<std_msgs::Int64_<std::allocator<void> > >::~PublisherHandler()2
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::PublisherHandler()109
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::~PublisherHandler()218
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::PublisherHandler()436
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler()872
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler_impl()436
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler_impl()218
mrs_lib::PublisherHandler_impl<geometry_msgs::PointStamped_<std::allocator<void> > >::~PublisherHandler_impl()0
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler_impl()116
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler_impl()654
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler_impl()625
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler_impl()428
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()109
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler_impl()804
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler_impl()312
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()110
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()109
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::~PublisherHandler_impl()109
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler_impl()226
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler_impl()528
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler_impl()32
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler_impl()109
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()109
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler_impl()436
+
+
+ + + +
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..a9d3f86f76 --- /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:2024-12-11 22:27:27Functions:12012298.4 %
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        7437 :   ~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       10637 :   PublisherHandler(void){};
+     102             : 
+     103             :   /**
+     104             :    * @brief generic destructor
+     105             :    */
+     106      150461 :   ~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         242 :   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)92981
mrs_lib::quadratic_throttle_model::throttleToForce(mrs_lib::quadratic_throttle_model::MotorParams_t, double)129848
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mrs_lib::quadratic_throttle_model::forceToThrottle(mrs_lib::quadratic_throttle_model::MotorParams_t, double)92981
mrs_lib::quadratic_throttle_model::throttleToForce(mrs_lib::quadratic_throttle_model::MotorParams_t, double)129848
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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      129848 : double inline throttleToForce(const MotorParams_t motor_params, const double throttle) {
+      20             : 
+      21      129848 :   return motor_params.n_motors * pow((throttle - motor_params.B) / motor_params.A, 2);
+      22             : }
+      23             : 
+      24       92981 : double inline forceToThrottle(const MotorParams_t motor_params, const double force) {
+      25             : 
+      26       92981 :   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<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&)92
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<!(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
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&)213
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&)294
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&)294
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&)588
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&)588
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&)630
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&)2053
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&)6256
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&)15822
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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..d31048c803 --- /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:2024-12-11 22:27:27Functions: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&)15822
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&)6256
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&)630
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&)2053
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&)294
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&)588
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&)92
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&)294
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&)213
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&)588
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..9f3f357158 --- /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:2024-12-11 22:27:27Functions:204445.5 %
Legend: Lines: + hit + not hit +
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          Line data    Source code
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+       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       15720 :       do
+      81             :       {
+      82       15822 :         cur_sc.stamp = hist_it->stamp;
+      83             :         // do the correction if current history point is a measurement
+      84       15822 :         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       15822 :         ros::Time next_stamp = to_stamp;
+      90       15822 :         if ((hist_it + 1) != std::end(m_history) && (hist_it + 1)->stamp <= to_stamp)
+      91       15720 :           next_stamp = (hist_it + 1)->stamp;
+      92             : 
+      93             :         // do the prediction
+      94       15822 :         cur_sc = predictFrom(cur_sc, *hist_it, cur_stamp, next_stamp);
+      95       15822 :         cur_stamp = next_stamp;
+      96             : 
+      97             :         // increment the history pointer
+      98       15822 :         hist_it++;
+      99       15822 :       } 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         588 :     std::enable_if_t<check, statecov_t> predictTo(const ros::Time& to_stamp)
+     118             :     {
+     119         588 :       assert(!m_history.empty());
+     120         588 :       const auto& info = m_history.front();
+     121         588 :       auto sc = predictFrom(m_sc, info, info.stamp, to_stamp);
+     122         588 :       sc.stamp = to_stamp;
+     123         588 :       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        6356 :         for (auto it = added + 1; it != std::end(m_history) && it->is_measurement; it++)
+     151        6156 :           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         213 :     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         213 :       if (m_history.empty())
+     170           2 :         m_history.push_back({stamp});
+     171         213 :       m_history.front().u = u;
+     172         213 :       m_history.front().Q = Q;
+     173         213 :       m_history.front().stamp = stamp;
+     174         213 :       m_history.front().predict_model = model;
+     175         213 :     }
+     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          92 :     std::enable_if_t<check> addInputChange(const u_t& u, [[maybe_unused]] const ros::Time& stamp, const ModelPtr& model = nullptr)
+     221             :     {
+     222          92 :       if (m_history.empty())
+     223           0 :         m_history.push_back({stamp});
+     224          92 :       m_history.front().u = u;
+     225          92 :       m_history.front().stamp = stamp;
+     226          92 :       m_history.front().predict_model = model;
+     227          92 :     }
+     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         294 :     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         294 :       if (m_history.empty())
+     325           0 :         m_history.push_back({stamp});
+     326         294 :       auto& info = m_history.front();
+     327         294 :       const ros::Time to_stamp = stamp > info.stamp ? stamp : info.stamp;
+     328         294 :       const auto sc = predictTo(to_stamp);
+     329         294 :       info.z = z;
+     330         294 :       info.R = R;
+     331         294 :       info.stamp = to_stamp;
+     332         294 :       info.is_measurement = true;
+     333         294 :       info.meas_id = meas_id;
+     334         294 :       info.correct_model = model;
+     335         294 :       m_sc = correctFrom(sc, info);
+     336         294 :     }
+     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         632 :       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        6256 :       void updateUsing(const info_t& info)
+     431             :       {
+     432        6256 :         u = info.u;
+     433        6256 :         Q = info.Q;
+     434        6256 :         predict_model = info.predict_model;
+     435        6256 :       };
+     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        2053 :     static bool earlier(const info_t& ob1, const info_t& ob2)
+     526             :     {
+     527        2053 :       return ob1.stamp < ob2.stamp;
+     528             :     }
+     529             :     //}
+     530             : 
+     531             :     /* predictFrom() method //{ */
+     532       16410 :     statecov_t predictFrom(const statecov_t& sc, const info_t& inpt, const ros::Time& from_stamp, const ros::Time& to_stamp)
+     533             :     {
+     534       32820 :       const auto model = inpt.predict_model == nullptr ? m_default_model : inpt.predict_model;
+     535       16410 :       const auto dt = (to_stamp - from_stamp).toSec();
+     536       32820 :       return model->predict(sc, inpt.u, inpt.Q, dt);
+     537             :     }
+     538             :     //}
+     539             : 
+     540             :     /* correctFrom() method //{ */
+     541        5444 :     statecov_t correctFrom(const statecov_t& sc, const info_t& meas)
+     542             :     {
+     543        5444 :       assert(meas.is_measurement);
+     544       10888 :       const auto model = meas.correct_model == nullptr ? m_default_model : meas.correct_model;
+     545        5444 :       auto sc_tmp = sc;
+     546       10888 :       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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Legend: Lines: + hit + not hit +
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mrs_lib::Polygon::ExtraVertices::what() const0
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mrs_lib::Polygon::WrongNumberOfVertices::what() const0
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Date:2024-12-11 22:27:27Functions: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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Date:2024-12-11 22:27:27Functions:010.0 %
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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&)5784755
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mrs_lib::ScopeTimer::time_point::time_point(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)5784755
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     5784755 :     time_point(const std::string& label) : ros_time(ros::Time::now()), chrono_time(std::chrono::steady_clock::now()), label(label) {
+      93     5784458 :     }
+      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()109
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler()109
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler_impl()109
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::~ServiceClientHandler_impl()109
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler()111
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler_impl()111
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler()218
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::~ServiceClientHandler()218
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler()222
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler()327
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::~ServiceClientHandler_impl()327
mrs_lib::ServiceClientHandler<mrs_msgs::String>::~ServiceClientHandler()654
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler()656
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::~ServiceClientHandler_impl()656
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::ServiceClientHandler()1192
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::~ServiceClientHandler_impl()1192
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::~ServiceClientHandler()1312
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::~ServiceClientHandler()2275
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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.func.html b/mrs_lib/include/mrs_lib/service_client_handler.h.func.html new file mode 100644 index 0000000000..526105d082 --- /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:2024-12-11 22:27:27Functions: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()111
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler()222
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler()109
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler()218
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler()109
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::~ServiceClientHandler()218
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler()327
mrs_lib::ServiceClientHandler<mrs_msgs::String>::~ServiceClientHandler()654
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler()656
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::~ServiceClientHandler()1312
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::ServiceClientHandler()1192
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::~ServiceClientHandler()2275
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()111
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler_impl()109
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::~ServiceClientHandler_impl()109
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::~ServiceClientHandler_impl()327
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::~ServiceClientHandler_impl()656
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::~ServiceClientHandler_impl()1192
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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..524d7a9410 --- /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:2024-12-11 22:27:27Functions: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        2507 :   ~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        2507 :   ServiceClientHandler(void){};
+     135             : 
+     136             :   /**
+     137             :    * @brief generic destructor
+     138             :    */
+     139        4905 :   ~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:2024-12-11 22:27:27Functions:39886246.2 %
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> > >::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<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::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<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::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)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<void (mrs_uav_state_estimators::ProcMagDeclination<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::ProcMagDeclination<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::ProcMagDeclination<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::ProcMagDeclination<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<2>*)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<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::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<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::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)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::NavSatFix_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::ProcMagDeclination<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::ProcMagDeclination<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::ProcMagDeclination<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::ProcMagDeclination<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<2>*)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::start()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::MagneticField_<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::MagneticField_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::MagneticField_<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::MagneticField_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<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::MagneticField_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<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::MagneticField_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >&&)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::Float64Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::Float64Stamped_<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::Float64Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::Float64Stamped_<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::Float64Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<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::Float64Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<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::Float64Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)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::MagneticField_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<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<nav_msgs::Odometry_<std::allocator<void> > >::topicName[abi:cxx11]() 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::Correction<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<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::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<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::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() 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::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::ProcMagDeclination<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::ProcMagDeclination<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::ProcMagDeclination<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::ProcMagDeclination<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<2>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::MagneticField_<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::MagneticField_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::MagneticField_<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::MagneticField_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{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<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::Float64Stamped_<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::Float64Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::Float64Stamped_<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::Float64Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{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> > >::SubscribeHandler<void (mrs_uav_state_estimators::passthrough::Passthrough::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::passthrough::Passthrough*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::passthrough::Passthrough::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::passthrough::Passthrough*)1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::passthrough::Passthrough>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::passthrough::Passthrough::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::passthrough::Passthrough*)1
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<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::passthrough::Passthrough::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::passthrough::Passthrough*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::passthrough::Passthrough::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::passthrough::Passthrough*)::{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()22
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::start()32
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&)32
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&)32
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >&&)32
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&)32
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*)32
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*)32
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*)32
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*)32
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::start()32
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&)32
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()32
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&)32
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >&&)32
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::start()32
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&)32
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler()32
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*)32
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*)32
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >&&)32
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()() const32
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()() const32
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()() const32
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()() const32
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()() const32
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()() const32
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()64
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()64
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::getMsg()95
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::hasMsg() const95
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const105
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const105
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*)106
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*)106
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()() const106
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*)109
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*)109
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*)109
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*)109
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&)109
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*)109
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*)109
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*)109
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*)109
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&)109
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*)109
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*)109
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*)109
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*)109
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*)109
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*)109
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::SubscribeHandler()109
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*)109
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*)109
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >&&)109
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::SubscribeHandler()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >&&)109
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::SubscribeHandler()109
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*)109
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*)109
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >&&)109
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::SubscribeHandler()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >&&)109
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::SubscribeHandler()109
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*)109
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*)109
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >&&)109
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::SubscribeHandler()109
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*)109
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*)109
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >&&)109
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::SubscribeHandler()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >&&)109
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >&&)109
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::SubscribeHandler()109
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*)109
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*)109
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >&&)109
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >&&)109
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::start()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler()109
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*)109
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*)109
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >&&)109
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*)109
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*)109
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*)109
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*)109
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*)109
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*)109
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 (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*)109
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*)109
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()() const109
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()() const109
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()() const109
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()() const109
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()() const109
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()() const109
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()() const109
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()() const109
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()() const109
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()() const109
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()() const109
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()() const109
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()() const109
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()() const109
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()() const109
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()() const109
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()() const109
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()() const109
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()() const109
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()() const109
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()() const109
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()() const109
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()() 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<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()() const109
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::topicName[abi:cxx11]() const110
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::hasMsg() const110
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>*)112
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>*)112
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>*)112
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>*)112
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()() const112
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()() const112
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&)113
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >&&)113
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&)113
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()() const113
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&)116
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>*)116
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*)116
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>*)116
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*)116
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*)116
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*)116
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*)116
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*)116
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::start()116
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&)116
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::SubscribeHandler()116
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&)116
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >&&)116
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()() const116
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()() const116
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()() const116
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()() const116
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()() const116
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()() const116
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::start()117
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*)117
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*)117
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()() const117
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const121
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::topicName[abi:cxx11]() const138
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>*)164
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>*)164
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()() const164
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::start()196
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&)196
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >&&)196
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::lastMsgTime() const215
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::start()218
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&)218
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::SubscribeHandler()218
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >&&)218
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::start()218
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&)218
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::SubscribeHandler()218
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&)218
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >&&)218
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~SubscribeHandler()218
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::~SubscribeHandler()218
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()218
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~SubscribeHandler()218
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::~SubscribeHandler()218
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::~SubscribeHandler()218
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()218
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()218
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()218
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()218
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::~SubscribeHandler()218
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::start()218
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&)218
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::SubscribeHandler()218
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&)218
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >&&)218
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()() const218
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()() const218
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::start()222
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&)222
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >&&)222
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::SubscribeHandler()226
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~SubscribeHandler()232
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::start()250
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&)250
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler()250
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >&&)250
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler()250
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >&&)250
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::lastMsgTime() const278
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&)309
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()() const309
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::getMsg()316
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&)327
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&)327
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::start()327
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&)327
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler()327
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >&&)327
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()() const327
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()() const327
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::start()337
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&)337
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >&&)337
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::start()352
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&)352
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >&&)352
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::start()359
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&)359
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::getMsg()382
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::SubscribeHandler()402
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::~SubscribeHandler()402
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler()402
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::~SubscribeHandler()402
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::SubscribeHandler()402
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::~SubscribeHandler()402
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler()403
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::start()421
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&)421
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::SubscribeHandler()421
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&)421
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >&&)421
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()() const421
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler()434
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler()434
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::start()436
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&)436
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >&&)436
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::~SubscribeHandler()436
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::start()436
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&)436
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >&&)436
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~SubscribeHandler()436
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::~SubscribeHandler()436
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::~SubscribeHandler()448
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::~SubscribeHandler()466
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::start()468
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&)468
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::SubscribeHandler()468
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&)468
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >&&)468
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::start()468
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&)468
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()468
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&)468
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >&&)468
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()() const468
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()() const468
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::~SubscribeHandler()500
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler()511
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::~SubscribeHandler()516
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::~SubscribeHandler()520
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::~SubscribeHandler()609
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::~SubscribeHandler()630
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler()634
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::start()650
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&)650
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >&&)650
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::~SubscribeHandler()654
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::getMsg()785
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::getMsg()794
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::hasMsg() const794
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler()838
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler()841
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~SubscribeHandler()842
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler()848
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~SubscribeHandler()936
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()936
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::~SubscribeHandler()986
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::~SubscribeHandler()1185
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~SubscribeHandler()1274
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::~SubscribeHandler()1277
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler()1455
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~SubscribeHandler()2105
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::hasMsg() const2749
mrs_lib::SubscribeHandlerOptions::SubscribeHandlerOptions()2795
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::getMsg()4162
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::getMsg()7231
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::getMsg()10174
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::hasMsg() const10174
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::getMsg()12879
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::hasMsg() const16698
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::hasMsg() const17475
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::hasMsg() const19232
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::hasMsg() const19465
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::getMsg()20431
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::hasMsg() const39584
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::getMsg()40923
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::lastMsgTime() const40923
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::getMsg()50662
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::hasMsg() const58775
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::hasMsg() const74020
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::getMsg()75059
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::hasMsg() const88226
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::hasMsg() const119805
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::hasMsg() const153739
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::getMsg()185441
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::hasMsg() const185447
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::getMsg()209928
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::lastMsgTime() const231741
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::getMsg()248940
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::hasMsg() const270312
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::hasMsg() const434747
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::getMsg()443233
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::lastMsgTime() const463787
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::getMsg()544540
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::newMsg() const562183
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::hasMsg() const584369
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::getMsg()796957
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::hasMsg() const1024845
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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..f2a7645bd6 --- /dev/null +++ b/mrs_lib/include/mrs_lib/subscribe_handler.h.func.html @@ -0,0 +1,3528 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/subscribe_handler.h - functions + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions:39886246.2 %
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()436
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&)436
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler()841
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*)109
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*)109
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*)106
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<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::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<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::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)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<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>*)112
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::ProcMagDeclination<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::ProcMagDeclination<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::ProcMagDeclination<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::ProcMagDeclination<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<2>*)0
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*)109
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*)109
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*)106
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<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::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<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::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)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::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>*)112
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::ProcMagDeclination<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::ProcMagDeclination<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::ProcMagDeclination<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::ProcMagDeclination<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<2>*)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::~SubscribeHandler()1277
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >&&)436
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::setNoMessageTimeout(ros::Duration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::start()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::SubscribeHandler()402
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::MagneticField_<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::MagneticField_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::MagneticField_<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::MagneticField_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<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::MagneticField_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<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::MagneticField_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::~SubscribeHandler()402
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >&&)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> > >::start()32
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::getMsg()10174
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&)32
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler()434
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&)32
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()466
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >&&)32
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()218
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&)218
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::SubscribeHandler()218
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&)109
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*)109
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*)109
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::~SubscribeHandler()436
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >&&)218
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()196
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::getMsg()12879
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&)196
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler()434
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&)32
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>*)164
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>*)164
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()630
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >&&)196
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()402
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()402
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()117
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::getMsg()4162
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&)113
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler()403
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>*)112
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>*)112
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::~SubscribeHandler()516
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >&&)113
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()352
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::getMsg()209928
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&)352
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler()634
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&)116
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>*)116
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*)116
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>*)116
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*)116
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::~SubscribeHandler()986
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >&&)352
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()650
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::getMsg()796957
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&)650
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler()1455
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&)309
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*)109
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*)116
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*)116
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*)109
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*)116
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*)116
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~SubscribeHandler()2105
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >&&)650
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()402
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::~SubscribeHandler()402
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()250
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::getMsg()316
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&)250
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler()250
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&)109
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*)109
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*)32
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*)109
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*)32
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::~SubscribeHandler()500
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >&&)250
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()222
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::getMsg()185441
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&)222
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::SubscribeHandler()226
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&)113
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*)109
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*)109
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::~SubscribeHandler()448
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >&&)222
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()421
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::getMsg()443233
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&)421
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::SubscribeHandler()421
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&)421
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~SubscribeHandler()842
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >&&)421
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()436
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::getMsg()50662
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&)436
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler()838
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&)327
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*)109
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::Float64Stamped_<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::Float64Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::Float64Stamped_<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::Float64Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
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*)109
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<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::Float64Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<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::Float64Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~SubscribeHandler()1274
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >&&)436
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()218
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::getMsg()785
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&)218
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::SubscribeHandler()218
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&)218
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~SubscribeHandler()436
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >&&)218
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()116
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&)116
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::SubscribeHandler()116
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&)116
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~SubscribeHandler()232
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >&&)116
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()109
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::getMsg()794
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::SubscribeHandler()109
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*)109
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*)109
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~SubscribeHandler()218
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >&&)109
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()109
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::getMsg()382
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::SubscribeHandler()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::~SubscribeHandler()218
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >&&)109
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()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::SubscribeHandler()109
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*)109
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*)109
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()218
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >&&)109
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()359
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::getMsg()20431
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&)359
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler()250
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&)327
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*)32
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*)32
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::~SubscribeHandler()609
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >&&)250
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()109
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::getMsg()22
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::SubscribeHandler()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~SubscribeHandler()218
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >&&)109
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()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::SubscribeHandler()109
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*)109
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*)109
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::~SubscribeHandler()218
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >&&)109
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()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::SubscribeHandler()109
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*)109
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*)109
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::~SubscribeHandler()218
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >&&)109
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()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::SubscribeHandler()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()218
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >&&)109
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()468
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::getMsg()75059
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&)468
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::SubscribeHandler()468
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&)468
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~SubscribeHandler()936
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >&&)468
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()32
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&)32
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()32
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&)32
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()64
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >&&)32
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()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()218
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >&&)109
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()32
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&)32
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler()32
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*)32
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*)32
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()64
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >&&)32
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()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::SubscribeHandler()109
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*)109
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*)109
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()218
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >&&)109
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()468
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::getMsg()544540
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&)468
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()468
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&)468
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()936
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >&&)468
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()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()218
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >&&)109
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()109
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&)109
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler()109
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*)109
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*)109
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::~SubscribeHandler()218
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >&&)109
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()95
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()511
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()520
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()327
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::getMsg()7231
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&)327
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler()327
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*)109
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*)109
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*)109
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*)109
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*)109
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*)109
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::~SubscribeHandler()654
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >&&)327
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()337
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::getMsg()248940
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&)337
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler()848
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*)109
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*)117
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<void (mrs_uav_state_estimators::passthrough::Passthrough::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::passthrough::Passthrough*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::passthrough::Passthrough::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::passthrough::Passthrough*)1
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*)109
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*)117
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<mrs_uav_state_estimators::passthrough::Passthrough>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::passthrough::Passthrough::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::passthrough::Passthrough*)1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::~SubscribeHandler()1185
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >&&)337
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()218
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::getMsg()40923
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&)218
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::SubscribeHandler()218
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&)218
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::~SubscribeHandler()436
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >&&)218
mrs_lib::SubscribeHandlerOptions::SubscribeHandlerOptions()2795
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::MagneticField_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::getNumPublishers() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<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() const10174
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() const16698
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() const17475
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() const434747
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() const1024845
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]() const138
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() const215
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() const19465
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() const185447
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() const463787
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() const119805
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::newMsg() const562183
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() const74020
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() const794
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() const278
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() const2749
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() const39584
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]() const110
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() const110
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() const88226
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() const19232
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() const105
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() const153739
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]() const121
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const105
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() const95
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() const231741
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() const270312
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() const584369
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]() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::lastMsgTime() const40923
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() const58775
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()() const109
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()() const109
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()() const106
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<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::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<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::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() 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::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()() const112
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::ProcMagDeclination<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::ProcMagDeclination<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::ProcMagDeclination<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::ProcMagDeclination<2>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcMagDeclination<2>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<sensor_msgs::MagneticField_<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::MagneticField_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<sensor_msgs::MagneticField_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::MagneticField_<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::MagneticField_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const0
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()() const32
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()() const109
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()() const109
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()() const32
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()() const164
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()() const112
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()() const116
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()() const116
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()() const116
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()() const309
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()() const109
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()() const116
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()() const116
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()() const109
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()() const109
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()() const32
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()() const113
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()() const109
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()() const421
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()() const327
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()() const109
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::Float64Stamped_<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::Float64Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::Float64Stamped_<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::Float64Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const0
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()() const218
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()() const116
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()() const109
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()() const109
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()() const109
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()() const327
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()() const32
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()() const109
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()() const109
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()() const109
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()() const109
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()() const468
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()() const32
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()() const109
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()() const32
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()() const109
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()() const468
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()() const109
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()() const109
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()() const109
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()() const109
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()() 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<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()() const109
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()() const117
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<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::passthrough::Passthrough::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::passthrough::Passthrough*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::passthrough::Passthrough::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::passthrough::Passthrough*)::{lambda()#1}::operator()() const1
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()() const218
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+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..f9267f7188 --- /dev/null +++ b/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.html @@ -0,0 +1,565 @@ + + + + + + + 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:2024-12-11 22:27:27Functions:39886246.2 %
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 <optional>
+      11             : 
+      12             : #include <ros/ros.h>
+      13             : #include <mrs_lib/timeout_manager.h>
+      14             : 
+      15             : namespace mrs_lib
+      16             : {
+      17             : 
+      18             :   static const ros::Duration no_timeout = ros::Duration(0);
+      19             : 
+      20             :   /* struct SubscribeHandlerOptions //{ */
+      21             :   
+      22             :   /**
+      23             :   * \brief A helper class to simplify setup of SubscribeHandler construction.
+      24             :   * This class is passed to the SubscribeHandler constructor and specifies its common options.
+      25             :   *
+      26             :   * \note Any option, passed directly to the SubscribeHandler constructor outside this structure, *OVERRIDES* values in this structure.
+      27             :   * The values in this structure can be thought of as default common values for all SubscribeHandler objects you want to create,
+      28             :   * and values passed directly to the constructor as specific options for the concrete handler.
+      29             :   *
+      30             :   */
+      31             :   struct SubscribeHandlerOptions
+      32             :   {
+      33             :     SubscribeHandlerOptions(const ros::NodeHandle& nh) : nh(nh) {}
+      34        2795 :     SubscribeHandlerOptions() = default;
+      35             :   
+      36             :     ros::NodeHandle nh;  /*!< \brief The ROS NodeHandle to be used for subscription. */
+      37             :   
+      38             :     std::string node_name = {};  /*!< \brief Name of the ROS node, using this handle (used for messages printed to console). */
+      39             :   
+      40             :     std::string topic_name = {};  /*!< \brief Name of the ROS topic to be handled. */
+      41             : 
+      42             :     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. */
+      43             :   
+      44             :     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. */
+      45             :   
+      46             :     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. */
+      47             :   
+      48             :     bool threadsafe = true;  /*!< \brief If true, all methods of the SubscribeHandler will be mutexed (using a recursive mutex) to avoid data races. */
+      49             :   
+      50             :     bool autostart = true;  /*!< \brief If true, the SubscribeHandler will be started after construction. Otherwise it has to be started using the start() method */
+      51             :   
+      52             :     uint32_t queue_size = 3;  /*!< \brief This parameter is passed to the NodeHandle when subscribing to the topic */
+      53             :   
+      54             :     ros::TransportHints transport_hints = ros::TransportHints();  /*!< \brief This parameter is passed to the NodeHandle when subscribing to the topic */
+      55             :   };
+      56             :   
+      57             :   //}
+      58             : 
+      59             :   /* SubscribeHandler class //{ */
+      60             :   /**
+      61             :   * \brief The main class for ROS topic subscription, message timeout handling etc.
+      62             :   *
+      63             :   * This class handles the raw ROS Subscriber for a specified topic. The last message received on the topic is remembered
+      64             :   * and may be retrieved by calling the getMsg() method. To check whether at least one message was received, use hasMsg()
+      65             :   * (if no message was received and you call getMsg(), a nullptr is returned and an error message is printed). To check
+      66             :   * whether a new message has arrived since the last call to getMsg(), use newMsg() (useful to check whether a new message
+      67             :   * needs to be processed in a loop or ROS Timer callback).
+      68             :   *
+      69             :   * A timeout callback function may be specified, which is called if no message is received on the topic for a specified
+      70             :   * timeout (use the \p timeout_callback and \p no_message_timeout parameters). If the timeout callback is not set by the
+      71             :   * user, an error message is printed to the console after the timeout by default.
+      72             :   *
+      73             :   * A message callback function may be specified, which is called whenever a new message is received (use the
+      74             :   * \p message_callback parameter).
+      75             :   *
+      76             :   * The callbacks and timeouts may be stopped and started using the stop() and start() methods.
+      77             :   *
+      78             :   * For more details, see the example below (I recommend starting with the simple_example which covers most use-cases).
+      79             :   *
+      80             :   */
+      81             :   template <typename MessageType>
+      82             :   class SubscribeHandler
+      83             :   {
+      84             :     public:
+      85             :     /*!
+      86             :       * \brief Convenience type for the template parameter to enable nice aliasing.
+      87             :       */
+      88             :       using message_type = MessageType;
+      89             : 
+      90             :     /*!
+      91             :       * \brief Type for the timeout callback function.
+      92             :       */
+      93             :       using timeout_callback_t = std::function<void(const std::string& topic_name, const ros::Time& last_msg)>;
+      94             : 
+      95             :     /*!
+      96             :       * \brief Convenience type for the message callback function.
+      97             :       */
+      98             :       using message_callback_t = std::function<void(typename MessageType::ConstPtr)>;
+      99             : 
+     100             :     public:
+     101             :     /*!
+     102             :       * \brief Returns the last received message on the topic, handled by this SubscribeHandler.
+     103             :       * Use hasMsg() first to check if at least one message is available or newMsg() to check if a new message
+     104             :       * since the last call to getMsg() is available.
+     105             :       *
+     106             :       * \return the last received message.
+     107             :       */
+     108     2652965 :       virtual typename MessageType::ConstPtr getMsg() {assert(m_pimpl); return m_pimpl->getMsg();};
+     109             : 
+     110             :     /*!
+     111             :       * \brief Returns the last received message on the topic without modifying the newMsg() or usedMsg() flags.
+     112             :       *
+     113             :       * \return the last received message.
+     114             :       */
+     115           0 :       virtual typename MessageType::ConstPtr peekMsg() const {assert(m_pimpl); return m_pimpl->peekMsg();};
+     116             : 
+     117             :     /*!
+     118             :       * \brief Used to check whether at least one message has been received on the handled topic.
+     119             :       *
+     120             :       * \return true if at least one message was received, otherwise false.
+     121             :       */
+     122     3120683 :       virtual bool hasMsg() const {assert(m_pimpl); return m_pimpl->hasMsg();};
+     123             : 
+     124             :     /*!
+     125             :       * \brief Used to check whether at least one message has been received on the handled topic since the last call to getMsg().
+     126             :       *
+     127             :       * \return true if at least one message was received, otherwise false.
+     128             :       */
+     129      562183 :       virtual bool newMsg() const {assert(m_pimpl); return m_pimpl->newMsg();};
+     130             : 
+     131             :     /*!
+     132             :       * \brief Used to check whether getMsg() was called at least once on this SubscribeHandler.
+     133             :       *
+     134             :       * \return true if getMsg() was called at least once, otherwise false.
+     135             :       */
+     136           0 :       virtual bool usedMsg() const {assert(m_pimpl); return m_pimpl->usedMsg();};
+     137             : 
+     138             :     /*!
+     139             :       * \brief Blocks until new data becomes available or until the timeout runs out or until a spurious wake-up.
+     140             :       *
+     141             :       * \param timeout    after this duration, this method will return a nullptr if no new data becomes available.
+     142             :       * \return           the message if a new message is available after waking up, \p nullptr otherwise.
+     143             :       */
+     144           0 :       virtual typename MessageType::ConstPtr waitForNew(const ros::WallDuration& timeout) {assert(m_pimpl); return m_pimpl->waitForNew(timeout);};
+     145             : 
+     146             :     /*!
+     147             :       * \brief Returns time of the last received message on the topic, handled by this SubscribeHandler.
+     148             :       *
+     149             :       * \return time when the last message was received.
+     150             :       */
+     151      737166 :       virtual ros::Time lastMsgTime() const {assert(m_pimpl); return m_pimpl->lastMsgTime();};
+     152             : 
+     153             :     /*!
+     154             :       * \brief Returns the resolved (full) name of the topic, handled by this SubscribeHandler.
+     155             :       *
+     156             :       * \return name of the handled topic.
+     157             :       */
+     158         369 :       virtual std::string topicName() const {assert(m_pimpl); return m_pimpl->topicName();};
+     159             : 
+     160             :     /*!
+     161             :       * \brief Returns the subscribed (unresolved) name of the topic, handled by this SubscribeHandler.
+     162             :       *
+     163             :       * \return name of the handled topic.
+     164             :       */
+     165           0 :       virtual std::string subscribedTopicName() const {assert(m_pimpl); return m_pimpl->m_topic_name;};
+     166             : 
+     167             :     /*!
+     168             :       * \brief Returns number of publishers registered at the topic.
+     169             :       *
+     170             :       * \return number of publishers.
+     171             :       */
+     172           0 :       virtual uint32_t getNumPublishers() const {assert(m_pimpl); return m_pimpl->getNumPublishers();};
+     173             : 
+     174             :     /*!
+     175             :       * \brief Sets the timeout for no received message.
+     176             :       *
+     177             :       * \param timeout    The new timeout for no received messages.
+     178             :       */
+     179           0 :       virtual void setNoMessageTimeout(const ros::Duration& timeout) {assert(m_pimpl); return m_pimpl->setNoMessageTimeout(timeout);};
+     180             : 
+     181             :     /*!
+     182             :       * \brief Enables the callbacks for the handled topic.
+     183             :       *
+     184             :       * If the SubscribeHandler object is stopped using the stop() method, no callbacks will be called
+     185             :       * until the start() method is called.
+     186             :       */
+     187        7133 :       virtual void start() {assert(m_pimpl); return m_pimpl->start();};
+     188             : 
+     189             :     /*!
+     190             :       * \brief Disables the callbacks for the handled topic.
+     191             :       *
+     192             :       * All messages after this method is called will be ignored until start() is called again.
+     193             :       * Timeout checking will also be disabled.
+     194             :       */
+     195           5 :       virtual void stop() {assert(m_pimpl); return m_pimpl->stop();};
+     196             : 
+     197             :     public:
+     198             :     /*!
+     199             :       * \brief Default constructor to avoid having to use pointers.
+     200             :       *
+     201             :       * It does nothing and the SubscribeHandler it constructs will also do nothing.
+     202             :       * Use some of the other constructors for actual construction of a usable SubscribeHandler.
+     203             :       */
+     204       12047 :       SubscribeHandler() {};
+     205             : 
+     206             :     /*!
+     207             :       * \brief Main constructor.
+     208             :       *
+     209             :       * \param options    The common options struct (see documentation of SubscribeHandlerOptions).
+     210             :       * \param topic_name Name of the topic to be handled by this subscribed.
+     211             :       * \param args       Remaining arguments to be parsed (see other constructors).
+     212             :       *
+     213             :       */
+     214             :       template<class ... Types>
+     215        7129 :       SubscribeHandler(
+     216             :             const SubscribeHandlerOptions& options,
+     217             :             const std::string& topic_name,
+     218             :             Types ... args
+     219             :           )
+     220             :       :
+     221             :         SubscribeHandler(
+     222        7129 :             [options, topic_name]()
+     223             :             {
+     224       14258 :               SubscribeHandlerOptions opts = options;
+     225        7129 :               opts.topic_name = topic_name;
+     226       14258 :               return opts;
+     227             :             }(),
+     228             :             args...
+     229        7129 :             )
+     230             :       {
+     231        7129 :       }
+     232             : 
+     233             :     /*!
+     234             :       * \brief Convenience constructor overload.
+     235             :       *
+     236             :       * \param options          The common options struct (see documentation of SubscribeHandlerOptions).
+     237             :       * \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).
+     238             :       *
+     239             :       */
+     240        7129 :       SubscribeHandler(
+     241             :             const SubscribeHandlerOptions& options,
+     242             :             const message_callback_t& message_callback = {}
+     243             :           )
+     244        7129 :       {
+     245        7129 :         if (options.threadsafe)
+     246             :         {
+     247        7129 :           m_pimpl = std::make_unique<ImplThreadsafe>
+     248             :             (
+     249             :               options,
+     250             :               message_callback
+     251             :             );
+     252             :         }
+     253             :         else
+     254             :         {
+     255           0 :           m_pimpl = std::make_unique<Impl>
+     256             :             (
+     257             :               options,
+     258             :               message_callback
+     259             :             );
+     260             :         }
+     261        7129 :         if (options.autostart)
+     262        7128 :           start();
+     263        7129 :       };
+     264             : 
+     265             :     /*!
+     266             :       * \brief Convenience constructor overload.
+     267             :       *
+     268             :       * \param options          The common options struct (see documentation of SubscribeHandlerOptions).
+     269             :       * \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.
+     270             :       * \param args             Remaining arguments to be parsed (see other constructors).
+     271             :       *
+     272             :       */
+     273             :       template <class ... Types>
+     274           1 :       SubscribeHandler(
+     275             :             const SubscribeHandlerOptions& options,
+     276             :             const timeout_callback_t& timeout_callback,
+     277             :             Types ... args
+     278             :           )
+     279             :       :
+     280             :         SubscribeHandler(
+     281           1 :             [options, timeout_callback]()
+     282             :             {
+     283           2 :               SubscribeHandlerOptions opts = options;
+     284           1 :               opts.timeout_callback = timeout_callback;
+     285           2 :               return opts;
+     286             :             }(),
+     287             :             args...
+     288           1 :             )
+     289             :       {
+     290           1 :       }
+     291             : 
+     292             :     /*!
+     293             :       * \brief Convenience constructor overload.
+     294             :       *
+     295             :       * \param options          The common options struct (see documentation of SubscribeHandlerOptions).
+     296             :       * \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.
+     297             :       * \param obj1             The object on which the callback method \p timeout_callback will be called.
+     298             :       * \param args             Remaining arguments to be parsed (see other constructors).
+     299             :       *
+     300             :       */
+     301             :       template <class ObjectType1, class ... Types>
+     302             :       SubscribeHandler(
+     303             :             const SubscribeHandlerOptions& options,
+     304             :             void (ObjectType1::*const timeout_callback) (const std::string& topic_name, const ros::Time& last_msg),
+     305             :             ObjectType1* const obj1,
+     306             :             Types ... args
+     307             :           )
+     308             :       :
+     309             :         SubscribeHandler(
+     310             :             [options, timeout_callback, obj1]()
+     311             :             {
+     312             :               SubscribeHandlerOptions opts = options;
+     313             :               opts.timeout_callback = timeout_callback == nullptr ? timeout_callback_t() : std::bind(timeout_callback, obj1, std::placeholders::_1, std::placeholders::_2);
+     314             :               return opts;
+     315             :             }(),
+     316             :             args...
+     317             :             )
+     318             :       {
+     319             :       }
+     320             : 
+     321             :     /*!
+     322             :       * \brief Convenience constructor overload.
+     323             :       *
+     324             :       * \param options          The common options struct (see documentation of SubscribeHandlerOptions).
+     325             :       * \param message_callback The callback method to call when a new message is received.
+     326             :       * \param obj2             The object on which the callback method \p timeout_callback will be called.
+     327             :       * \param args             Remaining arguments to be parsed (see other constructors).
+     328             :       *
+     329             :       */
+     330             :       template <class ObjectType2, class ... Types>
+     331        3059 :       SubscribeHandler(
+     332             :             const SubscribeHandlerOptions& options,
+     333             :             void (ObjectType2::*const message_callback) (typename MessageType::ConstPtr),
+     334             :             ObjectType2* const obj2,
+     335             :             Types ... args
+     336             :           )
+     337             :       :
+     338             :         SubscribeHandler(
+     339             :             options,
+     340        6118 :             message_callback == nullptr ? message_callback_t() : std::bind(message_callback, obj2, std::placeholders::_1),
+     341             :             args...
+     342        3059 :             )
+     343             :       {
+     344        3059 :       }
+     345             : 
+     346             :     /*!
+     347             :       * \brief Convenience constructor overload.
+     348             :       *
+     349             :       * \param options          The common options struct (see documentation of SubscribeHandlerOptions).
+     350             :       * \param message_callback The callback method to call when a new message is received.
+     351             :       * \param obj2             The object on which the callback method \p timeout_callback will be called.
+     352             :       * \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.
+     353             :       * \param obj1             The object on which the callback method \p timeout_callback will be called.
+     354             :       * \param args             Remaining arguments to be parsed (see other constructors).
+     355             :       *
+     356             :       */
+     357             :      template <class ObjectType1, class ObjectType2, class ... Types>
+     358             :      SubscribeHandler(
+     359             :            const SubscribeHandlerOptions& options,
+     360             :            void (ObjectType2::*const message_callback) (typename MessageType::ConstPtr),
+     361             :            ObjectType2* const obj2,
+     362             :            void (ObjectType1::*const timeout_callback) (const std::string& topic_name, const ros::Time& last_msg),
+     363             :            ObjectType1* const obj1,
+     364             :            Types ... args
+     365             :          )
+     366             :      :
+     367             :        SubscribeHandler(
+     368             :             [options, timeout_callback, obj1]()
+     369             :             {
+     370             :               SubscribeHandlerOptions opts = options;
+     371             :               opts.timeout_callback = timeout_callback == nullptr ? timeout_callback_t() : std::bind(timeout_callback, obj1, std::placeholders::_1, std::placeholders::_2);
+     372             :               return opts;
+     373             :             }(),
+     374             :             message_callback == nullptr ? message_callback_t() : std::bind(message_callback, obj2, std::placeholders::_1),
+     375             :             args...
+     376             :             )
+     377             :      {
+     378             :      }
+     379             : 
+     380             :     /*!
+     381             :       * \brief Convenience constructor overload.
+     382             :       *
+     383             :       * \param options            The common options struct (see documentation of SubscribeHandlerOptions).
+     384             :       * \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.
+     385             :       * \param args               Remaining arguments to be parsed (see other constructors).
+     386             :       *
+     387             :       */
+     388             :       template<class ... Types>
+     389             :       SubscribeHandler(
+     390             :             const SubscribeHandlerOptions& options,
+     391             :             const ros::Duration& no_message_timeout,
+     392             :             Types ... args
+     393             :           )
+     394             :       :
+     395             :         SubscribeHandler(
+     396             :             [options, no_message_timeout]()
+     397             :             {
+     398             :               SubscribeHandlerOptions opts = options;
+     399             :               opts.no_message_timeout = no_message_timeout;
+     400             :               return opts;
+     401             :             }(),
+     402             :             args...
+     403             :             )
+     404             :       {
+     405             :       }
+     406             : 
+     407             :     /*!
+     408             :       * \brief Convenience constructor overload.
+     409             :       *
+     410             :       * \param options          The common options struct (see documentation of SubscribeHandlerOptions).
+     411             :       * \param timeout_manager  The manager for timeout callbacks.
+     412             :       * \param args             Remaining arguments to be parsed (see other constructors).
+     413             :       *
+     414             :       */
+     415             :       template <class ... Types>
+     416             :       SubscribeHandler(
+     417             :             const SubscribeHandlerOptions& options,
+     418             :             mrs_lib::TimeoutManager& timeout_manager,
+     419             :             Types ... args
+     420             :           )
+     421             :       :
+     422             :         SubscribeHandler(
+     423             :             options,
+     424             :             timeout_manager = timeout_manager,
+     425             :             args...
+     426             :             )
+     427             :       {
+     428             :       }
+     429             : 
+     430       19196 :       ~SubscribeHandler() = default;
+     431             :       // delete copy constructor and assignment operator (forbid copying shandlers)
+     432             :       SubscribeHandler(const SubscribeHandler&) = delete;
+     433             :       SubscribeHandler& operator=(const SubscribeHandler&) = delete;
+     434             :       // define only move constructor and assignemnt operator
+     435          20 :       SubscribeHandler(SubscribeHandler&& other)
+     436          20 :       {
+     437          20 :         this->m_pimpl = std::move(other.m_pimpl);
+     438          20 :         other.m_pimpl = nullptr;
+     439          20 :       }
+     440        7000 :       SubscribeHandler& operator=(SubscribeHandler&& other)
+     441             :       {
+     442        7000 :         this->m_pimpl = std::move(other.m_pimpl);
+     443        7000 :         other.m_pimpl = nullptr;
+     444        7000 :         return *this;
+     445             :       }
+     446             : 
+     447             :     private:
+     448             :       class Impl;
+     449             :       class ImplThreadsafe;
+     450             :       std::unique_ptr<Impl> m_pimpl;
+     451             :   };
+     452             :   //}
+     453             : 
+     454             : /*!
+     455             :   * \brief Helper alias for convenient extraction of handled message type from a SubscribeHandlerPtr.
+     456             :   */
+     457             :   template<typename SubscribeHandler>
+     458             :   using message_type = typename SubscribeHandler::message_type;
+     459             : 
+     460             : /*!
+     461             :   * \brief Helper function for object construstion e.g. in case of member objects.
+     462             :   * This function is useful to avoid specifying object template parameters twice - once in definition of the variable and second time during object construction.
+     463             :   * 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
+     464             :   * argument and not as a return type.
+     465             :   *
+     466             :   * \param object The object to be constructed.
+     467             :   * \param args   These arguments are passed to the object constructor.
+     468             :   */
+     469             :   template<typename Class, class ... Types>
+     470             :   void construct_object(
+     471             :         Class& object,
+     472             :         Types ... args
+     473             :       )
+     474             :   {
+     475             :     object = Class(args...);
+     476             :   }
+     477             : }
+     478             : 
+     479             : #include <mrs_lib/impl/subscribe_handler.hpp>
+     480             : 
+     481             : #endif // SUBRSCRIBE_HANDLER_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + 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..5b1ea6c673 --- /dev/null +++ b/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.overview.html @@ -0,0 +1,141 @@ + + + + + + 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 + overview + + +
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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          85 :       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      143393 :       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          89 :       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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mrs_lib::ThreadTimer::~ThreadTimer()8
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mrs_lib::ROSTimer::~ROSTimer().28
mrs_lib::MRSTimer::MRSTimer()16
mrs_lib::MRSTimer::~MRSTimer().216
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mrs_lib::ROSTimer::~ROSTimer()8
mrs_lib::ROSTimer::~ROSTimer().28
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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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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:2024-12-11 22:27:27Functions:141877.8 %
Legend: Lines: + hit + not hit +
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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&)339
mrs_lib::Transformer::retryLookupNewest(bool)546
mrs_lib::Transformer::resolveFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1680
mrs_lib::Transformer::setDefaultFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)503707
mrs_lib::Transformer::frame_from[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)2114486
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&)2114535
mrs_lib::Transformer::frame_to[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)2117536
mrs_lib::Transformer::frame_from[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> > const&)2126413
mrs_lib::Transformer::frame_to[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> > const&)2126419
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/transformer.h.func.html b/mrs_lib/include/mrs_lib/transformer.h.func.html new file mode 100644 index 0000000000..2938d75b4a --- /dev/null +++ b/mrs_lib/include/mrs_lib/transformer.h.func.html @@ -0,0 +1,152 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/transformer.h - functions + + + + + + + + + + + + + + +
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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:2024-12-11 22:27:27Functions:141877.8 %
Legend: Lines: + hit + not hit +
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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&)2126413
mrs_lib::Transformer::frame_from[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)2114486
mrs_lib::Transformer::resolveFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1680
mrs_lib::Transformer::setDefaultFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)503707
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&)2114535
mrs_lib::Transformer::setDefaultPrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)339
mrs_lib::Transformer::setLookupTimeout(ros::Duration)2
mrs_lib::Transformer::retryLookupNewest(bool)546
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&)2126419
mrs_lib::Transformer::frame_to[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)2117536
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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Current view:top level - mrs_lib/include/mrs_lib - transformer.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:516085.0 %
Date:2024-12-11 22:27:27Functions: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      503707 :     void setDefaultFrame(const std::string& frame_id)
+     131             :     {
+     132     1007004 :       std::scoped_lock lck(mutex_);
+     133      503637 :       default_frame_id_ = frame_id;
+     134      503549 :     }
+     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         339 :     void setDefaultPrefix(const std::string& prefix)
+     154             :     {
+     155         678 :       std::scoped_lock lck(mutex_);
+     156         339 :       if (prefix.empty())
+     157           1 :         prefix_ = "";
+     158             :       else
+     159         338 :         prefix_ = prefix + "/";
+     160         339 :     }
+     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         546 :     void retryLookupNewest(const bool retry = true)
+     212             :     {
+     213         546 :       std::scoped_lock lck(mutex_);
+     214         546 :       retry_lookup_newest_ = retry;
+     215         546 :     }
+     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        1680 :     std::string resolveFrame(const std::string& frame_id)
+     249             :     {
+     250        3360 :       std::scoped_lock lck(mutex_);
+     251        3360 :       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     2126413 :     static constexpr const std::string& frame_from(const geometry_msgs::TransformStamped& msg)
+     551             :     {
+     552     2126413 :       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     2114486 :     static constexpr std::string& frame_from(geometry_msgs::TransformStamped& msg)
+     564             :     {
+     565     2114486 :       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     2126419 :     static constexpr const std::string& frame_to(const geometry_msgs::TransformStamped& msg)
+     575             :     {
+     576     2126419 :       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     2117536 :     static constexpr std::string& frame_to(geometry_msgs::TransformStamped& msg)
+     588             :     {
+     589     2117536 :       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     2114535 :     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     2114535 :       geometry_msgs::TransformStamped ret;
+     621     2114422 :       frame_from(ret) = from_frame;
+     622     2114535 :       frame_to(ret) = to_frame;
+     623     2114518 :       ret.header.stamp = time_stamp;
+     624     2114518 :       ret.transform = tf;
+     625     2114518 :       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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          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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+ + diff --git a/mrs_lib/include/mrs_lib/ukf.h.gcov.png b/mrs_lib/include/mrs_lib/ukf.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..5ff0c195cf01462559c2d215ff73531ccba8b968 GIT binary patch literal 1009 zcmVVZnw*eF6UkbNPcKv^=)Z-0Q! zJpOCb3;)gt!h)(=>rYJ;mpx*?e&gkd>qz1kmlx2?w3*=waK{Re25iE{aA|0?LwBLB zD%286Hparp@?@rt*(q~@O)Lu-sI9YR762H%)eEeP>jsec>m_g>I57TPquSJ;^7_)G zl~uzFsa&#*h;7`MbptD>6a$h1=STrU&7%M#>-co5=@WT@1j~La&RkO*Q0pZH+5e`h%4MY>6srN0- z$SR+XQ6J4*Zz%@v&ysnrBU*_=R!G&-Dz#a~HFva!`Vn0Iuh;AId6&=USNVKiv#|r; z((dppW8bhOc$fSvrjGpTb*(`lNUriGOv_55oW(XQVH_PG4w zavd8@E@8?sqP-$Qx2>QKxbfj@wVfG&N8MbqsLd4+EA-zj7wcyGZ3zS=3>1Hv;(>w9#UIiu@RVGaezSpwS0PV2k z(d4><$_;we9s$V^YEQ6@<#4xsGlXYRyd1(=7i3_TvC?$w#2Fc7^oOxY`xK_H3cf6- zmjyrAP;3_k-`~47%$<=@MlX1mbQ0MD{K8ow`7)K2)ZO--xlP4qhR@Y{KBz~5=NRwW z>UW-cfWF13i@wVuJ1gbPCTY1E@dJWVze0>rV8+INwVVJOiEd6EJzn3NW*i7|x_U}X fFW?ibQFVU<_#_im^V@F%00000NkvXXu0mjfeC5`c literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/utils.h.func-sort-c.html b/mrs_lib/include/mrs_lib/utils.h.func-sort-c.html new file mode 100644 index 0000000000..b8202db5d2 --- /dev/null +++ b/mrs_lib/include/mrs_lib/utils.h.func-sort-c.html @@ -0,0 +1,100 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/utils.h - functions + + + + + + + + + + + + + + +
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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)48480
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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)48480
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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       48480 :   int signum(T val)
+     139             :   {
+     140       48480 :     return (T(0) < val) - (val < T(0));
+     141             :   }
+     142             : 
+     143             : }  // namespace mrs_lib
+     144             : 
+     145             : #endif
+
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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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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:2024-12-11 22:27:27Functions: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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+
          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..9b872b9516 --- /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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Generated by: LCOV version 1.14
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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
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + 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 + + +
+ Top

+ Overview +
+ + diff --git a/mrs_lib/include/mrs_lib/visual_object.h.gcov.png b/mrs_lib/include/mrs_lib/visual_object.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..2e10038ce016599658d08255c1ff1a58c48536b4 GIT binary patch literal 493 zcmV+saxyxDMeS`bZ>XVXLfMj6TyyoCqrtw2lm0u z+o(BT9)Ca$kB$N})=&j%ZYAN~M-2fl?xgk-O5E?%?$Wmj&*fS>a()0krI)3KDBPQ< zbwrxU^|#FxFTAkosWR(uv15M}_ueAI2C<4{orGw`5gG}@y*-=U|C$HgxkA&LlV~x;9avy^{ zD4UE5G>^=dcMGuSb&_NEgJF^XJ)xiRS!%!{##?Fl?i#WPsloKLN2!F_$XG*)sD*#d joDtA2469xit&98vAi`i14~K$;00000NkvXXu0mjfj#t*F literal 0 HcmV?d00001 diff --git a/mrs_lib/src/attitude_converter/attitude_converter.cpp.func-sort-c.html b/mrs_lib/src/attitude_converter/attitude_converter.cpp.func-sort-c.html new file mode 100644 index 0000000000..46fee5e391 --- /dev/null +++ b/mrs_lib/src/attitude_converter/attitude_converter.cpp.func-sort-c.html @@ -0,0 +1,244 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/attitude_converter/attitude_converter.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions:394195.1 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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&)22734
mrs_lib::AttitudeConverter::getYawRateIntrinsic(double const&)114143
mrs_lib::AttitudeConverter::operator std::tuple<double&, double&, double&>()152259
mrs_lib::AttitudeConverter::getYaw()205262
mrs_lib::AttitudeConverter::calculateRPY()205267
mrs_lib::Vector3Converter::Vector3Converter(geometry_msgs::Vector3_<std::allocator<void> > const&)319783
mrs_lib::AttitudeConverter::setHeading(double const&)322682
mrs_lib::AttitudeConverter::getVectorZ()324678
mrs_lib::AttitudeConverter::getHeadingRate(mrs_lib::Vector3Converter const&)342512
mrs_lib::AttitudeConverter::operator tf2::Matrix3x3() const426507
mrs_lib::AttitudeConverter::operator tf2::Transform() const436785
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Quaternion<double, 0>)504178
mrs_lib::Vector3Converter::operator Eigen::Matrix<double, 3, 1, 0, 3, 1>() const667204
mrs_lib::AttitudeConverter::operator tf2::Quaternion() const985061
mrs_lib::AttitudeConverter::AttitudeConverter(tf2::Quaternion)1052007
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Matrix<double, 3, 3, 0, 3, 3>)1568841
mrs_lib::AttitudeConverter::operator Eigen::Matrix<double, 3, 3, 0, 3, 3>() const1668492
mrs_lib::AttitudeConverter::getHeading()1786185
mrs_lib::AttitudeConverter::AttitudeConverter(geometry_msgs::Quaternion_<std::allocator<void> >)3938058
mrs_lib::AttitudeConverter::AttitudeConverter(double const&, double const&, double const&, mrs_lib::RPY_convention_t const&)7825388
mrs_lib::AttitudeConverter::operator geometry_msgs::Quaternion_<std::allocator<void> >() const9378212
mrs_lib::AttitudeConverter::validateOrientation()14885891
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/src/attitude_converter/attitude_converter.cpp.func.html b/mrs_lib/src/attitude_converter/attitude_converter.cpp.func.html new file mode 100644 index 0000000000..03c33a9285 --- /dev/null +++ b/mrs_lib/src/attitude_converter/attitude_converter.cpp.func.html @@ -0,0 +1,244 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/attitude_converter/attitude_converter.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions:394195.1 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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&)319783
mrs_lib::Vector3Converter::Vector3Converter(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)22734
mrs_lib::Vector3Converter::Vector3Converter(double const&, double const&, double const&)1
mrs_lib::AttitudeConverter::getHeading()1786185
mrs_lib::AttitudeConverter::getVectorX()3
mrs_lib::AttitudeConverter::getVectorY()3
mrs_lib::AttitudeConverter::getVectorZ()324678
mrs_lib::AttitudeConverter::setHeading(double const&)322682
mrs_lib::AttitudeConverter::calculateRPY()205267
mrs_lib::AttitudeConverter::getHeadingRate(mrs_lib::Vector3Converter const&)342512
mrs_lib::AttitudeConverter::getExtrinsicRPY()1
mrs_lib::AttitudeConverter::getIntrinsicRPY()1
mrs_lib::AttitudeConverter::getYawRateIntrinsic(double const&)114143
mrs_lib::AttitudeConverter::validateOrientation()14885891
mrs_lib::AttitudeConverter::getYaw()205262
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> >)3938058
mrs_lib::AttitudeConverter::AttitudeConverter(tf::Quaternion)1
mrs_lib::AttitudeConverter::AttitudeConverter(tf2::Quaternion)1052007
mrs_lib::AttitudeConverter::AttitudeConverter(tf2::Matrix3x3)1
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Quaternion<double, 0>)504178
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Matrix<double, 3, 3, 0, 3, 3>)1568841
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&)7825388
mrs_lib::AttitudeConverter::operator std::tuple<double&, double&, double&>()152259
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>() const667204
mrs_lib::AttitudeConverter::operator geometry_msgs::Quaternion_<std::allocator<void> >() const9378212
mrs_lib::AttitudeConverter::operator tf::Quaternion() const1
mrs_lib::AttitudeConverter::operator tf2::Quaternion() const985061
mrs_lib::AttitudeConverter::operator tf2::Matrix3x3() const426507
mrs_lib::AttitudeConverter::operator tf2::Transform() const436785
mrs_lib::AttitudeConverter::operator Eigen::Matrix<double, 3, 3, 0, 3, 3>() const1668492
mrs_lib::AttitudeConverter::operator mrs_lib::EulerAttitude() const1
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/attitude_converter/attitude_converter.cpp.gcov.frameset.html b/mrs_lib/src/attitude_converter/attitude_converter.cpp.gcov.frameset.html new file mode 100644 index 0000000000..4736f83ffd --- /dev/null +++ b/mrs_lib/src/attitude_converter/attitude_converter.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/attitude_converter/attitude_converter.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/src/attitude_converter/attitude_converter.cpp.gcov.html b/mrs_lib/src/attitude_converter/attitude_converter.cpp.gcov.html new file mode 100644 index 0000000000..c1770bbdd5 --- /dev/null +++ b/mrs_lib/src/attitude_converter/attitude_converter.cpp.gcov.html @@ -0,0 +1,561 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/attitude_converter/attitude_converter.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:2024-12-11 22:27:27Functions:394195.1 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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       22734 : Vector3Converter::Vector3Converter(const Eigen::Vector3d& vector3) {
+      33             : 
+      34       22734 :   vector3_[0] = vector3[0];
+      35       22734 :   vector3_[1] = vector3[1];
+      36       22734 :   vector3_[2] = vector3[2];
+      37       22734 : }
+      38             : 
+      39      319783 : Vector3Converter::Vector3Converter(const geometry_msgs::Vector3& vector3) {
+      40             : 
+      41      319741 :   vector3_[0] = vector3.x;
+      42      319750 :   vector3_[1] = vector3.y;
+      43      319709 :   vector3_[2] = vector3.z;
+      44      319730 : }
+      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      667204 : Vector3Converter::operator Eigen::Vector3d() const {
+      59             : 
+      60      667204 :   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     7825388 : AttitudeConverter::AttitudeConverter(const double& roll, const double& pitch, const double& yaw, const RPY_convention_t& format) {
+      79             : 
+      80     7823775 :   switch (format) {
+      81             : 
+      82     7823698 :     case RPY_EXTRINSIC: {
+      83     7823698 :       tf2_quaternion_.setRPY(roll, pitch, yaw);
+      84     7824158 :       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     7824235 :   validateOrientation();
+     104     7824850 : }
+     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     3938058 : AttitudeConverter::AttitudeConverter(const geometry_msgs::Quaternion quaternion) {
+     117     3937445 :   tf2_quaternion_.setX(quaternion.x);
+     118     3936950 :   tf2_quaternion_.setY(quaternion.y);
+     119     3937717 :   tf2_quaternion_.setZ(quaternion.z);
+     120     3937961 :   tf2_quaternion_.setW(quaternion.w);
+     121             : 
+     122     3938037 :   validateOrientation();
+     123     3937082 : }
+     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      504178 : AttitudeConverter::AttitudeConverter(const Eigen::Quaterniond quaternion) {
+     132      504178 :   tf2_quaternion_.setX(quaternion.x());
+     133      504177 :   tf2_quaternion_.setY(quaternion.y());
+     134      504178 :   tf2_quaternion_.setZ(quaternion.z());
+     135      504178 :   tf2_quaternion_.setW(quaternion.w());
+     136             : 
+     137      504178 :   validateOrientation();
+     138      504177 : }
+     139             : 
+     140     1568841 : AttitudeConverter::AttitudeConverter(const Eigen::Matrix3d matrix) {
+     141     1565687 :   Eigen::Quaterniond quaternion = Eigen::Quaterniond(matrix);
+     142             : 
+     143     1566968 :   tf2_quaternion_.setX(quaternion.x());
+     144     1565343 :   tf2_quaternion_.setY(quaternion.y());
+     145     1566906 :   tf2_quaternion_.setZ(quaternion.z());
+     146     1566253 :   tf2_quaternion_.setW(quaternion.w());
+     147             : 
+     148     1566738 :   validateOrientation();
+     149     1563469 : }
+     150             : 
+     151     1052007 : AttitudeConverter::AttitudeConverter(const tf2::Quaternion quaternion) {
+     152             : 
+     153     1049560 :   tf2_quaternion_ = quaternion;
+     154             : 
+     155     1049560 :   validateOrientation();
+     156     1049755 : }
+     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      985061 : AttitudeConverter::operator tf2::Quaternion() const {
+     170      985061 :   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     9378212 : AttitudeConverter::operator geometry_msgs::Quaternion() const {
+     186             : 
+     187     9378212 :   geometry_msgs::Quaternion geom_quaternion;
+     188             : 
+     189     9374643 :   geom_quaternion.x = tf2_quaternion_.x();
+     190     9369648 :   geom_quaternion.y = tf2_quaternion_.y();
+     191     9370648 :   geom_quaternion.z = tf2_quaternion_.z();
+     192     9371555 :   geom_quaternion.w = tf2_quaternion_.w();
+     193             : 
+     194     9371930 :   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     1668492 : AttitudeConverter::operator Eigen::Matrix3d() const {
+     206             : 
+     207     1668492 :   Eigen::Quaterniond quaternion(tf2_quaternion_.w(), tf2_quaternion_.x(), tf2_quaternion_.y(), tf2_quaternion_.z());
+     208             : 
+     209     3336566 :   return quaternion.toRotationMatrix();
+     210             : }
+     211             : 
+     212      152259 : AttitudeConverter::operator std::tuple<double&, double&, double&>() {
+     213             : 
+     214      152259 :   tf2::Matrix3x3(tf2_quaternion_).getRPY(roll_, pitch_, yaw_);
+     215             : 
+     216      152259 :   return std::tuple<double&, double&, double&>{roll_, pitch_, yaw_};
+     217             : }
+     218             : 
+     219      426507 : AttitudeConverter::operator tf2::Matrix3x3() const {
+     220             : 
+     221      426507 :   return tf2::Matrix3x3(tf2_quaternion_);
+     222             : }
+     223             : 
+     224      436785 : AttitudeConverter::operator tf2::Transform() const {
+     225             : 
+     226      436785 :   return tf2::Transform(tf2_quaternion_);
+     227             : }
+     228             : 
+     229             : //}
+     230             : 
+     231             : /* getters //{ */
+     232             : 
+     233      205262 : double AttitudeConverter::getYaw(void) {
+     234             : 
+     235      205262 :   calculateRPY();
+     236             : 
+     237      205262 :   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     1786185 : double AttitudeConverter::getHeading(void) {
+     255             : 
+     256     1786185 :   tf2::Vector3 b1 = tf2::Vector3(1, 0, 0);
+     257             : 
+     258     1785545 :   tf2::Vector3 x_new = tf2::Transform(tf2_quaternion_) * b1;
+     259             : 
+     260     1784936 :   if (fabs(x_new[0]) <= 1e-3 && fabs(x_new[1]) <= 1e-3) {
+     261           1 :     throw GetHeadingException();
+     262             :   }
+     263             : 
+     264     3566961 :   return atan2(x_new[1], x_new[0]);
+     265             : }
+     266             : 
+     267      114143 : 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      114143 :   if (fabs(heading_rate) < 1e-3) {
+     272       81936 :     return 0;
+     273             :   }
+     274             : 
+     275             :   // prep
+     276       32207 :   Eigen::Matrix3d R = *this;
+     277             : 
+     278             :   // construct the heading orbital velocity vector
+     279       32207 :   Eigen::Vector3d heading_vector   = Eigen::Vector3d(R(0, 0), R(1, 0), 0);
+     280       32207 :   Eigen::Vector3d orbital_velocity = Eigen::Vector3d(0, 0, heading_rate).cross(heading_vector);
+     281             : 
+     282             :   // projector to the heading orbital velocity vector subspace
+     283       32207 :   Eigen::Vector3d b_orb = Eigen::Vector3d(0, 0, 1).cross(heading_vector);
+     284       32207 :   b_orb.normalize();
+     285       32207 :   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       32207 :   Eigen::Vector3d projected = P * R.col(1);
+     289             : 
+     290             : 
+     291       32207 :   double orbital_velocity_norm = orbital_velocity.norm();
+     292       32207 :   double projected_norm        = projected.norm();
+     293             : 
+     294       32207 :   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       32207 :   double direction = mrs_lib::signum(orbital_velocity.dot(projected));
+     300             : 
+     301       32207 :   double output_yaw_rate = direction * (orbital_velocity_norm / projected_norm);
+     302             : 
+     303       32207 :   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       32207 :   return output_yaw_rate;
+     310             : }
+     311             : 
+     312      342512 : double AttitudeConverter::getHeadingRate(const Vector3Converter& attitude_rate) {
+     313             : 
+     314             :   // prep
+     315      342512 :   Eigen::Matrix3d R = *this;
+     316      342490 :   Eigen::Vector3d w = attitude_rate;
+     317             : 
+     318             :   // create the angular velocity tensor
+     319      342393 :   Eigen::Matrix3d W;
+     320      342401 :   W << 0, -w[2], w[1], w[2], 0, -w[0], -w[1], w[0], 0;
+     321             : 
+     322             :   // R derivative
+     323      342393 :   Eigen::Matrix3d R_d = R * W;
+     324             : 
+     325             :   // atan2 derivative
+     326      342473 :   double rx = R(0, 0);  // x-component of body X
+     327      342259 :   double ry = R(1, 0);  // y-component of body Y
+     328             : 
+     329      342384 :   double denom = rx * rx + ry * ry;
+     330             : 
+     331      342384 :   if (fabs(denom) <= 1e-5) {
+     332           0 :     ROS_ERROR("[AttitudeConverter]: getHeadingRate(): denominator near zero!!!");
+     333           0 :     throw MathErrorException();
+     334             :   }
+     335             : 
+     336      342384 :   double atan2_d_x = -ry / denom;
+     337      342384 :   double atan2_d_y = rx / denom;
+     338             : 
+     339             :   // atan2 total differential
+     340      342384 :   double heading_rate = atan2_d_x * R_d(0, 0) + atan2_d_y * R_d(1, 0);
+     341             : 
+     342      342425 :   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      324678 : Vector3Converter AttitudeConverter::getVectorZ(void) {
+     364             : 
+     365      324678 :   tf2::Vector3 b3 = tf2::Vector3(0, 0, 1);
+     366             : 
+     367      324684 :   tf2::Vector3 new_b3 = tf2::Transform(tf2_quaternion_) * b3;
+     368             : 
+     369      649363 :   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      322682 : AttitudeConverter AttitudeConverter::setHeading(const double& heading) {
+     404             : 
+     405             :   // get the Z unit vector after the original rotation
+     406      322682 :   Eigen::Vector3d b3 = getVectorZ();
+     407             : 
+     408             :   // check for singularity: z component of the thrust vector is 0
+     409      322679 :   if (fabs(b3[2]) < 1e-3) {
+     410           2 :     throw SetHeadingException();
+     411             :   }
+     412             : 
+     413             :   // get the desired heading as a vector in 3D
+     414      322673 :   Eigen::Vector3d h(cos(heading), sin(heading), 0);
+     415             : 
+     416      322679 :   Eigen::Matrix3d new_R;
+     417             : 
+     418      322677 :   new_R.col(2) = b3;
+     419             : 
+     420             :   // construct the oblique projection
+     421      322661 :   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      643609 :   Eigen::MatrixXd A = Eigen::MatrixXd(3, 2);
+     425      322396 :   A.col(0)          = projector_body_z_compl.col(0);
+     426      322252 :   A.col(1)          = projector_body_z_compl.col(1);
+     427             : 
+     428             :   // create the basis of the projection null-space complement
+     429      642945 :   Eigen::MatrixXd B = Eigen::MatrixXd(3, 2);
+     430      322401 :   B.col(0)          = Eigen::Vector3d(1, 0, 0);
+     431      322207 :   B.col(1)          = Eigen::Vector3d(0, 1, 0);
+     432             : 
+     433             :   // oblique projector to <range_basis>
+     434      641578 :   Eigen::MatrixXd Bt_A               = B.transpose() * A;
+     435      642838 :   Eigen::MatrixXd Bt_A_pseudoinverse = ((Bt_A.transpose() * Bt_A).inverse()) * Bt_A.transpose();
+     436      320953 :   Eigen::MatrixXd oblique_projector  = A * Bt_A_pseudoinverse * B.transpose();
+     437             : 
+     438      321521 :   new_R.col(0) = oblique_projector * h;
+     439      320670 :   new_R.col(0).normalize();
+     440             : 
+     441             :   // | ------------------------- body y ------------------------- |
+     442             : 
+     443      320906 :   new_R.col(1) = new_R.col(2).cross(new_R.col(0));
+     444      318489 :   new_R.col(1).normalize();
+     445             : 
+     446      641490 :   return AttitudeConverter(new_R);
+     447             : }
+     448             : 
+     449             : //}
+     450             : 
+     451             : // | ------------------------ internal ------------------------ |
+     452             : 
+     453             : /* calculateRPY() //{ */
+     454             : 
+     455      205267 : void AttitudeConverter::calculateRPY(void) {
+     456             : 
+     457      205267 :   if (!got_rpy_) {
+     458             : 
+     459      205267 :     tf2::Matrix3x3(tf2_quaternion_).getRPY(roll_, pitch_, yaw_);
+     460             :   }
+     461      205267 : }
+     462             : 
+     463             : //}
+     464             : 
+     465             : /* validateOrientation() //{ */
+     466             : 
+     467    14885891 : void AttitudeConverter::validateOrientation(void) {
+     468             : 
+     469    29763829 :   if (!std::isfinite(tf2_quaternion_.x()) || !std::isfinite(tf2_quaternion_.y()) || !std::isfinite(tf2_quaternion_.z()) ||
+     470    14872984 :       !std::isfinite(tf2_quaternion_.w())) {
+     471           2 :     throw InvalidAttitudeException();
+     472             :   }
+     473    14876333 : }
+     474             : 
+     475             : //}
+     476             : 
+     477             : }  // namespace mrs_lib
+
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Test:MRS UAV System - Test coverage reportLines:21222494.6 %
Date:2024-12-11 22:27:27Functions:394195.1 %
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attitude_converter.cpp +
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Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:21222494.6 %
Date:2024-12-11 22:27:27Functions:394195.1 %
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attitude_converter.cpp +
94.6%94.6%
+ 		94.6 %212 / 22495.1 %39 / 41
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/batch_visualizer/batch_visualizer.cpp.func-sort-c.html b/mrs_lib/src/batch_visualizer/batch_visualizer.cpp.func-sort-c.html new file mode 100644 index 0000000000..55a95ba424 --- /dev/null +++ b/mrs_lib/src/batch_visualizer/batch_visualizer.cpp.func-sort-c.html @@ -0,0 +1,172 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/batch_visualizer/batch_visualizer.cpp - functions + + + + + + + + + + + + + + +
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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:2024-12-11 22:27:27Functions:132356.5 %
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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()218
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> >)218
mrs_lib::BatchVisualizer::BatchVisualizer()218
mrs_lib::BatchVisualizer::clearBuffers()240
mrs_lib::BatchVisualizer::clearVisuals()240
mrs_lib::BatchVisualizer::~BatchVisualizer()436
mrs_lib::BatchVisualizer::addNullPoint()458
mrs_lib::BatchVisualizer::addNullLine()470
mrs_lib::BatchVisualizer::addNullTriangle()470
mrs_lib::BatchVisualizer::publish()470
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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:2024-12-11 22:27:27Functions:132356.5 %
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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::initialize()218
mrs_lib::BatchVisualizer::addCylinder(mrs_lib::geometry::Cylinder const&, double, double, double, double, bool, bool, int, ros::Duration const&)0
mrs_lib::BatchVisualizer::addNullLine()470
mrs_lib::BatchVisualizer::addTriangle(mrs_lib::geometry::Triangle const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::addNullPoint()458
mrs_lib::BatchVisualizer::addRectangle(mrs_lib::geometry::Rectangle const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::clearBuffers()240
mrs_lib::BatchVisualizer::clearVisuals()240
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()470
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()470
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> >)218
mrs_lib::BatchVisualizer::BatchVisualizer()218
mrs_lib::BatchVisualizer::~BatchVisualizer()436
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+ + + diff --git a/mrs_lib/src/batch_visualizer/batch_visualizer.cpp.gcov.frameset.html b/mrs_lib/src/batch_visualizer/batch_visualizer.cpp.gcov.frameset.html new file mode 100644 index 0000000000..5a116ddf18 --- /dev/null +++ b/mrs_lib/src/batch_visualizer/batch_visualizer.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/batch_visualizer/batch_visualizer.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/src/batch_visualizer/batch_visualizer.cpp.gcov.html b/mrs_lib/src/batch_visualizer/batch_visualizer.cpp.gcov.html new file mode 100644 index 0000000000..4386b1a0b6 --- /dev/null +++ b/mrs_lib/src/batch_visualizer/batch_visualizer.cpp.gcov.html @@ -0,0 +1,440 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/batch_visualizer/batch_visualizer.cpp + + + + + + + + + + + + + + +
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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:2024-12-11 22:27:27Functions:132356.5 %
Legend: Lines: + hit + not hit +
+
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+
          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         218 : BatchVisualizer::BatchVisualizer() {
+      10         218 : }
+      11             : 
+      12         436 : BatchVisualizer::~BatchVisualizer() {
+      13         436 : }
+      14             : 
+      15         218 : BatchVisualizer::BatchVisualizer(ros::NodeHandle &nh, const std::string marker_topic_name, const std::string parent_frame) {
+      16         218 :   this->parent_frame      = parent_frame;
+      17         218 :   this->marker_topic_name = marker_topic_name;
+      18         218 :   initialize();
+      19             : 
+      20         218 :   this->visual_pub = nh.advertise<visualization_msgs::MarkerArray>(marker_topic_name.c_str(), 1);
+      21         218 :   publish();
+      22         218 : }
+      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         218 : void BatchVisualizer::initialize() {
+      38         218 :   if (initialized) {
+      39           0 :     return;
+      40             :   }
+      41             : 
+      42             :   // setup points marker
+      43         218 :   std::stringstream ss;
+      44         218 :   ss << marker_topic_name << "_points";
+      45         218 :   points_marker.header.frame_id    = parent_frame;
+      46         218 :   points_marker.header.stamp       = ros::Time::now();
+      47         218 :   points_marker.ns                 = ss.str().c_str();
+      48         218 :   points_marker.action             = visualization_msgs::Marker::ADD;
+      49         218 :   points_marker.pose.orientation.w = 1.0;
+      50         218 :   points_marker.id                 = 8;
+      51         218 :   points_marker.type               = visualization_msgs::Marker::POINTS;
+      52             : 
+      53         218 :   points_marker.scale.x = points_scale;
+      54         218 :   points_marker.scale.y = points_scale;
+      55         218 :   points_marker.color.a = 1.0;
+      56             : 
+      57             :   // setup lines marker
+      58         218 :   ss.str(std::string());
+      59         218 :   ss << marker_topic_name << "_lines";
+      60         218 :   lines_marker.header.frame_id    = parent_frame;
+      61         218 :   lines_marker.header.stamp       = ros::Time::now();
+      62         218 :   lines_marker.ns                 = ss.str().c_str();
+      63         218 :   lines_marker.action             = visualization_msgs::Marker::ADD;
+      64         218 :   lines_marker.pose.orientation.w = 1.0;
+      65         218 :   lines_marker.id                 = 5;
+      66         218 :   lines_marker.type               = visualization_msgs::Marker::LINE_LIST;
+      67             : 
+      68         218 :   lines_marker.scale.x = lines_scale;
+      69         218 :   lines_marker.color.a = 1.0;
+      70             : 
+      71             :   // setup triangles marker
+      72         218 :   ss.str(std::string());
+      73         218 :   ss << marker_topic_name << "_triangles";
+      74         218 :   triangles_marker.header.frame_id    = parent_frame;
+      75         218 :   triangles_marker.header.stamp       = ros::Time::now();
+      76         218 :   triangles_marker.ns                 = ss.str().c_str();
+      77         218 :   triangles_marker.action             = visualization_msgs::Marker::ADD;
+      78         218 :   triangles_marker.pose.orientation.w = 1.0;
+      79         218 :   triangles_marker.id                 = 11;
+      80         218 :   triangles_marker.type               = visualization_msgs::Marker::TRIANGLE_LIST;
+      81             : 
+      82         218 :   triangles_marker.scale.x = 1;
+      83         218 :   triangles_marker.scale.y = 1;
+      84         218 :   triangles_marker.scale.z = 1;
+      85         218 :   triangles_marker.color.a = 1.0;
+      86             : 
+      87         218 :   ROS_INFO("[%s]: Batch visualizer loaded with default values", ros::this_node::getName().c_str());
+      88         218 :   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         458 : void BatchVisualizer::addNullPoint() {
+     178         458 :   geometry_msgs::Point p;
+     179         458 :   p.x = 10000.0;
+     180         458 :   p.y = 0.0;
+     181         458 :   p.z = 0.0;
+     182             : 
+     183         458 :   std_msgs::ColorRGBA c;
+     184         458 :   c.r = 1.0;
+     185         458 :   c.g = 1.0;
+     186         458 :   c.b = 1.0;
+     187         458 :   c.a = 1.0;
+     188             : 
+     189         458 :   points_marker.points.push_back(p);
+     190         458 :   points_marker.colors.push_back(c);
+     191         458 : }
+     192             : //}
+     193             : 
+     194             : /* addNullLine //{ */
+     195         470 : void BatchVisualizer::addNullLine() {
+     196         470 :   geometry_msgs::Point p1, p2;
+     197         470 :   p1.x = 10000.0;
+     198         470 :   p1.y = 0.0;
+     199         470 :   p1.z = 0.0;
+     200             : 
+     201         470 :   p2.x = 10001.0;
+     202         470 :   p2.y = 0.0;
+     203         470 :   p2.z = 0.0;
+     204             : 
+     205         470 :   std_msgs::ColorRGBA c;
+     206         470 :   c.r = 1.0;
+     207         470 :   c.g = 1.0;
+     208         470 :   c.b = 1.0;
+     209             : 
+     210         470 :   lines_marker.colors.push_back(c);
+     211         470 :   lines_marker.colors.push_back(c);
+     212             : 
+     213         470 :   lines_marker.points.push_back(p1);
+     214         470 :   lines_marker.points.push_back(p2);
+     215         470 : }
+     216             : //}
+     217             : 
+     218             : /* addNullTriangle //{ */
+     219         470 : void BatchVisualizer::addNullTriangle() {
+     220         470 :   geometry_msgs::Point p1, p2, p3;
+     221         470 :   p1.x = 10000.0;
+     222         470 :   p1.y = 0.0;
+     223         470 :   p1.z = 0.0;
+     224             : 
+     225         470 :   p2.x = 10001.0;
+     226         470 :   p2.y = 0.0;
+     227         470 :   p2.z = 0.0;
+     228             : 
+     229         470 :   std_msgs::ColorRGBA c;
+     230         470 :   c.r = 1.0;
+     231         470 :   c.g = 1.0;
+     232         470 :   c.b = 1.0;
+     233             : 
+     234         470 :   p3.x = 10001.0;
+     235         470 :   p3.y = 0.01;
+     236         470 :   p3.z = 0.0;
+     237         470 :   triangles_marker.colors.push_back(c);
+     238         470 :   triangles_marker.colors.push_back(c);
+     239         470 :   triangles_marker.colors.push_back(c);
+     240             : 
+     241         470 :   triangles_marker.points.push_back(p1);
+     242         470 :   triangles_marker.points.push_back(p2);
+     243         470 :   triangles_marker.points.push_back(p3);
+     244         470 : }
+     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         240 : void BatchVisualizer::clearBuffers() {
+     261         240 :   visual_objects.clear();
+     262         240 : }
+     263             : //}
+     264             : 
+     265             : /* clearVisuals //{ */
+     266         240 : void BatchVisualizer::clearVisuals() {
+     267         480 :   std::set<VisualObject> visual_objects_tmp;
+     268         240 :   visual_objects_tmp.insert(visual_objects.begin(), visual_objects.end());
+     269             : 
+     270         240 :   visual_objects.clear();
+     271         240 :   publish();
+     272             : 
+     273         240 :   visual_objects.insert(visual_objects_tmp.begin(), visual_objects_tmp.end());
+     274         240 : }
+     275             : //}
+     276             : 
+     277             : /* publish //{ */
+     278         470 : void BatchVisualizer::publish() {
+     279             : 
+     280         470 :   msg.markers.clear();
+     281         470 :   points_marker.points.clear();
+     282         470 :   points_marker.colors.clear();
+     283             : 
+     284         470 :   lines_marker.points.clear();
+     285         470 :   lines_marker.colors.clear();
+     286             : 
+     287         470 :   triangles_marker.points.clear();
+     288         470 :   triangles_marker.colors.clear();
+     289             : 
+     290             :   // fill marker messages and remove objects that have timed out
+     291         530 :   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         470 :   auto now = ros::Time::now();
+     319             : 
+     320         470 :   if (!points_marker.points.empty()) {
+     321          12 :     points_marker.scale.x = points_scale;
+     322          12 :     points_marker.scale.y = points_scale;
+     323             :   } else {
+     324         458 :     addNullPoint();
+     325             :   }
+     326         470 :   points_marker.header.stamp = now;
+     327         470 :   msg.markers.push_back(points_marker);
+     328             : 
+     329         470 :   if (!lines_marker.points.empty()) {
+     330           0 :     lines_marker.scale.x = lines_scale;
+     331             :   } else {
+     332         470 :     addNullLine();
+     333             :   }
+     334         470 :   lines_marker.header.stamp = now;
+     335         470 :   msg.markers.push_back(lines_marker);
+     336             : 
+     337         470 :   if (!triangles_marker.points.empty()) {
+     338           0 :     triangles_marker.header.stamp = now;
+     339             :   } else {
+     340         470 :     addNullTriangle();
+     341             :   }
+     342         470 :   triangles_marker.header.stamp = now;
+     343         470 :   msg.markers.push_back(triangles_marker);
+     344             : 
+     345         470 :   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         470 :   visual_pub.publish(msg);
+     353         470 : }
+     354             : //}
+     355             : 
+     356             : }  // namespace mrs_lib
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/batch_visualizer/batch_visualizer.cpp.gcov.overview.html b/mrs_lib/src/batch_visualizer/batch_visualizer.cpp.gcov.overview.html new file mode 100644 index 0000000000..4222da3c96 --- /dev/null +++ b/mrs_lib/src/batch_visualizer/batch_visualizer.cpp.gcov.overview.html @@ -0,0 +1,109 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/batch_visualizer/batch_visualizer.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 + + +
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+ + diff --git a/mrs_lib/src/batch_visualizer/batch_visualizer.cpp.gcov.png b/mrs_lib/src/batch_visualizer/batch_visualizer.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..589d1dd69d27c156fbd83eb79cd9d9dd81c37ada GIT binary patch literal 1265 zcmV+#se&lDtK+-3^Gtsn^m|xG#8Agq4!f7`=a8$U5a@V)VUr;zei_G4=J>X%pO!)krPgM-N+0BR@@@4mq2rL%fA4?xSImT1L+D|xY)=HV;wS0c)dkn zTg0TyykwEQrv&1`Vq86>e%?_Jct#rl5dE~#43R}E3L4ngPuoUBKd@<_gNgu9w=pkM z>M^oFRdGEKRphucG3%E0gLI#sktz=~z0uEr_zBWQc@HOVZ8K6Cx6*T9w!=KiGzBn` zuZ5GgTHp|mHqt)`CL12TuQi!1j}d4$N)5M>B;1pJC&K9v01#g7vBK3Y;d=zy&3*>q z%2Vzuwanj%a9ZF1;i~y!sBH*G1pXf3AmcY8oNo)bEw{YM)x;Zj zrx3uR*=6u2{6GfitF2XAYAe?`zKDRn^zXL~4>AHn7`^1Hg$kcH21soHUKr zIRNCEHmX>|!{qUk-DjVbiJ}nhDTU%GGr8qTaXL9nr=6&D4Dblg#o{`4aX5e~-RtWG z`=eHO+1>j53Omm`&T};g`?kM$c)wRh1nw45L z4kY{9ym69%+8NXxs*SOopAJ74S*tCG$e&s%t)Ae9#94zc6F{EAdFSaf-*z0t3V&0%R6IxX3D3 z9eB*7>Leb?+-y#dIFoSJ3<8;@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/batch_visualizer + + + + + + + + + + + + + + +
LCOV - code coverage report
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Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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batch_visualizer.cpp +
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batch_visualizer.cpp +
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Test:MRS UAV System - Test coverage reportLines:19243544.1 %
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visual_object.cpp +
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+ 		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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visual_object.cpp +
13.8%13.8%
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batch_visualizer.cpp +
74.7%74.7%
+ 		74.7 %162 / 21756.5 %13 / 23
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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:2024-12-11 22:27:27Functions:72231.8 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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..1bb0a9c2f2 --- /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:2024-12-11 22:27:27Functions: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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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/batch_visualizer - visual_object.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3021813.8 %
Date:2024-12-11 22:27:27Functions: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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Current view:top level - mrs_lib/src/geometry - conversions.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:324669.6 %
Date:2024-12-11 22:27:27Functions: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&)152956
mrs_lib::geometry::fromEigen(Eigen::Quaternion<double, 0> const&)152956
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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 %
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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&)152956
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&)152956
mrs_lib::geometry::fromEigen(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)0
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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:2024-12-11 22:27:27Functions: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      152956 :     geometry_msgs::Quaternion fromEigen(const Eigen::Quaterniond& what)
+      48             :     {
+      49      152956 :       geometry_msgs::Quaternion q;
+      50      152956 :       q.x = what.x();
+      51      152956 :       q.y = what.y();
+      52      152956 :       q.z = what.z();
+      53      152956 :       q.w = what.w();
+      54      152956 :       return q;
+      55             :     }
+      56             :     
+      57      152956 :     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      152956 :       Eigen::Quaterniond q;
+      61      152956 :       q.x() = what.x;
+      62      152956 :       q.y() = what.y;
+      63      152956 :       q.z() = what.z;
+      64      152956 :       q.w() = what.w;
+      65      152956 :       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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69.6%69.6%
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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::angleBetween(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)140951
mrs_lib::geometry::quaternionFromHeading(double)152962
mrs_lib::geometry::dist(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)232026
mrs_lib::geometry::dist(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&)371600
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Current view:top level - mrs_lib/src/geometry - misc.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:356454.7 %
Date:2024-12-11 22:27:27Functions:81650.0 %
Legend: Lines: + hit + not hit +
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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&)140951
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)152962
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&)371600
mrs_lib::geometry::dist(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)232026
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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Test:MRS UAV System - Test coverage reportLines:356454.7 %
Date:2024-12-11 22:27:27Functions:81650.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       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      140951 :     double angleBetween(const vec3_t& vec1, const vec3_t& vec2)
+      29             :     {
+      30      140951 :       const double sin_12 = vec1.cross(vec2).norm();
+      31      140932 :       const double cos_12 = vec1.dot(vec2);
+      32      140913 :       const double angle = std::atan2(sin_12, cos_12);
+      33      140913 :       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      152962 :     quat_t quaternionFromHeading(const double heading)
+      93             :     {
+      94      305924 :       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      371600 :     double dist(const vec2_t& a, const vec2_t& b)
+     171             :     {
+     172             : 
+     173      371600 :       return (a - b).norm();
+     174             :     }
+     175             : 
+     176      232026 :     double dist(const vec3_t& a, const vec3_t& b)
+     177             :     {
+     178             : 
+     179      232026 :       return (a - b).norm();
+     180             :     }
+     181             : 
+     182             :     //}
+     183             : 
+     184             :   }  // namespace geometry
+     185             : }  // namespace mrs_lib
+
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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:2024-12-11 22:27:27Functions: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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Current view:top level - mrs_lib/src/geometry - shapes.cpp (source / functions)HitTotalCoverage
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Date:2024-12-11 22:27:27Functions:0680.0 %
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+
+ +
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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
+
+
+ + + +
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..188b381793 --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/src/geometry - shapes.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:03350.0 %
Date:2024-12-11 22:27:27Functions:0680.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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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mrs_lib::probit(double)202
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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
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mrs_lib::MedianFilter::addCheck(double)26
mrs_lib::MedianFilter::MedianFilter(mrs_lib::MedianFilter&&)85
mrs_lib::MedianFilter::operator=(mrs_lib::MedianFilter const&)86
mrs_lib::MedianFilter::MedianFilter(unsigned long, double, double, double)88
mrs_lib::MedianFilter::check(double)132629
mrs_lib::MedianFilter::median() const132641
mrs_lib::MedianFilter::full() const140929
mrs_lib::MedianFilter::add(double)140971
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mrs_lib::MedianFilter::setMaxDifference(double)2
mrs_lib::MedianFilter::add(double)140971
mrs_lib::MedianFilter::check(double)132629
mrs_lib::MedianFilter::clear()2
mrs_lib::MedianFilter::addCheck(double)26
mrs_lib::MedianFilter::MedianFilter(mrs_lib::MedianFilter&&)85
mrs_lib::MedianFilter::MedianFilter(mrs_lib::MedianFilter const&)1
mrs_lib::MedianFilter::MedianFilter(unsigned long, double, double, double)88
mrs_lib::MedianFilter::MedianFilter()1
mrs_lib::MedianFilter::operator=(mrs_lib::MedianFilter&&)0
mrs_lib::MedianFilter::operator=(mrs_lib::MedianFilter const&)86
mrs_lib::MedianFilter::initialized() const1
mrs_lib::MedianFilter::full() const140929
mrs_lib::MedianFilter::median() const132641
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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          88 :   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          88 :       m_max_diff(max_diff)
+      12             :   {
+      13          88 :     m_buffer.set_capacity(buffer_length);
+      14          88 :     m_buffer_sorted.reserve(buffer_length);
+      15          88 :   }
+      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          85 :   MedianFilter::MedianFilter(MedianFilter&& other)
+      32             :   {
+      33          85 :     *this = other;
+      34          85 :   }
+      35             : 
+      36             :   //}
+      37             : 
+      38             :   /* operator=() method and overloads //{ */
+      39          86 :   MedianFilter& MedianFilter::operator=(const MedianFilter& other)
+      40             :   {
+      41          86 :     std::scoped_lock lck(other.m_mtx, m_mtx);
+      42             :   
+      43          86 :     m_buffer = other.m_buffer;
+      44          86 :     m_buffer_sorted = other.m_buffer_sorted;
+      45          86 :     m_median = other.m_median;
+      46             :   
+      47             :     // parameters specified by the user
+      48          86 :     m_min_valid = other.m_min_valid;
+      49          86 :     m_max_valid = other.m_max_valid;
+      50          86 :     m_max_diff = other.m_max_diff;
+      51             :   
+      52         172 :     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      140971 :   void MedianFilter::add(const double value)
+      74             :   {
+      75      281888 :     std::scoped_lock lck(m_mtx);
+      76             :     // add the value to the buffer
+      77      140971 :     m_buffer.push_back(value);
+      78             :     // reset the cached median value
+      79      140924 :     m_median = std::nullopt;
+      80      140949 :   }
+      81             :   //}
+      82             : 
+      83             :   /* check() method //{ */
+      84      132629 :   bool MedianFilter::check(const double value)
+      85             :   {
+      86      132629 :     std::scoped_lock lck(m_mtx);
+      87             :     // check if all constraints are met
+      88      132631 :     const double diff = m_buffer.empty() ? 0.0 : std::abs(median() - value);
+      89      265263 :     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      140929 :   bool MedianFilter::full() const
+     113             :   {
+     114      281873 :     std::scoped_lock lck(m_mtx);
+     115      281883 :     return m_buffer.full();
+     116             :   }
+     117             :   //}
+     118             : 
+     119             :   /* median() method //{ */
+     120      132641 :   double MedianFilter::median() const
+     121             :   {
+     122      265289 :     std::scoped_lock lck(m_mtx);
+     123             :     // if the value was already calculated, just return it
+     124      132645 :     if (m_median.has_value())
+     125          17 :       return m_median.value();
+     126             :   
+     127             :     // check if there are even any numbers to calculate the median from
+     128      132612 :     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      132619 :     m_buffer_sorted.clear();
+     136             :     // copy all elements from the input buffer to buffer_sorted
+     137      132646 :     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      132621 :     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      132618 :     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      132585 :     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      132642 :     if (even_set)
+     148      132626 :       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      132629 :     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)4741
mrs_lib::ParamProvider::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)15677
mrs_lib::ParamProvider::findYamlNode(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const104887
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mrs_lib::ParamProvider::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)15677
mrs_lib::ParamProvider::ParamProvider(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool)4741
mrs_lib::ParamProvider::findYamlNode(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const104887
mrs_lib::ParamProvider::getParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&) const4
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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        4741 :   ParamProvider::ParamProvider(const ros::NodeHandle& nh, std::string node_name, const bool use_rosparam)
+      14        4741 :   : m_nh(nh), m_node_name(std::move(node_name)), m_use_rosparam(use_rosparam)
+      15             :   {
+      16        4741 :   }
+      17             : 
+      18       15677 :   bool ParamProvider::addYamlFile(const std::string& filepath)
+      19             :   {
+      20             :     try
+      21             :     {
+      22       31354 :       const auto loaded_yaml = YAML::LoadFile(filepath);
+      23       15677 :       YAML::Node root;
+      24       15677 :       root["root"] = loaded_yaml;
+      25       15677 :       m_yamls.emplace_back(root);
+      26       15677 :       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      104887 :   std::optional<YAML::Node> ParamProvider::findYamlNode(const std::string& param_name) const
+      65             :   {
+      66      547817 :     for (const auto& yaml : m_yamls)
+      67             :     {
+      68             :       // Try to load the parameter sequentially as a map.
+      69      528670 :       auto cur_node_it = std::cbegin(yaml);
+      70             :       // The root should always be a pam
+      71      528670 :       if (!cur_node_it->second.IsMap())
+      72       16951 :         continue;
+      73             : 
+      74      511715 :       bool loaded = true;
+      75             :       {
+      76      511715 :         constexpr char delimiter = '/';
+      77      511715 :         auto substr_start = std::cbegin(param_name);
+      78      511721 :         auto substr_end = substr_start;
+      79      694175 :         do
+      80             :         {
+      81     1205896 :           substr_end = std::find(substr_start, std::cend(param_name), delimiter);
+      82             :           // why can't substr or string_view take iterators? :'(
+      83     1205898 :           const auto start_pos = std::distance(std::cbegin(param_name), substr_start);
+      84     1205894 :           const auto count = std::distance(substr_start, substr_end);
+      85     1205887 :           const std::string param_substr = param_name.substr(start_pos, count);
+      86     1205893 :           substr_start = substr_end+1;
+      87             : 
+      88     1205883 :           bool found = false;
+      89     4929788 :           for (auto node_it = std::cbegin(cur_node_it->second); node_it != std::cend(cur_node_it->second); ++node_it)
+      90             :           {
+      91     2517949 :             if (node_it->first.as<std::string>() == param_substr)
+      92             :             {
+      93      779921 :               cur_node_it = node_it;
+      94      779922 :               found = true;
+      95      779922 :               break;
+      96             :             }
+      97             :           }
+      98             : 
+      99     1205896 :           if (!found)
+     100             :           {
+     101      425980 :             loaded = false;
+     102      425980 :             break;
+     103             :           }
+     104             :         }
+     105      779920 :         while (substr_end != std::end(param_name) && cur_node_it->second.IsMap());
+     106             :       }
+     107             : 
+     108      511724 :       if (loaded)
+     109             :       {
+     110      171487 :         return cur_node_it->second;
+     111             :       }
+     112             :     }
+     113             : 
+     114       19143 :     return std::nullopt;
+     115             :   }
+     116             : }
+
+
+
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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:2024-12-11 22:27:27Functions:91090.0 %
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Function Name Sort by function nameHit count Sort by hit count
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)1527
mrs_lib::Profiler::Profiler()1527
mrs_lib::Profiler::operator=(mrs_lib::Profiler const&)1527
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, double, double, ros::TimerEvent)748822
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)748941
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)2093944
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)2093979
mrs_lib::Routine::end()2842826
mrs_lib::Routine::~Routine()2842946
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LCOV - code coverage report
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Current view:top level - mrs_lib/src/profiler - profiler.cpp (source / functions)HitTotalCoverage
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Date:2024-12-11 22:27:27Functions:91090.0 %
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mrs_lib::Routine::end()2842826
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)2093944
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)748941
mrs_lib::Routine::~Routine()2842946
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)2093979
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, double, double, ros::TimerEvent)748822
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)1527
mrs_lib::Profiler::Profiler()1527
mrs_lib::Profiler::operator=(mrs_lib::Profiler const&)1527
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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:2024-12-11 22:27:27Functions: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        1527 : Profiler::Profiler() {
+      11        1527 : }
+      12             : 
+      13        1527 : Profiler::Profiler(ros::NodeHandle& nh, std::string _node_name_, bool profiler_enabled) {
+      14             : 
+      15        1527 :   this->nh_                = std::make_shared<ros::NodeHandle>(nh);
+      16        1527 :   this->_node_name_        = _node_name_;
+      17        1527 :   this->_profiler_enabled_ = profiler_enabled;
+      18             : 
+      19        1527 :   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        1527 :   ROS_INFO("[%s]: profiler initialized", _node_name_.c_str());
+      25             : 
+      26        1527 :   this->is_initialized_ = true;
+      27        1527 : }
+      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        1527 : Profiler& Profiler::operator=(const Profiler& other) {
+      43             : 
+      44        1527 :   if (this == &other) {
+      45           0 :     return *this;
+      46             :   }
+      47             : 
+      48        1527 :   this->is_initialized_    = other.is_initialized_;
+      49        1527 :   this->nh_                = other.nh_;
+      50        1527 :   this->_node_name_        = other._node_name_;
+      51        1527 :   this->_profiler_enabled_ = other._profiler_enabled_;
+      52             : 
+      53        1527 :   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        1527 :   return *this;
+      59             : }
+      60             : 
+      61             : //}
+      62             : 
+      63             : /* Profiler::registerRoutine() for periodic //{ */
+      64             : 
+      65      748822 : Routine Profiler::createRoutine(std::string name, double expected_rate, double threshold, ros::TimerEvent event) {
+      66             : 
+      67      748822 :   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     2093979 : Routine Profiler::createRoutine(std::string name) {
+      75             : 
+      76     2093979 :   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      748941 : Routine::Routine(std::string name, std::string node_name, double expected_rate, double threshold, std::shared_ptr<ros::Publisher> publisher,
+      86      748941 :                  std::shared_ptr<std::mutex> mutex_publisher, bool profiler_enabled, ros::TimerEvent event) {
+      87             : 
+      88      747938 :   if (!profiler_enabled) {
+      89      747984 :     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     2093944 : Routine::Routine(std::string name, std::string node_name, std::shared_ptr<ros::Publisher> publisher, std::shared_ptr<std::mutex> mutex_publisher,
+     141     2093944 :                  bool profiler_enabled) {
+     142             : 
+     143     2092929 :   if (!profiler_enabled) {
+     144     2092961 :     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     2842826 : void Routine::end(void) {
+     186             : 
+     187     2842826 :   if (!_profiler_enabled_) {
+     188     2842554 :     return;
+     189             :   }
+     190             : 
+     191         269 :   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     2842645 : Routine::~Routine() {
+     213             : 
+     214     2842946 :   this->end();
+     215     2841084 : }
+     216             : 
+     217             : }  // namespace mrs_lib
+
+
+
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Test:MRS UAV System - Test coverage reportLines:314963.3 %
Date:2024-12-11 22:27:27Functions:8988.9 %
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
safety_zone.cpp +
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line_operations.cpp +
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Current view:top level - mrs_lib/src/safety_zoneHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:314963.3 %
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line_operations.cpp +
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Test:MRS UAV System - Test coverage reportLines:314963.3 %
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safety_zone.cpp +
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Current view:top level - mrs_lib/src/safety_zoneHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:314963.3 %
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safety_zone.cpp +
60.0%60.0%
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66.7%66.7%
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Current view:top level - mrs_lib/src/safety_zoneHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:314963.3 %
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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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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/safety_zone/index.html b/mrs_lib/src/safety_zone/index.html new file mode 100644 index 0000000000..405d8dd356 --- /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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Test:MRS UAV System - Test coverage reportLines:314963.3 %
Date:2024-12-11 22:27:27Functions:8988.9 %
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line_operations.cpp +
66.7%66.7%
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safety_zone.cpp +
60.0%60.0%
+ 		60.0 %15 / 2583.3 %5 / 6
+
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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:2024-12-11 22:27:27Functions: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>)522
mrs_lib::Intersection::Intersection(bool, bool, Eigen::Matrix<double, 1, 2, 1, 1, 2>)560
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>)560
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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:2024-12-11 22:27:27Functions: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>)522
mrs_lib::Intersection::Intersection(bool, bool, Eigen::Matrix<double, 1, 2, 1, 1, 2>)560
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>)560
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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:2024-12-11 22:27:27Functions: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         522 : 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         522 :   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         560 : Intersection::Intersection(bool intersect, bool parallel, Eigen::RowVector2d point) : point(std::move(point)), parallel(parallel), intersect(intersect){}
+      16             : 
+      17             : /* sectionIntersect() //{ */
+      18             : 
+      19         560 : Intersection sectionIntersect(Eigen::RowVector2d start1, Eigen::RowVector2d end1, Eigen::RowVector2d start2, Eigen::RowVector2d end2) {
+      20         560 :   Eigen::RowVector2d vector1 = end1 - start1;
+      21         560 :   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         560 :   double cross            = vector1(0) * vector2(1) - vector1(1) * vector2(0);
+      29         560 :   double difference_cross = (start2(0) - start1(0)) * vector2(1) - (start2(1) - start1(1)) * vector2(0);
+      30             : 
+      31         560 :   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         522 :   double             scale1 = difference_cross / cross;
+      48         522 :   Eigen::RowVector2d point  = start1 + scale1 * vector1;
+      49         522 :   double             scale2 = getScale(start2, vector2, point);
+      50             : 
+      51         522 :   if (0 <= scale1 && scale1 <= 1 && 0 <= scale2 && scale2 <= 1) {
+      52           0 :     return Intersection{true, false, point};
+      53             :   }
+      54         522 :   return Intersection{false, false};
+      55             : }
+      56             : 
+      57             : //}
+      58             : 
+      59             : }  // namespace mrs_lib
+
+
+
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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 %
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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>)87
mrs_lib::Polygon::doesSectionIntersect(double, double, double, double)140
mrs_lib::Polygon::isPointInside(double, double)10645
mrs_lib::Polygon::getPointMessageVector(double)25552
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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:2024-12-11 22:27:27Functions:4850.0 %
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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)10645
mrs_lib::Polygon::doesSectionIntersect(double, double, double, double)140
mrs_lib::Polygon::getPointMessageVector(double)25552
mrs_lib::Polygon::Polygon(Eigen::Matrix<double, -1, -1, 0, -1, -1>)87
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:2024-12-11 22:27:27Functions: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          87 : Polygon::Polygon(const Eigen::MatrixXd vertices) : vertices(vertices) {
+      10             : 
+      11          87 :   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          87 :   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          87 :   Eigen::RowVector2d edge1;
+      21          87 :   Eigen::RowVector2d edge2 = vertices.row(1) - vertices.row(0);
+      22         435 :   for (int i = 0; i < vertices.rows(); ++i) {
+      23         348 :     edge1 = edge2;
+      24         348 :     edge2 = vertices.row((i + 2) % vertices.rows()) - vertices.row((i + 1) % vertices.rows());
+      25             : 
+      26         348 :     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         348 :     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          87 : }
+      36             : 
+      37             : //}
+      38             : 
+      39             : /* isPointInside() //{ */
+      40             : 
+      41       10645 : bool Polygon::isPointInside(const double px, const double py) {
+      42             : 
+      43       10645 :   int count = 0;
+      44             : 
+      45             :   // Cast a horizontal ray and see how many times it intersects all the edges
+      46       53225 :   for (int i = 0; i < vertices.rows(); ++i) {
+      47       42580 :     double v1x = vertices(i, 0);
+      48       42580 :     double v1y = vertices(i, 1);
+      49       42580 :     double v2x = vertices((i + 1) % vertices.rows(), 0);
+      50       42580 :     double v2y = vertices((i + 1) % vertices.rows(), 1);
+      51             : 
+      52       42580 :     if (v1y > py && v2y > py)
+      53       10570 :       continue;
+      54       32010 :     if (v1y <= py && v2y <= py)
+      55       10870 :       continue;
+      56       21140 :     double intersect_x    = (v1y == v2y) ? v1x : (py - v1y) * (v2x - v1x) / (v2y - v1y) + v1x;
+      57       21140 :     bool   does_intersect = intersect_x > px;
+      58       21140 :     if (does_intersect)
+      59       10567 :       ++count;
+      60             :   }
+      61             : 
+      62       10645 :   return count % 2;
+      63             : }
+      64             : 
+      65             : //}
+      66             : 
+      67             : /* doesSectionIntersect() //{ */
+      68             : 
+      69         140 : bool Polygon::doesSectionIntersect(const double startX, const double startY, const double endX, const double endY) {
+      70             : 
+      71         140 :   Eigen::RowVector2d start{startX, startY};
+      72         140 :   Eigen::RowVector2d end{endX, endY};
+      73             : 
+      74         700 :   for (int i = 0; i < vertices.rows(); ++i) {
+      75             : 
+      76         560 :     Eigen::RowVector2d edgeStart = vertices.row(i);
+      77         560 :     Eigen::RowVector2d edgeEnd   = vertices.row((i + 1) % vertices.rows());
+      78             : 
+      79         560 :     if (sectionIntersect(start, end, edgeStart, edgeEnd).intersect) {
+      80           0 :       return true;
+      81             :     }
+      82             :   }
+      83             : 
+      84         140 :   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       25552 : std::vector<geometry_msgs::Point> Polygon::getPointMessageVector(const double z) {
+     194       25552 :   std::vector<geometry_msgs::Point> points(vertices.rows());
+     195      127760 :   for (int i = 0; i < vertices.rows(); ++i) {
+     196      102208 :     points[i].x = vertices(i, 0);
+     197      102208 :     points[i].y = vertices(i, 1);
+     198      102208 :     points[i].z = z;
+     199             :   }
+     200             : 
+     201       25552 :   return points;
+     202             : }
+     203             : 
+     204             : //}
+     205             : 
+     206             : }  // namespace mrs_lib
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/safety_zone/polygon/polygon.cpp.gcov.overview.html b/mrs_lib/src/safety_zone/polygon/polygon.cpp.gcov.overview.html new file mode 100644 index 0000000000..9588a3df3c --- /dev/null +++ b/mrs_lib/src/safety_zone/polygon/polygon.cpp.gcov.overview.html @@ -0,0 +1,72 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/safety_zone/polygon/polygon.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 + + +
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+ + diff --git a/mrs_lib/src/safety_zone/polygon/polygon.cpp.gcov.png b/mrs_lib/src/safety_zone/polygon/polygon.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..c5adcdf99ff4cbdb4f4d66b7c0b94eb7d1a120a0 GIT binary patch literal 1057 zcmV++1m63JP)$b|L8UA<<9=Mz;iKKL zc85A%)j`nM+>C0sP4({7g2YB=->8c@2R2p;@?r$K>&=yT$KdT}Al0K?NiI0!a}48<^f9CF$uEE6&Xh67|26T@sH z7?{ReS$eS%EQ?keA8+y23pTP@Y7kj9GEBiagRZv3^p8S}k;{~ln*bK@=b`v9j>8O7x3!hsfSt!0@1=dGtW8oJBV+H5d4pTv>`(hy&)*zj( zSqc|y+@OqrDq`;y@=DY6ai)T1whFiix`T|!T^oY}^bsykVh{1lIoYnb$6|g3+q6ka zf*0^Cb!{i`6ica*0WU1XBl+wQrpE`8=bAYR#+>13r*0wuh;W)wx`L2EJsdUqdoucs z>751lyhip9?uS{z_63)vC3)O8SRs2%HVsZky;{@1C6OjH!|f)7T9W|!bqF70M!(0mQFJONCbVxa9@L zEt4xx?zIhNaw$wKa~b+pJI7w~4+MWHxn3%U!8@&3TdVdCd`UBUtwQS~TOSiNmh!ro zhWj-I!~o{6fy$(QU~vh+tVn6(DpJg)18-I(*e?%98jJGqM(GOikoso`#x5IzI(Vpy za$DmyH0}s$eAkoe(FOy=H$Lqep^itkAk*Pwbrwp@aM;Wlm9T9LTBpIkM9swtu<$+6 z$R<*@dtRpp48Ije%?LqZv5O4oNNrewuL-@oAL{rSI2&^ b{<+`}Uto53>9?6+00000NkvXXu0mjfHe=(^ literal 0 HcmV?d00001 diff --git a/mrs_lib/src/safety_zone/safety_zone.cpp.func-sort-c.html b/mrs_lib/src/safety_zone/safety_zone.cpp.func-sort-c.html new file mode 100644 index 0000000000..8353e85c00 --- /dev/null +++ b/mrs_lib/src/safety_zone/safety_zone.cpp.func-sort-c.html @@ -0,0 +1,104 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/safety_zone/safety_zone.cpp - functions + + + + + + + + + + + + + + +
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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:2024-12-11 22:27:27Functions: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&)87
mrs_lib::SafetyZone::~SafetyZone()87
mrs_lib::SafetyZone::isPathValid(double, double, double, double)140
mrs_lib::SafetyZone::isPointValid(double, double)10645
mrs_lib::SafetyZone::getBorder()12776
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mrs_lib::SafetyZone::isPathValid(double, double, double, double)140
mrs_lib::SafetyZone::isPointValid(double, double)10645
mrs_lib::SafetyZone::getBorder()12776
mrs_lib::SafetyZone::SafetyZone(mrs_lib::Polygon)0
mrs_lib::SafetyZone::SafetyZone(Eigen::Matrix<double, -1, -1, 0, -1, -1> const&)87
mrs_lib::SafetyZone::~SafetyZone()87
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Legend: Lines: + hit + not hit +
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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         174 : SafetyZone::~SafetyZone() {
+      17          87 :   delete outerBorder;
+      18          87 : }
+      19             : 
+      20             : //}
+      21             : 
+      22             : /* SafetyZone() //{ */
+      23             : 
+      24          87 : SafetyZone::SafetyZone(const Eigen::MatrixXd& outerBorderMatrix) {
+      25             : 
+      26             :   try {
+      27          87 :     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          87 : }
+      39             : 
+      40             : //}
+      41             : 
+      42             : /* isPointValid() //{ */
+      43             : 
+      44       10645 : bool SafetyZone::isPointValid(const double px, const double py) {
+      45             : 
+      46       10645 :   if (!outerBorder->isPointInside(px, py)) {
+      47          78 :     return false;
+      48             :   }
+      49             : 
+      50       10567 :   return true;
+      51             : }
+      52             : 
+      53             : //}
+      54             : 
+      55             : /* isPathValid() //{ */
+      56             : 
+      57         140 : bool SafetyZone::isPathValid(const double p1x, const double p1y, const double p2x, const double p2y) {
+      58             : 
+      59         140 :   if (outerBorder->doesSectionIntersect(p1x, p1y, p2x, p2y)) {
+      60           0 :     return false;
+      61             :   }
+      62             : 
+      63         140 :   return true;
+      64             : }
+      65             : 
+      66             : //}
+      67             : 
+      68             : /* getBorder() //{ */
+      69             : 
+      70       12776 : Polygon SafetyZone::getBorder() {
+      71       12776 :   return *outerBorder;
+      72             : }
+      73             : 
+      74             : //}
+      75             : 
+      76             : }  // namespace mrs_lib
+
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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)763
mrs_lib::ScopeTimerLogger::~ScopeTimerLogger()763
mrs_lib::ScopeTimer::checkpoint(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)4640596
mrs_lib::ScopeTimer::ScopeTimer(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_lib::ScopeTimerLogger>, bool)5784850
mrs_lib::ScopeTimer::~ScopeTimer()5787030
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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:2024-12-11 22:27:27Functions:51050.0 %
Legend: Lines: + hit + not hit +
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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&)4640596
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)5784850
mrs_lib::ScopeTimer::~ScopeTimer()5787030
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)763
mrs_lib::ScopeTimerLogger::~ScopeTimerLogger()763
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LCOV - code coverage report
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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:2024-12-11 22:27:27Functions:51050.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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         763 : ScopeTimerLogger::ScopeTimerLogger(const std::string& logfile, const bool enable_logging, const int log_precision)
+      10         763 :     : _logging_enabled_(enable_logging), _log_filepath_(logfile) {
+      11             : 
+      12         763 :   if (!_logging_enabled_) {
+      13         763 :     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         763 : ScopeTimerLogger::~ScopeTimerLogger() {
+      47         763 :   if (_logging_enabled_) {
+      48           0 :     ROS_DEBUG("[%s]: ScopeTimerLogger: closing logstream.", ros::this_node::getName().c_str());
+      49           0 :     _logstream_.close();
+      50             :   }
+      51         763 : }
+      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     5784850 : ScopeTimer::ScopeTimer(const std::string& label, const std::shared_ptr<ScopeTimerLogger> scope_timer_logger, const bool enable)
+     104     5784850 :     : _timer_label_(label), _enable_print_or_log(enable), _throttle_period_(ros::Duration(0.0)), _logger_(scope_timer_logger) {
+     105             : 
+     106     5773215 :   checkpoints.push_back(time_point("timer start"));
+     107             : 
+     108     5772036 :   ROS_DEBUG("[%s] Scope timer started with file logger (label: %s).", ros::this_node::getName().c_str(), label.c_str());
+     109     5772036 : }
+     110             : 
+     111             : //}
+     112             : 
+     113             : /* ScopeTimer::checkpoint() //{ */
+     114             : 
+     115     4640596 : void ScopeTimer::checkpoint(const std::string& label) {
+     116             : 
+     117     4640596 :   if (_enable_print_or_log) {
+     118           0 :     checkpoints.push_back(time_point(label));
+     119             :   }
+     120     4640596 : }
+     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    17356150 : ScopeTimer::~ScopeTimer() {
+     136             : 
+     137     5787030 :   if (!_enable_print_or_log) {
+     138     5787168 :     return;
+     139             :   }
+     140             : 
+     141           8 :   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     5784849 : }
+     258             : 
+     259             : //}
+     260             : 
+     261             : }  // namespace mrs_lib
+
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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&)96
mrs_lib::TimeoutManager::registerNew(ros::Duration const&, std::function<void (ros::Time const&)> const&, ros::Time const&, bool, bool)99
mrs_lib::TimeoutManager::start(unsigned long, ros::Time const&)99
mrs_lib::TimeoutManager::started(unsigned long)1436
mrs_lib::TimeoutManager::main_timer_callback(ros::TimerEvent const&)20764
mrs_lib::TimeoutManager::reset(unsigned long, ros::Time const&)182042
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mrs_lib::TimeoutManager::registerNew(ros::Duration const&, std::function<void (ros::Time const&)> const&, ros::Time const&, bool, bool)99
mrs_lib::TimeoutManager::main_timer_callback(ros::TimerEvent const&)20764
mrs_lib::TimeoutManager::pause(unsigned long)9
mrs_lib::TimeoutManager::reset(unsigned long, ros::Time const&)182042
mrs_lib::TimeoutManager::start(unsigned long, ros::Time const&)99
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)1436
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&)96
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          Line data    Source code
+
+       1             : #include <mrs_lib/timeout_manager.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             : 
+       6          96 :   TimeoutManager::TimeoutManager(const ros::NodeHandle& nh, const ros::Rate& update_rate)
+       7          96 :     : m_last_id(0)
+       8             :   {
+       9          96 :     m_main_timer = nh.createTimer(update_rate, &TimeoutManager::main_timer_callback, this);
+      10          96 :   }
+      11             : 
+      12             : 
+      13          99 :   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          99 :     std::scoped_lock lck(m_mtx);
+      16          99 :     const auto new_id = m_timeouts.size();
+      17             :     m_timeouts.emplace_back(
+      18          99 :       timeout_info_t{
+      19             :         oneshot,
+      20             :         autostart,
+      21             :         callback,
+      22             :         timeout,
+      23             :         last_reset,
+      24             :         last_reset
+      25          99 :       });
+      26         198 :     return new_id;
+      27             :   }
+      28             : 
+      29      182042 :   void TimeoutManager::reset(const timeout_id_t id, const ros::Time& time)
+      30             :   {
+      31      182042 :     std::scoped_lock lck(m_mtx);
+      32      182040 :     m_timeouts.at(id).last_reset = time;
+      33      182041 :   }
+      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          99 :   void TimeoutManager::start(const timeout_id_t id, const ros::Time& time)
+      42             :   {
+      43          99 :     std::scoped_lock lck(m_mtx);
+      44          99 :     m_timeouts.at(id).started = true;
+      45          99 :     m_timeouts.at(id).last_reset = time;
+      46          99 :   }
+      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        1436 :   bool TimeoutManager::started(const timeout_id_t id)
+      83             :   {
+      84        1436 :     std::scoped_lock lck(m_mtx);
+      85        2872 :     return m_timeouts.at(id).started;
+      86             :   }
+      87             : 
+      88       20764 :   void TimeoutManager::main_timer_callback([[maybe_unused]] const ros::TimerEvent &evt)
+      89             :   {
+      90       20764 :     const auto now = ros::Time::now();
+      91             : 
+      92       41528 :     std::scoped_lock lck(m_mtx);
+      93       44813 :     for (auto& timeout_info : m_timeouts)
+      94             :     {
+      95             :       // don't worry, these variables will get optimized out by the compiler
+      96       24049 :       const bool started = timeout_info.started;
+      97       24049 :       const bool last_reset_timeout = now - timeout_info.last_reset >= timeout_info.timeout;
+      98       24049 :       const bool last_callback_timeout = now - timeout_info.last_callback >= timeout_info.timeout;
+      99       24049 :       if (started && last_reset_timeout && last_callback_timeout)
+     100             :       {
+     101        2027 :         timeout_info.callback(timeout_info.last_reset);
+     102        2027 :         timeout_info.last_callback = now;
+     103             :         // if the timeout is oneshot, pause it
+     104        2027 :         if (timeout_info.oneshot)
+     105           0 :           timeout_info.started = false;
+     106             :       }
+     107             :     }
+     108       20764 :   }
+     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()215
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Current view:top level - mrs_lib/src/timer - timer.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10512584.0 %
Date:2024-12-11 22:27:27Functions:151883.3 %
Legend: Lines: + hit + not hit +
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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()215
mrs_lib::ROSTimer::setPeriod(ros::Duration const&, bool)8
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Current view:top level - mrs_lib/src/timer - timer.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10512584.0 %
Date:2024-12-11 22:27:27Functions: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         215 : bool ROSTimer::running()
+      59             : {
+      60         430 :   std::scoped_lock lock(mutex_timer_);
+      61             : 
+      62         215 :   if (timer_)
+      63         215 :     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()208
mrs_lib::TransformBroadcaster::sendTransform(geometry_msgs::TransformStamped_<std::allocator<void> > const&)2047571
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mrs_lib::TransformBroadcaster::TransformBroadcaster()208
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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         208 : TransformBroadcaster::TransformBroadcaster() {
+       8         208 :   broadcaster_ = tf2_ros::TransformBroadcaster();
+       9         208 : }
+      10             : //}
+      11             : 
+      12             : /* sendTransform (const geometry_msgs::TransformStamped &transform) //{ */
+      13     2047571 : void TransformBroadcaster::sendTransform(const geometry_msgs::TransformStamped &transform) {
+      14     4093632 :   std::string frames_from_to = transform.header.frame_id + transform.child_frame_id;
+      15     2044417 :   if (last_messages_.count(frames_from_to) > 0) {
+      16     2045816 :     if (transform.header.stamp > last_messages_[frames_from_to]) {
+      17     1730078 :       broadcaster_.sendTransform(transform);
+      18     1733158 :       last_messages_[frames_from_to] = transform.header.stamp;
+      19             :     } else {
+      20      311930 :       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        2186 :     std::pair<std::string, ros::Time> new_pair;
+      25        1064 :     new_pair.first  = frames_from_to;
+      26        1064 :     new_pair.second = transform.header.stamp;
+      27        1064 :     broadcaster_.sendTransform(transform);
+      28        1064 :     last_messages_.insert(new_pair);
+      29             :   }
+      30     2048090 : }
+      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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Date:2024-12-11 22:27:27Functions:202676.9 %
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transformer.cpp +
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Current view:top level - mrs_lib/src/transformerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:18528066.1 %
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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:2024-12-11 22:27:27Functions:202676.9 %
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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&)758
mrs_lib::Transformer::UTMtoLL(geometry_msgs::PoseStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2181
mrs_lib::Transformer::UTMtoLL(geometry_msgs::Pose_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2181
mrs_lib::Transformer::UTMtoLL(geometry_msgs::Point_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2183
mrs_lib::Transformer::getFramePrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)4372
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&)24596
mrs_lib::Transformer::transformImpl(geometry_msgs::TransformStamped_<std::allocator<void> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)152956
mrs_lib::Transformer::setLatLon(double, double)158799
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&)1767962
mrs_lib::Transformer::resolveFrameImpl(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)7436199
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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/transformer - transformer.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:18528066.1 %
Date:2024-12-11 22:27:27Functions: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&)24596
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&)152956
mrs_lib::Transformer::getFramePrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)4372
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&)1767962
mrs_lib::Transformer::resolveFrameImpl(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)7436199
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&)2181
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&)2181
mrs_lib::Transformer::UTMtoLL(geometry_msgs::Point_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2183
mrs_lib::Transformer::setLatLon(double, double)158799
mrs_lib::Transformer::Transformer(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Duration const&)758
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
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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:2024-12-11 22:27:27Functions: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         758 :   Transformer::Transformer(const ros::NodeHandle& nh, const std::string& node_name, const ros::Duration& cache_time)
+      49         758 :     : 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         758 :   }
+      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       24596 :   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       49201 :     std::scoped_lock lck(mutex_);
+      81             : 
+      82       24605 :     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       49210 :     const std::string from_frame = resolveFrameImpl(from_frame_raw);
+      90       49210 :     const std::string to_frame = resolveFrameImpl(to_frame_raw);
+      91       49210 :     const std::string latlon_frame = resolveFrameImpl(LATLON_ORIGIN);
+      92             : 
+      93       24605 :     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      158799 :   void Transformer::setLatLon(const double lat, const double lon)
+     118             :   {
+     119      158799 :     std::scoped_lock lck(mutex_);
+     120             : 
+     121             :     double utm_x, utm_y;
+     122      158282 :     mrs_lib::LLtoUTM(lat, lon, utm_y, utm_x, utm_zone_.data());
+     123      158076 :     got_utm_zone_ = true;
+     124      157572 :   }
+     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      152956 :   std::optional<mrs_msgs::ReferenceStamped> Transformer::transformImpl(const geometry_msgs::TransformStamped& tf, const mrs_msgs::ReferenceStamped& what)
+     253             :   {
+     254             :     // create a pose message
+     255      305912 :     geometry_msgs::PoseStamped pose;
+     256      152956 :     pose.header = what.header;
+     257             :   
+     258      152956 :     pose.pose.position.x = what.reference.position.x;
+     259      152956 :     pose.pose.position.y = what.reference.position.y;
+     260      152956 :     pose.pose.position.z = what.reference.position.z;
+     261      152956 :     pose.pose.orientation = geometry::fromEigen(geometry::quaternionFromHeading(what.reference.heading));
+     262             :   
+     263             :     // try to transform the pose message
+     264      305912 :     const auto pose_opt = transformImpl(tf, pose);
+     265      152956 :     if (!pose_opt.has_value())
+     266           0 :       return std::nullopt;
+     267             :     // overwrite the pose with it's transformed value
+     268      152956 :     pose = pose_opt.value();
+     269             :   
+     270      305912 :     mrs_msgs::ReferenceStamped ret;
+     271      152956 :     ret.header = pose.header;
+     272             :   
+     273             :     // copy the new transformed data back
+     274      152956 :     ret.reference.position.x = pose.pose.position.x;
+     275      152956 :     ret.reference.position.y = pose.pose.position.y;
+     276      152956 :     ret.reference.position.z = pose.pose.position.z;
+     277      152956 :     ret.reference.heading = geometry::headingFromRot(geometry::toEigen(pose.pose.orientation));
+     278      152956 :     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     1767962 :   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     1767962 :     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     1767962 :     if (from_frame.empty() || to_frame.empty())
+     312             :     {
+     313           3 :       ROS_ERROR_THROTTLE(1.0, "[%s]: Transformer: cannot transform to/from an empty frame!", node_name_.c_str());
+     314           3 :       return std::nullopt;
+     315             :     }
+     316             : 
+     317             :     // if the frames are the same, just return an identity transform
+     318     1767957 :     if (from_frame == to_frame)
+     319      453744 :       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     1541086 :     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     1541086 :     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        4368 :       const std::string utm_frame = getFramePrefix(to_frame) + "utm_origin";
+     337        4368 :       auto tf_opt = getTransformImpl(from_frame, utm_frame, time_stamp, latlon_frame);
+     338        2184 :       if (!tf_opt.has_value())
+     339           0 :         return std::nullopt;
+     340             :       // change the transformation frames to point to latlon
+     341        2184 :       frame_to(*tf_opt) = to_frame;
+     342        2184 :       return tf_opt;
+     343             :     }
+     344             : 
+     345     4616655 :     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     2138085 :       return tf_buffer_->lookupTransform(to_frame, from_frame, time_stamp, lookup_timeout_);
+     351             :     }
+     352     1879386 :     catch (tf2::TransformException& e)
+     353             :     {
+     354      939700 :       ex = e;
+     355             :     }
+     356             : 
+     357             :     // if that failed, try to get the newest one if requested
+     358      939680 :     if (retry_lookup_newest_)
+     359             :     {
+     360             :       try
+     361             :       {
+     362     1865555 :         return tf_buffer_->lookupTransform(to_frame, from_frame, ros::Time(0), lookup_timeout_);
+     363             :       }
+     364       27458 :       catch (tf2::TransformException& e)
+     365             :       {
+     366       13729 :         ex = e;
+     367             :       }
+     368             :     }
+     369             : 
+     370             :     // if the flow got here, we've failed to look the transform up
+     371       13759 :     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       13759 :       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       13759 :     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     7436199 :   std::string Transformer::resolveFrameImpl(const std::string& frame_id)
+     464             :   {
+     465             :     // if the frame is empty, return the default frame id
+     466     7436199 :     if (frame_id.empty())
+     467        6922 :       return default_frame_id_;
+     468             : 
+     469             :     // if there is no prefix set, just return the raw frame id
+     470     7429251 :     if (prefix_.empty())
+     471     4503326 :       return frame_id;
+     472             : 
+     473             :     // if there is a default prefix set and the frame does not start with it, prefix it
+     474     2925836 :     if (frame_id.substr(0, prefix_.length()) != prefix_)
+     475     1842826 :       return prefix_ + frame_id;
+     476             : 
+     477     1083151 :     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, 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        2183 :   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        2183 :     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        2182 :     geometry_msgs::Point latlon;
+     532        2182 :     mrs_lib::UTMtoLL(what.y, what.x, utm_zone_.data(), latlon.x, latlon.y);
+     533        2182 :     latlon.z = what.z;
+     534        2182 :     return latlon;
+     535             :   }
+     536             : 
+     537           0 :   std::optional<geometry_msgs::PointStamped> Transformer::UTMtoLL(const geometry_msgs::PointStamped& what, 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 + LATLON_ORIGIN;
+     545           0 :     ret.header.stamp = what.header.stamp;
+     546           0 :     ret.point = opt.value();
+     547           0 :     return ret;
+     548             :   }
+     549             : 
+     550        2181 :   std::optional<geometry_msgs::Pose> Transformer::UTMtoLL(const geometry_msgs::Pose& what, const std::string& prefix)
+     551             :   {
+     552        2181 :     const auto opt = UTMtoLL(what.position, prefix);
+     553        2181 :     if (!opt.has_value())
+     554           0 :       return std::nullopt;
+     555             : 
+     556        2181 :     geometry_msgs::Pose ret;
+     557        2181 :     ret.position = opt.value();
+     558        2181 :     ret.orientation = what.orientation;
+     559        2181 :     return ret;
+     560             :   }
+     561             : 
+     562        2181 :   std::optional<geometry_msgs::PoseStamped> Transformer::UTMtoLL(const geometry_msgs::PoseStamped& what, const std::string& prefix)
+     563             :   {
+     564        2181 :     const auto opt = UTMtoLL(what.pose, prefix);
+     565        2181 :     if (!opt.has_value())
+     566           0 :       return std::nullopt;
+     567             : 
+     568        4362 :     geometry_msgs::PoseStamped ret;
+     569        2181 :     ret.header.frame_id = prefix + LATLON_ORIGIN;
+     570        2181 :     ret.header.stamp = what.header.stamp;
+     571        2181 :     ret.pose = opt.value();
+     572        2181 :     return ret;
+     573             :   }
+     574             :   //}
+     575             : 
+     576             :   /* getFramePrefix() method //{ */
+     577        4372 :   std::string Transformer::getFramePrefix(const std::string& frame_id)
+     578             :   {
+     579        4372 :     const auto firstof = frame_id.find_first_of('/');
+     580        4372 :     if (firstof == std::string::npos)
+     581           0 :       return "";
+     582             :     else
+     583        4372 :       return frame_id.substr(0, firstof+1);
+     584             :   }
+     585             :   //}
+     586             : 
+     587             : }  // namespace mrs_lib
+
+
+
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+ + diff --git a/mrs_lib/src/transformer/transformer.cpp.gcov.png b/mrs_lib/src/transformer/transformer.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..7eed470c785336ad3284e1537c87589ff99ed190 GIT binary patch literal 2003 zcmV;^2Q2uBP))dTBU|#LNWnRdg4=R%6|$^fww&8EOw%~IaqBZI zs$oh)4A=zC0Y^E;1~35XR>lp_#o>58c3#W#F{d+!&K8reEB?A%b&eXSISbgB`U#9} zKn24slBO!8AppS~7l6yz~<#Q989&&>i^;05@WBM^Zg>j;ENwk<7>jRIqId1FT z{?C(u!f~53g+-QV-vrqal8}FAv$V8+*iX{z<1E_>lL?BoYeuZ({QBci%!k13m?PNRR@f@wq^sFu!*MeO5<`x zY1ljC7c-M}7+3_+2u!0@FK%5IBju#Ik0^ZE3t$^fXME(Wp=giLAR3 zf*r6LE~Ak+09s4^CSa{I42Cu;j8QF`Y)1uTnt3TXnneYM;c^GCdZ_K^&;IZ)J^`Sf z0r^LE=999%7w)qJG<+VVj@M%}RwtXPnNk`}GbCROc%Y9Q_b|rp2ecQrNpvakTTNe) zw~>!3M;gr9CqSgn7)@R5Ak`(A96-_s=L|{_A_u_Bx|&l|0pB5~=&xoMp2hXulPbnj z-47qws{mz+Z^sEqr2F7w^8jtnB)Xauh|jZUCf+_BNym4_&qU3&i)7U7nV^LAzAf@5 zI<&|h&zdG3Ro_!-8PaA_mbwAu{vmc-VUD4hIDo!dVbLB7`)(|th)C>v zSYfL$ii9o4c*WJPU{%2zLy8tHEit@a5mgqWPhC^a3W=-BUHvcOeFdE5R<^XzE6E?Xs32SVxDy&N zok^P##qz1eLzua~%h3>ia7YjAGp)w*`Ybjb=}sX1!6RhB1Ej>X-30HY@YmgFV%cU2<9wjeIkivQ0wNnD#!$ z`@`WOY4%{H+-AaC&C{RarF@^oF;kPd+5JaKB>c<2;k*xefUd_n)0C~dp(9hh!Z3q-9ua@nrF=RIlw7~HFw*iCj?g2ZIXst63DVK3 zua1Rn*P?SNt`8Tv+*;L3wn#YSnsWsOjdX>_fW+;!9{(nFdk|!fXnakaDVpRDKq7+M# zd9^|UWbC4FR5-d+)m + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/utils + + + + + + + + + + + + + + +
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mrs_lib::AtomicScopeFlag::AtomicScopeFlag(std::atomic<bool>&)582811
mrs_lib::AtomicScopeFlag::~AtomicScopeFlag()582821
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Generated by: LCOV version 1.14
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mrs_lib::AtomicScopeFlag::AtomicScopeFlag(std::atomic<bool>&)582811
mrs_lib::AtomicScopeFlag::~AtomicScopeFlag()582821
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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      582811 : AtomicScopeFlag::AtomicScopeFlag(std::atomic<bool>& in)
+       7      582811 :   : variable(in)
+       8             : {
+       9      582811 :   variable = true;
+      10      582816 : }
+      11             : 
+      12     1165641 : AtomicScopeFlag::~AtomicScopeFlag()
+      13             : {
+      14      582821 :   variable = false;
+      15      582820 : }
+      16             : 
+      17             : }  // namespace mrs_lib
+
+
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+ Overview +
+ + 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:29333587.5 %
Date:2024-12-11 22:27:27Functions:2222100.0 %
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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()20
mrs_uav_autostart::automatic_start::AutomaticStart::toggleControlOutput(bool const&)25
(anonymous namespace)::ProxyExec0::ProxyExec0()32
mrs_uav_autostart::automatic_start::AutomaticStart::onInit()32
mrs_uav_autostart::automatic_start::AutomaticStart::changeState(mrs_uav_autostart::automatic_start::LandingStates_t)51
mrs_uav_autostart::automatic_start::Topic::Topic(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)65
mrs_uav_autostart::automatic_start::Topic::getTopicName[abi:cxx11]()75
mrs_uav_autostart::automatic_start::AutomaticStart::callbackHwApiCapabilities(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const>)627
mrs_uav_autostart::automatic_start::AutomaticStart::callbackGazeboSpawnerDiagnostics(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>)3466
mrs_uav_autostart::automatic_start::AutomaticStart::topicCheck()10024
mrs_uav_autostart::automatic_start::AutomaticStart::validateReference()10024
mrs_uav_autostart::automatic_start::AutomaticStart::isGazeboSimulation()10024
mrs_uav_autostart::automatic_start::AutomaticStart::preflighCheckGyro()10174
mrs_uav_autostart::automatic_start::AutomaticStart::preflighCheckHeight()10174
mrs_uav_autostart::automatic_start::AutomaticStart::preflightCheckSpeed()10174
mrs_uav_autostart::automatic_start::AutomaticStart::timerMain(ros::TimerEvent const&)19232
mrs_uav_autostart::automatic_start::Topic::getTime()40171
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&) const50138
mrs_uav_autostart::automatic_start::Topic::updateTime()50141
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)50147
mrs_uav_autostart::automatic_start::AutomaticStart::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)123380
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Test:MRS UAV System - Test coverage reportLines:29333587.5 %
Date:2024-12-11 22:27:27Functions: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()32
mrs_uav_autostart::automatic_start::AutomaticStart::topicCheck()10024
mrs_uav_autostart::automatic_start::AutomaticStart::changeState(mrs_uav_autostart::automatic_start::LandingStates_t)51
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)50147
mrs_uav_autostart::automatic_start::AutomaticStart::preflighCheckGyro()10174
mrs_uav_autostart::automatic_start::AutomaticStart::validateReference()10024
mrs_uav_autostart::automatic_start::AutomaticStart::isGazeboSimulation()10024
mrs_uav_autostart::automatic_start::AutomaticStart::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)123380
mrs_uav_autostart::automatic_start::AutomaticStart::preflighCheckHeight()10174
mrs_uav_autostart::automatic_start::AutomaticStart::preflightCheckSpeed()10174
mrs_uav_autostart::automatic_start::AutomaticStart::toggleControlOutput(bool const&)25
mrs_uav_autostart::automatic_start::AutomaticStart::callbackHwApiCapabilities(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const>)627
mrs_uav_autostart::automatic_start::AutomaticStart::callbackGazeboSpawnerDiagnostics(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>)3466
mrs_uav_autostart::automatic_start::AutomaticStart::disarm()2
mrs_uav_autostart::automatic_start::AutomaticStart::onInit()32
mrs_uav_autostart::automatic_start::AutomaticStart::takeoff()20
mrs_uav_autostart::automatic_start::AutomaticStart::timerMain(ros::TimerEvent const&)19232
mrs_uav_autostart::automatic_start::Topic::updateTime()50141
mrs_uav_autostart::automatic_start::Topic::getTopicName[abi:cxx11]()75
mrs_uav_autostart::automatic_start::Topic::getTime()40171
mrs_uav_autostart::automatic_start::Topic::Topic(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)65
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&) const50138
+
+
+ + + +
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LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_autostart/src - automatic_start.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:29333587.5 %
Date:2024-12-11 22:27:27Functions:2222100.0 %
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 <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          65 :   Topic(std::string topic_name) : topic_name_(topic_name) {
+      46          65 :     last_time_ = ros::Time::UNINITIALIZED;
+      47          65 :   }
+      48             : 
+      49       50141 :   void updateTime(void) {
+      50       50141 :     last_time_ = ros::Time::now();
+      51       50142 :   }
+      52             : 
+      53       40171 :   ros::Time getTime(void) {
+      54       40171 :     return last_time_;
+      55             :   }
+      56             : 
+      57          75 :   std::string getTopicName(void) {
+      58          75 :     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          32 : void AutomaticStart::onInit() {
+     211             : 
+     212          32 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     213             : 
+     214          32 :   ros::Time::waitForValid();
+     215             : 
+     216          32 :   armed_      = false;
+     217          32 :   armed_time_ = ros::Time(0);
+     218             : 
+     219          32 :   offboard_      = false;
+     220          32 :   offboard_time_ = ros::Time(0);
+     221             : 
+     222          64 :   mrs_lib::ParamLoader param_loader(nh_, "AutomaticStart");
+     223             : 
+     224          64 :   std::string custom_config_path;
+     225             : 
+     226          32 :   param_loader.loadParam("custom_config", custom_config_path);
+     227             : 
+     228          32 :   if (custom_config_path != "") {
+     229           5 :     param_loader.addYamlFile(custom_config_path);
+     230             :   }
+     231             : 
+     232          32 :   param_loader.addYamlFileFromParam("config_private");
+     233          32 :   param_loader.addYamlFileFromParam("config_public");
+     234             : 
+     235          32 :   param_loader.loadParam("uav_name", _uav_name_);
+     236          32 :   param_loader.loadParam("simulation", _simulation_);
+     237             : 
+     238          32 :   param_loader.loadParam("main_timer_rate", _main_timer_rate_);
+     239          32 :   param_loader.loadParam("body_frame_name", _body_frame_name_);
+     240          32 :   param_loader.loadParam("control_output_timeout", _control_output_timeout_);
+     241             : 
+     242          32 :   param_loader.loadParam("safety_timeout", _safety_timeout_);
+     243          32 :   param_loader.loadParam("pre_takeoff_sleep", _pre_takeoff_sleep_);
+     244             : 
+     245          32 :   param_loader.loadParam("handle_takeoff", _handle_takeoff_);
+     246             : 
+     247          32 :   param_loader.loadParam("preflight_check/time_window", _preflight_check_time_window_);
+     248             : 
+     249          32 :   param_loader.loadParam("preflight_check/speed_check/enabled", _speed_check_enabled_);
+     250          32 :   param_loader.loadParam("preflight_check/speed_check/max_speed", _speed_check_max_speed_);
+     251             : 
+     252          32 :   param_loader.loadParam("preflight_check/height_check/enabled", _height_check_enabled_);
+     253          32 :   param_loader.loadParam("preflight_check/height_check/max_height", _height_check_max_height_);
+     254             : 
+     255          32 :   param_loader.loadParam("preflight_check/gyro_check/enabled", _gyro_check_enabled_);
+     256          32 :   param_loader.loadParam("preflight_check/gyro_check/max_rate", _gyro_check_max_rate_);
+     257             : 
+     258          32 :   param_loader.loadParam("preflight_check/topic_check/enabled", _topic_check_enabled_);
+     259          32 :   param_loader.loadParam("preflight_check/topic_check/timeout", _topic_check_timeout_);
+     260          32 :   param_loader.loadParam("preflight_check/topic_check/topics", _topic_check_topic_names_);
+     261             : 
+     262          32 :   if (!param_loader.loadedSuccessfully()) {
+     263           0 :     ROS_ERROR("[AutomaticStart]: Could not load all parameters!");
+     264           0 :     ros::shutdown();
+     265             :   }
+     266             : 
+     267             :   // | ----------------------- subscribers ---------------------- |
+     268             : 
+     269          64 :   mrs_lib::SubscribeHandlerOptions shopts;
+     270          32 :   shopts.nh                 = nh_;
+     271          32 :   shopts.node_name          = "AutomaticStart";
+     272          32 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     273          32 :   shopts.threadsafe         = true;
+     274          32 :   shopts.autostart          = true;
+     275          32 :   shopts.queue_size         = 10;
+     276          32 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     277             : 
+     278          32 :   sh_estimation_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "estimation_diag_in");
+     279          32 :   sh_hw_api_status_   = mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>(shopts, "hw_api_status_in", &AutomaticStart::callbackHwApiStatus, this);
+     280             :   sh_hw_api_capabilities_ =
+     281          32 :       mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>(shopts, "hw_api_capabilities_in", &AutomaticStart::callbackHwApiCapabilities, this);
+     282          32 :   sh_distance_sensor_      = mrs_lib::SubscribeHandler<sensor_msgs::Range>(shopts, "distance_sensor_in");
+     283          32 :   sh_imu_                  = mrs_lib::SubscribeHandler<sensor_msgs::Imu>(shopts, "imu_in");
+     284          32 :   sh_control_manager_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     285          32 :   sh_uav_manager_diag_     = mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics>(shopts, "uav_manager_diagnostics_in");
+     286          64 :   sh_gazebo_spawner_diag_  = mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics>(shopts, "gazebo_spawner_diagnostics_in",
+     287          32 :                                                                                           &AutomaticStart::callbackGazeboSpawnerDiagnostics, this);
+     288             : 
+     289             :   // | ----------------------- publishers ----------------------- |
+     290             : 
+     291          32 :   ph_can_takeoff_ = mrs_lib::PublisherHandler<std_msgs::Bool>(nh_, "can_takeoff_out");
+     292             : 
+     293             :   // | --------------------- service clients -------------------- |
+     294             : 
+     295          32 :   service_client_takeoff_               = nh_.serviceClient<std_srvs::Trigger>("takeoff_out");
+     296          32 :   service_client_toggle_control_output_ = nh_.serviceClient<std_srvs::SetBool>("toggle_control_output_out");
+     297          32 :   service_client_arm_                   = nh_.serviceClient<std_srvs::SetBool>("arm_out");
+     298             : 
+     299          32 :   service_client_validate_reference_ = nh_.serviceClient<mrs_msgs::ValidateReference>("validate_reference_out");
+     300             : 
+     301             :   // | ------------------ setup generic topics ------------------ |
+     302             : 
+     303          32 :   if (_topic_check_enabled_) {
+     304             : 
+     305          64 :     boost::function<void(const topic_tools::ShapeShifter::ConstPtr&)> callback;
+     306             : 
+     307          97 :     for (int i = 0; i < int(_topic_check_topic_names_.size()); i++) {
+     308             : 
+     309         130 :       std::string topic_name = _topic_check_topic_names_.at(i);
+     310             : 
+     311          65 :       if (topic_name.at(0) != '/') {
+     312          65 :         topic_name = "/" + _uav_name_ + "/" + topic_name;
+     313             :       }
+     314             : 
+     315         130 :       Topic tmp_topic(topic_name);
+     316          65 :       topic_check_topics_.push_back(tmp_topic);
+     317             : 
+     318          65 :       int id = i;  // id to identify which topic called the generic callback
+     319             : 
+     320       50203 :       callback                       = [this, topic_name, id](const topic_tools::ShapeShifter::ConstPtr& msg) -> void { genericCallback(msg, topic_name, id); };
+     321         195 :       ros::Subscriber tmp_subscriber = nh_.subscribe(topic_name, 1, callback);
+     322             : 
+     323          65 :       generic_subscriber_vec_.push_back(tmp_subscriber);
+     324             :     }
+     325             :   }
+     326             : 
+     327             :   // | ------------------------- timers ------------------------- |
+     328             : 
+     329          32 :   timer_main_ = nh_.createTimer(ros::Rate(_main_timer_rate_), &AutomaticStart::timerMain, this);
+     330             : 
+     331             :   // | --------------------- finish the init -------------------- |
+     332             : 
+     333          32 :   is_initialized_ = true;
+     334             : 
+     335          32 :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: initialized");
+     336          32 : }
+     337             : 
+     338             : //}
+     339             : 
+     340             : // --------------------------------------------------------------
+     341             : // |                          callbacks                         |
+     342             : // --------------------------------------------------------------
+     343             : 
+     344             : /* genericCallback() //{ */
+     345             : 
+     346       50147 : void AutomaticStart::genericCallback([[maybe_unused]] const topic_tools::ShapeShifter::ConstPtr& msg, [[maybe_unused]] const std::string& topic_name,
+     347             :                                      const int id) {
+     348       50147 :   topic_check_topics_.at(id).updateTime();
+     349       50142 : }
+     350             : 
+     351             : //}
+     352             : 
+     353             : /* callbackHwApiStatus() //{ */
+     354             : 
+     355      123380 : void AutomaticStart::callbackHwApiStatus(const mrs_msgs::HwApiStatus::ConstPtr msg) {
+     356             : 
+     357      123380 :   if (!is_initialized_) {
+     358           0 :     return;
+     359             :   }
+     360             : 
+     361      123380 :   ROS_INFO_ONCE("[AutomaticStart]: getting HW API status");
+     362             : 
+     363      246760 :   std::scoped_lock lock(mutex_hw_api_status_);
+     364             : 
+     365             :   // check armed_ state
+     366      123380 :   if (armed_ == false) {
+     367             : 
+     368             :     // if armed_ state changed to true, please "start the clock"
+     369       70848 :     if (msg->armed) {
+     370             : 
+     371          31 :       armed_      = true;
+     372          31 :       armed_time_ = ros::Time::now();
+     373             :     }
+     374             : 
+     375             :     // if we were armed_ previously
+     376       52532 :   } else if (armed_ == true) {
+     377             : 
+     378             :     // and we are not really now
+     379       52532 :     if (!msg->armed) {
+     380             : 
+     381           2 :       armed_ = false;
+     382             :     }
+     383             :   }
+     384             : 
+     385             :   // check offboard_ state
+     386      123380 :   if (offboard_ == false) {
+     387             : 
+     388             :     // if offboard_ state changed to true, please "start the clock"
+     389       81770 :     if (msg->offboard) {
+     390             : 
+     391          23 :       offboard_      = true;
+     392          23 :       offboard_time_ = ros::Time::now();
+     393             :     }
+     394             : 
+     395             :     // if we were in offboard_ previously
+     396       41610 :   } else if (offboard_ == true) {
+     397             : 
+     398             :     // and we are not really now
+     399       41610 :     if (!msg->offboard) {
+     400             : 
+     401           0 :       offboard_ = false;
+     402             :     }
+     403             :   }
+     404             : 
+     405      123380 :   if (msg->connected) {
+     406      119608 :     hw_api_connected_ = true;
+     407             :   }
+     408             : }
+     409             : 
+     410             : //}
+     411             : 
+     412             : /* callbackHwApiCapabilities() //{ */
+     413             : 
+     414         627 : void AutomaticStart::callbackHwApiCapabilities([[maybe_unused]] const mrs_msgs::HwApiCapabilities::ConstPtr msg) {
+     415             : 
+     416         627 :   if (!is_initialized_) {
+     417           0 :     return;
+     418             :   }
+     419             : 
+     420         627 :   ROS_INFO_ONCE("[AutomaticStart]: getting HW API capabilities");
+     421             : }
+     422             : 
+     423             : //}
+     424             : 
+     425             : /* callbackGazeboSpawnerDiagnostics() //{ */
+     426             : 
+     427        3466 : void AutomaticStart::callbackGazeboSpawnerDiagnostics(const mrs_msgs::GazeboSpawnerDiagnostics::ConstPtr msg) {
+     428             : 
+     429        3466 :   if (!is_initialized_) {
+     430           0 :     return;
+     431             :   }
+     432             : 
+     433        3466 :   ROS_INFO_ONCE("[AutomaticStart]: getting spawner diagnostics");
+     434             : 
+     435             :   {
+     436        6932 :     std::scoped_lock lock(mutex_gazebo_spawner_diagnostics_);
+     437             : 
+     438        3466 :     gazebo_spawner_diagnostics_ = *msg;
+     439             : 
+     440        3466 :     got_gazebo_spawner_diagnostics = true;
+     441             :   }
+     442             : }
+     443             : 
+     444             : //}
+     445             : 
+     446             : // --------------------------------------------------------------
+     447             : // |                           timers                           |
+     448             : // --------------------------------------------------------------
+     449             : 
+     450             : /* timerMain() //{ */
+     451             : 
+     452       19232 : void AutomaticStart::timerMain([[maybe_unused]] const ros::TimerEvent& event) {
+     453             : 
+     454       19232 :   if (!is_initialized_) {
+     455        6144 :     return;
+     456             :   }
+     457             : 
+     458       19232 :   bool got_uav_manager_diag     = sh_uav_manager_diag_.hasMsg();
+     459       19232 :   bool got_control_manager_diag = sh_control_manager_diag_.hasMsg();
+     460       19232 :   bool got_estimation_diag      = sh_estimation_diag_.hasMsg();
+     461       19232 :   bool got_hw_api               = sh_hw_api_status_.hasMsg() && sh_hw_api_capabilities_.hasMsg() && hw_api_connected_;
+     462             : 
+     463       19232 :   if (!got_control_manager_diag || !got_hw_api || !got_uav_manager_diag || !got_estimation_diag) {
+     464        5994 :     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        5994 :     return;
+     468             :   }
+     469             : 
+     470       13238 :   auto [armed, offboard, armed_time, offboard_time] = mrs_lib::get_mutexed(mutex_hw_api_status_, armed_, offboard_, armed_time_, offboard_time_);
+     471       13238 :   auto control_manager_diagnostics                  = sh_control_manager_diag_.getMsg();
+     472             : 
+     473       13238 :   switch (current_state) {
+     474             : 
+     475       10174 :     case STATE_IDLE: {
+     476             : 
+     477             :       // | --------------------- preflight check -------------------- |
+     478             : 
+     479       10174 :       bool speed_valid  = preflightCheckSpeed();
+     480       10174 :       bool height_valid = preflighCheckHeight();
+     481       10174 :       bool gyros_valid  = preflighCheckGyro();
+     482             : 
+     483       10174 :       bool possibly_in_the_air = !speed_valid || !height_valid || !gyros_valid;
+     484             : 
+     485       10174 :       if (!offboard && possibly_in_the_air) {
+     486             : 
+     487         150 :         ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: preflight check failed, the UAV is possibly in the air");
+     488             : 
+     489         150 :         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         150 :           return;
+     505             :         }
+     506             : 
+     507         144 :         return;
+     508             :       }
+     509             : 
+     510             :       // | -------------------- ready to takeoff -------------------- |
+     511             : 
+     512       10024 :       bool control_output_enabled = sh_control_manager_diag_.getMsg()->output_enabled;
+     513             : 
+     514       10024 :       std_msgs::Bool can_takeoff_msg;
+     515       10024 :       can_takeoff_msg.data = false;
+     516             : 
+     517             :       // | -------------------- preflight checks -------------------- |
+     518             : 
+     519       10024 :       bool position_valid = validateReference();
+     520       10024 :       bool got_topics     = topicCheck();
+     521             : 
+     522       10024 :       bool can_takeoff = got_topics && position_valid;
+     523             : 
+     524             :       // | ---------------------------------------------------------- |
+     525             : 
+     526       10024 :       can_takeoff_msg.data = can_takeoff;
+     527       10024 :       ph_can_takeoff_.publish(can_takeoff_msg);
+     528             : 
+     529       10024 :       if (armed && !control_output_enabled) {
+     530             : 
+     531         117 :         if (can_takeoff) {
+     532             : 
+     533          24 :           bool res = toggleControlOutput(true);
+     534             : 
+     535          24 :           if (!res) {
+     536           0 :             ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: could not set control output ON");
+     537             :           } else {
+     538          24 :             we_toggled_output_ = true;
+     539             :           }
+     540             :         }
+     541             : 
+     542         117 :         double time_from_arming = (ros::Time::now() - armed_time).toSec();
+     543             : 
+     544         117 :         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       10024 :       if (_simulation_ && isGazeboSimulation()) {
+     553             : 
+     554        6711 :         std::scoped_lock lock(mutex_gazebo_spawner_diagnostics_);
+     555             : 
+     556        6711 :         if (got_gazebo_spawner_diagnostics) {
+     557             : 
+     558        6711 :           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       10024 :       if (armed && offboard && control_output_enabled) {
+     572             : 
+     573        3025 :         if (!_handle_takeoff_) {
+     574           3 :           changeState(STATE_FINISHED);
+     575             :         } else {
+     576             : 
+     577        3022 :           ros::Duration armed_time_diff    = ros::Time::now() - armed_time;
+     578        3022 :           ros::Duration offboard_time_diff = ros::Time::now() - offboard_time;
+     579             : 
+     580        3022 :           if (armed_time_diff > ros::Duration(_safety_timeout_) && offboard_time_diff > ros::Duration(_safety_timeout_)) {
+     581             : 
+     582          20 :             changeState(STATE_TAKEOFF);
+     583             : 
+     584             :           } else {
+     585             : 
+     586        3002 :             double min = (armed_time_diff < offboard_time_diff) ? armed_time_diff.toSec() : offboard_time_diff.toSec();
+     587             : 
+     588        3002 :             ROS_WARN_THROTTLE(1.0, "taking off in %.0f", (_safety_timeout_ - min));
+     589             :           }
+     590             :         }
+     591             :       }
+     592             : 
+     593       10024 :       break;
+     594             :     }
+     595             : 
+     596        3033 :     case STATE_TAKEOFF: {
+     597             : 
+     598             :       // if takeoff finished
+     599        3033 :       if (control_manager_diagnostics->flying_normally) {
+     600             : 
+     601          20 :         ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: takeoff finished");
+     602             : 
+     603          20 :         changeState(STATE_FINISHED);
+     604             : 
+     605             :       } else {
+     606             : 
+     607        3013 :         ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: waiting for the takeoff to finish");
+     608             :       }
+     609             : 
+     610        3033 :       break;
+     611             :     }
+     612             : 
+     613          31 :     case STATE_FINISHED: {
+     614             : 
+     615          31 :       ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: finished");
+     616          31 :       ros::requestShutdown();
+     617          31 :       break;
+     618             :     }
+     619             :   }
+     620             : }
+     621             : 
+     622             : //}
+     623             : 
+     624             : // --------------------------------------------------------------
+     625             : // |                          routines                          |
+     626             : // --------------------------------------------------------------
+     627             : 
+     628             : /* changeState() //{ */
+     629             : 
+     630          51 : void AutomaticStart::changeState(LandingStates_t new_state) {
+     631             : 
+     632          51 :   ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: switching states %s -> %s", state_names[current_state], state_names[new_state]);
+     633             : 
+     634          51 :   switch (new_state) {
+     635             : 
+     636           0 :     case STATE_IDLE: {
+     637             : 
+     638           0 :       break;
+     639             :     }
+     640             : 
+     641          20 :     case STATE_TAKEOFF: {
+     642             : 
+     643          20 :       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          20 :       bool res = takeoff();
+     649             : 
+     650          20 :       if (!res) {
+     651             : 
+     652           0 :         current_state = STATE_FINISHED;
+     653             : 
+     654           0 :         return;
+     655             :       }
+     656             : 
+     657          20 :       break;
+     658             :     }
+     659             : 
+     660          31 :     case STATE_FINISHED: {
+     661             : 
+     662          31 :       break;
+     663             :     }
+     664             : 
+     665             :     break;
+     666             :   }
+     667             : 
+     668          51 :   current_state = new_state;
+     669             : }
+     670             : 
+     671             : //}
+     672             : 
+     673             : /* takeoff() //{ */
+     674             : 
+     675          20 : bool AutomaticStart::takeoff() {
+     676             : 
+     677          20 :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: taking off");
+     678             : 
+     679          40 :   std_srvs::Trigger srv;
+     680             : 
+     681          20 :   bool res = service_client_takeoff_.call(srv);
+     682             : 
+     683          20 :   if (res) {
+     684             : 
+     685          20 :     if (srv.response.success) {
+     686             : 
+     687          20 :       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       10024 : bool AutomaticStart::validateReference() {
+     707             : 
+     708       20048 :   mrs_msgs::ValidateReference srv_out;
+     709             : 
+     710       10024 :   srv_out.request.reference.header.frame_id = _body_frame_name_;
+     711             : 
+     712       10024 :   bool res = service_client_validate_reference_.call(srv_out);
+     713             : 
+     714       10024 :   if (res) {
+     715             : 
+     716       10023 :     if (srv_out.response.success) {
+     717             : 
+     718        9949 :       ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: current position is valid");
+     719        9949 :       return true;
+     720             : 
+     721             :     } else {
+     722             : 
+     723          74 :       ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: current position is not valid (safety area, bumper)!");
+     724          74 :       return false;
+     725             :     }
+     726             : 
+     727             :   } else {
+     728             : 
+     729           1 :     ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: current position could not be validated");
+     730           1 :     return false;
+     731             :   }
+     732             : }
+     733             : 
+     734             : //}
+     735             : 
+     736             : /* toggleControlOutput() //{ */
+     737             : 
+     738          25 : bool AutomaticStart::toggleControlOutput(const bool& value) {
+     739             : 
+     740          25 :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: setting control output %s", value ? "ON" : "OFF");
+     741             : 
+     742          50 :   std_srvs::SetBool srv;
+     743          25 :   srv.request.data = value;
+     744             : 
+     745          25 :   bool res = service_client_toggle_control_output_.call(srv);
+     746             : 
+     747          25 :   if (res) {
+     748             : 
+     749          25 :     if (srv.response.success) {
+     750             : 
+     751          25 :       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       10024 : bool AutomaticStart::isGazeboSimulation(void) {
+     819             : 
+     820       10024 :   if (is_gazebo_simulation_) {
+     821        6701 :     return true;
+     822             :   }
+     823             : 
+     824        6646 :   ros::V_string node_list;
+     825        3323 :   ros::master::getNodes(node_list);
+     826             : 
+     827       49705 :   for (auto& node : node_list) {
+     828       46392 :     if (node.find("mrs_drone_spawner") != std::string::npos) {
+     829          10 :       ROS_INFO("[AutomaticStart]: MRS Gazebo Simulation detected");
+     830          10 :       is_gazebo_simulation_ = true;
+     831          10 :       return true;
+     832             :     }
+     833             :   }
+     834             : 
+     835        3313 :   return false;
+     836             : }
+     837             : 
+     838             : //}
+     839             : 
+     840             : /* topicCheck() //{ */
+     841             : 
+     842       10024 : bool AutomaticStart::topicCheck(void) {
+     843             : 
+     844       10024 :   bool got_topics = true;
+     845             : 
+     846       10024 :   std::stringstream missing_topics;
+     847             : 
+     848       10024 :   if (_topic_check_enabled_) {
+     849             : 
+     850       30147 :     for (int i = 0; i < int(topic_check_topics_.size()); i++) {
+     851             : 
+     852       40171 :       if (topic_check_topics_.at(i).getTime() == ros::Time::UNINITIALIZED ||
+     853       40171 :           (ros::Time::now() - topic_check_topics_.at(i).getTime()) > ros::Duration(_topic_check_timeout_)) {
+     854             : 
+     855          75 :         missing_topics << std::endl << "\t" << topic_check_topics_.at(i).getTopicName();
+     856          75 :         got_topics = false;
+     857             :       }
+     858             :     }
+     859             :   }
+     860             : 
+     861       10024 :   if (!got_topics) {
+     862          75 :     ROS_WARN_STREAM_THROTTLE(1.0, "[AutomaticStart]: missing data on topics: " << missing_topics.str());
+     863             :   }
+     864             : 
+     865       20048 :   return got_topics;
+     866             : }
+     867             : 
+     868             : //}
+     869             : 
+     870             : // | -------- preflight cheks for detecting flyign UAV -------- |
+     871             : 
+     872             : /* preflightCheckSpeed() //{ */
+     873             : 
+     874       10174 : bool AutomaticStart::preflightCheckSpeed(void) {
+     875             : 
+     876       10174 :   if (!_speed_check_enabled_) {
+     877           0 :     return true;
+     878             :   }
+     879             : 
+     880       10174 :   if (!sh_estimation_diag_.hasMsg()) {
+     881           0 :     return false;
+     882             :   }
+     883             : 
+     884       20348 :   auto estimation_diag = sh_estimation_diag_.getMsg();
+     885             : 
+     886       10174 :   double speed = std::hypot(estimation_diag->velocity.linear.x, estimation_diag->velocity.linear.y, estimation_diag->velocity.linear.z);
+     887             : 
+     888       10174 :   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       10174 :   if (speed_check_violated_time_ != ros::Time::UNINITIALIZED &&
+     894       10174 :       (ros::Time::now() - speed_check_violated_time_) < ros::Duration(_preflight_check_time_window_)) {
+     895           0 :     return false;
+     896             :   } else {
+     897       10174 :     return true;
+     898             :   }
+     899             : }
+     900             : 
+     901             : //}
+     902             : 
+     903             : /* preflighCheckHeight() //{ */
+     904             : 
+     905       10174 : bool AutomaticStart::preflighCheckHeight(void) {
+     906             : 
+     907       10174 :   if (!_height_check_enabled_) {
+     908         244 :     return true;
+     909             :   }
+     910             : 
+     911             :   // | ----------------- is the check possible? ----------------- |
+     912             : 
+     913        9930 :   if (!sh_hw_api_capabilities_.hasMsg()) {
+     914           0 :     return false;
+     915             :   }
+     916             : 
+     917       19860 :   auto capabilities = sh_hw_api_capabilities_.getMsg();
+     918             : 
+     919        9930 :   if (!capabilities->produces_distance_sensor) {
+     920           0 :     return true;
+     921             :   }
+     922             : 
+     923             :   // | -------------------- do we have data? -------------------- |
+     924             : 
+     925        9930 :   if (!sh_distance_sensor_.hasMsg()) {
+     926        1356 :     return true;
+     927             :   }
+     928             : 
+     929        8574 :   double height = sh_distance_sensor_.getMsg()->range;
+     930             : 
+     931        8574 :   if (height > _height_check_max_height_) {
+     932         149 :     height_check_violated_time_ = ros::Time::now();
+     933         149 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: the height (%.2f m) is over the limit (%.2f m)", height, _height_check_max_height_);
+     934             :   }
+     935             : 
+     936        8723 :   if (height_check_violated_time_ != ros::Time::UNINITIALIZED &&
+     937        8723 :       (ros::Time::now() - height_check_violated_time_) < ros::Duration(_preflight_check_time_window_)) {
+     938         149 :     return false;
+     939             :   } else {
+     940        8425 :     return true;
+     941             :   }
+     942             : }
+     943             : 
+     944             : //}
+     945             : 
+     946             : /* preflighCheckGyro() //{ */
+     947             : 
+     948       10174 : bool AutomaticStart::preflighCheckGyro(void) {
+     949             : 
+     950       10174 :   if (!_gyro_check_enabled_) {
+     951           0 :     return true;
+     952             :   }
+     953             : 
+     954             :   // | ----------------- is the check possible? ----------------- |
+     955             : 
+     956       10174 :   if (!sh_hw_api_capabilities_.hasMsg()) {
+     957           0 :     return false;
+     958             :   }
+     959             : 
+     960       20348 :   auto capabilities = sh_hw_api_capabilities_.getMsg();
+     961             : 
+     962       10174 :   if (!capabilities->produces_imu) {
+     963           0 :     return true;
+     964             :   }
+     965             : 
+     966             :   // | -------------------- do we have data? -------------------- |
+     967             : 
+     968       10174 :   if (!sh_imu_.hasMsg()) {
+     969           0 :     return true;
+     970             :   }
+     971             : 
+     972       10174 :   auto gyros = sh_imu_.getMsg()->angular_velocity;
+     973             : 
+     974       10174 :   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       10174 :   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       10173 :     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          32 : PLUGINLIB_EXPORT_CLASS(mrs_uav_autostart::automatic_start::AutomaticStart, nodelet::Nodelet)
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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&)38
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&)38
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          38 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeRateCmd& msg) {
+      80          38 :     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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mrs_uav_controllers::PIDController::reset()1308
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mrs_uav_controllers::PIDController::setSaturation(double)14977
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mrs_uav_controllers::PIDController::setParams(double const&, double const&, double const&, double const&, double const&)1308
mrs_uav_controllers::PIDController::PIDController()1308
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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        1308 : PIDController::PIDController() {
+      43             : 
+      44        1308 :   this->reset();
+      45        1308 : }
+      46             : 
+      47        1308 : void PIDController::setParams(const double &kp, const double &kd, const double &ki, const double &saturation, const double &antiwindup) {
+      48             : 
+      49        1308 :   this->_kp_       = kp;
+      50        1308 :   this->_kd_       = kd;
+      51        1308 :   this->_ki_       = ki;
+      52        1308 :   this->saturation = saturation;
+      53        1308 :   this->antiwindup = antiwindup;
+      54        1308 : }
+      55             : 
+      56       14977 : void PIDController::setSaturation(const double saturation) {
+      57             : 
+      58       14977 :   this->saturation = saturation;
+      59       14977 : }
+      60             : 
+      61        1308 : void PIDController::reset(void) {
+      62             : 
+      63        1308 :   this->last_error_ = 0;
+      64        1308 :   this->integral_   = 0;
+      65        1308 : }
+      66             : 
+      67       14977 : double PIDController::update(const double &error, const double &dt) {
+      68             : 
+      69             :   // calculate the control error difference
+      70       14977 :   double difference = (error - last_error_) / dt;
+      71       14977 :   last_error_       = error;
+      72             : 
+      73       14977 :   double p_component = _kp_ * error;       // proportional feedback
+      74       14977 :   double d_component = _kd_ * difference;  // derivative feedback
+      75       14977 :   double i_component = _ki_ * integral_;   // derivative feedback
+      76             : 
+      77       14977 :   double sum = p_component + d_component + i_component;
+      78             : 
+      79       14977 :   if (saturation > 0) {
+      80       14977 :     if (sum >= saturation) {
+      81         117 :       sum = saturation;
+      82       14860 :     } else if (sum <= -saturation) {
+      83         146 :       sum = -saturation;
+      84             :     }
+      85             :   }
+      86             : 
+      87       14977 :   if (antiwindup > 0) {
+      88       14977 :     if (std::abs(sum) < antiwindup) {
+      89             :       // add to the integral
+      90       14615 :       integral_ += error * dt;
+      91             :     }
+      92             :   }
+      93             : 
+      94             :   // return the summ of the components
+      95       14977 :   return sum;
+      96             : }
+      97             : 
+      98             : }  // namespace mrs_uav_controllers
+      99             : 
+     100             : #endif  // PID_H
+
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mrs_uav_controllers::common::extractThrottle(mrs_uav_managers::Controller::ControlOutput const&)258
mrs_uav_controllers::common::actuatorMixer(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&)3912
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&)7851
mrs_uav_controllers::common::getHighestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)10217
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&)93658
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&)93658
mrs_uav_controllers::common::orientationError(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&)95534
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&)95534
mrs_uav_controllers::common::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)100215
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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 %
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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&)93658
mrs_uav_controllers::common::actuatorMixer(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&)3912
mrs_uav_controllers::common::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)100215
mrs_uav_controllers::common::extractThrottle(mrs_uav_managers::Controller::ControlOutput const&)258
mrs_uav_controllers::common::getHighestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)10217
mrs_uav_controllers::common::orientationError(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&)95534
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&)95534
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&)93658
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&)7851
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Test:MRS UAV System - Test coverage reportLines:13415984.3 %
Date:2024-12-11 22:27:27Functions:99100.0 %
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+
          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       95534 : Eigen::Vector3d orientationError(const Eigen::Matrix3d& R, const Eigen::Matrix3d& Rd) {
+      12             : 
+      13             :   // orientation error
+      14       95534 :   Eigen::Matrix3d R_error = 0.5 * (Rd.transpose() * R - R.transpose() * Rd);
+      15             : 
+      16             :   // vectorize the orientation error
+      17             :   // clang-format off
+      18       95534 :     Eigen::Vector3d R_error_vec;
+      19       95534 :     R_error_vec << (R_error(1, 2) - R_error(2, 1)) / 2.0,
+      20       95534 :                    (R_error(2, 0) - R_error(0, 2)) / 2.0,
+      21       95534 :                    (R_error(0, 1) - R_error(1, 0)) / 2.0;
+      22             :   // clang-format on
+      23             : 
+      24      191068 :   return R_error_vec;
+      25             : }
+      26             : 
+      27             : //}
+      28             : 
+      29             : /* sanitizeDesiredForce() //{ */
+      30             : 
+      31       93658 : 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       93658 :   double theta = acos(input(2));
+      36       93658 :   double phi   = atan2(input(1), input(0));
+      37             : 
+      38             :   // check for the failsafe limit
+      39       93658 :   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       93658 :   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       93658 :   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       93658 :   Eigen::Vector3d output(sin(theta) * cos(phi), sin(theta) * sin(phi), cos(theta));
+      63             : 
+      64       93658 :   return {output};
+      65             : }
+      66             : 
+      67             : //}
+      68             : 
+      69             : /* so3transform() //{ */
+      70             : 
+      71       93658 : Eigen::Matrix3d so3transform(const Eigen::Vector3d& body_z, const ::Eigen::Vector3d& heading, const bool& preserve_heading) {
+      72             : 
+      73       93658 :   Eigen::Vector3d body_z_normed = body_z.normalized();
+      74             : 
+      75       93658 :   Eigen::Matrix3d Rd;
+      76             : 
+      77       93658 :   if (preserve_heading) {
+      78             : 
+      79       23864 :     ROS_DEBUG_THROTTLE(1.0, "[SO3Transform]: using Baca's method");
+      80             : 
+      81             :     // | ------------------------- body z ------------------------- |
+      82       23864 :     Rd.col(2) = body_z_normed;
+      83             : 
+      84             :     // | ------------------------- body x ------------------------- |
+      85             : 
+      86             :     // construct the oblique projection
+      87       23864 :     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       47728 :     Eigen::MatrixXd A = Eigen::MatrixXd(3, 2);
+      91       23864 :     A.col(0)          = projector_body_z_compl.col(0);
+      92       23864 :     A.col(1)          = projector_body_z_compl.col(1);
+      93             : 
+      94             :     // create the basis of the projection null-space complement
+      95       47728 :     Eigen::MatrixXd B = Eigen::MatrixXd(3, 2);
+      96       23864 :     B.col(0)          = Eigen::Vector3d(1, 0, 0);
+      97       23864 :     B.col(1)          = Eigen::Vector3d(0, 1, 0);
+      98             : 
+      99             :     // oblique projector to <range_basis>
+     100       47728 :     Eigen::MatrixXd Bt_A               = B.transpose() * A;
+     101       47728 :     Eigen::MatrixXd Bt_A_pseudoinverse = ((Bt_A.transpose() * Bt_A).inverse()) * Bt_A.transpose();
+     102       23864 :     Eigen::MatrixXd oblique_projector  = A * Bt_A_pseudoinverse * B.transpose();
+     103             : 
+     104       23864 :     Rd.col(0) = oblique_projector * heading;
+     105       23864 :     Rd.col(0).normalize();
+     106             : 
+     107             :     // | ------------------------- body y ------------------------- |
+     108             : 
+     109       23864 :     Rd.col(1) = Rd.col(2).cross(Rd.col(0));
+     110       23864 :     Rd.col(1).normalize();
+     111             : 
+     112             :   } else {
+     113             : 
+     114       69794 :     ROS_DEBUG_THROTTLE(1.0, "[SO3Transform]: using Lee's method");
+     115             : 
+     116       69794 :     Rd.col(2) = body_z_normed;
+     117       69794 :     Rd.col(1) = Rd.col(2).cross(heading);
+     118       69794 :     Rd.col(1).normalize();
+     119       69794 :     Rd.col(0) = Rd.col(1).cross(Rd.col(2));
+     120       69794 :     Rd.col(0).normalize();
+     121             :   }
+     122             : 
+     123      187316 :   return Rd;
+     124             : }
+     125             : 
+     126             : //}
+     127             : 
+     128             : /* getLowestOutput() //{ */
+     129             : 
+     130      100215 : std::optional<CONTROL_OUTPUT> getLowestOuput(const mrs_uav_managers::control_manager::ControlOutputModalities_t& outputs) {
+     131             : 
+     132      100215 :   if (outputs.actuators) {
+     133        2519 :     return ACTUATORS_CMD;
+     134             :   }
+     135             : 
+     136       97696 :   if (outputs.control_group) {
+     137        2545 :     return CONTROL_GROUP;
+     138             :   }
+     139             : 
+     140       95151 :   if (outputs.attitude_rate) {
+     141       86289 :     return ATTITUDE_RATE;
+     142             :   }
+     143             : 
+     144        8862 :   if (outputs.attitude) {
+     145        2305 :     return ATTITUDE;
+     146             :   }
+     147             : 
+     148        6557 :   if (outputs.acceleration_hdg_rate) {
+     149        1109 :     return ACCELERATION_HDG_RATE;
+     150             :   }
+     151             : 
+     152        5448 :   if (outputs.acceleration_hdg) {
+     153        1076 :     return ACCELERATION_HDG;
+     154             :   }
+     155             : 
+     156        4372 :   if (outputs.velocity_hdg_rate) {
+     157        2432 :     return VELOCITY_HDG_RATE;
+     158             :   }
+     159             : 
+     160        1940 :   if (outputs.velocity_hdg) {
+     161        1380 :     return VELOCITY_HDG;
+     162             :   }
+     163             : 
+     164         560 :   if (outputs.position) {
+     165         560 :     return POSITION;
+     166             :   }
+     167             : 
+     168           0 :   return {};
+     169             : }
+     170             : 
+     171             : //}
+     172             : 
+     173             : /* getHighestOutput() //{ */
+     174             : 
+     175       10217 : std::optional<CONTROL_OUTPUT> getHighestOuput(const mrs_uav_managers::control_manager::ControlOutputModalities_t& outputs) {
+     176             : 
+     177       10217 :   if (outputs.position) {
+     178           3 :     return POSITION;
+     179             :   }
+     180             : 
+     181       10214 :   if (outputs.velocity_hdg) {
+     182           7 :     return VELOCITY_HDG;
+     183             :   }
+     184             : 
+     185       10207 :   if (outputs.velocity_hdg_rate) {
+     186           9 :     return VELOCITY_HDG_RATE;
+     187             :   }
+     188             : 
+     189       10198 :   if (outputs.acceleration_hdg) {
+     190           7 :     return ACCELERATION_HDG;
+     191             :   }
+     192             : 
+     193       10191 :   if (outputs.acceleration_hdg_rate) {
+     194           6 :     return ACCELERATION_HDG_RATE;
+     195             :   }
+     196             : 
+     197       10185 :   if (outputs.attitude) {
+     198        5925 :     return ATTITUDE;
+     199             :   }
+     200             : 
+     201        4260 :   if (outputs.attitude_rate) {
+     202        1426 :     return ATTITUDE_RATE;
+     203             :   }
+     204             : 
+     205        2834 :   if (outputs.control_group) {
+     206        1417 :     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         258 : std::optional<double> extractThrottle(const mrs_uav_managers::Controller::ControlOutput& control_output) {
+     221             : 
+     222         258 :   if (!control_output.control_output) {
+     223         142 :     return {};
+     224             :   }
+     225             : 
+     226         232 :   return std::visit(HwApiCmdExtractThrottleVisitor(), control_output.control_output.value());
+     227             : }
+     228             : 
+     229             : //}
+     230             : 
+     231             : /* attitudeController() //{ */
+     232             : 
+     233       95534 : 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       95534 :   Eigen::Matrix3d R  = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+     238       95534 :   Eigen::Matrix3d Rd = mrs_lib::AttitudeConverter(reference.orientation);
+     239             : 
+     240             :   // calculate the orientation error
+     241       95534 :   Eigen::Vector3d E = common::orientationError(R, Rd);
+     242             : 
+     243       95534 :   Eigen::Vector3d rate_feedback = gains.array() * E.array() + ff_rate.array();
+     244             : 
+     245             :   // | ----------- parasitic heading rate compensation ---------- |
+     246             : 
+     247       95534 :   if (parasitic_heading_rate_compensation) {
+     248             : 
+     249       22734 :     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       22734 :     Eigen::Vector3d rp_heading_rate_compensation(0, 0, 0);
+     253             : 
+     254       22734 :     Eigen::Vector3d q_feedback_yawless = rate_feedback;
+     255       22734 :     q_feedback_yawless(2)              = 0;  // nullyfy the effect of the original yaw feedback
+     256             : 
+     257       22734 :     double parasitic_heading_rate = 0;
+     258             : 
+     259             :     try {
+     260       22734 :       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       22734 :       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       22734 :     rate_feedback += rp_heading_rate_compensation;
+     274             :   }
+     275             : 
+     276             :   // | --------------- saturate the attitude rate --------------- |
+     277             : 
+     278       95534 :   if (rate_feedback(0) > rate_saturation(0)) {
+     279           0 :     rate_feedback(0) = rate_saturation(0);
+     280       95534 :   } else if (rate_feedback(0) < -rate_saturation(0)) {
+     281           0 :     rate_feedback(0) = -rate_saturation(0);
+     282             :   }
+     283             : 
+     284       95534 :   if (rate_feedback(1) > rate_saturation(1)) {
+     285           0 :     rate_feedback(1) = rate_saturation(1);
+     286       95534 :   } else if (rate_feedback(1) < -rate_saturation(1)) {
+     287           0 :     rate_feedback(1) = -rate_saturation(1);
+     288             :   }
+     289             : 
+     290       95534 :   if (rate_feedback(2) > rate_saturation(2)) {
+     291           0 :     rate_feedback(2) = rate_saturation(2);
+     292       95534 :   } 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       95534 :   mrs_msgs::HwApiAttitudeRateCmd cmd;
+     299             : 
+     300       95534 :   cmd.stamp = ros::Time::now();
+     301             : 
+     302       95534 :   cmd.body_rate.x = rate_feedback(0);
+     303       95534 :   cmd.body_rate.y = rate_feedback(1);
+     304       95534 :   cmd.body_rate.z = rate_feedback(2);
+     305             : 
+     306       95534 :   cmd.throttle = reference.throttle;
+     307             : 
+     308      191068 :   return cmd;
+     309             : }
+     310             : 
+     311             : //}
+     312             : 
+     313             : /* attitudeRateController() //{ */
+     314             : 
+     315        7851 : std::optional<mrs_msgs::HwApiControlGroupCmd> attitudeRateController(const mrs_msgs::UavState& uav_state, const mrs_msgs::HwApiAttitudeRateCmd& reference,
+     316             :                                                                      const Eigen::Vector3d& gains) {
+     317             : 
+     318        7851 :   Eigen::Vector3d des_rate(reference.body_rate.x, reference.body_rate.y, reference.body_rate.z);
+     319        7851 :   Eigen::Vector3d cur_rate(uav_state.velocity.angular.x, uav_state.velocity.angular.y, uav_state.velocity.angular.z);
+     320             : 
+     321        7851 :   Eigen::Vector3d ctrl_group_action = (des_rate - cur_rate).array() * gains.array();
+     322             : 
+     323        7851 :   mrs_msgs::HwApiControlGroupCmd cmd;
+     324             : 
+     325        7851 :   cmd.stamp = ros::Time::now();
+     326             : 
+     327        7851 :   cmd.throttle = reference.throttle;
+     328             : 
+     329        7851 :   cmd.roll  = ctrl_group_action(0);
+     330        7851 :   cmd.pitch = ctrl_group_action(1);
+     331        7851 :   cmd.yaw   = ctrl_group_action(2);
+     332             : 
+     333       15702 :   return {cmd};
+     334             : }
+     335             : 
+     336             : //}
+     337             : 
+     338             : /* actuatorMixer() //{ */
+     339             : 
+     340        3912 : mrs_msgs::HwApiActuatorCmd actuatorMixer(const mrs_msgs::HwApiControlGroupCmd& ctrl_group_cmd, const Eigen::MatrixXd& mixer) {
+     341             : 
+     342        3912 :   Eigen::Vector4d ctrl_group(ctrl_group_cmd.roll, ctrl_group_cmd.pitch, ctrl_group_cmd.yaw, ctrl_group_cmd.throttle);
+     343             : 
+     344        7824 :   Eigen::VectorXd motors = mixer * ctrl_group;
+     345             : 
+     346        3912 :   double min = motors.minCoeff();
+     347             : 
+     348        3912 :   if (min < 0.0) {
+     349           0 :     motors.array() += abs(min);
+     350             :   }
+     351             : 
+     352        3912 :   double max = motors.maxCoeff();
+     353             : 
+     354        3912 :   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        3912 :   mrs_msgs::HwApiActuatorCmd actuator_msg;
+     373             : 
+     374        3912 :   actuator_msg.stamp = ros::Time::now();
+     375             : 
+     376       19560 :   for (int i = 0; i < motors.size(); i++) {
+     377       15648 :     actuator_msg.motors.push_back(motors(i));
+     378             :   }
+     379             : 
+     380        7824 :   return actuator_msg;
+     381             : }
+     382             : 
+     383             : //}
+     384             : 
+     385             : }  // namespace common
+     386             : 
+     387             : }  // namespace mrs_uav_controllers
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_controllers/src/common.cpp.gcov.overview.html b/mrs_uav_controllers/src/common.cpp.gcov.overview.html new file mode 100644 index 0000000000..dd0d0db077 --- /dev/null +++ b/mrs_uav_controllers/src/common.cpp.gcov.overview.html @@ -0,0 +1,117 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/common.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 + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_controllers/src/common.cpp.gcov.png b/mrs_uav_controllers/src/common.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..ae7a39fe11d1881d88a0dc8901f5aabbb7614895 GIT binary patch literal 1368 zcmV-e1*iInP)oiq$s z=NH2Am0;OgEB5CBD62zU z{0~B*^^;g{Gnu2ZEX$e<>)sE0Gw^o&IfD=AUo8*QLFz)L2chU0?~CiP#6q@!xE%yCid_+&Kx1$X`Ja*nN?~tAa88? zKxc45lH{g&hp4A`P%0=Wl0@2v;*`|P257*h)lzi5P09)vF~-ogLHF{kqn$e_BWA63 zT|ZzqrfK_Pm;^p)TdPy%vB_^ddlL%xod}6F9ZySpBI5RJbHNG^7bEJFc_eM9K18AS zlz}qTG>9r?&@oJ7mQ9@k|2en>0O4Qr9>_{2d{;rV02Nei0?e0~vk3mHFkQt?X%&Hgh@e!z5aZl>AF1HmZ-6fatSs6np!&6Xc} zl~Ps9t}XOBAwsy zCno%9ht(gGkktU1U^rzS?3-V2o}jedXND`JIX(+@LWrcETCVa3s@*(hGUJ zX|OEox?KlhI$&d+#G`*{E$i=nh&oZ;h0p!H6po_8Ji=3m$a-zvr$E-y`SleyI!TE% z;=y6EuKZ?Y&u=@QDHT#Az85o-%Zvb!mS>^5S1}ZeGfWz|cBi6E@eaeVNp}VNQ$$a# a + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/failsafe_controller.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_controllers/src - failsafe_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13219468.0 %
Date:2024-12-11 22:27:27Functions:91181.8 %
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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&)7
mrs_uav_controllers::failsafe_controller::FailsafeController::activate(mrs_uav_managers::Controller::ControlOutput const&)7
mrs_uav_controllers::failsafe_controller::FailsafeController::deactivate()34
(anonymous namespace)::ProxyExec0::ProxyExec0()109
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>)109
mrs_uav_controllers::failsafe_controller::FailsafeController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)431
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&)9718
mrs_uav_controllers::failsafe_controller::FailsafeController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)140008
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Current view:top level - mrs_uav_controllers/src - failsafe_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13219468.0 %
Date:2024-12-11 22:27:27Functions:91181.8 %
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()109
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>)109
mrs_uav_controllers::failsafe_controller::FailsafeController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)9718
mrs_uav_controllers::failsafe_controller::FailsafeController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)431
mrs_uav_controllers::failsafe_controller::FailsafeController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)140008
mrs_uav_controllers::failsafe_controller::FailsafeController::getHeadingSafely(geometry_msgs::Quaternion_<std::allocator<void> > const&)7
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&)7
mrs_uav_controllers::failsafe_controller::FailsafeController::getStatus()971
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Current view:top level - mrs_uav_controllers/src - failsafe_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13219468.0 %
Date:2024-12-11 22:27:27Functions:91181.8 %
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 <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         109 : 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         109 :   nh_ = nh;
+     117             : 
+     118         109 :   common_handlers_  = common_handlers;
+     119         109 :   private_handlers_ = private_handlers;
+     120             : 
+     121         109 :   _uav_mass_ = common_handlers->getMass();
+     122             : 
+     123         109 :   ros::Time::waitForValid();
+     124             : 
+     125             :   // | ---------- loading params using the parent's nh ---------- |
+     126             : 
+     127         218 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     128             : 
+     129         109 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     130             : 
+     131         109 :   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         109 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/failsafe_controller.yaml");
+     139         109 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/failsafe_controller.yaml");
+     140             : 
+     141         218 :   const std::string yaml_namespace = "mrs_uav_controllers/failsafe_controller/";
+     142             : 
+     143         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "throttle_output/throttle_decrease_rate", _throttle_decrease_rate_);
+     144         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "throttle_output/initial_throttle_percentage", _initial_throttle_percentage_);
+     145             : 
+     146         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "attitude_controller/gains/kp", _kq_);
+     147             : 
+     148         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "rate_controller/gains/kp", _kw_);
+     149             : 
+     150         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "velocity_output/descend_speed", _descend_speed_);
+     151         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "acceleration_output/descend_acceleration", _descend_acceleration_);
+     152             : 
+     153         109 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     154           0 :     ROS_ERROR("[FailsafeController]: Could not load all parameters!");
+     155           0 :     return false;
+     156             :   }
+     157             : 
+     158         109 :   _descend_speed_        = std::abs(_descend_speed_);
+     159         109 :   _descend_acceleration_ = std::abs(_descend_acceleration_);
+     160             : 
+     161         109 :   uav_mass_difference_ = 0;
+     162             : 
+     163             :   // | ----------------------- subscribers ---------------------- |
+     164             : 
+     165         109 :   mrs_lib::SubscribeHandlerOptions shopts;
+     166         109 :   shopts.nh                 = nh_;
+     167         109 :   shopts.node_name          = "FailsafeController";
+     168         109 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     169         109 :   shopts.threadsafe         = true;
+     170         109 :   shopts.autostart          = true;
+     171         109 :   shopts.queue_size         = 10;
+     172         109 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     173             : 
+     174         109 :   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         109 :   hover_throttle_ = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, _uav_mass_ * common_handlers_->g);
+     179             : 
+     180             :   // | ------------------------ profiler ------------------------ |
+     181             : 
+     182         109 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "FailsafeController", _profiler_enabled_);
+     183             : 
+     184             :   // | ----------------------- finish init ---------------------- |
+     185             : 
+     186         109 :   ROS_INFO("[FailsafeController]: initialized");
+     187             : 
+     188         109 :   is_initialized_ = true;
+     189             : 
+     190         109 :   return true;
+     191             : }
+     192             : 
+     193             : //}
+     194             : 
+     195             : /* activate() //{ */
+     196             : 
+     197           7 : bool FailsafeController::activate(const ControlOutput &last_control_output) {
+     198             : 
+     199          14 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     200             : 
+     201           7 :   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           7 :     if (sh_hw_api_orientation_.getMsg()) {
+     212             : 
+     213          14 :       auto hw_api_orientation = sh_hw_api_orientation_.getMsg();
+     214             : 
+     215           7 :       heading_setpoint_ = getHeadingSafely(hw_api_orientation->quaternion);
+     216             : 
+     217           7 :       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           7 :     activation_control_output_ = last_control_output;
+     227             : 
+     228           7 :     if (last_control_output.diagnostics.mass_estimator) {
+     229           6 :       uav_mass_difference_ = last_control_output.diagnostics.mass_difference;
+     230             :     } else {
+     231           1 :       uav_mass_difference_ = 0;
+     232             :     }
+     233             : 
+     234           7 :     activation_control_output_.diagnostics.controller_enforcing_constraints = false;
+     235             : 
+     236           7 :     hover_throttle_ = _initial_throttle_percentage_ * mrs_lib::quadratic_throttle_model::forceToThrottle(
+     237           7 :                                                           common_handlers_->throttle_model, (_uav_mass_ + uav_mass_difference_) * common_handlers_->g);
+     238             : 
+     239           7 :     ROS_INFO("[FailsafeController]: activated with uav_mass_difference %.2f kg.", uav_mass_difference_);
+     240             :   }
+     241             : 
+     242           7 :   first_iteration_ = true;
+     243             : 
+     244           7 :   is_active_ = true;
+     245             : 
+     246           7 :   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      140008 : void FailsafeController::updateInactive(const mrs_msgs::UavState &uav_state, [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &tracker_command) {
+     267             : 
+     268      140008 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     269             : 
+     270      140008 :   last_update_time_ = ros::Time::now();
+     271             : 
+     272      140008 :   first_iteration_ = false;
+     273      140008 : }
+     274             : 
+     275             : //}
+     276             : 
+     277             : /* //{ updateWhenAcctive() */
+     278             : 
+     279        9718 : FailsafeController::ControlOutput FailsafeController::updateActive(const mrs_msgs::UavState &                       uav_state,
+     280             :                                                                    [[maybe_unused]] const mrs_msgs::TrackerCommand &tracker_command) {
+     281             : 
+     282       29154 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     283       29154 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("FailsafeController::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     284             : 
+     285             :   {
+     286       19436 :     std::scoped_lock lock(mutex_uav_state_);
+     287             : 
+     288        9718 :     uav_state_ = uav_state;
+     289             :   }
+     290             : 
+     291        9718 :   if (!is_active_) {
+     292           0 :     return ControlOutput();
+     293             :   }
+     294             : 
+     295        9718 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     296             : 
+     297             :   // | -------------------- calculate the dt -------------------- |
+     298             : 
+     299             :   double dt;
+     300             : 
+     301        9718 :   if (first_iteration_) {
+     302           7 :     dt               = 0.01;
+     303           7 :     first_iteration_ = false;
+     304             :   } else {
+     305        9711 :     dt = (ros::Time::now() - last_update_time_).toSec();
+     306             :   }
+     307             : 
+     308        9718 :   last_update_time_ = ros::Time::now();
+     309             : 
+     310        9718 :   hover_throttle_ -= _throttle_decrease_rate_ * dt;
+     311             : 
+     312        9718 :   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        9718 :   } else if (hover_throttle_ > 1.0) {
+     316           0 :     hover_throttle_ = 1.0;
+     317        9718 :   } else if (hover_throttle_ < 0.0) {
+     318           0 :     hover_throttle_ = 0.0;
+     319             :   }
+     320             : 
+     321             :   // | --------------- prepare the control output --------------- |
+     322             : 
+     323       19436 :   FailsafeController::ControlOutput control_output;
+     324             : 
+     325        9718 :   control_output.diagnostics.controller = "FailsafeController";
+     326             : 
+     327        9718 :   auto highest_modality = common::getHighestOuput(common_handlers_->control_output_modalities);
+     328             : 
+     329        9718 :   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        9718 :   control_output.diagnostics.controller = "FailsafeController";
+     335             : 
+     336             :   // --------------------------------------------------------------
+     337             :   // |                       position output                      |
+     338             :   // --------------------------------------------------------------
+     339             : 
+     340        9718 :   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        9718 :   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        9718 :   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        9718 :   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        9718 :   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        9718 :   mrs_msgs::HwApiAttitudeCmd attitude_cmd;
+     422             : 
+     423        9718 :   attitude_cmd.stamp       = ros::Time::now();
+     424        9718 :   attitude_cmd.orientation = mrs_lib::AttitudeConverter(0, 0, heading_setpoint_);
+     425        9718 :   attitude_cmd.throttle    = hover_throttle_;
+     426             : 
+     427        9718 :   if (highest_modality.value() == common::ATTITUDE) {
+     428        5537 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning attitude output");
+     429        5537 :     control_output.control_output = attitude_cmd;
+     430        5537 :     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         431 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr FailsafeController::setConstraints([
+     506             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &constraints) {
+     507             : 
+     508         431 :   if (!is_initialized_) {
+     509           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     510             :   }
+     511             : 
+     512         431 :   mrs_lib::set_mutexed(mutex_constraints_, constraints->constraints, constraints_);
+     513             : 
+     514         431 :   ROS_INFO("[FailsafeController]: updating constraints");
+     515             : 
+     516         862 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     517         431 :   res.success = true;
+     518         431 :   res.message = "constraints updated";
+     519             : 
+     520         431 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     521             : }
+     522             : 
+     523             : //}
+     524             : 
+     525             : /* getHeadingSafely() //{ */
+     526             : 
+     527           7 : double FailsafeController::getHeadingSafely(const geometry_msgs::Quaternion &quaternion) {
+     528             : 
+     529             :   try {
+     530           7 :     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         109 : PLUGINLIB_EXPORT_CLASS(mrs_uav_controllers::failsafe_controller::FailsafeController, mrs_uav_managers::Controller)
+
+
+
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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..2e293e36ac0445c624b1da8c12a3c8f4cbc5fd71 GIT binary patch literal 1809 zcmV+s2k!WZP))Fj@h~`Bulo_nv>+wE~{$ z5{+;uO2MDZqZ&l6x5HS*@I8(q$i3vFYLfbXMyx;r!wi|4u2Hwjy;fwpJeGen+BYIZ z%mahi!sp1bsj_153{@KRGl*l1nA%jNDEdW=KFZMyAaj(V8(9w&q8rPZC@uv*5*LDk zuCJQ4%(b966cnVHiv2jshc|IaKVgcCJ1Qae6y$de?C5GqIE_}>5jcfV)_>eBl_OFp zO9?;=`Dhr!hy;6ag3reqL|V&Ouw8>VTovx3EnGX{4*vuB(zd0LXxc;!<6q3^AA^32R!?V%8xC$C~O*dj5y&M*eC|4K7m zkzg|fLH|1{7%1p7iV>wccHEy?*JX{H4&VKU!<@9__lzLB&8ya{PI2Rw>AEE7l$f=D zM+<5%m{mmD^@5Gr0g)Vs5Yc4{SHvhcagMg$6%!KZn9>M5uN`%a6FenB%&WGa!k%=&8bv){<*=&P?6)s#BV)B&F3bu8q9~1U0Yhf-# zCey`P4ovJ;FmLaO;Ti}Q5w%4u*fQ<xm}BE)23-`$J(zn`=D`#tbxYf%NjMI6SeqfoN> z3@|z#p>1S&BF(ra;~0sr=NV8k&3~1MB{=^{B_iat-JQXG|e=;ragX zBN5lGKek}E^)sJx$`CxNyuc#jABTJLh9{Tqos>zn)P~iZq4g&Q#?4k1I73uC?cdR3gB9+`;?J{dn?o$J57mNzvcn zRkxMQeWinm;L&}zm7?4eA~yLtjsd94K?AFY&mPXL^PU_fw6R?tx$0zFBd@SwExaX1JQoO^81()+*`_?C* zPi~uiu{!b*%QM%41UYBw`enrb}3^A`spk;H;jrRL@P9USSD=)7TlX=9t!={3c`PudQ&y|p%SFRu^(UGWG zJ)s_!!+V8c$vQgvL2}T|yfHD;t^sH4+^YFy4xcY$@s?dK=BUY(0%rxbjz1jrITi*g ze~J^>n=i|2qq4X9suw! + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src + + + + + + + + + + + + + + +
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Test:MRS UAV System - Test coverage reportLines:1752217480.6 %
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
failsafe_controller.cpp +
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<unnamed>68.0 %132 / 19481.8 %9 / 11
midair_activation_controller.cpp +
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<unnamed>88.7 %134 / 15181.8 %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%
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<unnamed>84.3 %134 / 159100.0 %9 / 9
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Test:MRS UAV System - Test coverage reportLines:1752217480.6 %
Date:2024-12-11 22:27:27Functions:586687.9 %
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
failsafe_controller.cpp +
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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 +
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+ 		84.3 %134 / 159100.0 %9 / 9
<unnamed>84.3 %134 / 159100.0 %9 / 9
midair_activation_controller.cpp +
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<unnamed>88.7 %134 / 15181.8 %9 / 11
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Test:MRS UAV System - Test coverage reportLines:1752217480.6 %
Date:2024-12-11 22:27:27Functions: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%
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<unnamed>84.3 %134 / 159100.0 %9 / 9
failsafe_controller.cpp +
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+ 		68.0 %132 / 19481.8 %9 / 11
<unnamed>68.0 %132 / 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 +
80.6%80.6%
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<unnamed>80.6 %625 / 77588.2 %15 / 17
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Current view:top level - mrs_uav_controllers/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1752217480.6 %
Date:2024-12-11 22:27:27Functions: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 +
68.0%68.0%
+ 		68.0 %132 / 19481.8 %9 / 11
midair_activation_controller.cpp +
88.7%88.7%
+ 		88.7 %134 / 15181.8 %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
+
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+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_controllers/src/index-sort-l.html b/mrs_uav_controllers/src/index-sort-l.html new file mode 100644 index 0000000000..2a9aac1388 --- /dev/null +++ b/mrs_uav_controllers/src/index-sort-l.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:1752217480.6 %
Date:2024-12-11 22:27:27Functions: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 +
68.0%68.0%
+ 		68.0 %132 / 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..d07c8440a1 --- /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:1752217480.6 %
Date:2024-12-11 22:27:27Functions: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 +
68.0%68.0%
+ 		68.0 %132 / 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..8b9d0403a5 --- /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:2024-12-11 22:27:27Functions:91181.8 %
Legend: Lines: + hit + not hit +
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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&)17
mrs_uav_controllers::midair_activation_controller::MidairActivationController::deactivate()103
(anonymous namespace)::ProxyExec0::ProxyExec0()109
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>)109
mrs_uav_controllers::midair_activation_controller::MidairActivationController::getStatus()139
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&)431
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)499
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)149227
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Generated by: LCOV version 1.14
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+ + + 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..2369f849cb --- /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:2024-12-11 22:27:27Functions:91181.8 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()109
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>)109
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)499
mrs_uav_controllers::midair_activation_controller::MidairActivationController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)431
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)149227
mrs_uav_controllers::midair_activation_controller::MidairActivationController::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)17
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()139
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Generated by: LCOV version 1.14
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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..20bb86d570 --- /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:2024-12-11 22:27:27Functions: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         109 : 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         109 :   nh_ = nh;
+      90             : 
+      91         109 :   common_handlers_  = common_handlers;
+      92         109 :   private_handlers_ = private_handlers;
+      93             : 
+      94         109 :   _uav_mass_ = common_handlers->getMass();
+      95             : 
+      96         109 :   ros::Time::waitForValid();
+      97             : 
+      98             :   // | ---------- loading params using the parent's nh ---------- |
+      99             : 
+     100         218 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     101             : 
+     102         109 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     103             : 
+     104         109 :   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         109 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/midair_activation_controller.yaml");
+     112         109 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/midair_activation_controller.yaml");
+     113             : 
+     114         109 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     115           0 :     ROS_ERROR("[MidairActivationController]: Could not load all parameters!");
+     116           0 :     return false;
+     117             :   }
+     118             : 
+     119         109 :   uav_mass_difference_ = 0;
+     120             : 
+     121             :   // | ------------------------ profiler ------------------------ |
+     122             : 
+     123         109 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "MidairActivationController", _profiler_enabled_);
+     124             : 
+     125             :   // | ----------------------- finish init ---------------------- |
+     126             : 
+     127         109 :   ROS_INFO("[MidairActivationController]: initialized");
+     128             : 
+     129         109 :   is_initialized_ = true;
+     130             : 
+     131         109 :   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      149227 : void MidairActivationController::updateInactive(const mrs_msgs::UavState &                                      uav_state,
+     170             :                                                 [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &tracker_command) {
+     171             : 
+     172      149227 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     173      149227 : }
+     174             : 
+     175             : //}
+     176             : 
+     177             : /* //{ updateWhenAcctive() */
+     178             : 
+     179         499 : MidairActivationController::ControlOutput MidairActivationController::updateActive(const mrs_msgs::UavState &      uav_state,
+     180             :                                                                                    const mrs_msgs::TrackerCommand &tracker_command) {
+     181             : 
+     182        1497 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     183             :   mrs_lib::ScopeTimer timer =
+     184        1497 :       mrs_lib::ScopeTimer("MidairActivationController::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     185             : 
+     186         499 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     187             : 
+     188         499 :   if (!is_active_) {
+     189           0 :     return Controller::ControlOutput();
+     190             :   }
+     191             : 
+     192             :   // | --------------- prepare the control output --------------- |
+     193             : 
+     194         998 :   ControlOutput control_output;
+     195             : 
+     196         499 :   control_output.diagnostics.controller = "MidairActivationController";
+     197             : 
+     198         499 :   auto highest_modality = common::getHighestOuput(common_handlers_->control_output_modalities);
+     199             : 
+     200         499 :   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         499 :   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           9 :     case common::VELOCITY_HDG_RATE: {
+     246             : 
+     247          18 :       mrs_msgs::HwApiVelocityHdgRateCmd cmd;
+     248             : 
+     249           9 :       cmd.header.stamp    = ros::Time::now();
+     250           9 :       cmd.header.frame_id = uav_state.header.frame_id;
+     251             : 
+     252           9 :       cmd.velocity.x = uav_state.velocity.linear.x;
+     253           9 :       cmd.velocity.y = uav_state.velocity.linear.y;
+     254           9 :       cmd.velocity.z = uav_state.velocity.linear.z;
+     255             : 
+     256           9 :       cmd.heading_rate = 0;
+     257             : 
+     258           9 :       control_output.control_output = cmd;
+     259             : 
+     260           9 :       break;
+     261             :     }
+     262             : 
+     263           7 :     case common::ACCELERATION_HDG: {
+     264             : 
+     265          14 :       mrs_msgs::HwApiAccelerationHdgCmd cmd;
+     266             : 
+     267           7 :       cmd.header.stamp    = ros::Time::now();
+     268           7 :       cmd.header.frame_id = uav_state.header.frame_id;
+     269             : 
+     270           7 :       cmd.acceleration.x = uav_state.acceleration.linear.x;
+     271           7 :       cmd.acceleration.y = uav_state.acceleration.linear.y;
+     272           7 :       cmd.acceleration.z = uav_state.acceleration.linear.z;
+     273             : 
+     274           7 :       cmd.heading = getHeadingSafely(uav_state, tracker_command);
+     275             : 
+     276           7 :       control_output.control_output = cmd;
+     277             : 
+     278           7 :       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         388 :     case common::ATTITUDE: {
+     300             : 
+     301         388 :       mrs_msgs::HwApiAttitudeCmd cmd;
+     302             : 
+     303         388 :       cmd.stamp = ros::Time::now();
+     304             : 
+     305         388 :       cmd.orientation = uav_state.pose.orientation;
+     306         388 :       cmd.throttle    = hover_throttle_;
+     307             : 
+     308         388 :       control_output.control_output = cmd;
+     309             : 
+     310         388 :       break;
+     311             :     }
+     312             : 
+     313          32 :     case common::ATTITUDE_RATE: {
+     314             : 
+     315          32 :       mrs_msgs::HwApiAttitudeRateCmd cmd;
+     316             : 
+     317          32 :       cmd.stamp = ros::Time::now();
+     318             : 
+     319          32 :       cmd.body_rate.x = 0;
+     320          32 :       cmd.body_rate.y = 0;
+     321          32 :       cmd.body_rate.z = 0;
+     322             : 
+     323          32 :       cmd.throttle = hover_throttle_;
+     324             : 
+     325          32 :       control_output.control_output = cmd;
+     326             : 
+     327          32 :       break;
+     328             :     }
+     329             : 
+     330          23 :     case common::CONTROL_GROUP: {
+     331             : 
+     332          23 :       mrs_msgs::HwApiControlGroupCmd cmd;
+     333             : 
+     334          23 :       cmd.stamp = ros::Time::now();
+     335             : 
+     336          23 :       cmd.roll     = 0;
+     337          23 :       cmd.pitch    = 0;
+     338          23 :       cmd.yaw      = 0;
+     339          23 :       cmd.throttle = hover_throttle_;
+     340             : 
+     341          23 :       control_output.control_output = cmd;
+     342             : 
+     343          23 :       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         499 :   return control_output;
+     363             : }  // namespace midair_activation_controller
+     364             : 
+     365             : //}
+     366             : 
+     367             : /* getStatus() //{ */
+     368             : 
+     369         139 : const mrs_msgs::ControllerStatus MidairActivationController::getStatus() {
+     370             : 
+     371         139 :   mrs_msgs::ControllerStatus controller_status;
+     372             : 
+     373         139 :   controller_status.active = is_active_;
+     374             : 
+     375         139 :   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         431 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MidairActivationController::setConstraints([
+     397             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &constraints) {
+     398             : 
+     399         431 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     400             : }
+     401             : 
+     402             : //}
+     403             : 
+     404             : /* getHeadingSafely() //{ */
+     405             : 
+     406          17 : double MidairActivationController::getHeadingSafely(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+     407             : 
+     408             :   try {
+     409          17 :     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         109 : PLUGINLIB_EXPORT_CLASS(mrs_uav_controllers::midair_activation_controller::MidairActivationController, mrs_uav_managers::Controller)
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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:2024-12-11 22:27:27Functions:161888.9 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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()109
mrs_uav_controllers::mpc_controller::MpcController::deactivate()174
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>)218
mrs_uav_controllers::mpc_controller::MpcController::callbackDrs(mrs_uav_controllers::mpc_controllerConfig&, unsigned int)218
mrs_uav_controllers::mpc_controller::MpcController::activate(mrs_uav_managers::Controller::ControlOutput const&)231
mrs_uav_controllers::mpc_controller::MpcController::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)279
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&)765
mrs_uav_controllers::mpc_controller::MpcController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)862
mrs_uav_controllers::mpc_controller::MpcController::getStatus()15396
mrs_uav_controllers::mpc_controller::MpcController::timerGains(ros::TimerEvent const&)16637
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&)70886
mrs_uav_controllers::mpc_controller::MpcController::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)71651
mrs_uav_controllers::mpc_controller::MpcController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)71930
mrs_uav_controllers::mpc_controller::MpcController::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)131568
mrs_uav_controllers::mpc_controller::MpcController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)227522
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Generated by: LCOV version 1.14
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+ + + 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..c2cad59824 --- /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
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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:2024-12-11 22:27:27Functions:161888.9 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()109
mrs_uav_controllers::mpc_controller::MpcController::deactivate()174
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>)218
mrs_uav_controllers::mpc_controller::MpcController::timerGains(ros::TimerEvent const&)16637
mrs_uav_controllers::mpc_controller::MpcController::callbackDrs(mrs_uav_controllers::mpc_controllerConfig&, unsigned int)218
mrs_uav_controllers::mpc_controller::MpcController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)71930
mrs_uav_controllers::mpc_controller::MpcController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)862
mrs_uav_controllers::mpc_controller::MpcController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)227522
mrs_uav_controllers::mpc_controller::MpcController::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)71651
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&)765
mrs_uav_controllers::mpc_controller::MpcController::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)131568
mrs_uav_controllers::mpc_controller::MpcController::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)279
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&)70886
mrs_uav_controllers::mpc_controller::MpcController::activate(mrs_uav_managers::Controller::ControlOutput const&)231
mrs_uav_controllers::mpc_controller::MpcController::getStatus()15396
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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..38e1fa4131 --- /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
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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:2024-12-11 22:27:27Functions: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         218 : 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         218 :   nh_ = nh;
+     260             : 
+     261         218 :   common_handlers_  = common_handlers;
+     262         218 :   private_handlers_ = private_handlers;
+     263             : 
+     264         218 :   _uav_mass_ = common_handlers_->getMass();
+     265         218 :   name_      = private_handlers_->runtime_name;
+     266             : 
+     267         218 :   ros::Time::waitForValid();
+     268             : 
+     269             :   // | ---------- loading params using the parent's nh ---------- |
+     270             : 
+     271         436 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     272             : 
+     273         218 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     274             : 
+     275         218 :   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         218 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/mpc_controller.yaml");
+     283         218 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/mpc_controller.yaml");
+     284         218 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/" + private_handlers->name_space + ".yaml");
+     285         218 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/" + private_handlers->name_space + ".yaml");
+     286             : 
+     287         436 :   const std::string yaml_namespace = "mrs_uav_controllers/" + private_handlers_->name_space + "/";
+     288             : 
+     289             :   // load the dynamicall model parameters
+     290         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_model/number_of_states", _n_states_);
+     291         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_model/dt1", _dt1_);
+     292         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_model/dt2", _dt2_);
+     293             : 
+     294         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizon_length", _horizon_length_);
+     295             : 
+     296         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/max_speed", _max_speed_horizontal_);
+     297         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/max_acceleration", _max_acceleration_horizontal_);
+     298         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/max_jerk", _max_jerk_);
+     299             : 
+     300         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/Q", _mat_Q_);
+     301         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/S", _mat_S_);
+     302             : 
+     303         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/max_speed", _max_speed_vertical_);
+     304         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/max_acceleration", _max_acceleration_vertical_);
+     305         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/max_u", _max_u_vertical_);
+     306             : 
+     307         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/Q", _mat_Q_z_);
+     308         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/S", _mat_S_z_);
+     309             : 
+     310         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/solver/verbose", _mpc_solver_verbose_);
+     311         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/solver/max_iterations", _mpc_solver_max_iterations_);
+     312             : 
+     313             :   // | ------------------------- rampup ------------------------- |
+     314             : 
+     315         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/rampup/enabled", _rampup_enabled_);
+     316         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/rampup/speed", _rampup_speed_);
+     317             : 
+     318             :   // | --------------------- integral gains --------------------- |
+     319             : 
+     320         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/integral_gains/kiw", gains_.kiwxy);
+     321         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/integral_gains/kib", gains_.kibxy);
+     322             : 
+     323             :   // integrator limits
+     324         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/integral_gains/kiw_lim", gains_.kiwxy_lim);
+     325         218 :   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         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude/roll_pitch", gains_.kq_roll_pitch);
+     331         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude/yaw", gains_.kq_yaw);
+     332             : 
+     333             :   // attitude rate gains
+     334         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude_rate/roll_pitch", gains_.kw_rp);
+     335         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude_rate/yaw", gains_.kw_y);
+     336             : 
+     337             :   // mass estimator
+     338         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/mass_estimator/km", gains_.km);
+     339         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/mass_estimator/km_lim", gains_.km_lim);
+     340             : 
+     341             :   // constraints
+     342         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/constraints/tilt_angle_failsafe/enabled", _tilt_angle_failsafe_enabled_);
+     343         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/constraints/tilt_angle_failsafe/limit", _tilt_angle_failsafe_);
+     344             : 
+     345         218 :   _tilt_angle_failsafe_ = M_PI * (_tilt_angle_failsafe_ / 180.0);
+     346             : 
+     347         218 :   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         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/constraints/throttle_saturation", _throttle_saturation_);
+     353             : 
+     354             :   // gain filtering
+     355         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/perc_change_rate", _gains_filter_change_rate_);
+     356         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/min_change_rate", _gains_filter_min_change_rate_);
+     357         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/rate", _gain_filtering_rate_);
+     358         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/gain_mute_coefficient", _gain_mute_coefficient_);
+     359             : 
+     360             :   // angular rate feed forward
+     361         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/angular_rate_feedforward/jerk", drs_params_.jerk_feedforward);
+     362             : 
+     363             :   // output mode
+     364         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/preferred_output", drs_params_.preferred_output_mode);
+     365             : 
+     366             :   // | ------------------- position pid params ------------------ |
+     367             : 
+     368         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/p", _pos_pid_p_);
+     369         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/i", _pos_pid_i_);
+     370         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/d", _pos_pid_d_);
+     371             : 
+     372         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/p", _hdg_pid_p_);
+     373         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/i", _hdg_pid_i_);
+     374         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/d", _hdg_pid_d_);
+     375             : 
+     376         218 :   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         218 :   if (!(drs_params_.preferred_output_mode == OUTPUT_ACTUATORS || drs_params_.preferred_output_mode == OUTPUT_CONTROL_GROUP ||
+     384         218 :         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         218 :   uav_mass_difference_ = 0;
+     390         218 :   Iw_w_                = Eigen::Vector2d::Zero(2);
+     391         218 :   Ib_b_                = Eigen::Vector2d::Zero(2);
+     392             : 
+     393             :   // | ----------------- prepare the MPC solver ----------------- |
+     394             : 
+     395         218 :   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         218 :                                                                             _dt2_, 0, 1.0);
+     397         218 :   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         218 :                                                                             _dt2_, 0, 1.0);
+     399         218 :   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         218 :                                                                             _dt1_, _dt2_, 0.5, 0.5);
+     401             : 
+     402             :   // | --------------- dynamic reconfigure server --------------- |
+     403             : 
+     404         218 :   drs_params_.kiwxy         = gains_.kiwxy;
+     405         218 :   drs_params_.kibxy         = gains_.kibxy;
+     406         218 :   drs_params_.kq_roll_pitch = gains_.kq_roll_pitch;
+     407         218 :   drs_params_.kq_yaw        = gains_.kq_yaw;
+     408         218 :   drs_params_.km            = gains_.km;
+     409         218 :   drs_params_.km_lim        = gains_.km_lim;
+     410         218 :   drs_params_.kiwxy_lim     = gains_.kiwxy_lim;
+     411         218 :   drs_params_.kibxy_lim     = gains_.kibxy_lim;
+     412             : 
+     413         218 :   drs_.reset(new Drs_t(mutex_drs_, nh_));
+     414         218 :   drs_->updateConfig(drs_params_);
+     415         218 :   Drs_t::CallbackType f = boost::bind(&MpcController::callbackDrs, this, _1, _2);
+     416         218 :   drs_->setCallback(f);
+     417             : 
+     418             :   // | --------------------- service servers -------------------- |
+     419             : 
+     420         218 :   service_set_integral_terms_ = nh_.advertiseService("set_integral_terms_in", &MpcController::callbackSetIntegralTerms, this);
+     421             : 
+     422             :   // | ------------------------- timers ------------------------- |
+     423             : 
+     424         218 :   timer_gains_ = nh_.createTimer(ros::Rate(_gain_filtering_rate_), &MpcController::timerGains, this, false, false);
+     425             : 
+     426             :   // | ---------------------- position pid ---------------------- |
+     427             : 
+     428         218 :   position_pid_x_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     429         218 :   position_pid_y_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     430         218 :   position_pid_z_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     431         218 :   position_pid_heading_.setParams(_hdg_pid_p_, _hdg_pid_d_, _hdg_pid_i_, -1, 0.1);
+     432             : 
+     433             :   // | ------------------------ profiler ------------------------ |
+     434             : 
+     435         218 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "MpcController", _profiler_enabled_);
+     436             : 
+     437             :   // | ----------------------- finish init ---------------------- |
+     438             : 
+     439         218 :   ROS_INFO("[%s]: initialized", this->name_.c_str());
+     440             : 
+     441         218 :   is_initialized_ = true;
+     442             : 
+     443         218 :   return true;
+     444             : }
+     445             : 
+     446             : //}
+     447             : 
+     448             : /* //{ activate() */
+     449             : 
+     450         231 : bool MpcController::activate(const ControlOutput &last_control_output) {
+     451             : 
+     452         231 :   activation_control_output_ = last_control_output;
+     453             : 
+     454         231 :   double activation_mass = _uav_mass_;
+     455             : 
+     456         231 :   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         231 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+     463             : 
+     464         231 :   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         231 :   auto throttle_last_controller = common::extractThrottle(activation_control_output_);
+     479             : 
+     480             :   // rampup check
+     481         231 :   if (_rampup_enabled_ && throttle_last_controller) {
+     482             : 
+     483          82 :     double hover_throttle = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, activation_mass * common_handlers_->g);
+     484             : 
+     485          82 :     double throttle_difference = hover_throttle - throttle_last_controller.value();
+     486             : 
+     487          82 :     if (throttle_difference > 0) {
+     488          33 :       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          82 :     ROS_INFO("[%s]: activating rampup with initial throttle: %.4f, target: %.4f", name_.c_str(), throttle_last_controller.value(), hover_throttle);
+     496             : 
+     497          82 :     rampup_active_     = true;
+     498          82 :     rampup_start_time_ = ros::Time::now();
+     499          82 :     rampup_last_time_  = ros::Time::now();
+     500          82 :     rampup_throttle_   = throttle_last_controller.value();
+     501             : 
+     502          82 :     rampup_duration_ = std::abs(throttle_difference) / _rampup_speed_;
+     503             :   }
+     504             : 
+     505         231 :   first_iteration_ = true;
+     506         231 :   mute_gains_      = true;
+     507             : 
+     508         231 :   timer_gains_.start();
+     509             : 
+     510         231 :   ROS_INFO("[%s]: activated", this->name_.c_str());
+     511             : 
+     512         231 :   is_active_ = true;
+     513             : 
+     514         231 :   return true;
+     515             : }
+     516             : 
+     517             : //}
+     518             : 
+     519             : /* //{ deactivate() */
+     520             : 
+     521         174 : void MpcController::deactivate(void) {
+     522             : 
+     523         174 :   is_active_           = false;
+     524         174 :   first_iteration_     = false;
+     525         174 :   uav_mass_difference_ = 0;
+     526             : 
+     527         174 :   timer_gains_.stop();
+     528             : 
+     529         174 :   ROS_INFO("[%s]: deactivated", this->name_.c_str());
+     530         174 : }
+     531             : 
+     532             : //}
+     533             : 
+     534             : /* updateInactive() //{ */
+     535             : 
+     536      227522 : void MpcController::updateInactive(const mrs_msgs::UavState &uav_state, [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &tracker_command) {
+     537             : 
+     538      227522 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     539             : 
+     540      227522 :   last_update_time_ = uav_state.header.stamp;
+     541             : 
+     542      227522 :   first_iteration_ = false;
+     543      227522 : }
+     544             : 
+     545             : //}
+     546             : 
+     547             : /* //{ updateWhenAcctive() */
+     548             : 
+     549       71930 : MpcController::ControlOutput MpcController::updateActive(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+     550             : 
+     551      215790 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("updateActive");
+     552      215790 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcController::updateActive", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     553             : 
+     554      143860 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     555             : 
+     556       71930 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     557             : 
+     558       71930 :   last_control_output_.desired_heading_rate          = {};
+     559       71930 :   last_control_output_.desired_orientation           = {};
+     560       71930 :   last_control_output_.desired_unbiased_acceleration = {};
+     561       71930 :   last_control_output_.control_output                = {};
+     562             : 
+     563       71930 :   if (!is_active_) {
+     564           0 :     return last_control_output_;
+     565             :   }
+     566             : 
+     567             :   // | -------------------- calculate the dt -------------------- |
+     568             : 
+     569             :   double dt;
+     570             : 
+     571       71930 :   if (first_iteration_) {
+     572          84 :     dt               = 0.01;
+     573          84 :     first_iteration_ = false;
+     574             :   } else {
+     575       71846 :     dt = (uav_state.header.stamp - last_update_time_).toSec();
+     576             :   }
+     577             : 
+     578       71930 :   last_update_time_ = uav_state.header.stamp;
+     579             : 
+     580       71930 :   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       71930 :   auto lowest_modality = common::getLowestOuput(common_handlers_->control_output_modalities);
+     590             : 
+     591       71930 :   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       71930 :   if (drs_params.preferred_output_mode == OUTPUT_ATTITUDE_RATE && common_handlers_->control_output_modalities.attitude_rate) {
+     601       66093 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: prioritizing attitude rate output", name_.c_str());
+     602       66093 :     lowest_modality = common::ATTITUDE_RATE;
+     603        5837 :   } 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        5837 :   } 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        5837 :   } 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       71930 :   switch (lowest_modality.value()) {
+     615             : 
+     616         279 :     case common::POSITION: {
+     617         279 :       positionPassthrough(uav_state, tracker_command);
+     618         279 :       break;
+     619             :     }
+     620             : 
+     621         265 :     case common::VELOCITY_HDG: {
+     622         265 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG, dt);
+     623         265 :       break;
+     624             :     }
+     625             : 
+     626         500 :     case common::VELOCITY_HDG_RATE: {
+     627         500 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG_RATE, dt);
+     628         500 :       break;
+     629             :     }
+     630             : 
+     631         542 :     case common::ACCELERATION_HDG: {
+     632         542 :       MPC(uav_state, tracker_command, dt, common::ACCELERATION_HDG);
+     633         542 :       break;
+     634             :     }
+     635             : 
+     636         550 :     case common::ACCELERATION_HDG_RATE: {
+     637         550 :       MPC(uav_state, tracker_command, dt, common::ACCELERATION_HDG_RATE);
+     638         550 :       break;
+     639             :     }
+     640             : 
+     641        1175 :     case common::ATTITUDE: {
+     642        1175 :       MPC(uav_state, tracker_command, dt, common::ATTITUDE);
+     643        1175 :       break;
+     644             :     }
+     645             : 
+     646       66093 :     case common::ATTITUDE_RATE: {
+     647       66093 :       MPC(uav_state, tracker_command, dt, common::ATTITUDE_RATE);
+     648       66093 :       break;
+     649             :     }
+     650             : 
+     651        1279 :     case common::CONTROL_GROUP: {
+     652        1279 :       MPC(uav_state, tracker_command, dt, common::CONTROL_GROUP);
+     653        1279 :       break;
+     654             :     }
+     655             : 
+     656        1247 :     case common::ACTUATORS_CMD: {
+     657        1247 :       MPC(uav_state, tracker_command, dt, common::ACTUATORS_CMD);
+     658        1247 :       break;
+     659             :     }
+     660             : 
+     661           0 :     default: {
+     662           0 :       break;
+     663             :     }
+     664             :   }
+     665             : 
+     666       71930 :   return last_control_output_;
+     667             : }
+     668             : 
+     669             : //}
+     670             : 
+     671             : /* //{ getStatus() */
+     672             : 
+     673       15396 : const mrs_msgs::ControllerStatus MpcController::getStatus() {
+     674             : 
+     675       15396 :   mrs_msgs::ControllerStatus controller_status;
+     676             : 
+     677       15396 :   controller_status.active = is_active_;
+     678             : 
+     679       15396 :   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         862 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MpcController::setConstraints([
+     740             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &constraints) {
+     741             : 
+     742         862 :   if (!is_initialized_) {
+     743           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     744             :   }
+     745             : 
+     746         862 :   mrs_lib::set_mutexed(mutex_constraints_, constraints->constraints, constraints_);
+     747             : 
+     748         862 :   ROS_INFO("[%s]: updating constraints", this->name_.c_str());
+     749             : 
+     750        1724 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     751         862 :   res.success = true;
+     752         862 :   res.message = "constraints updated";
+     753             : 
+     754         862 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     755             : }
+     756             : 
+     757             : //}
+     758             : 
+     759             : // --------------------------------------------------------------
+     760             : // |                         controllers                        |
+     761             : // --------------------------------------------------------------
+     762             : 
+     763             : /* Mpc() //{ */
+     764             : 
+     765       70886 : 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      141772 :   auto drs_params  = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     769       70886 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     770       70886 :   auto gains       = mrs_lib::get_mutexed(mutex_gains_, gains_);
+     771             : 
+     772             :   // | ----------------- get the current heading ---------------- |
+     773             : 
+     774       70886 :   double uav_heading = getHeadingSafely(uav_state, tracker_command);
+     775             : 
+     776             :   // | ------------------- prepare constraints ------------------ |
+     777             : 
+     778       70886 :   double max_speed_horizontal        = _max_speed_horizontal_;
+     779       70886 :   double max_speed_vertical          = _max_speed_vertical_;
+     780       70886 :   double max_acceleration_horizontal = _max_acceleration_horizontal_;
+     781       70886 :   double max_acceleration_vertical   = _max_acceleration_vertical_;
+     782       70886 :   double max_jerk                    = _max_jerk_;
+     783       70886 :   double max_u_vertical              = _max_u_vertical_;
+     784             : 
+     785       70886 :   if (tracker_command.use_full_state_prediction) {
+     786             : 
+     787       51439 :     max_speed_horizontal = 1.5 * (constraints.horizontal_speed);
+     788       51439 :     max_speed_vertical   = 1.5 * (constraints.vertical_ascending_speed < constraints.vertical_descending_speed ? constraints.vertical_ascending_speed
+     789             :                                                                                                              : constraints.vertical_descending_speed);
+     790             : 
+     791       51439 :     max_acceleration_horizontal = 1.5 * (constraints.horizontal_acceleration);
+     792       51439 :     max_acceleration_vertical =
+     793       51439 :         1.5 * (constraints.vertical_ascending_acceleration < constraints.vertical_descending_acceleration ? constraints.vertical_ascending_acceleration
+     794             :                                                                                                           : constraints.vertical_descending_acceleration);
+     795             : 
+     796       51439 :     max_jerk       = 1.5 * constraints.horizontal_jerk;
+     797       51439 :     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       70886 :   Eigen::Vector3d Rp = Eigen::Vector3d::Zero(3);
+     810       70886 :   Eigen::Vector3d Rv = Eigen::Vector3d::Zero(3);
+     811       70886 :   Eigen::Vector3d Ra = Eigen::Vector3d::Zero(3);
+     812             : 
+     813       70886 :   Rp << tracker_command.position.x, tracker_command.position.y, tracker_command.position.z;  // fill the desired position
+     814       70886 :   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       70886 :   Eigen::Vector3d Op(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+     821       70886 :   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       70886 :   Eigen::Matrix3d R = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+     825             : 
+     826             :   // Ow - UAV angular rate
+     827       70886 :   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       70886 :   Eigen::Vector3d Ep = Rp - Op;
+     836       70886 :   Eigen::Vector3d Ev = Rv - Ov;
+     837             : 
+     838             :   // | ------------------- initial conditions ------------------- |
+     839             : 
+     840      141772 :   Eigen::MatrixXd initial_x = Eigen::MatrixXd::Zero(3, 1);
+     841      141772 :   Eigen::MatrixXd initial_y = Eigen::MatrixXd::Zero(3, 1);
+     842      141772 :   Eigen::MatrixXd initial_z = Eigen::MatrixXd::Zero(3, 1);
+     843             : 
+     844             :   /* initial x //{ */
+     845             : 
+     846             :   {
+     847             :     double acceleration;
+     848             :     double velocity;
+     849       70886 :     double coef = 1.5;
+     850             : 
+     851       70886 :     if (std::abs(uav_state.acceleration.linear.x) < coef * max_acceleration_horizontal) {
+     852       70886 :       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       70886 :     if (std::abs(uav_state.velocity.linear.x) < coef * max_speed_horizontal) {
+     861       70886 :       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       70886 :     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       70886 :     double coef = 1.5;
+     880             : 
+     881       70886 :     if (std::abs(uav_state.acceleration.linear.y) < coef * max_acceleration_horizontal) {
+     882       70886 :       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       70886 :     if (std::abs(uav_state.velocity.linear.y) < coef * max_speed_horizontal) {
+     891       70886 :       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       70886 :     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       70886 :     double coef = 1.5;
+     910             : 
+     911       70886 :     if (std::abs(uav_state.acceleration.linear.z) < coef * max_acceleration_horizontal) {
+     912       70886 :       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       70886 :     if (std::abs(uav_state.velocity.linear.z) < coef * max_speed_vertical) {
+     921       70886 :       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       70886 :     initial_z << uav_state.pose.position.z, velocity, acceleration;
+     930             :   }
+     931             : 
+     932             :   //}
+     933             : 
+     934             :   // | ---------------------- set reference --------------------- |
+     935             : 
+     936      141772 :   Eigen::MatrixXd mpc_reference_x = Eigen::MatrixXd::Zero(_horizon_length_ * _n_states_, 1);
+     937      141772 :   Eigen::MatrixXd mpc_reference_y = Eigen::MatrixXd::Zero(_horizon_length_ * _n_states_, 1);
+     938      141772 :   Eigen::MatrixXd mpc_reference_z = Eigen::MatrixXd::Zero(_horizon_length_ * _n_states_, 1);
+     939             : 
+     940             :   // prepare the full reference vector
+     941       70886 :   if (tracker_command.use_full_state_prediction) {
+     942             : 
+     943       51439 :     mpc_reference_x(0, 0) = tracker_command.position.x;
+     944       51439 :     mpc_reference_y(0, 0) = tracker_command.position.y;
+     945       51439 :     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     1337414 :     for (int i = 1; i < _horizon_length_; i++) {
+     951     1285975 :       mpc_reference_x((i * _n_states_) + 0, 0) = tracker_command.full_state_prediction.position.at(i).x;
+     952     1285975 :       mpc_reference_y((i * _n_states_) + 0, 0) = tracker_command.full_state_prediction.position.at(i).y;
+     953     1285975 :       mpc_reference_z((i * _n_states_) + 0, 0) = tracker_command.full_state_prediction.position.at(i).z;
+     954             :     }
+     955             : 
+     956     1337414 :     for (int i = 1; i < _horizon_length_; i++) {
+     957     1285975 :       mpc_reference_x((i * _n_states_) + 1, 0) = tracker_command.full_state_prediction.velocity.at(i).x;
+     958     1285975 :       mpc_reference_y((i * _n_states_) + 1, 0) = tracker_command.full_state_prediction.velocity.at(i).y;
+     959     1285975 :       mpc_reference_z((i * _n_states_) + 1, 0) = tracker_command.full_state_prediction.velocity.at(i).z;
+     960             :     }
+     961             : 
+     962     1337414 :     for (int i = 1; i < _horizon_length_; i++) {
+     963     1285975 :       mpc_reference_x((i * _n_states_) + 2, 0) = tracker_command.full_state_prediction.acceleration.at(i).x;
+     964     1285975 :       mpc_reference_y((i * _n_states_) + 2, 0) = tracker_command.full_state_prediction.acceleration.at(i).y;
+     965     1285975 :       mpc_reference_z((i * _n_states_) + 2, 0) = tracker_command.full_state_prediction.acceleration.at(i).z;
+     966             :     }
+     967             : 
+     968             :   } else {
+     969             : 
+     970      525069 :     for (int i = 0; i < _horizon_length_; i++) {
+     971      505622 :       mpc_reference_x((i * _n_states_) + 0, 0) = tracker_command.position.x;
+     972      505622 :       mpc_reference_y((i * _n_states_) + 0, 0) = tracker_command.position.y;
+     973      505622 :       mpc_reference_z((i * _n_states_) + 0, 0) = tracker_command.position.z;
+     974             :     }
+     975             :   }
+     976             : 
+     977             :   // | ------------------ set the penalizations ----------------- |
+     978             : 
+     979      141772 :   std::vector<double> temp_Q_horizontal = _mat_Q_;
+     980      141772 :   std::vector<double> temp_Q_vertical   = _mat_Q_z_;
+     981             : 
+     982      141772 :   std::vector<double> temp_S_horizontal = _mat_S_;
+     983      141772 :   std::vector<double> temp_S_vertical   = _mat_S_z_;
+     984             : 
+     985       70886 :   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       70886 :   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       70886 :   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       70886 :   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       70886 :   mpc_solver_x_->setQ(temp_Q_horizontal);
+    1008       70886 :   mpc_solver_x_->setS(temp_S_horizontal);
+    1009       70886 :   mpc_solver_x_->setParams();
+    1010       70886 :   mpc_solver_x_->setLastInput(mpc_solver_x_u_);
+    1011       70886 :   mpc_solver_x_->loadReference(mpc_reference_x);
+    1012       70886 :   mpc_solver_x_->setLimits(max_speed_horizontal, 999, max_acceleration_horizontal, max_jerk, _dt1_, _dt2_);
+    1013       70886 :   mpc_solver_x_->setInitialState(initial_x);
+    1014       70886 :   [[maybe_unused]] int iters_x = mpc_solver_x_->solveMPC();
+    1015       70886 :   mpc_solver_x_u_              = mpc_solver_x_->getFirstControlInput();
+    1016             : 
+    1017       70886 :   mpc_solver_y_->setQ(temp_Q_horizontal);
+    1018       70886 :   mpc_solver_y_->setS(temp_S_horizontal);
+    1019       70886 :   mpc_solver_y_->setParams();
+    1020       70886 :   mpc_solver_y_->setLastInput(mpc_solver_y_u_);
+    1021       70886 :   mpc_solver_y_->loadReference(mpc_reference_y);
+    1022       70886 :   mpc_solver_y_->setLimits(max_speed_horizontal, 999, max_acceleration_horizontal, max_jerk, _dt1_, _dt2_);
+    1023       70886 :   mpc_solver_y_->setInitialState(initial_y);
+    1024       70886 :   [[maybe_unused]] int iters_y = mpc_solver_y_->solveMPC();
+    1025       70886 :   mpc_solver_y_u_              = mpc_solver_y_->getFirstControlInput();
+    1026             : 
+    1027       70886 :   mpc_solver_z_->setQ(temp_Q_vertical);
+    1028       70886 :   mpc_solver_z_->setS(temp_S_vertical);
+    1029       70886 :   mpc_solver_z_->setParams();
+    1030       70886 :   mpc_solver_z_->setLastInput(mpc_solver_z_u_);
+    1031       70886 :   mpc_solver_z_->loadReference(mpc_reference_z);
+    1032       70886 :   mpc_solver_z_->setLimits(max_speed_vertical, max_acceleration_vertical, max_u_vertical, 999.0, _dt1_, _dt2_);
+    1033       70886 :   mpc_solver_z_->setInitialState(initial_z);
+    1034       70886 :   [[maybe_unused]] int iters_z = mpc_solver_z_->solveMPC();
+    1035       70886 :   mpc_solver_z_u_              = mpc_solver_z_->getFirstControlInput();
+    1036             : 
+    1037             :   // | ----------- disable lateral feedback if needed ----------- |
+    1038             : 
+    1039       70886 :   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       70886 :   mute_gains_by_tracker_ = tracker_command.disable_position_gains;
+    1047             : 
+    1048       70886 :   Eigen::Array3d Kw(0, 0, 0);
+    1049       70886 :   Eigen::Array3d Kq;
+    1050             : 
+    1051             :   {
+    1052       70886 :     std::scoped_lock lock(mutex_gains_);
+    1053             : 
+    1054       70886 :     Kq << gains.kq_roll_pitch, gains.kq_roll_pitch, gains.kq_yaw;
+    1055             : 
+    1056       70886 :     Kw(0) = gains.kw_rp;
+    1057       70886 :     Kw(1) = gains.kw_rp;
+    1058       70886 :     Kw(2) = gains.kw_y;
+    1059             :   }
+    1060             : 
+    1061             :   // | ---------- desired orientation matrix and force ---------- |
+    1062             : 
+    1063             :   // get body integral in the world frame
+    1064             : 
+    1065       70886 :   Eigen::Vector2d Ib_w = Eigen::Vector2d(0, 0);
+    1066             : 
+    1067             :   {
+    1068             : 
+    1069      141772 :     geometry_msgs::Vector3Stamped Ib_b_stamped;
+    1070             : 
+    1071       70886 :     Ib_b_stamped.header.stamp    = ros::Time::now();
+    1072       70886 :     Ib_b_stamped.header.frame_id = "fcu_untilted";
+    1073       70886 :     Ib_b_stamped.vector.x        = Ib_b_(0);
+    1074       70886 :     Ib_b_stamped.vector.y        = Ib_b_(1);
+    1075       70886 :     Ib_b_stamped.vector.z        = 0;
+    1076             : 
+    1077      141772 :     auto res = common_handlers_->transformer->transformSingle(Ib_b_stamped, uav_state_.header.frame_id);
+    1078             : 
+    1079       70886 :     if (res) {
+    1080       70886 :       Ib_w(0) = res.value().vector.x;
+    1081       70886 :       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       70886 :   if (tracker_command.use_acceleration && !tracker_command.use_full_state_prediction) {
+    1090        1681 :     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       69205 :     Ra << mpc_solver_x_u_, mpc_solver_y_u_, mpc_solver_z_u_;
+    1093             :   }
+    1094             : 
+    1095       70886 :   double total_mass = _uav_mass_ + uav_mass_difference_;
+    1096             : 
+    1097       70886 :   Eigen::Vector3d feed_forward = total_mass * (Eigen::Vector3d(0, 0, common_handlers_->g) + Ra);
+    1098             : 
+    1099       70886 :   Eigen::Vector3d integral_feedback;
+    1100             :   {
+    1101       70886 :     std::scoped_lock lock(mutex_integrals_);
+    1102             : 
+    1103       70886 :     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      141772 :     std::scoped_lock lock(mutex_gains_, mutex_integrals_);
+    1118             : 
+    1119       70886 :     Eigen::Vector3d integration_switch(1, 1, 0);
+    1120             : 
+    1121             :     // integrate the world error
+    1122             : 
+    1123             :     // antiwindup
+    1124       70886 :     double temp_gain = gains.kiwxy;
+    1125       70886 :     if (!tracker_command.disable_antiwindups) {
+    1126       61755 :       if (rampup_active_ || sqrt(pow(uav_state.velocity.linear.x, 2) + pow(uav_state.velocity.linear.y, 2)) > 0.3) {
+    1127       25835 :         temp_gain = 0;
+    1128       25835 :         ROS_DEBUG_THROTTLE(1.0, "[%s]: anti-windup for world integral kicks in", this->name_.c_str());
+    1129             :       }
+    1130             :     }
+    1131             : 
+    1132       70886 :     if (integral_terms_enabled_) {
+    1133       70886 :       if (tracker_command.use_position_horizontal) {
+    1134       70886 :         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       70886 :     bool world_integral_saturated = false;
+    1142       70886 :     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       70886 :     } else if (Iw_w_(0) > gains.kiwxy_lim) {
+    1146           0 :       Iw_w_(0)                 = gains.kiwxy_lim;
+    1147           0 :       world_integral_saturated = true;
+    1148       70886 :     } 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       70886 :     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       70886 :     world_integral_saturated = false;
+    1159       70886 :     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       70886 :     } else if (Iw_w_(1) > gains.kiwxy_lim) {
+    1163           0 :       Iw_w_(1)                 = gains.kiwxy_lim;
+    1164           0 :       world_integral_saturated = true;
+    1165       70886 :     } 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       70886 :     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      141772 :     std::scoped_lock lock(mutex_gains_);
+    1181             : 
+    1182       70886 :     Eigen::Vector2d Ep_fcu_untilted = Eigen::Vector2d(0, 0);  // position error in the untilted frame of the UAV
+    1183       70886 :     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      141772 :       geometry_msgs::Vector3Stamped Ep_stamped;
+    1189             : 
+    1190       70886 :       Ep_stamped.header.stamp    = ros::Time::now();
+    1191       70886 :       Ep_stamped.header.frame_id = uav_state_.header.frame_id;
+    1192       70886 :       Ep_stamped.vector.x        = Ep(0);
+    1193       70886 :       Ep_stamped.vector.y        = Ep(1);
+    1194       70886 :       Ep_stamped.vector.z        = Ep(2);
+    1195             : 
+    1196      212658 :       auto res = common_handlers_->transformer->transformSingle(Ep_stamped, "fcu_untilted");
+    1197             : 
+    1198       70886 :       if (res) {
+    1199       70886 :         Ep_fcu_untilted(0) = res.value().vector.x;
+    1200       70886 :         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      141772 :       geometry_msgs::Vector3Stamped Ev_stamped;
+    1209             : 
+    1210       70886 :       Ev_stamped.header.stamp    = ros::Time::now();
+    1211       70886 :       Ev_stamped.header.frame_id = uav_state_.header.frame_id;
+    1212       70886 :       Ev_stamped.vector.x        = Ev(0);
+    1213       70886 :       Ev_stamped.vector.y        = Ev(1);
+    1214       70886 :       Ev_stamped.vector.z        = Ev(2);
+    1215             : 
+    1216      212658 :       auto res = common_handlers_->transformer->transformSingle(Ev_stamped, "fcu_untilted");
+    1217             : 
+    1218       70886 :       if (res) {
+    1219       70886 :         Ev_fcu_untilted(0) = res.value().vector.x;
+    1220       70886 :         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       70886 :     double temp_gain = gains.kibxy;
+    1230       70886 :     if (!tracker_command.disable_antiwindups) {
+    1231       61755 :       if (rampup_active_ || sqrt(pow(uav_state.velocity.linear.x, 2) + pow(uav_state.velocity.linear.y, 2)) > 0.3) {
+    1232       25835 :         temp_gain = 0;
+    1233       25835 :         ROS_DEBUG_THROTTLE(1.0, "[%s]: anti-windup for body integral kicks in", this->name_.c_str());
+    1234             :       }
+    1235             :     }
+    1236             : 
+    1237       70886 :     if (integral_terms_enabled_) {
+    1238       70886 :       if (tracker_command.use_position_horizontal) {
+    1239       70886 :         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       70886 :     bool body_integral_saturated = false;
+    1247       70886 :     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       70886 :     } else if (Ib_b_(0) > gains.kibxy_lim) {
+    1251           0 :       Ib_b_(0)                = gains.kibxy_lim;
+    1252           0 :       body_integral_saturated = true;
+    1253       70886 :     } 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       70886 :     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       70886 :     body_integral_saturated = false;
+    1264       70886 :     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       70886 :     } else if (Ib_b_(1) > gains.kibxy_lim) {
+    1268           0 :       Ib_b_(1)                = gains.kibxy_lim;
+    1269           0 :       body_integral_saturated = true;
+    1270       70886 :     } 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       70886 :     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       70886 :   Eigen::Vector3d des_acc = integral_feedback / total_mass + Ra;
+    1283             : 
+    1284       70886 :   if (output_modality == common::ACCELERATION_HDG || output_modality == common::ACCELERATION_HDG_RATE) {
+    1285             : 
+    1286        1092 :     if (output_modality == common::ACCELERATION_HDG) {
+    1287             : 
+    1288        1084 :       mrs_msgs::HwApiAccelerationHdgCmd cmd;
+    1289             : 
+    1290         542 :       cmd.acceleration.x = des_acc(0);
+    1291         542 :       cmd.acceleration.y = des_acc(1);
+    1292         542 :       cmd.acceleration.z = des_acc(2);
+    1293             : 
+    1294         542 :       cmd.heading = tracker_command.heading;
+    1295             : 
+    1296         542 :       last_control_output_.control_output = cmd;
+    1297             : 
+    1298             :     } else {
+    1299             : 
+    1300         550 :       double des_hdg_ff = 0;
+    1301             : 
+    1302         550 :       if (tracker_command.use_heading_rate) {
+    1303         550 :         des_hdg_ff = tracker_command.heading_rate;
+    1304             :       }
+    1305             : 
+    1306        1100 :       mrs_msgs::HwApiAccelerationHdgRateCmd cmd;
+    1307             : 
+    1308         550 :       cmd.acceleration.x = des_acc(0);
+    1309         550 :       cmd.acceleration.y = des_acc(1);
+    1310         550 :       cmd.acceleration.z = des_acc(2);
+    1311             : 
+    1312         550 :       position_pid_heading_.setSaturation(constraints.heading_speed);
+    1313             : 
+    1314         550 :       double hdg_err = mrs_lib::geometry::sradians::diff(tracker_command.heading, uav_heading);
+    1315             : 
+    1316         550 :       double des_hdg_rate = position_pid_heading_.update(hdg_err, dt) + des_hdg_ff;
+    1317             : 
+    1318         550 :       cmd.heading_rate = des_hdg_rate;
+    1319             : 
+    1320         550 :       last_control_output_.desired_heading_rate = des_hdg_rate;
+    1321             : 
+    1322         550 :       last_control_output_.control_output = cmd;
+    1323             :     }
+    1324             : 
+    1325             :     // | -------------- unbiased desired acceleration ------------- |
+    1326             : 
+    1327        1092 :     Eigen::Vector3d unbiased_des_acc(0, 0, 0);
+    1328             : 
+    1329             :     {
+    1330             : 
+    1331        2184 :       geometry_msgs::Vector3Stamped world_accel;
+    1332             : 
+    1333        1092 :       world_accel.header.stamp    = ros::Time::now();
+    1334        1092 :       world_accel.header.frame_id = uav_state.header.frame_id;
+    1335        1092 :       world_accel.vector.x        = Ra(0);
+    1336        1092 :       world_accel.vector.y        = Ra(1);
+    1337        1092 :       world_accel.vector.z        = Ra(2);
+    1338             : 
+    1339        3276 :       auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1340             : 
+    1341        1092 :       if (res) {
+    1342        1092 :         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        1092 :     last_control_output_.desired_unbiased_acceleration = unbiased_des_acc;
+    1348             : 
+    1349             :     // | ----------------- fill in the diagnostics ---------------- |
+    1350             : 
+    1351        1092 :     last_control_output_.diagnostics.ramping_up = false;
+    1352             : 
+    1353        1092 :     last_control_output_.diagnostics.mass_estimator  = false;
+    1354        1092 :     last_control_output_.diagnostics.mass_difference = 0;
+    1355        1092 :     last_control_output_.diagnostics.total_mass      = total_mass;
+    1356             : 
+    1357        1092 :     last_control_output_.diagnostics.disturbance_estimator = true;
+    1358             : 
+    1359        1092 :     last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_(0);
+    1360        1092 :     last_control_output_.diagnostics.disturbance_by_b = -Ib_b_(1);
+    1361             : 
+    1362        1092 :     last_control_output_.diagnostics.disturbance_bx_w = -Ib_w(0);
+    1363        1092 :     last_control_output_.diagnostics.disturbance_by_w = -Ib_w(1);
+    1364             : 
+    1365        1092 :     last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_(0);
+    1366        1092 :     last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_(1);
+    1367             : 
+    1368        1092 :     last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1369             : 
+    1370        1092 :     last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * max_speed_horizontal;
+    1371        1092 :     last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * max_acceleration_horizontal;
+    1372             : 
+    1373        1092 :     last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * max_speed_vertical;
+    1374        1092 :     last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * max_acceleration_vertical;
+    1375             : 
+    1376        1092 :     last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * max_speed_vertical;
+    1377        1092 :     last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * max_acceleration_vertical;
+    1378             : 
+    1379        1092 :     last_control_output_.diagnostics.controller = name_;
+    1380             : 
+    1381        1092 :     return;
+    1382             :   }
+    1383             : 
+    1384             :   /* mass estimatior //{ */
+    1385             : 
+    1386             :   // --------------------------------------------------------------
+    1387             :   // |                integrate the mass difference               |
+    1388             :   // --------------------------------------------------------------
+    1389             : 
+    1390             :   {
+    1391      139588 :     std::scoped_lock lock(mutex_gains_);
+    1392             : 
+    1393             :     // antiwindup
+    1394       69794 :     double temp_gain = gains.km;
+    1395      155778 :     if (rampup_active_ ||
+    1396       85984 :         (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       16423 :       temp_gain = 0;
+    1398       16423 :       ROS_DEBUG_THROTTLE(1.0, "[%s]: anti-windup for the mass kicks in", this->name_.c_str());
+    1399             :     }
+    1400             : 
+    1401       69794 :     if (tracker_command.use_position_vertical) {
+    1402       69794 :       uav_mass_difference_ += temp_gain * Ep(2) * dt;
+    1403             :     }
+    1404             : 
+    1405             :     // saturate the mass estimator
+    1406       69794 :     bool uav_mass_saturated = false;
+    1407       69794 :     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       69794 :     } else if (uav_mass_difference_ > gains.km_lim) {
+    1411           0 :       uav_mass_difference_ = gains.km_lim;
+    1412           0 :       uav_mass_saturated   = true;
+    1413       69794 :     } 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       69794 :     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       69794 :   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       69794 :   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       69794 :   double tilt_safety_limit = _tilt_angle_failsafe_enabled_ ? _tilt_angle_failsafe_ : std::numeric_limits<double>::max();
+    1441             : 
+    1442       69794 :   auto f_normed_sanitized = common::sanitizeDesiredForce(f.normalized(), tilt_safety_limit, constraints.tilt, "MpcController");
+    1443             : 
+    1444       69794 :   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       69794 :   Eigen::Vector3d f_normed = f_normed_sanitized.value();
+    1458             : 
+    1459             :   // --------------------------------------------------------------
+    1460             :   // |               desired orientation + throttle               |
+    1461             :   // --------------------------------------------------------------
+    1462             : 
+    1463             :   // | ------------------- desired orientation ------------------ |
+    1464             : 
+    1465       69794 :   Eigen::Matrix3d Rd;
+    1466             : 
+    1467       69794 :   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       69794 :     Eigen::Vector3d bxd;  // desired heading vector
+    1484             : 
+    1485       69794 :     if (tracker_command.use_heading) {
+    1486       69794 :       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       69794 :     Rd = common::so3transform(f_normed, bxd, false);
+    1493             :   }
+    1494             : 
+    1495             :   // | -------------------- desired throttle -------------------- |
+    1496             : 
+    1497       69794 :   double desired_thrust_force = f.dot(R.col(2));
+    1498       69794 :   double throttle             = 0;
+    1499             : 
+    1500       69794 :   if (rampup_active_) {
+    1501             : 
+    1502             :     // deactivate the rampup when the times up
+    1503        1037 :     if (std::abs((ros::Time::now() - rampup_start_time_).toSec()) >= rampup_duration_) {
+    1504             : 
+    1505          77 :       rampup_active_ = false;
+    1506             : 
+    1507          77 :       ROS_INFO("[%s]: rampup finished", name_.c_str());
+    1508             : 
+    1509             :     } else {
+    1510             : 
+    1511         960 :       double rampup_dt = (ros::Time::now() - rampup_last_time_).toSec();
+    1512             : 
+    1513         960 :       rampup_throttle_ += double(rampup_direction_) * _rampup_speed_ * rampup_dt;
+    1514             : 
+    1515         960 :       rampup_last_time_ = ros::Time::now();
+    1516             : 
+    1517         960 :       throttle = rampup_throttle_;
+    1518             : 
+    1519         960 :       ROS_INFO_THROTTLE(0.1, "[%s]: ramping up throttle, %.4f", name_.c_str(), throttle);
+    1520             :     }
+    1521             : 
+    1522             :   } else {
+    1523             : 
+    1524       68757 :     if (desired_thrust_force >= 0) {
+    1525       68757 :       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       69794 :   bool throttle_saturated = false;
+    1534             : 
+    1535       69794 :   if (!std::isfinite(throttle)) {
+    1536             : 
+    1537           0 :     ROS_ERROR("[%s]: NaN detected in variable 'throttle'!!!", name_.c_str());
+    1538           0 :     return;
+    1539             : 
+    1540       69794 :   } else if (throttle > _throttle_saturation_) {
+    1541          27 :     throttle = _throttle_saturation_;
+    1542          27 :     ROS_WARN_THROTTLE(0.1, "[%s]: saturating throttle to %.2f", name_.c_str(), _throttle_saturation_);
+    1543       69767 :   } 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       69794 :   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       69794 :   double desired_x_accel = 0;
+    1569       69794 :   double desired_y_accel = 0;
+    1570       69794 :   double desired_z_accel = 0;
+    1571             : 
+    1572             :   {
+    1573       69794 :     Eigen::Vector3d thrust_vector = desired_thrust_force * Rd.col(2);
+    1574             : 
+    1575       69794 :     double world_accel_x = (thrust_vector(0) / total_mass) - (Iw_w_(0) / total_mass) - (Ib_w(0) / total_mass);
+    1576       69794 :     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       69794 :     double world_accel_z = tracker_command.acceleration.z;
+    1580             : 
+    1581      139588 :     geometry_msgs::Vector3Stamped world_accel;
+    1582             : 
+    1583       69794 :     world_accel.header.stamp    = ros::Time::now();
+    1584       69794 :     world_accel.header.frame_id = uav_state.header.frame_id;
+    1585       69794 :     world_accel.vector.x        = world_accel_x;
+    1586       69794 :     world_accel.vector.y        = world_accel_y;
+    1587       69794 :     world_accel.vector.z        = world_accel_z;
+    1588             : 
+    1589      209382 :     auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1590             : 
+    1591       69794 :     if (res) {
+    1592             : 
+    1593       69794 :       desired_x_accel = res.value().vector.x;
+    1594       69794 :       desired_y_accel = res.value().vector.y;
+    1595       69794 :       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       69794 :   last_control_output_.desired_orientation = mrs_lib::AttitudeConverter(Rd);
+    1603             : 
+    1604             :   // fill the unbiased desired accelerations
+    1605       69794 :   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       69794 :   last_control_output_.diagnostics.ramping_up = rampup_active_;
+    1610             : 
+    1611       69794 :   last_control_output_.diagnostics.mass_estimator  = true;
+    1612       69794 :   last_control_output_.diagnostics.mass_difference = uav_mass_difference_;
+    1613       69794 :   last_control_output_.diagnostics.total_mass      = total_mass;
+    1614             : 
+    1615       69794 :   last_control_output_.diagnostics.disturbance_estimator = true;
+    1616             : 
+    1617       69794 :   last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_(0);
+    1618       69794 :   last_control_output_.diagnostics.disturbance_by_b = -Ib_b_(1);
+    1619             : 
+    1620       69794 :   last_control_output_.diagnostics.disturbance_bx_w = -Ib_w(0);
+    1621       69794 :   last_control_output_.diagnostics.disturbance_by_w = -Ib_w(1);
+    1622             : 
+    1623       69794 :   last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_(0);
+    1624       69794 :   last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_(1);
+    1625             : 
+    1626       69794 :   last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1627             : 
+    1628       69794 :   last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * _max_speed_horizontal_;
+    1629       69794 :   last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * _max_acceleration_horizontal_;
+    1630             : 
+    1631       69794 :   last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1632       69794 :   last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1633             : 
+    1634       69794 :   last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1635       69794 :   last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1636             : 
+    1637       69794 :   last_control_output_.diagnostics.controller = name_;
+    1638             : 
+    1639             :   // | ------------ construct the attitude reference ------------ |
+    1640             : 
+    1641       69794 :   mrs_msgs::HwApiAttitudeCmd attitude_cmd;
+    1642             : 
+    1643       69794 :   attitude_cmd.stamp       = ros::Time::now();
+    1644       69794 :   attitude_cmd.orientation = mrs_lib::AttitudeConverter(Rd);
+    1645       69794 :   attitude_cmd.throttle    = throttle;
+    1646             : 
+    1647       69794 :   if (output_modality == common::ATTITUDE) {
+    1648             : 
+    1649        1175 :     last_control_output_.control_output = attitude_cmd;
+    1650             : 
+    1651        1175 :     return;
+    1652             :   }
+    1653             : 
+    1654             :   // --------------------------------------------------------------
+    1655             :   // |                      attitude control                      |
+    1656             :   // --------------------------------------------------------------
+    1657             : 
+    1658       68619 :   Eigen::Vector3d rate_feedforward = Eigen::Vector3d::Zero(3);
+    1659             : 
+    1660       68619 :   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       68619 :   } else if (tracker_command.use_heading_rate) {
+    1665             : 
+    1666             :     // to fill in the feed forward yaw rate
+    1667       68614 :     double desired_yaw_rate = 0;
+    1668             : 
+    1669             :     try {
+    1670       68614 :       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       68614 :     rate_feedforward << 0, 0, desired_yaw_rate;
+    1677             :   }
+    1678             : 
+    1679             :   // | ------------ jerk feedforward -> angular rate ------------ |
+    1680             : 
+    1681       68619 :   Eigen::Vector3d jerk_feedforward = Eigen::Vector3d(0, 0, 0);
+    1682             : 
+    1683       68619 :   if (tracker_command.use_jerk && drs_params.jerk_feedforward) {
+    1684             : 
+    1685       49175 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: using jerk feedforward", name_.c_str());
+    1686             : 
+    1687       49175 :     Eigen::Matrix3d I;
+    1688       49175 :     I << 0, 1, 0, -1, 0, 0, 0, 0, 0;
+    1689       49175 :     Eigen::Vector3d desired_jerk = Eigen::Vector3d(tracker_command.jerk.x, tracker_command.jerk.y, tracker_command.jerk.z);
+    1690       49175 :     jerk_feedforward             = (I.transpose() * Rd.transpose() * desired_jerk) / (desired_thrust_force / total_mass);
+    1691             :   }
+    1692             : 
+    1693             :   // | --------------- run the attitude controller -------------- |
+    1694             : 
+    1695       68619 :   Eigen::Vector3d attitude_rate_saturation(constraints.roll_rate, constraints.pitch_rate, constraints.yaw_rate);
+    1696             : 
+    1697       68619 :   auto attitude_rate_command = common::attitudeController(uav_state, attitude_cmd, jerk_feedforward + rate_feedforward, attitude_rate_saturation, Kq, false);
+    1698             : 
+    1699       68619 :   if (!attitude_rate_command) {
+    1700           0 :     return;
+    1701             :   }
+    1702             : 
+    1703             :   // | --------- fill in the already known attitude rate -------- |
+    1704             : 
+    1705             :   {
+    1706             :     try {
+    1707       68619 :       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       68619 :   if (output_modality == common::ATTITUDE_RATE) {
+    1716             : 
+    1717       66093 :     last_control_output_.control_output = attitude_rate_command;
+    1718             : 
+    1719       66093 :     return;
+    1720             :   }
+    1721             : 
+    1722             :   // --------------------------------------------------------------
+    1723             :   // |                    Attitude rate control                   |
+    1724             :   // --------------------------------------------------------------
+    1725             : 
+    1726        2526 :   Kw = common_handlers_->detailed_model_params->inertia.diagonal().array() * Kw;
+    1727             : 
+    1728        2526 :   auto control_group_command = common::attitudeRateController(uav_state, attitude_rate_command.value(), Kw);
+    1729             : 
+    1730        2526 :   if (!control_group_command) {
+    1731           0 :     return;
+    1732             :   }
+    1733             : 
+    1734        2526 :   if (output_modality == common::CONTROL_GROUP) {
+    1735             : 
+    1736        1279 :     last_control_output_.control_output = control_group_command;
+    1737             : 
+    1738        1279 :     return;
+    1739             :   }
+    1740             : 
+    1741             :   // --------------------------------------------------------------
+    1742             :   // |                        output mixer                        |
+    1743             :   // --------------------------------------------------------------
+    1744             : 
+    1745        2494 :   mrs_msgs::HwApiActuatorCmd actuator_cmd = common::actuatorMixer(control_group_command.value(), common_handlers_->detailed_model_params->control_group_mixer);
+    1746             : 
+    1747        1247 :   last_control_output_.control_output = actuator_cmd;
+    1748             : 
+    1749        1247 :   return;
+    1750             : }
+    1751             : 
+    1752             : //}
+    1753             : 
+    1754             : /* positionPassthrough() //{ */
+    1755             : 
+    1756         279 : void MpcController::positionPassthrough(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+    1757             : 
+    1758         279 :   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         558 :   mrs_msgs::HwApiPositionCmd cmd;
+    1764             : 
+    1765         279 :   cmd.header.frame_id = uav_state.header.frame_id;
+    1766         279 :   cmd.header.stamp    = ros::Time::now();
+    1767             : 
+    1768         279 :   cmd.position = tracker_command.position;
+    1769         279 :   cmd.heading  = tracker_command.heading;
+    1770             : 
+    1771         279 :   last_control_output_.control_output = cmd;
+    1772             : 
+    1773             :   // fill the unbiased desired accelerations
+    1774         279 :   last_control_output_.desired_unbiased_acceleration = {};
+    1775         279 :   last_control_output_.desired_orientation           = {};
+    1776         279 :   last_control_output_.desired_heading_rate          = {};
+    1777             : 
+    1778             :   // | ----------------- fill in the diagnostics ---------------- |
+    1779             : 
+    1780         279 :   last_control_output_.diagnostics.ramping_up = false;
+    1781             : 
+    1782         279 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1783         279 :   last_control_output_.diagnostics.mass_difference = 0;
+    1784             : 
+    1785         279 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1786             : 
+    1787         279 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1788         279 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1789             : 
+    1790         279 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1791         279 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1792             : 
+    1793         279 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1794         279 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1795             : 
+    1796         279 :   last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1797             : 
+    1798         279 :   last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * _max_speed_horizontal_;
+    1799         279 :   last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * _max_acceleration_horizontal_;
+    1800             : 
+    1801         279 :   last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1802         279 :   last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1803             : 
+    1804         279 :   last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1805         279 :   last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1806             : 
+    1807         279 :   last_control_output_.diagnostics.controller = name_;
+    1808             : }
+    1809             : 
+    1810             : //}
+    1811             : 
+    1812             : /* PIDVelocityOutput() //{ */
+    1813             : 
+    1814         765 : 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         765 :   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         765 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    1823             : 
+    1824         765 :   Eigen::Vector3d pos_ref = Eigen::Vector3d(tracker_command.position.x, tracker_command.position.y, tracker_command.position.z);
+    1825         765 :   Eigen::Vector3d pos     = Eigen::Vector3d(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+    1826             : 
+    1827         765 :   double hdg_ref = tracker_command.heading;
+    1828         765 :   double hdg     = getHeadingSafely(uav_state, tracker_command);
+    1829             : 
+    1830             :   // | ------------------ velocity feedforward ------------------ |
+    1831             : 
+    1832         765 :   Eigen::Vector3d vel_ff(0, 0, 0);
+    1833             : 
+    1834         765 :   if (tracker_command.use_velocity_horizontal && tracker_command.use_velocity_vertical) {
+    1835         765 :     vel_ff = Eigen::Vector3d(tracker_command.velocity.x, tracker_command.velocity.y, tracker_command.velocity.z);
+    1836             :   }
+    1837             : 
+    1838             :   // | --------------------- control errors --------------------- |
+    1839             : 
+    1840         765 :   Eigen::Vector3d Ep = pos_ref - pos;
+    1841             : 
+    1842             :   // | --------------------------- pid -------------------------- |
+    1843             : 
+    1844         765 :   position_pid_x_.setSaturation(constraints.horizontal_speed);
+    1845         765 :   position_pid_y_.setSaturation(constraints.horizontal_speed);
+    1846         765 :   position_pid_z_.setSaturation(std::min(constraints.vertical_ascending_speed, constraints.vertical_descending_speed));
+    1847             : 
+    1848         765 :   double des_vel_x = position_pid_x_.update(Ep(0), dt);
+    1849         765 :   double des_vel_y = position_pid_y_.update(Ep(1), dt);
+    1850         765 :   double des_vel_z = position_pid_z_.update(Ep(2), dt);
+    1851             : 
+    1852             :   // | -------------------- position feedback ------------------- |
+    1853             : 
+    1854         765 :   Eigen::Vector3d des_vel = Eigen::Vector3d(des_vel_x, des_vel_y, des_vel_z) + vel_ff;
+    1855             : 
+    1856         765 :   if (control_output == common::VELOCITY_HDG) {
+    1857             : 
+    1858             :     // | --------------------- fill the output -------------------- |
+    1859             : 
+    1860         530 :     mrs_msgs::HwApiVelocityHdgCmd cmd;
+    1861             : 
+    1862         265 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1863         265 :     cmd.header.stamp    = ros::Time::now();
+    1864             : 
+    1865         265 :     cmd.velocity.x = des_vel(0);
+    1866         265 :     cmd.velocity.y = des_vel(1);
+    1867         265 :     cmd.velocity.z = des_vel(2);
+    1868             : 
+    1869         265 :     cmd.heading = tracker_command.heading;
+    1870             : 
+    1871         265 :     last_control_output_.control_output = cmd;
+    1872             : 
+    1873         500 :   } else if (control_output == common::VELOCITY_HDG_RATE) {
+    1874             : 
+    1875         500 :     position_pid_heading_.setSaturation(constraints.heading_speed);
+    1876             : 
+    1877         500 :     double hdg_err = mrs_lib::geometry::sradians::diff(hdg_ref, hdg);
+    1878             : 
+    1879         500 :     double des_hdg_rate = position_pid_heading_.update(hdg_err, dt);
+    1880             : 
+    1881             :     // | --------------------------- ff --------------------------- |
+    1882             : 
+    1883         500 :     double des_hdg_ff = 0;
+    1884             : 
+    1885         500 :     if (tracker_command.use_heading_rate) {
+    1886         500 :       des_hdg_ff = tracker_command.heading_rate;
+    1887             :     }
+    1888             : 
+    1889             :     // | --------------------- fill the output -------------------- |
+    1890             : 
+    1891        1000 :     mrs_msgs::HwApiVelocityHdgRateCmd cmd;
+    1892             : 
+    1893         500 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1894         500 :     cmd.header.stamp    = ros::Time::now();
+    1895             : 
+    1896         500 :     cmd.velocity.x = des_vel(0);
+    1897         500 :     cmd.velocity.y = des_vel(1);
+    1898         500 :     cmd.velocity.z = des_vel(2);
+    1899             : 
+    1900         500 :     cmd.heading_rate = des_hdg_rate + des_hdg_ff;
+    1901             : 
+    1902         500 :     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         765 :   last_control_output_.desired_unbiased_acceleration = {};
+    1911         765 :   last_control_output_.desired_orientation           = {};
+    1912         765 :   last_control_output_.desired_heading_rate          = {};
+    1913             : 
+    1914             :   // | ----------------- fill in the diagnostics ---------------- |
+    1915             : 
+    1916         765 :   last_control_output_.diagnostics.ramping_up = false;
+    1917             : 
+    1918         765 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1919         765 :   last_control_output_.diagnostics.mass_difference = 0;
+    1920             : 
+    1921         765 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1922             : 
+    1923         765 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1924         765 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1925             : 
+    1926         765 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1927         765 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1928             : 
+    1929         765 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1930         765 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1931             : 
+    1932         765 :   last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1933             : 
+    1934         765 :   last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * _max_speed_horizontal_;
+    1935         765 :   last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * _max_acceleration_horizontal_;
+    1936             : 
+    1937         765 :   last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1938         765 :   last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1939             : 
+    1940         765 :   last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1941         765 :   last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1942             : 
+    1943         765 :   last_control_output_.diagnostics.controller = name_;
+    1944             : }
+    1945             : 
+    1946             : //}
+    1947             : 
+    1948             : // --------------------------------------------------------------
+    1949             : // |                          callbacks                         |
+    1950             : // --------------------------------------------------------------
+    1951             : 
+    1952             : /* //{ callbackDrs() */
+    1953             : 
+    1954         218 : void MpcController::callbackDrs(mrs_uav_controllers::mpc_controllerConfig &config, [[maybe_unused]] uint32_t level) {
+    1955             : 
+    1956         218 :   mrs_lib::set_mutexed(mutex_drs_params_, config, drs_params_);
+    1957             : 
+    1958         218 :   ROS_INFO("[%s]: DRS updated gains", this->name_.c_str());
+    1959         218 : }
+    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       16637 : void MpcController::timerGains(const ros::TimerEvent &event) {
+    1993             : 
+    1994       33274 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerGains", _gain_filtering_rate_, 1.0, event);
+    1995       33274 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcController::timerGains", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1996             : 
+    1997       16637 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+    1998       16637 :   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       16637 :   bool   bypass_filter = (mute_gains_ || mute_gains_by_tracker_);
+    2003       16637 :   double gain_coeff    = (mute_gains_ || mute_gains_by_tracker_) ? _gain_mute_coefficient_ : 1.0;
+    2004             : 
+    2005       16637 :   mute_gains_ = false;
+    2006             : 
+    2007       16637 :   double dt = (event.current_real - event.last_real).toSec();
+    2008             : 
+    2009       16637 :   if (!std::isfinite(dt) || (dt <= 0) || (dt > 5 * (1.0 / _gain_filtering_rate_))) {
+    2010         191 :     return;
+    2011             :   }
+    2012             : 
+    2013       16446 :   bool updated = false;
+    2014             : 
+    2015       16446 :   gains.kq_roll_pitch = calculateGainChange(dt, gains.kq_roll_pitch, drs_params.kq_roll_pitch * gain_coeff, bypass_filter, "kq_roll_pitch", updated);
+    2016       16446 :   gains.kq_yaw        = calculateGainChange(dt, gains.kq_yaw, drs_params.kq_yaw * gain_coeff, bypass_filter, "kq_yaw", updated);
+    2017       16446 :   gains.km            = calculateGainChange(dt, gains.km, drs_params.km * gain_coeff, bypass_filter, "km", updated);
+    2018       16446 :   gains.kiwxy         = calculateGainChange(dt, gains.kiwxy, drs_params.kiwxy * gain_coeff, bypass_filter, "kiwxy", updated);
+    2019       16446 :   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       16446 :   gains.kiwxy_lim = calculateGainChange(dt, gains.kiwxy_lim, drs_params.kiwxy_lim, false, "kiwxy_lim", updated);
+    2023       16446 :   gains.kibxy_lim = calculateGainChange(dt, gains.kibxy_lim, drs_params.kibxy_lim, false, "kibxy_lim", updated);
+    2024       16446 :   gains.km_lim    = calculateGainChange(dt, gains.km_lim, drs_params.km_lim, false, "km_lim", updated);
+    2025             : 
+    2026       16446 :   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       16446 :   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      131568 : 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      131568 :   double change = desired_value - current_value;
+    2059             : 
+    2060      131568 :   double gains_filter_max_change = _gains_filter_change_rate_ * dt;
+    2061      131568 :   double gains_filter_min_change = _gains_filter_min_change_rate_ * dt;
+    2062             : 
+    2063      131568 :   if (!bypass_rate) {
+    2064             : 
+    2065             :     // if current value is near 0...
+    2066             :     double change_in_perc;
+    2067             :     double saturated_change;
+    2068             : 
+    2069      131568 :     if (std::abs(current_value) < 1e-6) {
+    2070           0 :       change *= gains_filter_max_change;
+    2071             :     } else {
+    2072             : 
+    2073      131568 :       saturated_change = change;
+    2074             : 
+    2075      131568 :       change_in_perc = ((current_value + saturated_change) / current_value) - 1.0;
+    2076             : 
+    2077      131568 :       if (change_in_perc > gains_filter_max_change) {
+    2078           0 :         saturated_change = current_value * gains_filter_max_change;
+    2079      131568 :       } else if (change_in_perc < -gains_filter_max_change) {
+    2080           0 :         saturated_change = current_value * -gains_filter_max_change;
+    2081             :       }
+    2082             : 
+    2083      131568 :       if (std::abs(saturated_change) < std::abs(change) * gains_filter_min_change) {
+    2084           0 :         change *= gains_filter_min_change;
+    2085             :       } else {
+    2086      131568 :         change = saturated_change;
+    2087             :       }
+    2088             :     }
+    2089             :   }
+    2090             : 
+    2091      131568 :   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      131568 :   return current_value + change;
+    2097             : }
+    2098             : 
+    2099             : //}
+    2100             : 
+    2101             : /* getHeadingSafely() //{ */
+    2102             : 
+    2103       71651 : double MpcController::getHeadingSafely(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+    2104             : 
+    2105             :   try {
+    2106       71651 :     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         109 : PLUGINLIB_EXPORT_CLASS(mrs_uav_controllers::mpc_controller::MpcController, mrs_uav_managers::Controller)
+
+
+
+ + + + +
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/src - se3_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:62577580.6 %
Date:2024-12-11 22:27:27Functions: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()23
mrs_uav_controllers::se3_controller::Se3Controller::activate(mrs_uav_managers::Controller::ControlOutput const&)27
(anonymous namespace)::ProxyExec0::ProxyExec0()109
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>)109
mrs_uav_controllers::se3_controller::Se3Controller::callbackDrs(mrs_uav_controllers::se3_controllerConfig&, unsigned int)219
mrs_uav_controllers::se3_controller::Se3Controller::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)281
mrs_uav_controllers::se3_controller::Se3Controller::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)431
mrs_uav_controllers::se3_controller::Se3Controller::getStatus()2886
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&)3047
mrs_uav_controllers::se3_controller::Se3Controller::timerGains(ros::TimerEvent const&)4678
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&)24957
mrs_uav_controllers::se3_controller::Se3Controller::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)28004
mrs_uav_controllers::se3_controller::Se3Controller::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)28285
mrs_uav_controllers::se3_controller::Se3Controller::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)65114
mrs_uav_controllers::se3_controller::Se3Controller::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)121441
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Generated by: LCOV version 1.14
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+ + + 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..ddf57ad4aa --- /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:2024-12-11 22:27:27Functions: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()109
mrs_uav_controllers::se3_controller::Se3Controller::deactivate()23
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>)109
mrs_uav_controllers::se3_controller::Se3Controller::timerGains(ros::TimerEvent const&)4678
mrs_uav_controllers::se3_controller::Se3Controller::callbackDrs(mrs_uav_controllers::se3_controllerConfig&, unsigned int)219
mrs_uav_controllers::se3_controller::Se3Controller::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)28285
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&)24957
mrs_uav_controllers::se3_controller::Se3Controller::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)431
mrs_uav_controllers::se3_controller::Se3Controller::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)121441
mrs_uav_controllers::se3_controller::Se3Controller::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)28004
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&)3047
mrs_uav_controllers::se3_controller::Se3Controller::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)65114
mrs_uav_controllers::se3_controller::Se3Controller::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)281
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()2886
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Generated by: LCOV version 1.14
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+ + + 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..4be9a747ec --- /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
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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:2024-12-11 22:27:27Functions: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         109 : 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         109 :   nh_ = nh;
+     217             : 
+     218         109 :   common_handlers_  = common_handlers;
+     219         109 :   private_handlers_ = private_handlers;
+     220             : 
+     221         109 :   _uav_mass_ = common_handlers->getMass();
+     222             : 
+     223         109 :   ros::Time::waitForValid();
+     224             : 
+     225             :   // | ---------- loading params using the parent's nh ---------- |
+     226             : 
+     227         218 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     228             : 
+     229         109 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     230             : 
+     231         109 :   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         109 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/se3_controller.yaml");
+     239         109 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/se3_controller.yaml");
+     240             : 
+     241         218 :   const std::string yaml_namespace = "mrs_uav_controllers/se3_controller/";
+     242             : 
+     243             :   // lateral gains
+     244         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kp", gains_.kpxy);
+     245         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kv", gains_.kvxy);
+     246         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/ka", gains_.kaxy);
+     247             : 
+     248         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kiw", gains_.kiwxy);
+     249         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kib", gains_.kibxy);
+     250             : 
+     251             :   // | ------------------------- rampup ------------------------- |
+     252             : 
+     253         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/rampup/enabled", _rampup_enabled_);
+     254         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/rampup/speed", _rampup_speed_);
+     255             : 
+     256             :   // height gains
+     257         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/vertical/kp", gains_.kpz);
+     258         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/vertical/kv", gains_.kvz);
+     259         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/vertical/ka", gains_.kaz);
+     260             : 
+     261             :   // attitude gains
+     262         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/attitude/kq_roll_pitch", gains_.kq_roll_pitch);
+     263         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/attitude/kq_yaw", gains_.kq_yaw);
+     264             : 
+     265             :   // attitude rate gains
+     266         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/attitude_rate_gains/kw_roll_pitch", gains_.kw_roll_pitch);
+     267         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/attitude_rate_gains/kw_yaw", gains_.kw_yaw);
+     268             : 
+     269             :   // mass estimator
+     270         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/mass_estimator/km", gains_.km);
+     271         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/mass_estimator/km_lim", gains_.km_lim);
+     272             : 
+     273             :   // integrator limits
+     274         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kiw_lim", gains_.kiwxy_lim);
+     275         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kib_lim", gains_.kibxy_lim);
+     276             : 
+     277             :   // constraints
+     278         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/constraints/tilt_angle_failsafe/enabled", _tilt_angle_failsafe_enabled_);
+     279         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/constraints/tilt_angle_failsafe/limit", _tilt_angle_failsafe_);
+     280             : 
+     281         109 :   _tilt_angle_failsafe_ = M_PI * (_tilt_angle_failsafe_ / 180.0);
+     282             : 
+     283         109 :   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         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/constraints/throttle_saturation", _throttle_saturation_);
+     289             : 
+     290             :   // gain filtering
+     291         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/perc_change_rate", _gains_filter_change_rate_);
+     292         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/min_change_rate", _gains_filter_min_change_rate_);
+     293         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/rate", _gain_filtering_rate_);
+     294         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/gain_mute_coefficient", _gain_mute_coefficient_);
+     295             : 
+     296             :   // output mode
+     297         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/preferred_output", drs_params_.preferred_output_mode);
+     298             : 
+     299         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/rotation_matrix", drs_params_.rotation_type);
+     300             : 
+     301             :   // angular rate feed forward
+     302         218 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/angular_rate_feedforward/parasitic_pitch_roll",
+     303         109 :                                             drs_params_.pitch_roll_heading_rate_compensation);
+     304         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/angular_rate_feedforward/jerk", drs_params_.jerk_feedforward);
+     305             : 
+     306             :   // | ------------------- position pid params ------------------ |
+     307             : 
+     308         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/p", _pos_pid_p_);
+     309         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/i", _pos_pid_i_);
+     310         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/d", _pos_pid_d_);
+     311             : 
+     312         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/p", _hdg_pid_p_);
+     313         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/i", _hdg_pid_i_);
+     314         109 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/d", _hdg_pid_d_);
+     315             : 
+     316             :   // | ------------------ finish loading params ----------------- |
+     317             : 
+     318         109 :   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         109 :   if (!(drs_params_.preferred_output_mode == OUTPUT_ACTUATORS || drs_params_.preferred_output_mode == OUTPUT_CONTROL_GROUP ||
+     326         109 :         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         109 :   uav_mass_difference_ = 0;
+     333         109 :   Iw_w_                = Eigen::Vector2d::Zero(2);
+     334         109 :   Ib_b_                = Eigen::Vector2d::Zero(2);
+     335             : 
+     336             :   // | --------------- dynamic reconfigure server --------------- |
+     337             : 
+     338         109 :   drs_params_.kpxy             = gains_.kpxy;
+     339         109 :   drs_params_.kvxy             = gains_.kvxy;
+     340         109 :   drs_params_.kaxy             = gains_.kaxy;
+     341         109 :   drs_params_.kiwxy            = gains_.kiwxy;
+     342         109 :   drs_params_.kibxy            = gains_.kibxy;
+     343         109 :   drs_params_.kpz              = gains_.kpz;
+     344         109 :   drs_params_.kvz              = gains_.kvz;
+     345         109 :   drs_params_.kaz              = gains_.kaz;
+     346         109 :   drs_params_.kq_roll_pitch    = gains_.kq_roll_pitch;
+     347         109 :   drs_params_.kq_yaw           = gains_.kq_yaw;
+     348         109 :   drs_params_.kiwxy_lim        = gains_.kiwxy_lim;
+     349         109 :   drs_params_.kibxy_lim        = gains_.kibxy_lim;
+     350         109 :   drs_params_.km               = gains_.km;
+     351         109 :   drs_params_.km_lim           = gains_.km_lim;
+     352         109 :   drs_params_.jerk_feedforward = true;
+     353             : 
+     354         109 :   drs_.reset(new Drs_t(mutex_drs_, nh_));
+     355         109 :   drs_->updateConfig(drs_params_);
+     356         109 :   Drs_t::CallbackType f = boost::bind(&Se3Controller::callbackDrs, this, _1, _2);
+     357         109 :   drs_->setCallback(f);
+     358             : 
+     359             :   // | ------------------------- timers ------------------------- |
+     360             : 
+     361         109 :   timer_gains_ = nh_.createTimer(ros::Rate(_gain_filtering_rate_), &Se3Controller::timerGains, this, false, false);
+     362             : 
+     363             :   // | ---------------------- position pid ---------------------- |
+     364             : 
+     365         109 :   position_pid_x_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     366         109 :   position_pid_y_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     367         109 :   position_pid_z_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     368         109 :   position_pid_heading_.setParams(_hdg_pid_p_, _hdg_pid_d_, _hdg_pid_i_, -1, 0.1);
+     369             : 
+     370             :   // | ------------------------ profiler ------------------------ |
+     371             : 
+     372         109 :   profiler_ = mrs_lib::Profiler(common_handlers_->parent_nh, "Se3Controller", _profiler_enabled_);
+     373             : 
+     374             :   // | ----------------------- finish init ---------------------- |
+     375             : 
+     376         109 :   ROS_INFO("[Se3Controller]: initialized");
+     377             : 
+     378         109 :   is_initialized_ = true;
+     379             : 
+     380         109 :   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          23 : void Se3Controller::deactivate(void) {
+     461             : 
+     462          23 :   is_active_           = false;
+     463          23 :   first_iteration_     = false;
+     464          23 :   uav_mass_difference_ = 0;
+     465             : 
+     466          23 :   timer_gains_.stop();
+     467             : 
+     468          23 :   ROS_INFO("[Se3Controller]: deactivated");
+     469          23 : }
+     470             : 
+     471             : //}
+     472             : 
+     473             : /* updateInactive() //{ */
+     474             : 
+     475      121441 : void Se3Controller::updateInactive(const mrs_msgs::UavState& uav_state, [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand>& tracker_command) {
+     476             : 
+     477      121441 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     478             : 
+     479      121441 :   last_update_time_ = uav_state.header.stamp;
+     480             : 
+     481      121441 :   first_iteration_ = false;
+     482      121441 : }
+     483             : 
+     484             : //}
+     485             : 
+     486             : /* //{ updateWhenActive() */
+     487             : 
+     488       28285 : Se3Controller::ControlOutput Se3Controller::updateActive(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command) {
+     489             : 
+     490       84855 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("updateActive");
+     491       84855 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("Se3Controller::updateActive", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     492             : 
+     493       56570 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     494             : 
+     495       28285 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     496             : 
+     497       28285 :   last_control_output_.desired_heading_rate          = {};
+     498       28285 :   last_control_output_.desired_orientation           = {};
+     499       28285 :   last_control_output_.desired_unbiased_acceleration = {};
+     500       28285 :   last_control_output_.control_output                = {};
+     501             : 
+     502             :   // | -------------------- calculate the dt -------------------- |
+     503             : 
+     504             :   double dt;
+     505             : 
+     506       28285 :   if (first_iteration_) {
+     507          27 :     dt               = 0.01;
+     508          27 :     first_iteration_ = false;
+     509             :   } else {
+     510       28258 :     dt = (uav_state.header.stamp - last_update_time_).toSec();
+     511             :   }
+     512             : 
+     513       28285 :   last_update_time_ = uav_state.header.stamp;
+     514             : 
+     515       28285 :   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       28285 :   auto lowest_modality = common::getLowestOuput(common_handlers_->control_output_modalities);
+     525             : 
+     526       28285 :   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       28285 :   if (drs_params.preferred_output_mode == OUTPUT_ATTITUDE_RATE && common_handlers_->control_output_modalities.attitude_rate) {
+     536       20196 :     ROS_DEBUG_THROTTLE(1.0, "[Se3Controller]: prioritizing attitude rate output");
+     537       20196 :     lowest_modality = common::ATTITUDE_RATE;
+     538        8089 :   } 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        8089 :   } 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        8089 :   } 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       28285 :   switch (lowest_modality.value()) {
+     550             : 
+     551         281 :     case common::POSITION: {
+     552         281 :       positionPassthrough(uav_state, tracker_command);
+     553         281 :       break;
+     554             :     }
+     555             : 
+     556        1115 :     case common::VELOCITY_HDG: {
+     557        1115 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG, dt);
+     558        1115 :       break;
+     559             :     }
+     560             : 
+     561        1932 :     case common::VELOCITY_HDG_RATE: {
+     562        1932 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG_RATE, dt);
+     563        1932 :       break;
+     564             :     }
+     565             : 
+     566         534 :     case common::ACCELERATION_HDG: {
+     567         534 :       SE3Controller(uav_state, tracker_command, dt, common::ACCELERATION_HDG);
+     568         534 :       break;
+     569             :     }
+     570             : 
+     571         559 :     case common::ACCELERATION_HDG_RATE: {
+     572         559 :       SE3Controller(uav_state, tracker_command, dt, common::ACCELERATION_HDG_RATE);
+     573         559 :       break;
+     574             :     }
+     575             : 
+     576        1130 :     case common::ATTITUDE: {
+     577        1130 :       SE3Controller(uav_state, tracker_command, dt, common::ATTITUDE);
+     578        1130 :       break;
+     579             :     }
+     580             : 
+     581       20196 :     case common::ATTITUDE_RATE: {
+     582       20196 :       SE3Controller(uav_state, tracker_command, dt, common::ATTITUDE_RATE);
+     583       20196 :       break;
+     584             :     }
+     585             : 
+     586        1266 :     case common::CONTROL_GROUP: {
+     587        1266 :       SE3Controller(uav_state, tracker_command, dt, common::CONTROL_GROUP);
+     588        1266 :       break;
+     589             :     }
+     590             : 
+     591        1272 :     case common::ACTUATORS_CMD: {
+     592        1272 :       SE3Controller(uav_state, tracker_command, dt, common::ACTUATORS_CMD);
+     593        1272 :       break;
+     594             :     }
+     595             : 
+     596       28285 :     default: {
+     597             :     }
+     598             :   }
+     599             : 
+     600       28285 :   return last_control_output_;
+     601             : }
+     602             : 
+     603             : //}
+     604             : 
+     605             : /* //{ getStatus() */
+     606             : 
+     607        2886 : const mrs_msgs::ControllerStatus Se3Controller::getStatus() {
+     608             : 
+     609        2886 :   mrs_msgs::ControllerStatus controller_status;
+     610             : 
+     611        2886 :   controller_status.active = is_active_;
+     612             : 
+     613        2886 :   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         431 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr Se3Controller::setConstraints([
+     674             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& constraints) {
+     675             : 
+     676         431 :   if (!is_initialized_) {
+     677           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     678             :   }
+     679             : 
+     680         431 :   mrs_lib::set_mutexed(mutex_constraints_, constraints->constraints, constraints_);
+     681             : 
+     682         431 :   ROS_INFO("[Se3Controller]: updating constraints");
+     683             : 
+     684         862 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     685         431 :   res.success = true;
+     686         431 :   res.message = "constraints updated";
+     687             : 
+     688         431 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     689             : }
+     690             : 
+     691             : //}
+     692             : 
+     693             : // --------------------------------------------------------------
+     694             : // |                         controllers                        |
+     695             : // --------------------------------------------------------------
+     696             : 
+     697             : /* SE3Controller() //{ */
+     698             : 
+     699       24957 : 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       49914 :   auto drs_params  = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     703       24957 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     704       24957 :   auto gains       = mrs_lib::get_mutexed(mutex_gains_, gains_);
+     705             : 
+     706             :   // | ----------------- get the current heading ---------------- |
+     707             : 
+     708       24957 :   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       24957 :   Eigen::Vector3d Rp = Eigen::Vector3d::Zero(3);
+     719       24957 :   Eigen::Vector3d Rv = Eigen::Vector3d::Zero(3);
+     720       24957 :   Eigen::Vector3d Ra = Eigen::Vector3d::Zero(3);
+     721             : 
+     722       24957 :   if (tracker_command.use_position_vertical || tracker_command.use_position_horizontal) {
+     723             : 
+     724       24957 :     if (tracker_command.use_position_horizontal) {
+     725       24957 :       Rp(0) = tracker_command.position.x;
+     726       24957 :       Rp(1) = tracker_command.position.y;
+     727             :     } else {
+     728           0 :       Rv(0) = 0;
+     729           0 :       Rv(1) = 0;
+     730             :     }
+     731             : 
+     732       24957 :     if (tracker_command.use_position_vertical) {
+     733       24957 :       Rp(2) = tracker_command.position.z;
+     734             :     } else {
+     735           0 :       Rv(2) = 0;
+     736             :     }
+     737             :   }
+     738             : 
+     739       24957 :   if (tracker_command.use_velocity_horizontal) {
+     740       24957 :     Rv(0) = tracker_command.velocity.x;
+     741       24957 :     Rv(1) = tracker_command.velocity.y;
+     742             :   } else {
+     743           0 :     Rv(0) = 0;
+     744           0 :     Rv(1) = 0;
+     745             :   }
+     746             : 
+     747       24957 :   if (tracker_command.use_velocity_vertical) {
+     748       24957 :     Rv(2) = tracker_command.velocity.z;
+     749             :   } else {
+     750           0 :     Rv(2) = 0;
+     751             :   }
+     752             : 
+     753       24957 :   if (tracker_command.use_acceleration) {
+     754       24955 :     Ra << tracker_command.acceleration.x, tracker_command.acceleration.y, tracker_command.acceleration.z;
+     755             :   } else {
+     756           2 :     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       24957 :   Eigen::Vector3d Op(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+     764       24957 :   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       24957 :   Eigen::Matrix3d R = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+     768             : 
+     769             :   // Ow - UAV angular rate
+     770       24957 :   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       24957 :   Eigen::Vector3d Ep(0, 0, 0);
+     776             : 
+     777       24957 :   if (tracker_command.use_position_horizontal || tracker_command.use_position_vertical) {
+     778       24957 :     Ep = Rp - Op;
+     779             :   }
+     780             : 
+     781             :   // velocity control error
+     782       24957 :   Eigen::Vector3d Ev(0, 0, 0);
+     783             : 
+     784       24957 :   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       24957 :     Ev = Rv - Ov;
+     787             :   }
+     788             : 
+     789             :   // | --------------------- load the gains --------------------- |
+     790             : 
+     791       24957 :   mute_gains_by_tracker_ = tracker_command.disable_position_gains;
+     792             : 
+     793       24957 :   Eigen::Vector3d Ka(0, 0, 0);
+     794       24957 :   Eigen::Array3d  Kp(0, 0, 0);
+     795       24957 :   Eigen::Array3d  Kv(0, 0, 0);
+     796       24957 :   Eigen::Array3d  Kq(0, 0, 0);
+     797       24957 :   Eigen::Array3d  Kw(0, 0, 0);
+     798             : 
+     799             :   {
+     800       24957 :     std::scoped_lock lock(mutex_gains_);
+     801             : 
+     802       24957 :     if (tracker_command.use_position_horizontal) {
+     803       24957 :       Kp(0) = gains.kpxy;
+     804       24957 :       Kp(1) = gains.kpxy;
+     805             :     } else {
+     806           0 :       Kp(0) = 0;
+     807           0 :       Kp(1) = 0;
+     808             :     }
+     809             : 
+     810       24957 :     if (tracker_command.use_position_vertical) {
+     811       24957 :       Kp(2) = gains.kpz;
+     812             :     } else {
+     813           0 :       Kp(2) = 0;
+     814             :     }
+     815             : 
+     816       24957 :     if (tracker_command.use_velocity_horizontal) {
+     817       24957 :       Kv(0) = gains.kvxy;
+     818       24957 :       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       24957 :     if (tracker_command.use_velocity_vertical || tracker_command.use_position_vertical) {
+     826       24957 :       Kv(2) = gains.kvz;
+     827             :     } else {
+     828           0 :       Kv(2) = 0;
+     829             :     }
+     830             : 
+     831       24957 :     if (tracker_command.use_acceleration) {
+     832       24955 :       Ka << gains.kaxy, gains.kaxy, gains.kaz;
+     833             :     } else {
+     834           2 :       Ka << 0, 0, 0;
+     835             :     }
+     836             : 
+     837       24957 :     if (!tracker_command.use_attitude_rate) {
+     838       24957 :       Kq << gains.kq_roll_pitch, gains.kq_roll_pitch, gains.kq_yaw;
+     839             :     }
+     840             : 
+     841       24957 :     Kw(0) = gains.kw_roll_pitch;
+     842       24957 :     Kw(1) = gains.kw_roll_pitch;
+     843       24957 :     Kw(2) = gains.kw_yaw;
+     844             :   }
+     845             : 
+     846       24957 :   Kp = Kp * (_uav_mass_ + uav_mass_difference_);
+     847       24957 :   Kv = Kv * (_uav_mass_ + uav_mass_difference_);
+     848             : 
+     849             :   // | --------------- desired orientation matrix --------------- |
+     850             : 
+     851             :   // get body integral in the world frame
+     852             : 
+     853       24957 :   Eigen::Vector2d Ib_w = Eigen::Vector2d(0, 0);
+     854             : 
+     855             :   {
+     856       49914 :     geometry_msgs::Vector3Stamped Ib_b_stamped;
+     857             : 
+     858       24957 :     Ib_b_stamped.header.stamp    = ros::Time::now();
+     859       24957 :     Ib_b_stamped.header.frame_id = "fcu_untilted";
+     860       24957 :     Ib_b_stamped.vector.x        = Ib_b_(0);
+     861       24957 :     Ib_b_stamped.vector.y        = Ib_b_(1);
+     862       24957 :     Ib_b_stamped.vector.z        = 0;
+     863             : 
+     864       49914 :     auto res = common_handlers_->transformer->transformSingle(Ib_b_stamped, uav_state_.header.frame_id);
+     865             : 
+     866       24957 :     if (res) {
+     867       24957 :       Ib_w(0) = res.value().vector.x;
+     868       24957 :       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       24957 :   double total_mass = _uav_mass_ + uav_mass_difference_;
+     877             : 
+     878       24957 :   Eigen::Vector3d feed_forward      = total_mass * (Eigen::Vector3d(0, 0, common_handlers_->g) + Ra);
+     879       24957 :   Eigen::Vector3d position_feedback = Kp * Ep.array();
+     880       24957 :   Eigen::Vector3d velocity_feedback = Kv * Ev.array();
+     881       24957 :   Eigen::Vector3d integral_feedback;
+     882             :   {
+     883       24957 :     std::scoped_lock lock(mutex_integrals_);
+     884             : 
+     885       24957 :     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       49914 :     std::scoped_lock lock(mutex_gains_, mutex_integrals_);
+     900             : 
+     901       24957 :     Eigen::Vector3d integration_switch(1, 1, 0);
+     902             : 
+     903             :     // integrate the world error
+     904       24957 :     if (tracker_command.use_position_horizontal) {
+     905       24957 :       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       24957 :     bool world_integral_saturated = false;
+     912       24957 :     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       24957 :     } else if (Iw_w_(0) > gains.kiwxy_lim) {
+     916           0 :       Iw_w_(0)                 = gains.kiwxy_lim;
+     917           0 :       world_integral_saturated = true;
+     918       24957 :     } 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       24957 :     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       24957 :     world_integral_saturated = false;
+     929       24957 :     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       24957 :     } else if (Iw_w_(1) > gains.kiwxy_lim) {
+     933           0 :       Iw_w_(1)                 = gains.kiwxy_lim;
+     934           0 :       world_integral_saturated = true;
+     935       24957 :     } 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       24957 :     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       49914 :     std::scoped_lock lock(mutex_gains_);
+     955             : 
+     956       24957 :     Eigen::Vector2d Ep_fcu_untilted = Eigen::Vector2d(0, 0);  // position error in the untilted frame of the UAV
+     957       24957 :     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       49914 :       geometry_msgs::Vector3Stamped Ep_stamped;
+     963             : 
+     964       24957 :       Ep_stamped.header.stamp    = ros::Time::now();
+     965       24957 :       Ep_stamped.header.frame_id = uav_state_.header.frame_id;
+     966       24957 :       Ep_stamped.vector.x        = Ep(0);
+     967       24957 :       Ep_stamped.vector.y        = Ep(1);
+     968       24957 :       Ep_stamped.vector.z        = Ep(2);
+     969             : 
+     970       74871 :       auto res = common_handlers_->transformer->transformSingle(Ep_stamped, "fcu_untilted");
+     971             : 
+     972       24957 :       if (res) {
+     973       24957 :         Ep_fcu_untilted(0) = res.value().vector.x;
+     974       24957 :         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       49914 :       geometry_msgs::Vector3Stamped Ev_stamped;
+     983             : 
+     984       24957 :       Ev_stamped.header.stamp    = ros::Time::now();
+     985       24957 :       Ev_stamped.header.frame_id = uav_state_.header.frame_id;
+     986       24957 :       Ev_stamped.vector.x        = Ev(0);
+     987       24957 :       Ev_stamped.vector.y        = Ev(1);
+     988       24957 :       Ev_stamped.vector.z        = Ev(2);
+     989             : 
+     990       74871 :       auto res = common_handlers_->transformer->transformSingle(Ev_stamped, "fcu_untilted");
+     991             : 
+     992       24957 :       if (res) {
+     993       24957 :         Ev_fcu_untilted(0) = res.value().vector.x;
+     994       24957 :         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       24957 :     if (tracker_command.use_position_horizontal) {
+    1002       24957 :       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       24957 :     bool body_integral_saturated = false;
+    1009       24957 :     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       24957 :     } else if (Ib_b_(0) > gains.kibxy_lim) {
+    1013           0 :       Ib_b_(0)                = gains.kibxy_lim;
+    1014           0 :       body_integral_saturated = true;
+    1015       24957 :     } 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       24957 :     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       24957 :     body_integral_saturated = false;
+    1026       24957 :     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       24957 :     } else if (Ib_b_(1) > gains.kibxy_lim) {
+    1030           0 :       Ib_b_(1)                = gains.kibxy_lim;
+    1031           0 :       body_integral_saturated = true;
+    1032       24957 :     } 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       24957 :     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       24957 :   if (output_modality == common::ACCELERATION_HDG || output_modality == common::ACCELERATION_HDG_RATE) {
+    1045             : 
+    1046        1093 :     Eigen::Vector3d des_acc = (position_feedback + velocity_feedback + integral_feedback) / total_mass + Ra;
+    1047             : 
+    1048        1093 :     if (output_modality == common::ACCELERATION_HDG) {
+    1049             : 
+    1050        1068 :       mrs_msgs::HwApiAccelerationHdgCmd cmd;
+    1051             : 
+    1052         534 :       cmd.acceleration.x = des_acc(0);
+    1053         534 :       cmd.acceleration.y = des_acc(1);
+    1054         534 :       cmd.acceleration.z = des_acc(2);
+    1055             : 
+    1056         534 :       cmd.heading = tracker_command.heading;
+    1057             : 
+    1058         534 :       last_control_output_.control_output = cmd;
+    1059             : 
+    1060             :     } else {
+    1061             : 
+    1062         559 :       double des_hdg_ff = 0;
+    1063             : 
+    1064         559 :       if (tracker_command.use_heading_rate) {
+    1065         559 :         des_hdg_ff = tracker_command.heading_rate;
+    1066             :       }
+    1067             : 
+    1068        1118 :       mrs_msgs::HwApiAccelerationHdgRateCmd cmd;
+    1069             : 
+    1070         559 :       cmd.acceleration.x = des_acc(0);
+    1071         559 :       cmd.acceleration.y = des_acc(1);
+    1072         559 :       cmd.acceleration.z = des_acc(2);
+    1073             : 
+    1074         559 :       position_pid_heading_.setSaturation(constraints.heading_speed);
+    1075             : 
+    1076         559 :       double hdg_err = mrs_lib::geometry::sradians::diff(tracker_command.heading, uav_heading);
+    1077             : 
+    1078         559 :       double des_hdg_rate = position_pid_heading_.update(hdg_err, dt) + des_hdg_ff;
+    1079             : 
+    1080         559 :       cmd.heading_rate = des_hdg_rate;
+    1081             : 
+    1082         559 :       last_control_output_.desired_heading_rate = des_hdg_rate;
+    1083             : 
+    1084         559 :       last_control_output_.control_output = cmd;
+    1085             :     }
+    1086             : 
+    1087             :     // | -------------- unbiased desired acceleration ------------- |
+    1088             : 
+    1089        1093 :     Eigen::Vector3d unbiased_des_acc(0, 0, 0);
+    1090             : 
+    1091             :     {
+    1092             : 
+    1093        1093 :       Eigen::Vector3d unbiased_des_acc_world = (position_feedback + velocity_feedback) / total_mass + Ra;
+    1094             : 
+    1095        2186 :       geometry_msgs::Vector3Stamped world_accel;
+    1096             : 
+    1097        1093 :       world_accel.header.stamp    = ros::Time::now();
+    1098        1093 :       world_accel.header.frame_id = uav_state.header.frame_id;
+    1099        1093 :       world_accel.vector.x        = unbiased_des_acc_world(0);
+    1100        1093 :       world_accel.vector.y        = unbiased_des_acc_world(1);
+    1101        1093 :       world_accel.vector.z        = unbiased_des_acc_world(2);
+    1102             : 
+    1103        3279 :       auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1104             : 
+    1105        1093 :       if (res) {
+    1106        1093 :         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        1093 :     last_control_output_.desired_unbiased_acceleration = unbiased_des_acc;
+    1112             : 
+    1113             :     // | ----------------- fill in the diagnostics ---------------- |
+    1114             : 
+    1115        1093 :     last_control_output_.diagnostics.ramping_up = false;
+    1116             : 
+    1117        1093 :     last_control_output_.diagnostics.mass_estimator  = false;
+    1118        1093 :     last_control_output_.diagnostics.mass_difference = 0;
+    1119        1093 :     last_control_output_.diagnostics.total_mass      = total_mass;
+    1120             : 
+    1121        1093 :     last_control_output_.diagnostics.disturbance_estimator = true;
+    1122             : 
+    1123        1093 :     last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_(0);
+    1124        1093 :     last_control_output_.diagnostics.disturbance_by_b = -Ib_b_(1);
+    1125             : 
+    1126        1093 :     last_control_output_.diagnostics.disturbance_bx_w = -Ib_w(0);
+    1127        1093 :     last_control_output_.diagnostics.disturbance_by_w = -Ib_w(1);
+    1128             : 
+    1129        1093 :     last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_(0);
+    1130        1093 :     last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_(1);
+    1131             : 
+    1132        1093 :     last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1133             : 
+    1134        1093 :     last_control_output_.diagnostics.controller = "Se3Controller";
+    1135             : 
+    1136        1093 :     return;
+    1137             :   }
+    1138             : 
+    1139             :   /* mass estimatior //{ */
+    1140             : 
+    1141             :   // --------------------------------------------------------------
+    1142             :   // |                integrate the mass difference               |
+    1143             :   // --------------------------------------------------------------
+    1144             : 
+    1145             :   {
+    1146       47728 :     std::scoped_lock lock(mutex_gains_);
+    1147             : 
+    1148       23864 :     if (tracker_command.use_position_vertical && !rampup_active_) {
+    1149       23849 :       uav_mass_difference_ += gains.km * Ep(2) * dt;
+    1150             :     }
+    1151             : 
+    1152             :     // saturate the mass estimator
+    1153       23864 :     bool uav_mass_saturated = false;
+    1154       23864 :     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       23864 :     } else if (uav_mass_difference_ > gains.km_lim) {
+    1158           0 :       uav_mass_difference_ = gains.km_lim;
+    1159           0 :       uav_mass_saturated   = true;
+    1160       23864 :     } 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       23864 :     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       23864 :   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       23864 :   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       23864 :   double tilt_safety_limit = _tilt_angle_failsafe_enabled_ ? _tilt_angle_failsafe_ : std::numeric_limits<double>::max();
+    1188             : 
+    1189       23864 :   auto f_normed_sanitized = common::sanitizeDesiredForce(f.normalized(), tilt_safety_limit, constraints.tilt, "Se3Controller");
+    1190             : 
+    1191       23864 :   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       23864 :   Eigen::Vector3d f_normed = f_normed_sanitized.value();
+    1205             : 
+    1206             :   // --------------------------------------------------------------
+    1207             :   // |               desired orientation + throttle               |
+    1208             :   // --------------------------------------------------------------
+    1209             : 
+    1210             :   // | ------------------- desired orientation ------------------ |
+    1211             : 
+    1212       23864 :   Eigen::Matrix3d Rd;
+    1213             : 
+    1214       23864 :   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       23864 :     Eigen::Vector3d bxd;  // desired heading vector
+    1231             : 
+    1232       23864 :     if (tracker_command.use_heading) {
+    1233       23864 :       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       23864 :     Rd = common::so3transform(f_normed, bxd, drs_params.rotation_type == 1);
+    1240             :   }
+    1241             : 
+    1242             :   // | -------------------- desired throttle -------------------- |
+    1243             : 
+    1244       23864 :   double desired_thrust_force = f.dot(R.col(2));
+    1245       23864 :   double throttle             = 0;
+    1246             : 
+    1247       23864 :   if (tracker_command.use_throttle) {
+    1248             : 
+    1249             :     // the throttle is overriden from the tracker command
+    1250           0 :     throttle = tracker_command.throttle;
+    1251             : 
+    1252       23864 :   } else if (rampup_active_) {
+    1253             : 
+    1254             :     // deactivate the rampup when the times up
+    1255          15 :     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           1 :       double rampup_dt = (ros::Time::now() - rampup_last_time_).toSec();
+    1264             : 
+    1265           1 :       rampup_throttle_ += double(rampup_direction_) * _rampup_speed_ * rampup_dt;
+    1266             : 
+    1267           1 :       rampup_last_time_ = ros::Time::now();
+    1268             : 
+    1269           1 :       throttle = rampup_throttle_;
+    1270             : 
+    1271           1 :       ROS_INFO_THROTTLE(0.1, "[Se3Controller]: ramping up throttle, %.4f", throttle);
+    1272             :     }
+    1273             : 
+    1274             :   } else {
+    1275             : 
+    1276       23849 :     if (desired_thrust_force >= 0) {
+    1277       23849 :       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       23864 :   bool throttle_saturated = false;
+    1286             : 
+    1287       23864 :   if (!std::isfinite(throttle)) {
+    1288             : 
+    1289           0 :     ROS_ERROR("[Se3Controller]: NaN detected in variable 'throttle'!!!");
+    1290           0 :     return;
+    1291             : 
+    1292       23864 :   } 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       23864 :   } 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       23864 :   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       23864 :   Eigen::Vector3d unbiased_des_acc(0, 0, 0);
+    1321             : 
+    1322             :   {
+    1323       23864 :     Eigen::Vector3d unbiased_des_acc_world = (position_feedback + velocity_feedback) / total_mass + Ra;
+    1324             : 
+    1325       47728 :     geometry_msgs::Vector3Stamped world_accel;
+    1326             : 
+    1327       23864 :     world_accel.header.stamp    = ros::Time::now();
+    1328       23864 :     world_accel.header.frame_id = uav_state.header.frame_id;
+    1329       23864 :     world_accel.vector.x        = unbiased_des_acc_world(0);
+    1330       23864 :     world_accel.vector.y        = unbiased_des_acc_world(1);
+    1331       23864 :     world_accel.vector.z        = unbiased_des_acc_world(2);
+    1332             : 
+    1333       71592 :     auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1334             : 
+    1335       23864 :     if (res) {
+    1336       23864 :       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       23864 :   last_control_output_.desired_orientation = mrs_lib::AttitudeConverter(Rd);
+    1344             : 
+    1345             :   // fill the unbiased desired accelerations
+    1346       23864 :   last_control_output_.desired_unbiased_acceleration = unbiased_des_acc;
+    1347             : 
+    1348             :   // | ----------------- fill in the diagnostics ---------------- |
+    1349             : 
+    1350       23864 :   last_control_output_.diagnostics.ramping_up = rampup_active_;
+    1351             : 
+    1352       23864 :   last_control_output_.diagnostics.mass_estimator  = true;
+    1353       23864 :   last_control_output_.diagnostics.mass_difference = uav_mass_difference_;
+    1354       23864 :   last_control_output_.diagnostics.total_mass      = total_mass;
+    1355             : 
+    1356       23864 :   last_control_output_.diagnostics.disturbance_estimator = true;
+    1357             : 
+    1358       23864 :   last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_(0);
+    1359       23864 :   last_control_output_.diagnostics.disturbance_by_b = -Ib_b_(1);
+    1360             : 
+    1361       23864 :   last_control_output_.diagnostics.disturbance_bx_w = -Ib_w(0);
+    1362       23864 :   last_control_output_.diagnostics.disturbance_by_w = -Ib_w(1);
+    1363             : 
+    1364       23864 :   last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_(0);
+    1365       23864 :   last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_(1);
+    1366             : 
+    1367       23864 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1368             : 
+    1369       23864 :   last_control_output_.diagnostics.controller = "Se3Controller";
+    1370             : 
+    1371             :   // | ------------ construct the attitude reference ------------ |
+    1372             : 
+    1373       23864 :   mrs_msgs::HwApiAttitudeCmd attitude_cmd;
+    1374             : 
+    1375       23864 :   attitude_cmd.stamp       = ros::Time::now();
+    1376       23864 :   attitude_cmd.orientation = mrs_lib::AttitudeConverter(Rd);
+    1377       23864 :   attitude_cmd.throttle    = throttle;
+    1378             : 
+    1379       23864 :   if (output_modality == common::ATTITUDE) {
+    1380             : 
+    1381        1130 :     last_control_output_.control_output = attitude_cmd;
+    1382             : 
+    1383        1130 :     return;
+    1384             :   }
+    1385             : 
+    1386             :   // --------------------------------------------------------------
+    1387             :   // |                      attitude control                      |
+    1388             :   // --------------------------------------------------------------
+    1389             : 
+    1390       22734 :   Eigen::Vector3d rate_feedforward = Eigen::Vector3d::Zero(3);
+    1391             : 
+    1392       22734 :   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       22734 :   } else if (tracker_command.use_heading_rate) {
+    1397             : 
+    1398             :     // to fill in the feed forward yaw rate
+    1399       22732 :     double desired_yaw_rate = 0;
+    1400             : 
+    1401             :     try {
+    1402       22732 :       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       22732 :     rate_feedforward << 0, 0, desired_yaw_rate;
+    1409             :   }
+    1410             : 
+    1411             :   // | ------------ jerk feedforward -> angular rate ------------ |
+    1412             : 
+    1413       22734 :   Eigen::Vector3d jerk_feedforward = Eigen::Vector3d(0, 0, 0);
+    1414             : 
+    1415       22734 :   if (tracker_command.use_jerk && drs_params.jerk_feedforward) {
+    1416             : 
+    1417       22714 :     ROS_DEBUG_THROTTLE(1.0, "[Se3Controller]: using jerk feedforward");
+    1418             : 
+    1419       22714 :     Eigen::Matrix3d I;
+    1420       22714 :     I << 0, 1, 0, -1, 0, 0, 0, 0, 0;
+    1421       22714 :     Eigen::Vector3d desired_jerk = Eigen::Vector3d(tracker_command.jerk.x, tracker_command.jerk.y, tracker_command.jerk.z);
+    1422       22714 :     jerk_feedforward             = (I.transpose() * Rd.transpose() * desired_jerk) / (desired_thrust_force / total_mass);
+    1423             :   }
+    1424             : 
+    1425             :   // | --------------- run the attitude controller -------------- |
+    1426             : 
+    1427       22734 :   Eigen::Vector3d attitude_rate_saturation(constraints.roll_rate, constraints.pitch_rate, constraints.yaw_rate);
+    1428             : 
+    1429       22734 :   auto attitude_rate_command = common::attitudeController(uav_state, attitude_cmd, jerk_feedforward + rate_feedforward, attitude_rate_saturation, Kq,
+    1430       45468 :                                                           drs_params.pitch_roll_heading_rate_compensation);
+    1431             : 
+    1432       22734 :   if (!attitude_rate_command) {
+    1433           0 :     return;
+    1434             :   }
+    1435             : 
+    1436             :   // | --------- fill in the already known attitude rate -------- |
+    1437             : 
+    1438             :   {
+    1439             :     try {
+    1440       22734 :       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       22734 :   if (output_modality == common::ATTITUDE_RATE) {
+    1449             : 
+    1450       20196 :     last_control_output_.control_output = attitude_rate_command;
+    1451             : 
+    1452       20196 :     return;
+    1453             :   }
+    1454             : 
+    1455             :   // --------------------------------------------------------------
+    1456             :   // |                    Attitude rate control                   |
+    1457             :   // --------------------------------------------------------------
+    1458             : 
+    1459        2538 :   Kw = common_handlers_->detailed_model_params->inertia.diagonal().array() * Kw;
+    1460             : 
+    1461        2538 :   auto control_group_command = common::attitudeRateController(uav_state, attitude_rate_command.value(), Kw);
+    1462             : 
+    1463        2538 :   if (!control_group_command) {
+    1464           0 :     return;
+    1465             :   }
+    1466             : 
+    1467        2538 :   if (output_modality == common::CONTROL_GROUP) {
+    1468             : 
+    1469        1266 :     last_control_output_.control_output = control_group_command;
+    1470             : 
+    1471        1266 :     return;
+    1472             :   }
+    1473             : 
+    1474             :   // --------------------------------------------------------------
+    1475             :   // |                        output mixer                        |
+    1476             :   // --------------------------------------------------------------
+    1477             : 
+    1478        2544 :   mrs_msgs::HwApiActuatorCmd actuator_cmd = common::actuatorMixer(control_group_command.value(), common_handlers_->detailed_model_params->control_group_mixer);
+    1479             : 
+    1480        1272 :   last_control_output_.control_output = actuator_cmd;
+    1481             : 
+    1482        1272 :   return;
+    1483             : }
+    1484             : 
+    1485             : //}
+    1486             : 
+    1487             : /* positionPassthrough() //{ */
+    1488             : 
+    1489         281 : void Se3Controller::positionPassthrough(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command) {
+    1490             : 
+    1491         281 :   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         562 :   mrs_msgs::HwApiPositionCmd cmd;
+    1497             : 
+    1498         281 :   cmd.header.frame_id = uav_state.header.frame_id;
+    1499         281 :   cmd.header.stamp    = ros::Time::now();
+    1500             : 
+    1501         281 :   cmd.position = tracker_command.position;
+    1502         281 :   cmd.heading  = tracker_command.heading;
+    1503             : 
+    1504         281 :   last_control_output_.control_output = cmd;
+    1505             : 
+    1506             :   // fill the unbiased desired accelerations
+    1507         281 :   last_control_output_.desired_unbiased_acceleration = {};
+    1508         281 :   last_control_output_.desired_orientation           = {};
+    1509         281 :   last_control_output_.desired_heading_rate          = {};
+    1510             : 
+    1511             :   // | ----------------- fill in the diagnostics ---------------- |
+    1512             : 
+    1513         281 :   last_control_output_.diagnostics.ramping_up = false;
+    1514             : 
+    1515         281 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1516         281 :   last_control_output_.diagnostics.mass_difference = 0;
+    1517             : 
+    1518         281 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1519             : 
+    1520         281 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1521         281 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1522             : 
+    1523         281 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1524         281 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1525             : 
+    1526         281 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1527         281 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1528             : 
+    1529         281 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1530             : 
+    1531         281 :   last_control_output_.diagnostics.controller = "Se3Controller";
+    1532             : }
+    1533             : 
+    1534             : //}
+    1535             : 
+    1536             : /* PIDVelocityOutput() //{ */
+    1537             : 
+    1538        3047 : 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        3047 :   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        3047 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    1547        3047 :   auto gains       = mrs_lib::get_mutexed(mutex_gains_, gains_);
+    1548             : 
+    1549        3047 :   Eigen::Vector3d pos_ref = Eigen::Vector3d(tracker_command.position.x, tracker_command.position.y, tracker_command.position.z);
+    1550        3047 :   Eigen::Vector3d pos     = Eigen::Vector3d(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+    1551             : 
+    1552        3047 :   double hdg_ref = tracker_command.heading;
+    1553        3047 :   double hdg     = getHeadingSafely(uav_state, tracker_command);
+    1554             : 
+    1555             :   // | ------------------ velocity feedforward ------------------ |
+    1556             : 
+    1557        3047 :   Eigen::Vector3d vel_ff(0, 0, 0);
+    1558             : 
+    1559        3047 :   if (tracker_command.use_velocity_horizontal && tracker_command.use_velocity_vertical) {
+    1560        3047 :     vel_ff = Eigen::Vector3d(tracker_command.velocity.x, tracker_command.velocity.y, tracker_command.velocity.z);
+    1561             :   }
+    1562             : 
+    1563             :   // | -------------------------- gains ------------------------- |
+    1564             : 
+    1565        3047 :   Eigen::Vector3d Kp;
+    1566             : 
+    1567             :   {
+    1568        3047 :     std::scoped_lock lock(mutex_gains_);
+    1569             : 
+    1570        3047 :     Kp << gains.kpxy, gains.kpxy, gains.kpz;
+    1571             :   }
+    1572             : 
+    1573             :   // | --------------------- control errors --------------------- |
+    1574             : 
+    1575        3047 :   Eigen::Vector3d Ep = pos_ref - pos;
+    1576             : 
+    1577             :   // | --------------------------- pid -------------------------- |
+    1578             : 
+    1579        3047 :   position_pid_x_.setSaturation(constraints.horizontal_speed);
+    1580        3047 :   position_pid_y_.setSaturation(constraints.horizontal_speed);
+    1581        3047 :   position_pid_z_.setSaturation(std::min(constraints.vertical_ascending_speed, constraints.vertical_descending_speed));
+    1582             : 
+    1583        3047 :   double des_vel_x = position_pid_x_.update(Ep(0), dt);
+    1584        3047 :   double des_vel_y = position_pid_y_.update(Ep(1), dt);
+    1585        3047 :   double des_vel_z = position_pid_z_.update(Ep(2), dt);
+    1586             : 
+    1587             :   // | -------------------- position feedback ------------------- |
+    1588             : 
+    1589        3047 :   Eigen::Vector3d des_vel = Eigen::Vector3d(des_vel_x, des_vel_y, des_vel_z) + vel_ff;
+    1590             : 
+    1591        3047 :   if (control_output == common::VELOCITY_HDG) {
+    1592             : 
+    1593             :     // | --------------------- fill the output -------------------- |
+    1594             : 
+    1595        2230 :     mrs_msgs::HwApiVelocityHdgCmd cmd;
+    1596             : 
+    1597        1115 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1598        1115 :     cmd.header.stamp    = ros::Time::now();
+    1599             : 
+    1600        1115 :     cmd.velocity.x = des_vel(0);
+    1601        1115 :     cmd.velocity.y = des_vel(1);
+    1602        1115 :     cmd.velocity.z = des_vel(2);
+    1603             : 
+    1604        1115 :     cmd.heading = tracker_command.heading;
+    1605             : 
+    1606        1115 :     last_control_output_.control_output = cmd;
+    1607             : 
+    1608        1932 :   } else if (control_output == common::VELOCITY_HDG_RATE) {
+    1609             : 
+    1610        1932 :     position_pid_heading_.setSaturation(constraints.heading_speed);
+    1611             : 
+    1612        1932 :     double hdg_err = mrs_lib::geometry::sradians::diff(hdg_ref, hdg);
+    1613             : 
+    1614        1932 :     double des_hdg_rate = position_pid_heading_.update(hdg_err, dt);
+    1615             : 
+    1616             :     // | --------------------------- ff --------------------------- |
+    1617             : 
+    1618        1932 :     double des_hdg_ff = 0;
+    1619             : 
+    1620        1932 :     if (tracker_command.use_heading_rate) {
+    1621        1932 :       des_hdg_ff = tracker_command.heading_rate;
+    1622             :     }
+    1623             : 
+    1624             :     // | --------------------- fill the output -------------------- |
+    1625             : 
+    1626        3864 :     mrs_msgs::HwApiVelocityHdgRateCmd cmd;
+    1627             : 
+    1628        1932 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1629        1932 :     cmd.header.stamp    = ros::Time::now();
+    1630             : 
+    1631        1932 :     cmd.velocity.x = des_vel(0);
+    1632        1932 :     cmd.velocity.y = des_vel(1);
+    1633        1932 :     cmd.velocity.z = des_vel(2);
+    1634             : 
+    1635        1932 :     cmd.heading_rate = des_hdg_rate + des_hdg_ff;
+    1636             : 
+    1637        1932 :     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        3047 :   last_control_output_.desired_unbiased_acceleration = {};
+    1646        3047 :   last_control_output_.desired_orientation           = {};
+    1647        3047 :   last_control_output_.desired_heading_rate          = {};
+    1648             : 
+    1649             :   // | ----------------- fill in the diagnostics ---------------- |
+    1650             : 
+    1651        3047 :   last_control_output_.diagnostics.ramping_up = false;
+    1652             : 
+    1653        3047 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1654        3047 :   last_control_output_.diagnostics.mass_difference = 0;
+    1655             : 
+    1656        3047 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1657             : 
+    1658        3047 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1659        3047 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1660             : 
+    1661        3047 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1662        3047 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1663             : 
+    1664        3047 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1665        3047 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1666             : 
+    1667        3047 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1668             : 
+    1669        3047 :   last_control_output_.diagnostics.controller = "Se3Controller";
+    1670             : }
+    1671             : 
+    1672             : //}
+    1673             : 
+    1674             : // --------------------------------------------------------------
+    1675             : // |                          callbacks                         |
+    1676             : 
+    1677             : 
+    1678             : /* //{ callbackDrs() */
+    1679             : 
+    1680         219 : void Se3Controller::callbackDrs(mrs_uav_controllers::se3_controllerConfig& config, [[maybe_unused]] uint32_t level) {
+    1681             : 
+    1682         219 :   mrs_lib::set_mutexed(mutex_drs_params_, config, drs_params_);
+    1683             : 
+    1684         219 :   ROS_INFO("[Se3Controller]: DRS updated gains");
+    1685         219 : }
+    1686             : 
+    1687             : //}
+    1688             : 
+    1689             : // --------------------------------------------------------------
+    1690             : // |                           timers                           |
+    1691             : // --------------------------------------------------------------
+    1692             : 
+    1693             : /* timerGains() //{ */
+    1694             : 
+    1695        4678 : void Se3Controller::timerGains(const ros::TimerEvent& event) {
+    1696             : 
+    1697        9356 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerGains", _gain_filtering_rate_, 1.0, event);
+    1698        9356 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("Se3Controller::timerGains", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1699             : 
+    1700        4678 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+    1701        4678 :   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        4678 :   bool   bypass_filter = (mute_gains_ || mute_gains_by_tracker_);
+    1706        4678 :   double gain_coeff    = (mute_gains_ || mute_gains_by_tracker_) ? _gain_mute_coefficient_ : 1.0;
+    1707             : 
+    1708        4678 :   mute_gains_ = false;
+    1709             : 
+    1710        4678 :   double dt = (event.current_real - event.last_real).toSec();
+    1711             : 
+    1712        4678 :   if (!std::isfinite(dt) || (dt <= 0) || (dt > 5 * (1.0 / _gain_filtering_rate_))) {
+    1713          27 :     return;
+    1714             :   }
+    1715             : 
+    1716        4651 :   bool updated = false;
+    1717             : 
+    1718        4651 :   gains.kpxy          = calculateGainChange(dt, gains.kpxy, drs_params.kpxy * gain_coeff, bypass_filter, "kpxy", updated);
+    1719        4651 :   gains.kvxy          = calculateGainChange(dt, gains.kvxy, drs_params.kvxy * gain_coeff, bypass_filter, "kvxy", updated);
+    1720        4651 :   gains.kaxy          = calculateGainChange(dt, gains.kaxy, drs_params.kaxy * gain_coeff, bypass_filter, "kaxy", updated);
+    1721        4651 :   gains.kiwxy         = calculateGainChange(dt, gains.kiwxy, drs_params.kiwxy * gain_coeff, bypass_filter, "kiwxy", updated);
+    1722        4651 :   gains.kibxy         = calculateGainChange(dt, gains.kibxy, drs_params.kibxy * gain_coeff, bypass_filter, "kibxy", updated);
+    1723        4651 :   gains.kpz           = calculateGainChange(dt, gains.kpz, drs_params.kpz * gain_coeff, bypass_filter, "kpz", updated);
+    1724        4651 :   gains.kvz           = calculateGainChange(dt, gains.kvz, drs_params.kvz * gain_coeff, bypass_filter, "kvz", updated);
+    1725        4651 :   gains.kaz           = calculateGainChange(dt, gains.kaz, drs_params.kaz * gain_coeff, bypass_filter, "kaz", updated);
+    1726        4651 :   gains.kq_roll_pitch = calculateGainChange(dt, gains.kq_roll_pitch, drs_params.kq_roll_pitch * gain_coeff, bypass_filter, "kq_roll_pitch", updated);
+    1727        4651 :   gains.kq_yaw        = calculateGainChange(dt, gains.kq_yaw, drs_params.kq_yaw * gain_coeff, bypass_filter, "kq_yaw", updated);
+    1728        4651 :   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        4651 :   gains.kiwxy_lim = calculateGainChange(dt, gains.kiwxy_lim, drs_params.kiwxy_lim, false, "kiwxy_lim", updated);
+    1732        4651 :   gains.kibxy_lim = calculateGainChange(dt, gains.kibxy_lim, drs_params.kibxy_lim, false, "kibxy_lim", updated);
+    1733        4651 :   gains.km_lim    = calculateGainChange(dt, gains.km_lim, drs_params.km_lim, false, "km_lim", updated);
+    1734             : 
+    1735        4651 :   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        4651 :   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       65114 : 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       65114 :   double change = desired_value - current_value;
+    1774             : 
+    1775       65114 :   double gains_filter_max_change = _gains_filter_change_rate_ * dt;
+    1776       65114 :   double gains_filter_min_change = _gains_filter_min_change_rate_ * dt;
+    1777             : 
+    1778       65114 :   if (!bypass_rate) {
+    1779             : 
+    1780             :     // if current value is near 0...
+    1781             :     double change_in_perc;
+    1782             :     double saturated_change;
+    1783             : 
+    1784       65114 :     if (std::abs(current_value) < 1e-6) {
+    1785           0 :       change *= gains_filter_max_change;
+    1786             :     } else {
+    1787             : 
+    1788       65114 :       saturated_change = change;
+    1789             : 
+    1790       65114 :       change_in_perc = ((current_value + saturated_change) / current_value) - 1.0;
+    1791             : 
+    1792       65114 :       if (change_in_perc > gains_filter_max_change) {
+    1793        1269 :         saturated_change = current_value * gains_filter_max_change;
+    1794       63845 :       } else if (change_in_perc < -gains_filter_max_change) {
+    1795         162 :         saturated_change = current_value * -gains_filter_max_change;
+    1796             :       }
+    1797             : 
+    1798       65114 :       if (std::abs(saturated_change) < std::abs(change) * gains_filter_min_change) {
+    1799          35 :         change *= gains_filter_min_change;
+    1800             :       } else {
+    1801       65079 :         change = saturated_change;
+    1802             :       }
+    1803             :     }
+    1804             :   }
+    1805             : 
+    1806       65114 :   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       65114 :   return current_value + change;
+    1812             : }
+    1813             : 
+    1814             : //}
+    1815             : 
+    1816             : /* getHeadingSafely() //{ */
+    1817             : 
+    1818       28004 : double Se3Controller::getHeadingSafely(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command) {
+    1819             : 
+    1820             :   try {
+    1821       28004 :     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         109 : PLUGINLIB_EXPORT_CLASS(mrs_uav_controllers::se3_controller::Se3Controller, mrs_uav_managers::Controller)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ Overview +
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LCOV - code coverage report
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LCOV - code coverage report
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Test:MRS UAV System - Test coverage reportLines:44100.0 %
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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 %
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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:2024-12-11 22:27:27Functions:1010100.0 %
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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:2024-12-11 22:27:27Functions:1010100.0 %
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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:2024-12-11 22:27:27Functions:1010100.0 %
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100.0%
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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:2024-12-11 22:27:27Functions:1010100.0 %
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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&)563
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1083
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1115
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1387
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2441
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3936
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3962
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)8230
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)102352
mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::PublisherVisitor(mrs_uav_managers::control_manager::OutputPublisher*)125069
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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:2024-12-11 22:27:27Functions:1010100.0 %
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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*)125069
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3936
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)8230
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)563
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1387
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)102352
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3962
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1083
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2441
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1115
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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:2024-12-11 22:27:27Functions:1010100.0 %
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+
          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      125069 :     PublisherVisitor(OutputPublisher* obj) : obj_(obj){};
+      48             : 
+      49             :     OutputPublisher* obj_;
+      50             : 
+      51             :     template <class T>
+      52      125069 :     void operator()(const T& msg) {
+      53      125069 :       obj_->publish(msg);
+      54      125069 :     }
+      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:2024-12-11 22:27:27Functions: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&)80
mrs_uav_managers::AglEstimator::~AglEstimator().280
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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/include/mrs_uav_managers - agl_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-12-11 22:27:27Functions: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(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&)80
mrs_uav_managers::AglEstimator::~AglEstimator()0
mrs_uav_managers::AglEstimator::~AglEstimator().280
+
+
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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..f6bf900bce --- /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 + + + + + + + + + + + + + + +
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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:2024-12-11 22:27:27Functions:2366.7 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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          80 :   AglEstimator(const std::string &name, const std::string &frame_id, const std::string &package_name)
+      55          80 :       : Estimator(agl::type, name, frame_id), package_name_(package_name) {
+      56          80 :   }
+      57             : 
+      58          80 :   virtual ~AglEstimator(void) {
+      59          80 :   }
+      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
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+ + + 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 + + +
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+ + 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..73db39786c --- /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 + + + + + + + + + + + + + + +
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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:2024-12-11 22:27:27Functions: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&)563
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)563
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&)1083
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1083
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&)1115
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1115
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&)1387
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1387
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&)2441
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2556
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&)3936
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&)3962
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)5328
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)5356
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&)8230
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)13766
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)14640
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&)87715
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)104969
+
+
+ + + +
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..16041224cf --- /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:2024-12-11 22:27:27Functions:192770.4 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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&)3936
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&)8230
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&)563
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&)1387
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&)87715
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&)3962
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&)1083
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&)2441
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&)1115
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&)14640
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&)5328
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)13766
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)563
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1387
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)104969
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)5356
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1083
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2556
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1115
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.gcov.frameset.html b/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.gcov.frameset.html new file mode 100644 index 0000000000..20a444da4e --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.gcov.html b/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.gcov.html new file mode 100644 index 0000000000..992846e08f --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.gcov.html @@ -0,0 +1,380 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions: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        5328 :   std::optional<double> operator()(const mrs_msgs::HwApiActuatorCmd& msg) {
+      82             : 
+      83        5328 :     if (msg.motors.size() == 0) {
+      84           0 :       return std::nullopt;
+      85             :     }
+      86             : 
+      87        5328 :     double throttle = 0;
+      88             : 
+      89       26640 :     for (size_t i = 0; i < msg.motors.size(); i++) {
+      90       21312 :       throttle += msg.motors.at(i);
+      91             :     };
+      92             : 
+      93        5328 :     throttle /= msg.motors.size();
+      94             : 
+      95        5328 :     return throttle;
+      96             :   }
+      97        5356 :   std::optional<double> operator()(const mrs_msgs::HwApiControlGroupCmd& msg) {
+      98        5356 :     return msg.throttle;
+      99             :   }
+     100       13766 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeCmd& msg) {
+     101       13766 :     return msg.throttle;
+     102             :   }
+     103      104969 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeRateCmd& msg) {
+     104      104969 :     return msg.throttle;
+     105             :   }
+     106        1115 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiAccelerationHdgRateCmd& msg) {
+     107        1115 :     return std::nullopt;
+     108             :   }
+     109        1083 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiAccelerationHdgCmd& msg) {
+     110        1083 :     return std::nullopt;
+     111             :   }
+     112        2556 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiVelocityHdgRateCmd& msg) {
+     113        2556 :     return std::nullopt;
+     114             :   }
+     115        1387 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiVelocityHdgCmd& msg) {
+     116        1387 :     return std::nullopt;
+     117             :   }
+     118         563 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiPositionCmd& msg) {
+     119         563 :     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        3936 :   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        3936 :     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        3936 :     return validateHwApiActuatorCmd(msg, node_name, var_name);
+     152             :   }
+     153        3962 :   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        3962 :     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        3962 :     return validateHwApiControlGroupCmd(msg, node_name, var_name);
+     162             :   }
+     163        8230 :   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        8230 :     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        8230 :     return validateHwApiAttitudeCmd(msg, node_name, var_name);
+     172             :   }
+     173       87715 :   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       87715 :     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       87715 :     return validateHwApiAttitudeRateCmd(msg, node_name, var_name);
+     182             :   }
+     183        1115 :   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        1115 :     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        1115 :     return validateHwApiAccelerationHdgRateCmd(msg, node_name, var_name);
+     192             :   }
+     193        1083 :   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        1083 :     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        1083 :     return validateHwApiAccelerationHdgCmd(msg, node_name, var_name);
+     202             :   }
+     203        2441 :   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        2441 :     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        2441 :     return validateHwApiVelocityHdgRateCmd(msg, node_name, var_name);
+     212             :   }
+     213        1387 :   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        1387 :     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        1387 :     return validateHwApiVelocityHdgCmd(msg, node_name, var_name);
+     222             :   }
+     223         563 :   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         563 :     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         563 :     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       14640 :   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       14640 :     initializeHwApiCmd(msg, min_throttle);
+     267       14640 :   }
+     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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Current view:top level - mrs_uav_managers/include/mrs_uav_managers - controller.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:11100.0 %
Date:2024-12-11 22:27:27Functions:1250.0 %
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mrs_uav_managers::Controller::~Controller()0
mrs_uav_managers::Controller::~Controller().2545
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Current view:top level - mrs_uav_managers/include/mrs_uav_managers - controller.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:11100.0 %
Date:2024-12-11 22:27:27Functions:1250.0 %
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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         545 :   virtual ~Controller() = default;
+     144             : };
+     145             : 
+     146             : }  // namespace mrs_uav_managers
+     147             : 
+     148             : #endif
+
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Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-12-11 22:27:27Functions:2366.7 %
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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&)625
mrs_uav_managers::Estimator::~Estimator().2625
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Current view:top level - mrs_uav_managers/include/mrs_uav_managers/estimation_manager - estimator.h (source / functions)HitTotalCoverage
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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&)625
mrs_uav_managers::Estimator::~Estimator()0
mrs_uav_managers::Estimator::~Estimator().2625
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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         625 :   Estimator(const std::string &type, const std::string &name, const std::string &frame_id) : type_(type), name_(name), frame_id_(frame_id) {
+      64         625 :   }
+      65             : 
+      66         625 :   virtual ~Estimator(void) {
+      67         625 :   }
+      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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Test:MRS UAV System - Test coverage reportLines:10610997.2 %
Date:2024-12-11 22:27:27Functions:171894.4 %
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Test:MRS UAV System - Test coverage reportLines:10610997.2 %
Date:2024-12-11 22:27:27Functions:171894.4 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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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:2024-12-11 22:27:27Functions:1515100.0 %
Legend: Lines: + hit + not hit +
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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&)347
mrs_uav_managers::estimation_manager::Support::toLowercase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)436
mrs_uav_managers::estimation_manager::Support::toSnakeCase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2445
mrs_uav_managers::estimation_manager::Support::applyPoseDiff(geometry_msgs::Pose_<std::allocator<void> > const&, geometry_msgs::Pose_<std::allocator<void> > const&)175843
mrs_uav_managers::estimation_manager::Support::rotateVecByHdg(geometry_msgs::Vector3_<std::allocator<void> > const&, double)321680
mrs_uav_managers::estimation_manager::Support::msgFromTf2(tf2::Transform const&)370894
mrs_uav_managers::estimation_manager::Support::uavStateToOdom(mrs_msgs::UavState_<std::allocator<void> > const&)385684
mrs_uav_managers::estimation_manager::Support::rotateVector(geometry_msgs::Vector3_<std::allocator<void> > const&, geometry_msgs::Quaternion_<std::allocator<void> > const&)387055
mrs_uav_managers::estimation_manager::Support::noNans(geometry_msgs::Quaternion_<std::allocator<void> > const&)412991
mrs_uav_managers::estimation_manager::Support::pointToVector3(geometry_msgs::Point_<std::allocator<void> > const&)780845
mrs_uav_managers::estimation_manager::Support::poseFromTf2(tf2::Transform const&)790261
mrs_uav_managers::estimation_manager::Support::tf2FromPose(geometry_msgs::Pose_<std::allocator<void> > const&)1162952
mrs_uav_managers::estimation_manager::Support::noNans(geometry_msgs::TransformStamped_<std::allocator<void> > const&)1253976
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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:2024-12-11 22:27:27Functions:1515100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::estimation_manager::Support::msgFromTf2(tf2::Transform const&)370894
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&)790261
mrs_uav_managers::estimation_manager::Support::tf2FromPose(geometry_msgs::Pose_<std::allocator<void> > const&)1162952
mrs_uav_managers::estimation_manager::Support::toLowercase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)436
mrs_uav_managers::estimation_manager::Support::toSnakeCase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2445
mrs_uav_managers::estimation_manager::Support::rotateVector(geometry_msgs::Vector3_<std::allocator<void> > const&, geometry_msgs::Quaternion_<std::allocator<void> > const&)387055
mrs_uav_managers::estimation_manager::Support::applyPoseDiff(geometry_msgs::Pose_<std::allocator<void> > const&, geometry_msgs::Pose_<std::allocator<void> > const&)175843
mrs_uav_managers::estimation_manager::Support::pointToVector3(geometry_msgs::Point_<std::allocator<void> > const&)780845
mrs_uav_managers::estimation_manager::Support::rotateVecByHdg(geometry_msgs::Vector3_<std::allocator<void> > const&, double)321680
mrs_uav_managers::estimation_manager::Support::uavStateToOdom(mrs_msgs::UavState_<std::allocator<void> > const&)385684
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&)347
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&)412991
mrs_uav_managers::estimation_manager::Support::noNans(geometry_msgs::TransformStamped_<std::allocator<void> > const&)1253976
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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:2024-12-11 22:27:27Functions:1515100.0 %
Legend: Lines: + hit + not hit +
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+
          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        2445 :   static std::string toSnakeCase(const std::string& str_in) {
+      39             : 
+      40        2445 :     std::string str(1, tolower(str_in[0]));
+      41             : 
+      42       38335 :     for (auto it = str_in.begin() + 1; it != str_in.end(); ++it) {
+      43       35890 :       if (isupper(*it) && *(it - 1) != '_' && islower(*(it - 1))) {
+      44        2015 :         str += "_";
+      45             :       }
+      46       35890 :       str += *it;
+      47             :     }
+      48             : 
+      49        2445 :     std::transform(str.begin(), str.end(), str.begin(), ::tolower);
+      50             : 
+      51        2445 :     return str;
+      52             :   }
+      53             :   /*//}*/
+      54             : 
+      55             : /* toLowercase() //{ */
+      56             : 
+      57         436 : static std::string toLowercase(const std::string str_in) {
+      58         436 :   std::string str_out = str_in;
+      59         436 :   std::transform(str_out.begin(), str_out.end(), str_out.begin(), ::tolower);
+      60         436 :   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      321680 :   static tf2::Vector3 rotateVecByHdg(const geometry_msgs::Vector3& vec_in, const double hdg_in) {
+      99             : 
+     100      321680 :     const tf2::Quaternion q_hdg = mrs_lib::AttitudeConverter(0, 0, 0).setHeading(hdg_in);
+     101             : 
+     102      316759 :     const tf2::Vector3 vec_tf2(vec_in.x, vec_in.y, vec_in.z);
+     103             : 
+     104      317315 :     const tf2::Vector3 vec_rotated = tf2::quatRotate(q_hdg, vec_tf2);
+     105             : 
+     106      628518 :     return vec_rotated;
+     107             :   }
+     108             :   //}
+     109             : 
+     110             :   /* noNans() //{ */
+     111     1253976 :   static bool noNans(const geometry_msgs::TransformStamped& tf) {
+     112             : 
+     113     3760957 :     return (std::isfinite(tf.transform.rotation.x) && std::isfinite(tf.transform.rotation.y) && std::isfinite(tf.transform.rotation.z) &&
+     114     5013976 :             std::isfinite(tf.transform.rotation.w) && std::isfinite(tf.transform.translation.x) && std::isfinite(tf.transform.translation.y) &&
+     115     2507105 :             std::isfinite(tf.transform.translation.z));
+     116             :   }
+     117             :   //}
+     118             : 
+     119             :   /* noNans() //{ */
+     120      412991 :   static bool noNans(const geometry_msgs::Quaternion& q) {
+     121             : 
+     122      412991 :     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     1162952 :   static tf2::Transform tf2FromPose(const geometry_msgs::Pose& pose_in) {
+     136             : 
+     137     1162952 :     tf2::Vector3 position(pose_in.position.x, pose_in.position.y, pose_in.position.z);
+     138             : 
+     139     1162292 :     tf2::Quaternion q;
+     140     1162183 :     tf2::fromMsg(pose_in.orientation, q);
+     141             : 
+     142     1162149 :     tf2::Transform tf_out(q, position);
+     143             : 
+     144     2321220 :     return tf_out;
+     145             :   }
+     146             : 
+     147             :   //}
+     148             : 
+     149             :   /* poseFromTf2() //{ */
+     150             : 
+     151      790261 :   static geometry_msgs::Pose poseFromTf2(const tf2::Transform& tf_in) {
+     152             : 
+     153      790261 :     geometry_msgs::Pose pose_out;
+     154      788495 :     pose_out.position.x = tf_in.getOrigin().getX();
+     155      789728 :     pose_out.position.y = tf_in.getOrigin().getY();
+     156      789928 :     pose_out.position.z = tf_in.getOrigin().getZ();
+     157             : 
+     158      791288 :     pose_out.orientation = tf2::toMsg(tf_in.getRotation());
+     159             : 
+     160      791210 :     return pose_out;
+     161             :   }
+     162             : 
+     163             :   //}
+     164             : 
+     165             :   /* msgFromTf2() //{ */
+     166      370894 :   static geometry_msgs::Transform msgFromTf2(const tf2::Transform& tf_in) {
+     167             : 
+     168      370894 :     geometry_msgs::Transform tf_out;
+     169      370894 :     tf_out.translation.x = tf_in.getOrigin().getX();
+     170      370894 :     tf_out.translation.y = tf_in.getOrigin().getY();
+     171      370894 :     tf_out.translation.z = tf_in.getOrigin().getZ();
+     172      370894 :     tf_out.rotation = tf2::toMsg(tf_in.getRotation());
+     173             : 
+     174      370894 :     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      780845 :   static geometry_msgs::Vector3 pointToVector3(const geometry_msgs::Point& point_in) {
+     194             : 
+     195      780845 :     geometry_msgs::Vector3 vec_out;
+     196      780652 :     vec_out.x = point_in.x;
+     197      780652 :     vec_out.y = point_in.y;
+     198      780652 :     vec_out.z = point_in.z;
+     199             : 
+     200      780652 :     return vec_out;
+     201             :   }
+     202             : 
+     203             :   //}
+     204             : 
+     205             :   /*//{ rotateVector() */
+     206      387055 :   static geometry_msgs::Vector3 rotateVector(const geometry_msgs::Vector3& vec_in, const geometry_msgs::Quaternion& q_in) {
+     207             : 
+     208             :     try {
+     209      387055 :       Eigen::Matrix3d        R = mrs_lib::AttitudeConverter(q_in);
+     210      387029 :       Eigen::Vector3d        vec_in_eigen(vec_in.x, vec_in.y, vec_in.z);
+     211      386911 :       Eigen::Vector3d        vec_eigen_rotated = R * vec_in_eigen;
+     212      386969 :       geometry_msgs::Vector3 vec_out;
+     213      386615 :       vec_out.x = vec_eigen_rotated[0];
+     214      386663 :       vec_out.y = vec_eigen_rotated[1];
+     215      386709 :       vec_out.z = vec_eigen_rotated[2];
+     216      386805 :       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      385684 :   static nav_msgs::Odometry uavStateToOdom(const mrs_msgs::UavState& uav_state) {
+     227      385684 :     nav_msgs::Odometry odom;
+     228      385669 :     odom.header              = uav_state.header;
+     229      385665 :     odom.child_frame_id      = uav_state.child_frame_id;
+     230      385669 :     odom.pose.pose           = uav_state.pose;
+     231      385669 :     odom.twist.twist.angular = uav_state.velocity.angular;
+     232             : 
+     233      385669 :     tf2::Quaternion q;
+     234      385644 :     tf2::fromMsg(odom.pose.pose.orientation, q);
+     235      385661 :     odom.twist.twist.linear = Support::rotateVector(uav_state.velocity.linear, mrs_lib::AttitudeConverter(q.inverse()));
+     236             : 
+     237      770668 :     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      175843 :   static geometry_msgs::Pose applyPoseDiff(const geometry_msgs::Pose& pose_in, const geometry_msgs::Pose& pose_diff) {
+     265             : 
+     266      175843 :     tf2::Vector3    pos_in;
+     267      175843 :     tf2::Quaternion q_in;
+     268      175843 :     tf2::fromMsg(pose_in.position, pos_in);
+     269      175843 :     tf2::fromMsg(pose_in.orientation, q_in);
+     270             : 
+     271      175843 :     tf2::Vector3    pos_diff;
+     272      175843 :     tf2::Quaternion q_diff;
+     273      175843 :     tf2::fromMsg(pose_diff.position, pos_diff);
+     274      175843 :     tf2::fromMsg(pose_diff.orientation, q_diff);
+     275             : 
+     276      175843 :     const tf2::Vector3    pos_out = tf2::quatRotate(q_diff.inverse(), (pos_in - pos_diff));
+     277      175843 :     const tf2::Quaternion q_out   = q_diff.inverse() * q_in;
+     278             : 
+     279      175843 :     geometry_msgs::Pose pose_out;
+     280      175843 :     tf2::toMsg(pos_out, pose_out.position);
+     281      175843 :     pose_out.orientation = tf2::toMsg(q_out);
+     282             : 
+     283      351686 :     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         347 :   static bool isStringInVector(const std::string& value, const std::vector<std::string>& str_vec) {
+     300         347 :     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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Current view:top level - mrs_uav_managers/include/mrs_uav_managersHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1212100.0 %
Date:2024-12-11 22:27:27Functions:61060.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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agl_estimator.h +
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Current view:top level - mrs_uav_managers/include/mrs_uav_managersHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1212100.0 %
Date:2024-12-11 22:27:27Functions:61060.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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agl_estimator.h +
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controller.h +
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state_estimator.h +
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tracker.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&)117
mrs_uav_managers::StateEstimator::~StateEstimator().2117
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+
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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&)117
mrs_uav_managers::StateEstimator::~StateEstimator()0
mrs_uav_managers::StateEstimator::~StateEstimator().2117
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+ + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/state_estimator.h.gcov.frameset.html b/mrs_uav_managers/include/mrs_uav_managers/state_estimator.h.gcov.frameset.html new file mode 100644 index 0000000000..62896e21d2 --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/state_estimator.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/state_estimator.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/state_estimator.h.gcov.html b/mrs_uav_managers/include/mrs_uav_managers/state_estimator.h.gcov.html new file mode 100644 index 0000000000..e3527cae12 --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/state_estimator.h.gcov.html @@ -0,0 +1,169 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/state_estimator.h + + + + + + + + + + + + + + +
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Legend: Lines: + hit + not hit +
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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         117 :   StateEstimator(const std::string &name, const std::string &frame_id, const std::string &package_name)
+      62         117 :       : Estimator(state::type, name, frame_id), package_name_(package_name) {
+      63         117 :   }
+      64             : 
+      65         117 :   virtual ~StateEstimator(void) {
+      66         117 :   }
+      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
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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Date:2024-12-11 22:27:27Functions:1250.0 %
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mrs_uav_managers::Tracker::~Tracker()0
mrs_uav_managers::Tracker::~Tracker().2655
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mrs_uav_managers::Tracker::~Tracker()0
mrs_uav_managers::Tracker::~Tracker().2655
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Date:2024-12-11 22:27:27Functions:1250.0 %
Legend: Lines: + hit + not hit +
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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         655 :   virtual ~Tracker() = default;
+     208             : };
+     209             : 
+     210             : }  // namespace mrs_uav_managers
+     211             : 
+     212             : #endif
+
+
+
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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
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + 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 + + +
+ Top

+ Overview +
+ + 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 + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/include/transform_manager - tf_source.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:19524479.9 %
Date:2024-12-11 22:27:27Functions:131492.9 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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&)117
mrs_uav_managers::TfSource::setWorldOrigin(geometry_msgs::Point_<std::allocator<void> > const&)117
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)117
mrs_uav_managers::TfSource::getName[abi:cxx11]()1072
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> > >&)132221
mrs_uav_managers::TfSource::publishTfFromOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)210977
mrs_uav_managers::TfSource::callbackTfSourceOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)211079
mrs_uav_managers::TfSource::publishTfFromAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)218000
mrs_uav_managers::TfSource::callbackTfSourceAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)218008
mrs_uav_managers::TfSource::getPrintName[abi:cxx11]()986868
+
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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..1c7f7ccf04 --- /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:19524479.9 %
Date:2024-12-11 22:27:27Functions:131492.9 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::TfSource::getPrintName[abi:cxx11]()986868
mrs_uav_managers::TfSource::setUtmOrigin(geometry_msgs::Point_<std::allocator<void> > const&)117
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&)117
mrs_uav_managers::TfSource::publishTfFromAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)218000
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> > >&)132221
mrs_uav_managers::TfSource::publishTfFromOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)210977
mrs_uav_managers::TfSource::callbackTfSourceAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)218008
mrs_uav_managers::TfSource::callbackTfSourceOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)211079
mrs_uav_managers::TfSource::getName[abi:cxx11]()1072
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)117
+
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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.gcov.frameset.html b/mrs_uav_managers/include/transform_manager/tf_source.h.gcov.frameset.html new file mode 100644 index 0000000000..4f63eb0600 --- /dev/null +++ b/mrs_uav_managers/include/transform_manager/tf_source.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/transform_manager/tf_source.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/include/transform_manager/tf_source.h.gcov.html b/mrs_uav_managers/include/transform_manager/tf_source.h.gcov.html new file mode 100644 index 0000000000..243558d7e6 --- /dev/null +++ b/mrs_uav_managers/include/transform_manager/tf_source.h.gcov.html @@ -0,0 +1,712 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/transform_manager/tf_source.h + + + + + + + + + + + + + + +
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:19524479.9 %
Date:2024-12-11 22:27:27Functions: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         117 :   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         117 :       : name_(name), nh_(nh), broadcaster_(broadcaster), ch_(ch), is_utm_source_(is_utm_source) {
+      42             : 
+      43         117 :     ROS_INFO("[%s]: initializing", getPrintName().c_str());
+      44             : 
+      45         117 :     if (name != "dummy") {
+      46             : 
+      47             :       /*//{ load parameters */
+      48             : 
+      49         234 :       const std::string yaml_prefix = "mrs_uav_managers/transform_manager/";
+      50             : 
+      51         234 :       std::string odom_topic, attitude_topic, ns;
+      52             : 
+      53         117 :       param_loader->loadParam(yaml_prefix + getName() + "/odom_topic", odom_topic);
+      54         117 :       param_loader->loadParam(yaml_prefix + getName() + "/custom_frame_id/enabled", custom_frame_id_enabled_, false);
+      55         117 :       if (custom_frame_id_enabled_) {
+      56           0 :         param_loader->loadParam(yaml_prefix + getName() + "/custom_frame_id/frame_id", custom_frame_id_);
+      57             :       }
+      58         117 :       param_loader->loadParam(yaml_prefix + getName() + "/custom_child_frame_id/enabled", custom_child_frame_id_enabled_, false);
+      59         117 :       if (custom_child_frame_id_enabled_) {
+      60           0 :         param_loader->loadParam(yaml_prefix + getName() + "/custom_child_frame_id/frame_id", custom_child_frame_id_);
+      61             :       }
+      62         117 :       param_loader->loadParam(yaml_prefix + getName() + "/tf_from_attitude/enabled", tf_from_attitude_enabled_);
+      63         117 :       if (tf_from_attitude_enabled_) {
+      64         116 :         param_loader->loadParam(yaml_prefix + getName() + "/tf_from_attitude/attitude_topic", attitude_topic);
+      65             :       }
+      66         117 :       param_loader->loadParam(yaml_prefix + getName() + "/namespace", ns);
+      67         117 :       full_topic_odom_     = "/" + ch_->uav_name + "/" + ns + "/" + odom_topic;
+      68         117 :       full_topic_attitude_ = "/" + ch_->uav_name + "/" + ns + "/" + attitude_topic;
+      69         117 :       param_loader->loadParam(yaml_prefix + getName() + "/inverted", is_inverted_);
+      70         117 :       param_loader->loadParam(yaml_prefix + getName() + "/republish_in_frames", republish_in_frames_);
+      71             : 
+      72             :       /* coordinate frames origins //{ */
+      73         117 :       param_loader->loadParam(yaml_prefix + getName() + "/utm_based", is_utm_based_);
+      74             :       /* param_loader->loadParam(yaml_prefix + getName() + "/publish_local_tf", publish_local_tf_); */
+      75             : 
+      76             :       /*//{ utm source */
+      77         117 :       if (is_utm_based_) {
+      78         232 :         std::string utm_origin_parent_frame_id;
+      79         116 :         param_loader->loadParam(yaml_prefix + "utm_origin_tf/parent", utm_origin_parent_frame_id);
+      80         116 :         ns_utm_origin_parent_frame_id_ = ch_->uav_name + "/" + utm_origin_parent_frame_id;
+      81             : 
+      82         116 :         std::string utm_origin_child_frame_id;
+      83         116 :         param_loader->loadParam(yaml_prefix + "utm_origin_tf/child", utm_origin_child_frame_id);
+      84         116 :         ns_utm_origin_child_frame_id_ = ch_->uav_name + "/" + utm_origin_child_frame_id;
+      85             :       }
+      86             :       /*//}*/
+      87             : 
+      88             :       /*//{ world source */
+      89         117 :       if (is_utm_based_) {
+      90         232 :         std::string world_origin_parent_frame_id;
+      91         116 :         param_loader->loadParam(yaml_prefix + "world_origin_tf/parent", world_origin_parent_frame_id);
+      92         116 :         ns_world_origin_parent_frame_id_ = ch_->uav_name + "/" + world_origin_parent_frame_id;
+      93             : 
+      94         116 :         std::string world_origin_child_frame_id;
+      95         116 :         param_loader->loadParam(yaml_prefix + "world_origin_tf/child", world_origin_child_frame_id);
+      96         116 :         ns_world_origin_child_frame_id_ = ch_->uav_name + "/" + world_origin_child_frame_id;
+      97             :       }
+      98             :       /*//}*/
+      99             : 
+     100             :       //}
+     101             : 
+     102         117 :       if (!param_loader->loadedSuccessfully()) {
+     103           0 :         ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+     104           0 :         ros::shutdown();
+     105             :       }
+     106             : 
+     107             :       /*//}*/
+     108             : 
+     109             :       /*//{ initialize subscribers */
+     110         234 :       mrs_lib::SubscribeHandlerOptions shopts;
+     111         117 :       shopts.nh                 = nh_;
+     112         117 :       shopts.node_name          = getPrintName();
+     113         117 :       shopts.no_message_timeout = mrs_lib::no_timeout;
+     114         117 :       shopts.threadsafe         = true;
+     115         117 :       shopts.autostart          = true;
+     116         117 :       shopts.queue_size         = 10;
+     117         117 :       shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     118             : 
+     119         117 :       sh_tf_source_odom_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, full_topic_odom_, &TfSource::callbackTfSourceOdom, this);
+     120         117 :       if (tf_from_attitude_enabled_) {
+     121         116 :         sh_tf_source_att_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, full_topic_attitude_, &TfSource::callbackTfSourceAtt, this);
+     122             :       }
+     123             : 
+     124         117 :       if (is_utm_source_) {
+     125         108 :         sh_altitude_amsl_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude>(shopts, "altitude_amsl_in");
+     126             :       }
+     127             : 
+     128             :     }
+     129             :     /*//}*/
+     130             : 
+     131         200 :     for (auto frame_id : republish_in_frames_) {
+     132          83 :       republishers_.push_back(
+     133         166 :           std::make_pair(frame_id, mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh_, full_topic_odom_ + "/" + frame_id.substr(0, frame_id.find("_origin")))));
+     134             :     }
+     135         117 :     is_initialized_ = true;
+     136         117 :     ROS_INFO("[%s]: initialized", getPrintName().c_str());
+     137         117 :   }
+     138             :   /*//}*/
+     139             : 
+     140             :   /*//{ getName() */
+     141        1072 :   std::string getName() {
+     142        1072 :     return name_;
+     143             :   }
+     144             :   /*//}*/
+     145             : 
+     146             :   /*//{ getPrintName() */
+     147      986868 :   std::string getPrintName() {
+     148     1976620 :     return ch_->nodelet_name + "/" + name_;
+     149             :   }
+     150             :   /*//}*/
+     151             : 
+     152             :   /*//{ getIsUtmBased() */
+     153          20 :   bool getIsUtmBased() {
+     154          20 :     return is_utm_based_;
+     155             :   }
+     156             :   /*//}*/
+     157             : 
+     158             :   /*//{ getIsUtmSource() */
+     159          18 :   bool getIsUtmSource() {
+     160          18 :     return is_utm_source_;
+     161             :   }
+     162             :   /*//}*/
+     163             : 
+     164             :   /*//{ setIsUtmSource() */
+     165          10 :   void setIsUtmSource(const bool is_utm_source) {
+     166          10 :     if (is_utm_source) {
+     167           5 :       mrs_lib::SubscribeHandlerOptions shopts;
+     168           5 :       shopts.nh                 = nh_;
+     169           5 :       shopts.node_name          = getPrintName();
+     170           5 :       shopts.no_message_timeout = mrs_lib::no_timeout;
+     171           5 :       shopts.threadsafe         = true;
+     172           5 :       shopts.autostart          = true;
+     173           5 :       shopts.queue_size         = 10;
+     174           5 :       shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     175           5 :       sh_altitude_amsl_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude>(shopts, "altitude_amsl_in");
+     176             :     }
+     177          10 :     is_utm_source_ = is_utm_source;
+     178          10 :   }
+     179             :   /*//}*/
+     180             : 
+     181             :   /*//{ setUtmOrigin() */
+     182         117 :   void setUtmOrigin(const geometry_msgs::Point& pt) {
+     183             : 
+     184         117 :     if (is_utm_based_ && !is_utm_origin_set_) {
+     185         116 :       utm_origin_        = pt;
+     186         116 :       is_utm_origin_set_ = true;
+     187             :     }
+     188         117 :   }
+     189             :   /*//}*/
+     190             : 
+     191             :   /*//{ setWorldOrigin() */
+     192         117 :   void setWorldOrigin(const geometry_msgs::Point& pt) {
+     193             : 
+     194         117 :     if (is_utm_based_ && !is_world_origin_set_) {
+     195         116 :       world_origin_        = pt;
+     196         116 :       is_world_origin_set_ = true;
+     197             :     }
+     198         117 :   }
+     199             :   /*//}*/
+     200             : 
+     201             : private:
+     202             :   const std::string name_;
+     203             :   const std::string ns_fcu_frame_id_;
+     204             : 
+     205             :   ros::NodeHandle nh_;
+     206             : 
+     207             :   std::shared_ptr<mrs_lib::TransformBroadcaster> broadcaster_;
+     208             :   tf2_ros::StaticTransformBroadcaster            static_broadcaster_;
+     209             : 
+     210             :   std::shared_ptr<estimation_manager::CommonHandlers_t> ch_;
+     211             : 
+     212             :   bool is_inverted_;
+     213             : 
+     214             :   bool             is_utm_based_;
+     215             :   bool             publish_local_tf_ = false;
+     216             :   bool             publish_utm_tf_   = false;
+     217             :   bool             publish_world_tf_ = false;
+     218             :   std::atomic_bool is_utm_source_    = false;
+     219             :   std::string      ns_utm_origin_parent_frame_id_;
+     220             :   std::string      ns_utm_origin_child_frame_id_;
+     221             : 
+     222             :   bool                 is_utm_origin_set_ = false;
+     223             :   geometry_msgs::Point utm_origin_;
+     224             : 
+     225             :   std::string ns_world_origin_parent_frame_id_;
+     226             :   std::string ns_world_origin_child_frame_id_;
+     227             : 
+     228             :   bool                 is_world_origin_set_ = false;
+     229             :   geometry_msgs::Point world_origin_;
+     230             : 
+     231             :   std::string full_topic_odom_;
+     232             :   std::string full_topic_attitude_;
+     233             :   bool        tf_from_attitude_enabled_ = false;
+     234             : 
+     235             :   bool        custom_frame_id_enabled_;
+     236             :   std::string custom_frame_id_;
+     237             : 
+     238             :   bool        custom_child_frame_id_enabled_;
+     239             :   std::string custom_child_frame_id_;
+     240             : 
+     241             :   std::atomic_bool is_initialized_               = false;
+     242             :   std::atomic_bool is_local_static_tf_published_ = false;
+     243             :   std::atomic_bool is_utm_static_tf_published_   = false;
+     244             :   std::atomic_bool is_world_static_tf_published_ = false;
+     245             : 
+     246             :   std::vector<std::string> republish_in_frames_;
+     247             : 
+     248             :   std::vector<std::pair<std::string, mrs_lib::PublisherHandler<nav_msgs::Odometry>>> republishers_;
+     249             : 
+     250             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry>               sh_tf_source_odom_;
+     251             :   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_tf_source_att_;
+     252             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude>          sh_altitude_amsl_;
+     253             :   nav_msgs::OdometryConstPtr                                  first_msg_;
+     254             :   bool                                                        got_first_msg_ = false;
+     255             : 
+     256             : 
+     257             :   /*//{ callbackTfSourceOdom()*/
+     258      211079 :   void callbackTfSourceOdom(const nav_msgs::Odometry::ConstPtr msg) {
+     259             : 
+     260      211079 :     if (!is_initialized_) {
+     261           0 :       return;
+     262             :     }
+     263             : 
+     264      633195 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::callbackTfSourceOdom", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     265             : 
+     266      211017 :     scope_timer.checkpoint("get msg");
+     267             : 
+     268      211075 :     if (!got_first_msg_) {
+     269         117 :       first_msg_     = msg;
+     270         117 :       got_first_msg_ = true;
+     271             :     }
+     272             : 
+     273      211075 :     publishTfFromOdom(msg);
+     274      211103 :     scope_timer.checkpoint("pub tf");
+     275             : 
+     276      211094 :     if (publish_local_tf_ && !is_local_static_tf_published_) {
+     277           0 :       publishLocalTf(msg->header.frame_id);
+     278           0 :       scope_timer.checkpoint("pub local tf");
+     279             :     }
+     280             : 
+     281             :     /* if (publish_utm_tf_ && is_utm_based_ && is_utm_origin_set_ && !is_utm_static_tf_published_) { */
+     282             :     /*   publishUtmTf(msg->header.frame_id); */
+     283             :     /*   scope_timer.checkpoint("pub utm tf"); */
+     284             :     /* } */
+     285             : 
+     286             :     /* if (publish_world_tf_ && is_utm_based_ && is_world_origin_set_ && !is_world_static_tf_published_) { */
+     287             :     /*   publishWorldTf(msg->header.frame_id); */
+     288             :     /*   scope_timer.checkpoint("pub world tf"); */
+     289             :     /* } */
+     290             : 
+     291      343315 :     for (auto republisher : republishers_) {
+     292      132221 :       republishInFrame(msg, ch_->uav_name + "/" + republisher.first, republisher.second);
+     293             :     }
+     294             :   }
+     295             :   /*//}*/
+     296             : 
+     297             :   /*//{ callbackTfSourceAtt()*/
+     298      218008 :   void callbackTfSourceAtt(const geometry_msgs::QuaternionStamped::ConstPtr msg) {
+     299             : 
+     300      218008 :     if (!is_initialized_) {
+     301           0 :       return;
+     302             :     }
+     303             : 
+     304      654007 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::callbackTfSourceAtt", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     305             : 
+     306      217977 :     scope_timer.checkpoint("get msg");
+     307      218001 :     publishTfFromAtt(msg);
+     308             :   }
+     309             :   /*//}*/
+     310             : 
+     311             :   /* publishTfFromOdom() //{*/
+     312      210977 :   void publishTfFromOdom(const nav_msgs::OdometryConstPtr& odom) {
+     313             : 
+     314      422065 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishTfFromOdom", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     315             : 
+     316      211072 :     const tf2::Transform      tf       = Support::tf2FromPose(odom->pose.pose);
+     317      211019 :     const tf2::Transform      tf_inv   = tf.inverse();
+     318      211025 :     const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     319             : 
+     320             :     /*//{ tf source origin */
+     321      211028 :     geometry_msgs::TransformStamped tf_msg;
+     322      210965 :     tf_msg.header.stamp         = odom->header.stamp;
+     323      210970 :     std::string origin_frame_id = custom_frame_id_enabled_ ? ch_->uav_name + "/" + custom_frame_id_ : odom->header.frame_id;
+     324      210999 :     std::string child_frame_id = custom_child_frame_id_enabled_ ? ch_->uav_name + "/" + custom_child_frame_id_ : ch_->frames.ns_fcu;
+     325      211060 :     if (is_inverted_) {
+     326             : 
+     327      211060 :       tf_msg.header.frame_id       = child_frame_id;
+     328      211098 :       tf_msg.child_frame_id        = origin_frame_id;
+     329      210989 :       tf_msg.transform.translation = Support::pointToVector3(pose_inv.position);
+     330      211050 :       tf_msg.transform.rotation    = pose_inv.orientation;
+     331             : 
+     332             :     } else {
+     333           0 :       tf_msg.header.frame_id       = origin_frame_id;
+     334           0 :       tf_msg.child_frame_id        = child_frame_id;
+     335           0 :       tf_msg.transform.translation = Support::pointToVector3(odom->pose.pose.position);
+     336           0 :       tf_msg.transform.rotation    = odom->pose.pose.orientation;
+     337             :     }
+     338             : 
+     339      211050 :     if (Support::noNans(tf_msg)) {
+     340             :       try {
+     341      210983 :         broadcaster_->sendTransform(tf_msg);
+     342             :       }
+     343           0 :       catch (...) {
+     344           0 :         ROS_ERROR("exception caught ");
+     345             :       }
+     346             : 
+     347      211096 :       if (tf_from_attitude_enabled_) {
+     348      209704 :         if (is_inverted_) {
+     349      209705 :           tf_msg.child_frame_id += "_att_only";
+     350             :         } else {
+     351           0 :           tf_msg.header.frame_id += "_att_only";
+     352             :         }
+     353             :         try {
+     354      209710 :           broadcaster_->sendTransform(tf_msg);
+     355             :         }
+     356           0 :         catch (...) {
+     357           0 :           ROS_ERROR("exception caught ");
+     358             :         }
+     359             :       }
+     360             :       /*//}*/
+     361             : 
+     362             :       /*//{ tf utm origin */
+     363             : 
+     364      211103 :       geometry_msgs::TransformStamped tf_utm_msg;
+     365      211094 :       if (is_utm_source_) {
+     366             :         
+     367      185447 :         if (!is_utm_origin_set_) {
+     368           0 :           ROS_INFO_THROTTLE(5.0, "[%s]: %s utm_origin initialization", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     369           0 :           return;
+     370             :         }
+     371             : 
+     372      185447 :         geometry_msgs::Pose pose_utm = odom->pose.pose;
+     373      185447 :         pose_utm.position.x += utm_origin_.x - first_msg_->pose.pose.position.x;
+     374      185447 :         pose_utm.position.y += utm_origin_.y - first_msg_->pose.pose.position.y;
+     375             : 
+     376      185447 :         if (sh_altitude_amsl_.hasMsg()) {
+     377      185441 :           pose_utm.position.z = sh_altitude_amsl_.getMsg()->amsl;
+     378             :         } else {
+     379           6 :           ROS_WARN_THROTTLE(5.0, "[%s]: AMSL altitude not available.", getPrintName().c_str());
+     380             :         }
+     381             : 
+     382      185447 :         tf_utm_msg.header.stamp    = odom->header.stamp;
+     383      185447 :         tf_utm_msg.header.frame_id = ns_utm_origin_parent_frame_id_;
+     384      185447 :         tf_utm_msg.child_frame_id  = ns_utm_origin_child_frame_id_;
+     385             : 
+     386      185447 :         tf2::Transform tf_utm;
+     387      185447 :         if (is_inverted_) {
+     388      185447 :           tf_utm = Support::tf2FromPose(pose_utm).inverse();
+     389             :         } else {
+     390           0 :           tf_utm = Support::tf2FromPose(pose_utm);
+     391             :         }
+     392      185447 :         tf_utm_msg.transform = Support::msgFromTf2(tf_utm);
+     393             : 
+     394             :         try {
+     395      185447 :           broadcaster_->sendTransform(tf_utm_msg);
+     396      185447 :           ROS_INFO_ONCE("[%s]: publishing utm_origin tf", getPrintName().c_str());
+     397             :         }
+     398           0 :         catch (...) {
+     399           0 :           ROS_ERROR("exception caught ");
+     400             :         }
+     401             :       }
+     402             :       /*//}*/
+     403             : 
+     404             :       /*//{ tf world origin */
+     405      211092 :       if (is_utm_source_) {
+     406      370890 :         geometry_msgs::TransformStamped tf_world_msg;
+     407      185447 :         tf_world_msg.header.stamp    = odom->header.stamp;
+     408      185447 :         tf_world_msg.header.frame_id = ns_world_origin_parent_frame_id_;
+     409      185447 :         tf_world_msg.child_frame_id  = ns_world_origin_child_frame_id_;
+     410             : 
+     411      185447 :         tf2::Transform tf_world;
+     412      185447 :         tf_world.setOrigin(tf2::Vector3(world_origin_.x, world_origin_.y, world_origin_.z));
+     413      185447 :         tf_world.setRotation(tf2::Quaternion(0, 0, 0, 1));
+     414             : 
+     415      185447 :         geometry_msgs::Pose pose_utm = odom->pose.pose;
+     416      185447 :         pose_utm.position.x += utm_origin_.x - first_msg_->pose.pose.position.x;
+     417      185447 :         pose_utm.position.y += utm_origin_.y - first_msg_->pose.pose.position.y;
+     418             : 
+     419      185447 :         tf2::Transform tf_utm;
+     420      185447 :         if (is_inverted_) {
+     421      185447 :           tf_utm = Support::tf2FromPose(pose_utm).inverse();
+     422             :         } else {
+     423           0 :           tf_utm = Support::tf2FromPose(pose_utm);
+     424             :         }
+     425             : 
+     426      185447 :         tf_world_msg.transform          = Support::msgFromTf2(tf_utm * tf_world);
+     427      185447 :         tf_world_msg.transform.rotation = pose_inv.orientation;
+     428             : 
+     429             :         try {
+     430      185447 :           broadcaster_->sendTransform(tf_world_msg);
+     431      185447 :           ROS_INFO_ONCE("[%s]: publishing world_origin tf", getPrintName().c_str());
+     432             :         }
+     433           0 :         catch (...) {
+     434           0 :           ROS_ERROR("exception caught ");
+     435             :         }
+     436             :       }
+     437             : 
+     438             :       /*//}*/
+     439             : 
+     440             :     } else {
+     441           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(),
+     442             :                         tf_msg.child_frame_id.c_str());
+     443             :     }
+     444      211102 :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s based on topic: %s", getPrintName().c_str(),
+     445             :                   tf_msg.header.frame_id.c_str(), tf_msg.child_frame_id.c_str(), full_topic_odom_.c_str());
+     446             :   }
+     447             :   /*//}*/
+     448             : 
+     449             :   /* publishTfFromAtt() //{*/
+     450      218000 :   void publishTfFromAtt(const geometry_msgs::QuaternionStampedConstPtr& msg) {
+     451             : 
+     452      654027 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishTfFromAtt", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     453             : 
+     454      436006 :     geometry_msgs::TransformStamped tf_msg;
+     455      217974 :     tf_msg.header.stamp = msg->header.stamp;
+     456             : 
+     457      217994 :     geometry_msgs::Pose pose;
+     458      217978 :     pose.position.x = 0.0;
+     459      217978 :     pose.position.y = 0.0;
+     460      217978 :     pose.position.z = 0.0;
+     461      217978 :     pose.orientation = msg->quaternion;
+     462      217997 :     if (is_inverted_) {
+     463             : 
+     464      217997 :       const tf2::Transform      tf       = Support::tf2FromPose(pose);
+     465      217981 :       const tf2::Transform      tf_inv   = tf.inverse();
+     466      217986 :       const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     467             : 
+     468      217990 :       tf_msg.header.frame_id       = ch_->frames.ns_fcu;
+     469      217978 :       tf_msg.child_frame_id        = msg->header.frame_id;
+     470      217982 :       tf_msg.transform.translation = Support::pointToVector3(pose_inv.position);
+     471      217993 :       tf_msg.transform.rotation    = pose_inv.orientation;
+     472             : 
+     473             :     } else {
+     474           0 :       tf_msg.header.frame_id       = msg->header.frame_id;
+     475           0 :       tf_msg.child_frame_id        = ch_->frames.ns_fcu;
+     476           0 :       tf_msg.transform.translation = Support::pointToVector3(pose.position);
+     477           0 :       tf_msg.transform.rotation    = pose.orientation;
+     478             :     }
+     479             : 
+     480      217993 :     if (Support::noNans(tf_msg)) {
+     481             :       try {
+     482      217963 :         scope_timer.checkpoint("before pub");
+     483      217990 :         broadcaster_->sendTransform(tf_msg);
+     484      218014 :         scope_timer.checkpoint("after pub");
+     485             :       }
+     486           0 :       catch (...) {
+     487           0 :         ROS_ERROR("exception caught ");
+     488             :       }
+     489             :     } else {
+     490           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(),
+     491             :                         tf_msg.child_frame_id.c_str());
+     492             :     }
+     493      218002 :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s based on topic: %s", getPrintName().c_str(),
+     494             :                   tf_msg.header.frame_id.c_str(), tf_msg.child_frame_id.c_str(), full_topic_attitude_.c_str());
+     495      218015 :   }
+     496             :   /*//}*/
+     497             : 
+     498             :   /* publishLocalTf() //{*/
+     499           0 :   void publishLocalTf(const std::string& frame_id) {
+     500             : 
+     501           0 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishLocalTf", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     502             : 
+     503           0 :     geometry_msgs::TransformStamped tf_msg;
+     504           0 :     tf_msg.header.stamp = ros::Time::now();
+     505             : 
+     506           0 :     tf_msg.header.frame_id       = frame_id;
+     507           0 :     tf_msg.child_frame_id        = frame_id.substr(0, frame_id.find("_origin")) + "_local_origin";
+     508           0 :     tf_msg.transform.translation = Support::pointToVector3(first_msg_->pose.pose.position);
+     509           0 :     tf_msg.transform.rotation    = first_msg_->pose.pose.orientation;
+     510             : 
+     511           0 :     if (Support::noNans(tf_msg)) {
+     512             :       try {
+     513           0 :         static_broadcaster_.sendTransform(tf_msg);
+     514             :       }
+     515           0 :       catch (...) {
+     516           0 :         ROS_ERROR("exception caught ");
+     517             :       }
+     518             :     } else {
+     519           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(),
+     520             :                         tf_msg.child_frame_id.c_str());
+     521             :     }
+     522           0 :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s based on first message of: %s", getPrintName().c_str(),
+     523             :                   tf_msg.header.frame_id.c_str(), tf_msg.child_frame_id.c_str(), full_topic_odom_.c_str());
+     524           0 :     is_local_static_tf_published_ = true;
+     525           0 :   }
+     526             :   /*//}*/
+     527             : 
+     528             :   /* publishUtmTf() //{*/
+     529             :   void publishUtmTf(const std::string& frame_id) {
+     530             : 
+     531             :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishUtmTf", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     532             : 
+     533             :     geometry_msgs::TransformStamped tf_msg;
+     534             :     tf_msg.header.stamp = ros::Time::now();
+     535             : 
+     536             :     tf_msg.header.frame_id         = frame_id;
+     537             :     tf_msg.child_frame_id          = frame_id.substr(0, frame_id.find("_origin")) + "_utm_origin";
+     538             :     tf_msg.transform.translation.x = -utm_origin_.x;  // minus because inverse tf tree
+     539             :     tf_msg.transform.translation.y = -utm_origin_.y;  // minus because inverse tf tree
+     540             :     tf_msg.transform.translation.z = -utm_origin_.z;  // minus because inverse tf tree
+     541             :     tf_msg.transform.rotation.x    = 0;
+     542             :     tf_msg.transform.rotation.y    = 0;
+     543             :     tf_msg.transform.rotation.z    = 0;
+     544             :     tf_msg.transform.rotation.w    = 1;
+     545             : 
+     546             :     if (Support::noNans(tf_msg)) {
+     547             :       try {
+     548             :         static_broadcaster_.sendTransform(tf_msg);
+     549             :       }
+     550             :       catch (...) {
+     551             :         ROS_ERROR("exception caught ");
+     552             :       }
+     553             :     } else {
+     554             :       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(),
+     555             :                         tf_msg.child_frame_id.c_str());
+     556             :     }
+     557             :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s based on first message of: %s", getPrintName().c_str(),
+     558             :                   tf_msg.header.frame_id.c_str(), tf_msg.child_frame_id.c_str(), full_topic_odom_.c_str());
+     559             :     is_utm_static_tf_published_ = true;
+     560             :   }
+     561             :   /*//}*/
+     562             : 
+     563             :   /* publishWorldTf() //{*/
+     564             :   void publishWorldTf(const std::string& frame_id) {
+     565             : 
+     566             :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishWorldTf", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     567             : 
+     568             :     geometry_msgs::TransformStamped tf_msg;
+     569             :     tf_msg.header.stamp = ros::Time::now();
+     570             : 
+     571             :     tf_msg.header.frame_id         = frame_id;
+     572             :     tf_msg.child_frame_id          = frame_id.substr(0, frame_id.find("_origin")) + "_world_origin";
+     573             :     tf_msg.transform.translation.x = -(utm_origin_.x - world_origin_.x);  // minus because inverse tf tree
+     574             :     tf_msg.transform.translation.y = -(utm_origin_.y - world_origin_.y);  // minus because inverse tf tree
+     575             :     /* tf_msg.transform.translation.z = -(utm_origin_.z);                    // minus because inverse tf tree */
+     576             :     tf_msg.transform.translation.z = 0;
+     577             :     tf_msg.transform.rotation.x    = 0;
+     578             :     tf_msg.transform.rotation.y    = 0;
+     579             :     tf_msg.transform.rotation.z    = 0;
+     580             :     tf_msg.transform.rotation.w    = 1;
+     581             : 
+     582             :     if (Support::noNans(tf_msg)) {
+     583             :       try {
+     584             :         static_broadcaster_.sendTransform(tf_msg);
+     585             :       }
+     586             :       catch (...) {
+     587             :         ROS_ERROR("exception caught ");
+     588             :       }
+     589             :     } else {
+     590             :       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(),
+     591             :                         tf_msg.child_frame_id.c_str());
+     592             :     }
+     593             :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s based on first message of: %s", getPrintName().c_str(),
+     594             :                   tf_msg.header.frame_id.c_str(), tf_msg.child_frame_id.c_str(), full_topic_odom_.c_str());
+     595             :     is_world_static_tf_published_ = true;
+     596             :   }
+     597             :   /*//}*/
+     598             : 
+     599             :   /* republishInFrame() //{*/
+     600      132221 :   void republishInFrame(const nav_msgs::OdometryConstPtr& msg, const std::string& frame_id, mrs_lib::PublisherHandler<nav_msgs::Odometry>& ph) {
+     601             : 
+     602      264442 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::republishInFrame", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     603             : 
+     604      132221 :     nav_msgs::Odometry msg_out = *msg;
+     605      132221 :     msg_out.header.frame_id    = frame_id;
+     606             : 
+     607      132221 :     geometry_msgs::PoseStamped pose;
+     608      132221 :     pose.header = msg->header;
+     609      132221 :     pose.pose   = msg->pose.pose;
+     610             : 
+     611      132221 :     auto res = ch_->transformer->transformSingle(pose, frame_id);
+     612      132221 :     if (res) {
+     613      121484 :       msg_out.pose.pose = res->pose;
+     614      121484 :       ph.publish(msg_out);
+     615             :     } else {
+     616       10737 :       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());
+     617       10737 :       return;
+     618             :     }
+     619             :   }
+     620             : 
+     621             :   /*//}*/
+     622             : };
+     623             : 
+     624             : /*//}*/
+     625             : 
+     626             : }  // namespace mrs_uav_managers
+     627             : 
+     628             : #endif
+
+
+
+ + + + +
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+
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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:2024-12-11 22:27:27Functions:88100.0 %
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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()109
mrs_uav_managers::constraint_manager::ConstraintManager::onInit()109
mrs_uav_managers::constraint_manager::ConstraintManager::setConstraints(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)112
mrs_uav_managers::constraint_manager::ConstraintManager::timerDiagnostics(ros::TimerEvent const&)2420
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&)2941
mrs_uav_managers::constraint_manager::ConstraintManager::timerConstraintManagement(ros::TimerEvent const&)24693
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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 - constraint_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:19523284.1 %
Date:2024-12-11 22:27:27Functions:88100.0 %
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()109
mrs_uav_managers::constraint_manager::ConstraintManager::setConstraints(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)112
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&)2941
mrs_uav_managers::constraint_manager::ConstraintManager::timerDiagnostics(ros::TimerEvent const&)2420
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&)24693
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()109
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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..944ccbf3d4 --- /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 + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions:88100.0 %
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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/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         109 : void ConstraintManager::onInit() {
+     120             : 
+     121         109 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     122             : 
+     123         109 :   ros::Time::waitForValid();
+     124             : 
+     125         109 :   ROS_INFO("[ConstraintManager]: initializing");
+     126             : 
+     127             :   // | ------------------------- params ------------------------- |
+     128             : 
+     129         218 :   mrs_lib::ParamLoader param_loader(nh_, "ConstraintManager");
+     130             : 
+     131         218 :   std::string custom_config_path;
+     132         218 :   std::string platform_config_path;
+     133             : 
+     134         109 :   param_loader.loadParam("custom_config", custom_config_path);
+     135         109 :   param_loader.loadParam("platform_config", platform_config_path);
+     136             : 
+     137         109 :   if (custom_config_path != "") {
+     138         109 :     param_loader.addYamlFile(custom_config_path);
+     139             :   }
+     140             : 
+     141         109 :   if (platform_config_path != "") {
+     142         109 :     param_loader.addYamlFile(platform_config_path);
+     143             :   }
+     144             : 
+     145         109 :   param_loader.addYamlFileFromParam("private_config");
+     146         109 :   param_loader.addYamlFileFromParam("public_config");
+     147         109 :   param_loader.addYamlFileFromParam("public_constraints");
+     148             : 
+     149         218 :   const std::string yaml_prefix = "mrs_uav_managers/constraint_manager/";
+     150             : 
+     151             :   // params passed from the launch file are not prefixed
+     152         109 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     153             : 
+     154         109 :   param_loader.loadParam(yaml_prefix + "constraints", _constraint_names_);
+     155             : 
+     156         109 :   param_loader.loadParam(yaml_prefix + "estimator_types", _estimator_type_names_);
+     157             : 
+     158         109 :   param_loader.loadParam(yaml_prefix + "rate", _constraint_management_rate_);
+     159         109 :   param_loader.loadParam(yaml_prefix + "diagnostics_rate", _diagnostics_rate_);
+     160             : 
+     161         109 :   std::vector<std::string>::iterator it;
+     162             : 
+     163             :   // loading constraint names
+     164         436 :   for (it = _constraint_names_.begin(); it != _constraint_names_.end(); ++it) {
+     165             : 
+     166         327 :     ROS_INFO_STREAM("[ConstraintManager]: loading constraints '" << *it << "'");
+     167             : 
+     168         327 :     mrs_msgs::DynamicsConstraintsSrvRequest new_constraints;
+     169             : 
+     170         327 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/speed", new_constraints.constraints.horizontal_speed);
+     171         327 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/acceleration", new_constraints.constraints.horizontal_acceleration);
+     172         327 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/jerk", new_constraints.constraints.horizontal_jerk);
+     173         327 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/snap", new_constraints.constraints.horizontal_snap);
+     174             : 
+     175         327 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/speed", new_constraints.constraints.vertical_ascending_speed);
+     176         327 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/acceleration", new_constraints.constraints.vertical_ascending_acceleration);
+     177         327 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/jerk", new_constraints.constraints.vertical_ascending_jerk);
+     178         327 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/snap", new_constraints.constraints.vertical_ascending_snap);
+     179             : 
+     180         327 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/speed", new_constraints.constraints.vertical_descending_speed);
+     181         327 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/acceleration", new_constraints.constraints.vertical_descending_acceleration);
+     182         327 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/jerk", new_constraints.constraints.vertical_descending_jerk);
+     183         327 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/snap", new_constraints.constraints.vertical_descending_snap);
+     184             : 
+     185         327 :     param_loader.loadParam(yaml_prefix + *it + "/heading/speed", new_constraints.constraints.heading_speed);
+     186         327 :     param_loader.loadParam(yaml_prefix + *it + "/heading/acceleration", new_constraints.constraints.heading_acceleration);
+     187         327 :     param_loader.loadParam(yaml_prefix + *it + "/heading/jerk", new_constraints.constraints.heading_jerk);
+     188         327 :     param_loader.loadParam(yaml_prefix + *it + "/heading/snap", new_constraints.constraints.heading_snap);
+     189             : 
+     190         327 :     param_loader.loadParam(yaml_prefix + *it + "/angular_speed/roll", new_constraints.constraints.roll_rate);
+     191         327 :     param_loader.loadParam(yaml_prefix + *it + "/angular_speed/pitch", new_constraints.constraints.pitch_rate);
+     192         327 :     param_loader.loadParam(yaml_prefix + *it + "/angular_speed/yaw", new_constraints.constraints.yaw_rate);
+     193             : 
+     194             :     double tilt_deg;
+     195             : 
+     196         327 :     param_loader.loadParam(yaml_prefix + *it + "/tilt", tilt_deg);
+     197             : 
+     198         327 :     new_constraints.constraints.tilt = M_PI * (tilt_deg / 180.0);
+     199             : 
+     200         327 :     _constraints_.insert(std::pair<std::string, mrs_msgs::DynamicsConstraintsSrvRequest>(*it, new_constraints));
+     201             :   }
+     202             : 
+     203             :   // loading the allowed constraints lists
+     204         872 :   for (it = _estimator_type_names_.begin(); it != _estimator_type_names_.end(); ++it) {
+     205             : 
+     206         763 :     std::vector<std::string> temp_vector;
+     207         763 :     param_loader.loadParam(yaml_prefix + "allowed_constraints/" + *it, temp_vector);
+     208             : 
+     209         763 :     std::vector<std::string>::iterator it2;
+     210        2822 :     for (it2 = temp_vector.begin(); it2 != temp_vector.end(); ++it2) {
+     211        2059 :       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         763 :     _map_type_allowed_constraints_.insert(std::pair<std::string, std::vector<std::string>>(*it, temp_vector));
+     218             :   }
+     219             : 
+     220             :   // loading the default constraints
+     221         872 :   for (it = _estimator_type_names_.begin(); it != _estimator_type_names_.end(); ++it) {
+     222             : 
+     223         763 :     std::string temp_str;
+     224         763 :     param_loader.loadParam(yaml_prefix + "default_constraints/" + *it, temp_str);
+     225             : 
+     226         763 :     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         763 :     _map_type_default_constraints_.insert(std::pair<std::string, std::string>(*it, temp_str));
+     232             :   }
+     233             : 
+     234         109 :   ROS_INFO("[ConstraintManager]: done loading dynamic params");
+     235             : 
+     236         109 :   current_constraints_ = "";
+     237         109 :   last_estimator_name_ = "";
+     238             : 
+     239             :   // | ------------------------ services ------------------------ |
+     240             : 
+     241         109 :   service_server_set_constraints_ = nh_.advertiseService("set_constraints_in", &ConstraintManager::callbackSetConstraints, this);
+     242             : 
+     243         109 :   service_server_constraints_override_ = nh_.advertiseService("constraints_override_in", &ConstraintManager::callbackConstraintsOverride, this);
+     244             : 
+     245         109 :   sc_set_constraints_ = mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>(nh_, "set_constraints_out");
+     246             : 
+     247             :   // | ----------------------- subscribers ---------------------- |
+     248             : 
+     249         218 :   mrs_lib::SubscribeHandlerOptions shopts;
+     250         109 :   shopts.nh                 = nh_;
+     251         109 :   shopts.node_name          = "ConstraintManager";
+     252         109 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     253         109 :   shopts.threadsafe         = true;
+     254         109 :   shopts.autostart          = true;
+     255         109 :   shopts.queue_size         = 10;
+     256         109 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     257             : 
+     258         109 :   sh_estimation_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "estimation_diagnostics_in");
+     259             : 
+     260             :   // | ----------------------- publishers ----------------------- |
+     261             : 
+     262         109 :   ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics>(nh_, "diagnostics_out", 10);
+     263             : 
+     264             :   // | ------------------------- timers ------------------------- |
+     265             : 
+     266         109 :   timer_constraint_management_ = nh_.createTimer(ros::Rate(_constraint_management_rate_), &ConstraintManager::timerConstraintManagement, this);
+     267         109 :   timer_diagnostics_           = nh_.createTimer(ros::Rate(_diagnostics_rate_), &ConstraintManager::timerDiagnostics, this);
+     268             : 
+     269             :   // | ------------------------ profiler ------------------------ |
+     270             : 
+     271         109 :   profiler_ = mrs_lib::Profiler(nh_, "ConstraintManager", _profiler_enabled_);
+     272             : 
+     273             :   // | ------------------- scope timer logger ------------------- |
+     274             : 
+     275         109 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     276         327 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     277         109 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     278             : 
+     279             :   // | ----------------------- finish init ---------------------- |
+     280             : 
+     281         109 :   if (!param_loader.loadedSuccessfully()) {
+     282           0 :     ROS_ERROR("[ConstraintManager]: Could not load all parameters!");
+     283           0 :     ros::shutdown();
+     284             :   }
+     285             : 
+     286         109 :   is_initialized_ = true;
+     287             : 
+     288         109 :   ROS_INFO("[ConstraintManager]: initialized");
+     289             : 
+     290         109 :   ROS_DEBUG("[ConstraintManager]: debug output is enabled");
+     291         109 : }
+     292             : 
+     293             : //}
+     294             : 
+     295             : // --------------------------------------------------------------
+     296             : // |                           methods                          |
+     297             : // --------------------------------------------------------------
+     298             : 
+     299             : /* setConstraints() //{ */
+     300             : 
+     301         112 : bool ConstraintManager::setConstraints(std::string constraints_name) {
+     302             : 
+     303         112 :   std::map<std::string, mrs_msgs::DynamicsConstraintsSrvRequest>::iterator it;
+     304         112 :   it = _constraints_.find(constraints_name);
+     305             : 
+     306         112 :   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         224 :   mrs_msgs::DynamicsConstraintsSrv srv_call;
+     312             : 
+     313         112 :   srv_call.request = it->second;
+     314             : 
+     315         112 :   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         112 :   bool res = sc_set_constraints_.call(srv_call);
+     337             : 
+     338         112 :   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         112 :     if (srv_call.response.success) {
+     346             : 
+     347         112 :       mrs_lib::set_mutexed(mutex_current_constraints_, constraints_name, current_constraints_);
+     348         112 :       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       24693 : void ConstraintManager::timerConstraintManagement(const ros::TimerEvent& event) {
+     472             : 
+     473       24693 :   if (!is_initialized_) {
+     474        5716 :     return;
+     475             :   }
+     476             : 
+     477       49386 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerConstraintManagement", _constraint_management_rate_, 0.01, event);
+     478       49386 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ContraintManager::timerConstraintManagement", scope_timer_logger_, scope_timer_enabled_);
+     479             : 
+     480       24693 :   auto current_constraints = mrs_lib::get_mutexed(mutex_current_constraints_, current_constraints_);
+     481       24693 :   auto last_estimator_name = mrs_lib::get_mutexed(mutex_last_estimator_name_, last_estimator_name_);
+     482             : 
+     483       24693 :   if (!sh_estimation_diag_.hasMsg()) {
+     484        5716 :     return;
+     485             :   }
+     486             : 
+     487       18977 :   auto estimation_diagnostics = sh_estimation_diag_.getMsg();
+     488             : 
+     489             :   // | --- automatically set constraints when the state estimator changes -- |
+     490       18977 :   if (estimation_diagnostics->current_state_estimator != last_estimator_name_) {
+     491             : 
+     492         114 :     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         114 :     std::map<std::string, std::string>::iterator it;
+     496         114 :     it = _map_type_default_constraints_.find(estimation_diagnostics->current_state_estimator);
+     497             : 
+     498         114 :     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         114 :       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         109 :         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         109 :         if (setConstraints(it->second)) {
+     517             : 
+     518         109 :           last_estimator_name = estimation_diagnostics->current_state_estimator;
+     519             : 
+     520         109 :           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       18977 :   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       18977 :   mrs_lib::set_mutexed(mutex_last_estimator_name_, last_estimator_name, last_estimator_name_);
+     545             : }
+     546             : 
+     547             : //}
+     548             : 
+     549             : /* timerDiagnostics() //{ */
+     550             : 
+     551        2420 : void ConstraintManager::timerDiagnostics(const ros::TimerEvent& event) {
+     552             : 
+     553        2420 :   if (!is_initialized_) {
+     554         557 :     return;
+     555             :   }
+     556             : 
+     557        4840 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerDiagnostics", _diagnostics_rate_, 0.01, event);
+     558        4840 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ContraintManager::timerDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+     559             : 
+     560        2420 :   if (!sh_estimation_diag_.hasMsg()) {
+     561         551 :     ROS_WARN_THROTTLE(10.0, "[ConstraintManager]: can not do constraint management, missing estimation diagnostics!");
+     562         551 :     return;
+     563             :   }
+     564             : 
+     565        1869 :   auto estimation_diagnostics = sh_estimation_diag_.getMsg();
+     566             : 
+     567        1869 :   auto current_constraints = mrs_lib::get_mutexed(mutex_current_constraints_, current_constraints_);
+     568             : 
+     569        1869 :   if (current_constraints == "") {  // this could happend just before timerConstraintManagement() finishes
+     570           6 :     return;
+     571             :   }
+     572             : 
+     573        1863 :   mrs_msgs::ConstraintManagerDiagnostics diagnostics;
+     574             : 
+     575        1863 :   diagnostics.stamp        = ros::Time::now();
+     576        1863 :   diagnostics.current_name = current_constraints;
+     577        1863 :   diagnostics.loaded       = _constraint_names_;
+     578             : 
+     579             :   // get the available constraints
+     580             :   {
+     581        1863 :     std::map<std::string, std::vector<std::string>>::iterator it;
+     582        1863 :     it = _map_type_allowed_constraints_.find(estimation_diagnostics->current_state_estimator);
+     583             : 
+     584        1863 :     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        1863 :       diagnostics.available = it->second;
+     589             :     }
+     590             :   }
+     591             : 
+     592             :   // get the current constraint values
+     593             :   {
+     594        1863 :     std::map<std::string, mrs_msgs::DynamicsConstraintsSrvRequest>::iterator it;
+     595        1863 :     it = _constraints_.find(current_constraints);
+     596             : 
+     597        1863 :     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        1863 :     diagnostics.current_values = it->second.constraints;
+     603             :   }
+     604             : 
+     605        1863 :   ph_diagnostics_.publish(diagnostics);
+     606             : }
+     607             : 
+     608             : //}
+     609             : 
+     610             : // --------------------------------------------------------------
+     611             : // |                          routines                          |
+     612             : // --------------------------------------------------------------
+     613             : 
+     614             : /* stringInVector() //{ */
+     615             : 
+     616        2941 : bool ConstraintManager::stringInVector(const std::string& value, const std::vector<std::string>& vector) {
+     617             : 
+     618        2941 :   if (std::find(vector.begin(), vector.end(), value) == vector.end()) {
+     619         110 :     return false;
+     620             :   } else {
+     621        2831 :     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         109 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::constraint_manager::ConstraintManager, nodelet::Nodelet)
+
+
+
+ + + + +
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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..48487d1a1d --- /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
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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:2024-12-11 22:27:27Functions: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&)109
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&)563
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&)816
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&)1083
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&)1115
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&)1387
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&)1692
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&)2441
mrs_uav_managers::control_manager::RCChannelToRange(double, double, double)3176
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&)3936
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&)3962
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&)10790
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> >&, double const&)14640
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&)14640
mrs_uav_managers::control_manager::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)15192
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&)87715
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&)100716
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&)110432
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&)118659
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&)152258
mrs_uav_managers::control_manager::extractThrottle(mrs_uav_managers::Controller::ControlOutput const&)159925
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Generated by: LCOV version 1.14
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+ + + 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..9a8ed562c8 --- /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:2024-12-11 22:27:27Functions: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&)1692
mrs_uav_managers::control_manager::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)15192
mrs_uav_managers::control_manager::extractThrottle(mrs_uav_managers::Controller::ControlOutput const&)159925
mrs_uav_managers::control_manager::getHighestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)0
mrs_uav_managers::control_manager::RCChannelToRange(double, double, double)3176
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&)152258
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&)10790
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&)14640
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&)110432
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&)100716
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&)14640
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&)3936
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&)118659
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&)563
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&)816
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&)109
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&)1387
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&)87715
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&)3962
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&)1083
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&)2441
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&)1115
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Generated by: LCOV version 1.14
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+ + + 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..33e0e4829e --- /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
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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:2024-12-11 22:27:27Functions: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        1692 : std::optional<unsigned int> idxInVector(const std::string& str, const std::vector<std::string>& vec) {
+      12             : 
+      13        4793 :   for (unsigned int i = 0; i < vec.size(); i++) {
+      14        4789 :     if (str == vec[i]) {
+      15        1688 :       return {i};
+      16             :     }
+      17             :   }
+      18             : 
+      19           4 :   return {};
+      20             : }
+      21             : 
+      22             : //}
+      23             : 
+      24             : /* validateTrackerCommand() //{ */
+      25             : 
+      26      100716 : bool validateTrackerCommand(const std::optional<mrs_msgs::TrackerCommand>& msg, const std::string& node_name, const std::string& var_name) {
+      27             : 
+      28      100716 :   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      100716 :   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      100716 :   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      100716 :   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      100716 :   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      100716 :   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      100716 :   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      100716 :   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      100716 :   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      100716 :   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      100716 :   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      100716 :   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      100716 :   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      100716 :   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      100716 :   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      100716 :   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      100716 :   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      100716 :   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      100716 :   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      100716 :   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      100716 :   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      100716 :   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      100716 :   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      100716 :   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      100716 :   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         816 : bool validateVelocityReference(const mrs_msgs::VelocityReference& msg, const std::string& node_name, const std::string& var_name) {
+     237             : 
+     238             :   // check velocity
+     239             : 
+     240         816 :   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         816 :   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         816 :   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         816 :   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         816 :   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         816 :   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         816 :   return true;
+     271             : }
+     272             : 
+     273             : //}
+     274             : 
+     275             : /* validateReference() //{ */
+     276             : 
+     277       10790 : bool validateReference(const mrs_msgs::Reference& msg, const std::string& node_name, const std::string& var_name) {
+     278             : 
+     279             :   // check position
+     280             : 
+     281       10790 :   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       10790 :   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       10790 :   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       10790 :   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       10790 :   return true;
+     304             : }
+     305             : 
+     306             : //}
+     307             : 
+     308             : /* validateUavState() //{ */
+     309             : 
+     310      152258 : bool validateUavState(const mrs_msgs::UavState& msg, const std::string& node_name, const std::string& var_name) {
+     311             : 
+     312             :   // check position
+     313             : 
+     314      152258 :   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      152258 :   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      152258 :   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      152258 :   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      152258 :   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      152258 :   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      152258 :   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      152258 :   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      152258 :   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      152258 :   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      152258 :   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      152258 :   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      152258 :   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      152258 :   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      152258 :   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      152258 :   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      152258 :   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      152258 :   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      152258 :   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      152258 :   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      152258 :   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      152258 :   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      152258 :   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      152258 :   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      152258 :   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      152258 :   return true;
+     454             : }
+     455             : 
+     456             : //}
+     457             : 
+     458             : /* RCChannelToRange() //{ */
+     459             : 
+     460        3176 : double RCChannelToRange(double rc_value, double range, double deadband) {
+     461             : 
+     462        3176 :   double tmp_neg1_to_1 = (rc_value - 0.5) * 2.0;
+     463             : 
+     464        3176 :   if (tmp_neg1_to_1 > 1.0) {
+     465           0 :     tmp_neg1_to_1 = 1.0;
+     466        3176 :   } else if (tmp_neg1_to_1 < -1.0) {
+     467           0 :     tmp_neg1_to_1 = -1.0;
+     468             :   }
+     469             : 
+     470             :   // check the deadband
+     471        3176 :   if (tmp_neg1_to_1 < deadband && tmp_neg1_to_1 > -deadband) {
+     472        2450 :     return 0.0;
+     473             :   }
+     474             : 
+     475         726 :   if (tmp_neg1_to_1 > 0) {
+     476             : 
+     477         466 :     double tmp = (tmp_neg1_to_1 - deadband) / (1.0 - deadband);
+     478             : 
+     479         466 :     return range * tmp;
+     480             : 
+     481             :   } else {
+     482             : 
+     483         260 :     double tmp = (-tmp_neg1_to_1 - deadband) / (1.0 - deadband);
+     484             : 
+     485         260 :     return -range * tmp;
+     486             :   }
+     487             : 
+     488             :   return 0.0;
+     489             : }
+     490             : 
+     491             : //}
+     492             : 
+     493             : /* loadDetailedUavModelParams() //{ */
+     494             : 
+     495         109 : 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         218 :   mrs_lib::ParamLoader param_loader(nh, node_name);
+     499             : 
+     500         109 :   if (custom_config != "") {
+     501         109 :     param_loader.addYamlFile(custom_config);
+     502             :   }
+     503             : 
+     504         109 :   if (platform_config != "") {
+     505         109 :     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         109 :   bool detailed_loaded = true;
+     518             : 
+     519         109 :   detailed_loaded *= param_loader.loadParam("uav_mass", mass, 0.0);
+     520             : 
+     521         109 :   detailed_loaded *= param_loader.loadParam("model_params/arm_length", arm_length, 0.0);
+     522         109 :   detailed_loaded *= param_loader.loadParam("model_params/body_height", body_height, 0.0);
+     523             : 
+     524         109 :   detailed_loaded *= param_loader.loadParam("model_params/propulsion/force_constant", force_constant, 0.0);
+     525         109 :   detailed_loaded *= param_loader.loadParam("model_params/propulsion/torque_constant", torque_constant, 0.0);
+     526         109 :   detailed_loaded *= param_loader.loadParam("model_params/propulsion/prop_radius", prop_radius, 0.0);
+     527         109 :   detailed_loaded *= param_loader.loadParam("model_params/propulsion/rpm/min", rpm_min, 0.0);
+     528         109 :   detailed_loaded *= param_loader.loadParam("model_params/propulsion/rpm/max", rpm_max, 0.0);
+     529             : 
+     530         218 :   Eigen::MatrixXd allocation_matrix;
+     531             : 
+     532         109 :   detailed_loaded *= param_loader.loadMatrixDynamic("model_params/propulsion/allocation_matrix", allocation_matrix, Eigen::Matrix4d::Identity(), 4, -1);
+     533             : 
+     534         109 :   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         109 :     ROS_INFO("[%s]: detailed UAV model params successfully loaded.", node_name.c_str());
+     542             :   }
+     543             : 
+     544         109 :   int n_motors = allocation_matrix.cols();
+     545             : 
+     546         218 :   DetailedModelParams_t model_params;
+     547             : 
+     548         109 :   model_params.arm_length  = arm_length;
+     549         109 :   model_params.body_height = body_height;
+     550         109 :   model_params.prop_radius = prop_radius;
+     551             : 
+     552         109 :   Eigen::Matrix3d inertia_matrix;
+     553             : 
+     554         109 :   bool inertia_loaded = param_loader.loadMatrixStatic("model_params/inertia_matrix", inertia_matrix, Eigen::Matrix3d::Identity());
+     555             : 
+     556         109 :   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         109 :     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         109 :     model_params.inertia       = Eigen::Matrix3d::Zero();
+     568         109 :     model_params.inertia(0, 0) = mass * (3.0 * arm_length * arm_length + body_height * body_height) / 12.0;
+     569         109 :     model_params.inertia(1, 1) = mass * (3.0 * arm_length * arm_length + body_height * body_height) / 12.0;
+     570         109 :     model_params.inertia(2, 2) = (mass * arm_length * arm_length) / 2.0;
+     571             : 
+     572         109 :     ROS_INFO("[%s]: inertia computed form parameters:", node_name.c_str());
+     573         109 :     ROS_INFO_STREAM(model_params.inertia);
+     574             :   }
+     575             : 
+     576             :   // create the force-torque allocation matrix
+     577         109 :   model_params.force_torque_mixer = allocation_matrix;
+     578         109 :   model_params.force_torque_mixer.row(0) *= arm_length * force_constant;
+     579         109 :   model_params.force_torque_mixer.row(1) *= arm_length * force_constant;
+     580         109 :   model_params.force_torque_mixer.row(2) *= torque_constant * (3.0 * prop_radius) * force_constant;
+     581         109 :   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         218 :       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         551 :   for (int i = 0; i < n_motors; i++) {
+     594         442 :     alloc_tmp.block(i, 0, 1, 2).normalize();
+     595             :   }
+     596             : 
+     597             :   // the 3rd column (yaw)
+     598         551 :   for (int i = 0; i < n_motors; i++) {
+     599         442 :     if (alloc_tmp(i, 2) > 1e-2) {
+     600         221 :       alloc_tmp(i, 2) = 1.0;
+     601         221 :     } else if (alloc_tmp(i, 2) < -1e-2) {
+     602         221 :       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         551 :   for (int i = 0; i < n_motors; i++) {
+     610         442 :     alloc_tmp(i, 3) = 1.0;
+     611             :   }
+     612             : 
+     613         109 :   model_params.control_group_mixer = alloc_tmp;
+     614             : 
+     615         109 :   return model_params;
+     616             : }
+     617             : 
+     618             : //}
+     619             : 
+     620             : /* getLowestOutput() //{ */
+     621             : 
+     622       15192 : CONTROL_OUTPUT getLowestOuput(const ControlOutputModalities_t& outputs) {
+     623             : 
+     624       15192 :   if (outputs.actuators) {
+     625          16 :     return ACTUATORS_CMD;
+     626             :   }
+     627             : 
+     628       15176 :   if (outputs.control_group) {
+     629          16 :     return CONTROL_GROUP;
+     630             :   }
+     631             : 
+     632       15160 :   if (outputs.attitude_rate) {
+     633       15054 :     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      159925 : std::optional<double> extractThrottle(const Controller::ControlOutput& control_output) {
+     707             : 
+     708      159925 :   if (!control_output.control_output) {
+     709       23802 :     return {};
+     710             :   }
+     711             : 
+     712      272246 :   return std::visit(HwApiCmdExtractThrottleVisitor(), control_output.control_output.value());
+     713             : }
+     714             : 
+     715             : //}
+     716             : 
+     717             : // | -------------- validation of HW api commands ------------- |
+     718             : 
+     719             : /* validateControlOutput() //{ */
+     720             : 
+     721      110432 : 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      110432 :   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      110432 :   std::variant<ControlOutputModalities_t> output_modalities_var{output_modalities};
+     730      220864 :   std::variant<std::string>               node_name_var{node_name};
+     731      110432 :   std::variant<std::string>               var_name_var{var_name};
+     732             : 
+     733      110432 :   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        3936 : bool validateHwApiActuatorCmd(const mrs_msgs::HwApiActuatorCmd& msg, const std::string& node_name, const std::string& var_name) {
+     741             : 
+     742       19680 :   for (size_t i = 0; i < msg.motors.size(); i++) {
+     743       15744 :     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        3936 :   return true;
+     750             : }
+     751             : 
+     752             : //}
+     753             : 
+     754             : /* validateHwApiControlGroupCmd() //{ */
+     755             : 
+     756        3962 : bool validateHwApiControlGroupCmd(const mrs_msgs::HwApiControlGroupCmd& msg, const std::string& node_name, const std::string& var_name) {
+     757             : 
+     758        3962 :   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        3962 :   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        3962 :   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        3962 :   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        3962 :   return true;
+     779             : }
+     780             : 
+     781             : //}
+     782             : 
+     783             : /* validateHwApiAttitudeCmd() //{ */
+     784             : 
+     785      118659 : bool validateHwApiAttitudeCmd(const mrs_msgs::HwApiAttitudeCmd& msg, const std::string& node_name, const std::string& var_name) {
+     786             : 
+     787             :   // check the orientation
+     788             : 
+     789      118659 :   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      118659 :   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      118659 :   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      118659 :   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      118659 :   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      118659 :   return true;
+     817             : }
+     818             : 
+     819             : //}
+     820             : 
+     821             : /* validateHwApiAttitudeRateCmd() //{ */
+     822             : 
+     823       87715 : 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       87715 :   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       87715 :   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       87715 :   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       87715 :   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       87715 :   return true;
+     850             : }
+     851             : 
+     852             : //}
+     853             : 
+     854             : /* validateHwApiAccelerationHdgRateCmd() //{ */
+     855             : 
+     856        1115 : bool validateHwApiAccelerationHdgRateCmd(const mrs_msgs::HwApiAccelerationHdgRateCmd& msg, const std::string& node_name, const std::string& var_name) {
+     857             : 
+     858             :   // | ----------------- check the acceleration ----------------- |
+     859             : 
+     860        1115 :   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        1115 :   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        1115 :   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        1115 :   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        1115 :   return true;
+     883             : }
+     884             : 
+     885             : //}
+     886             : 
+     887             : /* validateHwApiAccelerationHdgCmd() //{ */
+     888             : 
+     889        1083 : bool validateHwApiAccelerationHdgCmd(const mrs_msgs::HwApiAccelerationHdgCmd& msg, const std::string& node_name, const std::string& var_name) {
+     890             : 
+     891             :   // | ----------------- check the acceleration ----------------- |
+     892             : 
+     893        1083 :   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        1083 :   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        1083 :   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        1083 :   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        1083 :   return true;
+     916             : }
+     917             : 
+     918             : //}
+     919             : 
+     920             : /* validateHwApiVelocityHdgRateCmd() //{ */
+     921             : 
+     922        2441 : bool validateHwApiVelocityHdgRateCmd(const mrs_msgs::HwApiVelocityHdgRateCmd& msg, const std::string& node_name, const std::string& var_name) {
+     923             : 
+     924             :   // | ----------------- check the velocity ----------------- |
+     925             : 
+     926        2441 :   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        2441 :   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        2441 :   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        2441 :   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        2441 :   return true;
+     949             : }
+     950             : 
+     951             : //}
+     952             : 
+     953             : /* validateHwApiVelocityHdgCmd() //{ */
+     954             : 
+     955        1387 : bool validateHwApiVelocityHdgCmd(const mrs_msgs::HwApiVelocityHdgCmd& msg, const std::string& node_name, const std::string& var_name) {
+     956             : 
+     957             :   // | ----------------- check the velocity ----------------- |
+     958             : 
+     959        1387 :   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        1387 :   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        1387 :   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        1387 :   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        1387 :   return true;
+     982             : }
+     983             : 
+     984             : //}
+     985             : 
+     986             : /* validateHwApiPositionHdgCmd() //{ */
+     987             : 
+     988         563 : bool validateHwApiPositionCmd(const mrs_msgs::HwApiPositionCmd& msg, const std::string& node_name, const std::string& var_name) {
+     989             : 
+     990             :   // | ----------------- check the position ----------------- |
+     991             : 
+     992         563 :   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         563 :   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         563 :   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         563 :   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         563 :   return true;
+    1015             : }
+    1016             : 
+    1017             : //}
+    1018             : 
+    1019             : // | ------------ initialization of HW api commands ----------- |
+    1020             : 
+    1021             : /* initializeDefaultOutput() //{ */
+    1022             : 
+    1023       14640 : 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       14640 :   CONTROL_OUTPUT lowest_output = getLowestOuput(possible_outputs);
+    1027             : 
+    1028       14640 :   Controller::HwApiOutputVariant output;
+    1029             : 
+    1030       14640 :   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       14640 :     case ATTITUDE_RATE: {
+    1040       14640 :       output = mrs_msgs::HwApiAttitudeRateCmd();
+    1041       14640 :       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       29280 :   std::variant<mrs_msgs::UavState> uav_state_var{uav_state};
+    1070       14640 :   std::variant<double>             min_throttle_var{min_throttle};
+    1071       14640 :   std::variant<double>             n_motors_var{n_motors};
+    1072             : 
+    1073       14640 :   std::visit(HwApiInitializeVisitor(), output, uav_state_var, min_throttle_var, n_motors_var);
+    1074             : 
+    1075       29280 :   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       14640 : void initializeHwApiCmd(mrs_msgs::HwApiAttitudeRateCmd& msg, const double& min_throttle) {
+    1110             : 
+    1111       14640 :   msg.stamp = ros::Time::now();
+    1112             : 
+    1113       14640 :   msg.body_rate.x = 0;
+    1114       14640 :   msg.body_rate.y = 0;
+    1115       14640 :   msg.body_rate.z = 0;
+    1116       14640 :   msg.throttle    = min_throttle;
+    1117       14640 : }
+    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
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/control_manager/common/common.cpp.gcov.overview.html b/mrs_uav_managers/src/control_manager/common/common.cpp.gcov.overview.html new file mode 100644 index 0000000000..96cf02a42b --- /dev/null +++ b/mrs_uav_managers/src/control_manager/common/common.cpp.gcov.overview.html @@ -0,0 +1,327 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/common/common.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 + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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Current view:top level - mrs_uav_managers/src/control_manager/commonHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23456741.3 %
Date:2024-12-11 22:27:27Functions:213167.7 %
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Test:MRS UAV System - Test coverage reportLines:23456741.3 %
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Current view:top level - mrs_uav_managers/src/control_manager/commonHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23456741.3 %
Date:2024-12-11 22:27:27Functions:213167.7 %
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Test:MRS UAV System - Test coverage reportLines:23456741.3 %
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Current view:top level - mrs_uav_managers/src/control_manager/commonHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23456741.3 %
Date:2024-12-11 22:27:27Functions:213167.7 %
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Current view:top level - mrs_uav_managers/src/control_manager/commonHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23456741.3 %
Date:2024-12-11 22:27:27Functions:213167.7 %
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Generated by: LCOV version 1.14
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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:2544370268.7 %
Date:2024-12-11 22:27:27Functions:9511284.8 %
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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::timeoutUavState(double const&)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::callbackTransformReferenceArray(mrs_msgs::TransformReferenceArraySrvRequest_<std::allocator<void> >&, mrs_msgs::TransformReferenceArraySrvResponse_<std::allocator<void> >&)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::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::callbackValidateReferenceArray(mrs_msgs::ValidateReferenceArrayRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceArrayResponse_<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::failsafe[abi:cxx11]()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::changeLandingState(mrs_uav_managers::control_manager::LandingStates_t)12
mrs_uav_managers::control_manager::ControlManager::odometryCallbacksSrv(bool)15
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::ungripSrv()58
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>)90
mrs_uav_managers::control_manager::ControlManager::callbackEmergencyReference(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)100
mrs_uav_managers::control_manager::ControlManager::setCallbacks(bool)101
mrs_uav_managers::control_manager::ControlManager::callbackEnableCallbacks(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)101
mrs_uav_managers::control_manager::ControlManager::bumperGetSectorId(double const&, double const&, double const&)104
(anonymous namespace)::ProxyExec0::ProxyExec0()109
mrs_uav_managers::control_manager::ControlManager::initialize()109
mrs_uav_managers::control_manager::ControlManager::preinitialize()109
mrs_uav_managers::control_manager::ControlManager::setConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)109
mrs_uav_managers::control_manager::ControlManager::onInit()109
mrs_uav_managers::control_manager::ControlManager::callbackToggleOutput(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)110
mrs_uav_managers::control_manager::ControlManager::callbackSetConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> >&, mrs_msgs::DynamicsConstraintsSrvResponse_<std::allocator<void> >&)112
mrs_uav_managers::control_manager::ControlManager::toggleOutput(bool const&)131
mrs_uav_managers::control_manager::ControlManager::escalatingFailsafe[abi:cxx11]()147
mrs_uav_managers::control_manager::ControlManager::timerHwApiCapabilities(ros::TimerEvent const&)195
mrs_uav_managers::control_manager::ControlManager::callbackSwitchTracker(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)214
mrs_uav_managers::control_manager::ControlManager::callbackSwitchController(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)215
mrs_uav_managers::control_manager::ControlManager::initializeControlOutput()228
mrs_uav_managers::control_manager::ControlManager::switchTracker(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)246
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()278
mrs_uav_managers::control_manager::ControlManager::setConstraintsToTrackers(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)377
mrs_uav_managers::control_manager::ControlManager::setConstraintsToControllers(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)431
mrs_uav_managers::control_manager::ControlManager::timerEland(ros::TimerEvent const&)483
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)545
mrs_uav_managers::control_manager::ControlManager::getMass()560
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)655
mrs_uav_managers::control_manager::ControlManager::callbackVelocityReferenceService(mrs_msgs::VelocityReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::VelocityReferenceStampedSrvResponse_<std::allocator<void> >&)726
mrs_uav_managers::control_manager::ControlManager::setVelocityReference[abi:cxx11](mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)816
mrs_uav_managers::control_manager::ControlManager::velocityReferenceToReference(mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)816
mrs_uav_managers::control_manager::ControlManager::isPathToPointInSafetyArea3d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)886
mrs_uav_managers::control_manager::ControlManager::isPointInSafetyArea3d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)1845
mrs_uav_managers::control_manager::ControlManager::timerBumper(ros::TimerEvent const&)2471
mrs_uav_managers::control_manager::ControlManager::timerFailsafe(ros::TimerEvent const&)9716
mrs_uav_managers::control_manager::ControlManager::callbackValidateReference2d(mrs_msgs::ValidateReferenceRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceResponse_<std::allocator<void> >&)10023
mrs_uav_managers::control_manager::ControlManager::isPointInSafetyArea2d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)10133
mrs_uav_managers::control_manager::ControlManager::getMaxZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)13876
mrs_uav_managers::control_manager::ControlManager::getMinZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)13879
mrs_uav_managers::control_manager::ControlManager::timerStatus(ros::TimerEvent const&)19283
mrs_uav_managers::control_manager::ControlManager::publishDiagnostics()19392
mrs_uav_managers::control_manager::ControlManager::isFlyingNormally()19675
mrs_uav_managers::control_manager::ControlManager::callbackRC(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>)24726
mrs_uav_managers::control_manager::ControlManager::timerJoystick(ros::TimerEvent const&)67637
mrs_uav_managers::control_manager::ControlManager::callbackGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)78883
mrs_uav_managers::control_manager::ControlManager::enforceControllersConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)139392
mrs_uav_managers::control_manager::ControlManager::updateTrackers()140010
mrs_uav_managers::control_manager::ControlManager::asyncControl()149290
mrs_uav_managers::control_manager::ControlManager::updateControllers(mrs_msgs::UavState_<std::allocator<void> > const&)149726
mrs_uav_managers::control_manager::ControlManager::publishControlReferenceOdom(std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, mrs_uav_managers::Controller::ControlOutput const&)149726
mrs_uav_managers::control_manager::ControlManager::publish()149726
mrs_uav_managers::control_manager::ControlManager::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)175841
mrs_uav_managers::control_manager::ControlManager::timerSafety(ros::TimerEvent const&)348359
mrs_uav_managers::control_manager::ControlManager::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)449286
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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..6d503627a0 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/control_manager.cpp.func.html @@ -0,0 +1,528 @@ + + + + + + + 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:2544370268.7 %
Date:2024-12-11 22:27:27Functions:9511284.8 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()109
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)655
mrs_uav_managers::control_manager::ControlManager::callbackRC(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>)24726
mrs_uav_managers::control_manager::ControlManager::initialize()109
mrs_uav_managers::control_manager::ControlManager::isOffboard()18
mrs_uav_managers::control_manager::ControlManager::timerEland(ros::TimerEvent const&)483
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&)2471
mrs_uav_managers::control_manager::ControlManager::timerSafety(ros::TimerEvent const&)348359
mrs_uav_managers::control_manager::ControlManager::timerStatus(ros::TimerEvent const&)19283
mrs_uav_managers::control_manager::ControlManager::asyncControl()149290
mrs_uav_managers::control_manager::ControlManager::callbackGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)78883
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)101
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&)131
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()109
mrs_uav_managers::control_manager::ControlManager::switchTracker(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)246
mrs_uav_managers::control_manager::ControlManager::timerFailsafe(ros::TimerEvent const&)9716
mrs_uav_managers::control_manager::ControlManager::timerJoystick(ros::TimerEvent const&)67637
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&)109
mrs_uav_managers::control_manager::ControlManager::timerPirouette(ros::TimerEvent const&)0
mrs_uav_managers::control_manager::ControlManager::updateTrackers()140010
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&)0
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>)175841
mrs_uav_managers::control_manager::ControlManager::isFlyingNormally()19675
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&)149726
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()19392
mrs_uav_managers::control_manager::ControlManager::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)449286
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> >&)110
mrs_uav_managers::control_manager::ControlManager::odometryCallbacksSrv(bool)15
mrs_uav_managers::control_manager::ControlManager::setVelocityReference[abi:cxx11](mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)816
mrs_uav_managers::control_manager::ControlManager::callbackSwitchTracker(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)214
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&)10133
mrs_uav_managers::control_manager::ControlManager::isPointInSafetyArea3d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)1845
mrs_uav_managers::control_manager::ControlManager::bumperPushFromObstacle()278
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> >&)112
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&)195
mrs_uav_managers::control_manager::ControlManager::callbackEnableCallbacks(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)101
mrs_uav_managers::control_manager::ControlManager::getNextEscFailsafeState()8
mrs_uav_managers::control_manager::ControlManager::initializeControlOutput()228
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> >&)215
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&)377
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> >&)100
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> >&)10023
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&)886
mrs_uav_managers::control_manager::ControlManager::publishControlReferenceOdom(std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, mrs_uav_managers::Controller::ControlOutput const&)149726
mrs_uav_managers::control_manager::ControlManager::setConstraintsToControllers(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)431
mrs_uav_managers::control_manager::ControlManager::velocityReferenceToReference(mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)816
mrs_uav_managers::control_manager::ControlManager::enforceControllersConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)139392
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::callbackValidateReferenceArray(mrs_msgs::ValidateReferenceArrayRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceArrayResponse_<std::allocator<void> >&)2
mrs_uav_managers::control_manager::ControlManager::callbackVelocityReferenceTopic(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const>)90
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::callbackTransformReferenceArray(mrs_msgs::TransformReferenceArraySrvRequest_<std::allocator<void> >&, mrs_msgs::TransformReferenceArraySrvResponse_<std::allocator<void> >&)0
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> >&)726
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()109
mrs_uav_managers::control_manager::ControlManager::getMass()560
mrs_uav_managers::control_manager::ControlManager::getMaxZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)13876
mrs_uav_managers::control_manager::ControlManager::getMinZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)13879
mrs_uav_managers::control_manager::ControlManager::publish()149726
mrs_uav_managers::control_manager::ControlManager::elandSrv()8
mrs_uav_managers::control_manager::ControlManager::failsafe[abi:cxx11]()7
mrs_uav_managers::control_manager::ControlManager::ungripSrv()58
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)545
+
+
+ + + +
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..330a01e1e5 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/control_manager.cpp.gcov.html @@ -0,0 +1,9009 @@ + + + + + + + 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:2544370268.7 %
Date:2024-12-11 22:27:27Functions:9511284.8 %
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/ValidateReferenceArray.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/ReferenceArray.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/TransformReferenceArraySrv.h>
+      97             : #include <mrs_msgs/TransformReferenceArraySrvRequest.h>
+      98             : #include <mrs_msgs/TransformReferenceArraySrvResponse.h>
+      99             : 
+     100             : #include <mrs_msgs/TransformPoseSrv.h>
+     101             : #include <mrs_msgs/TransformPoseSrvRequest.h>
+     102             : #include <mrs_msgs/TransformPoseSrvResponse.h>
+     103             : 
+     104             : #include <mrs_msgs/TransformVector3Srv.h>
+     105             : #include <mrs_msgs/TransformVector3SrvRequest.h>
+     106             : #include <mrs_msgs/TransformVector3SrvResponse.h>
+     107             : 
+     108             : #include <mrs_msgs/Float64StampedSrv.h>
+     109             : #include <mrs_msgs/Float64StampedSrvRequest.h>
+     110             : #include <mrs_msgs/Float64StampedSrvResponse.h>
+     111             : 
+     112             : #include <mrs_msgs/Vec4.h>
+     113             : #include <mrs_msgs/Vec4Request.h>
+     114             : #include <mrs_msgs/Vec4Response.h>
+     115             : 
+     116             : #include <mrs_msgs/Vec1.h>
+     117             : #include <mrs_msgs/Vec1Request.h>
+     118             : #include <mrs_msgs/Vec1Response.h>
+     119             : 
+     120             : //}
+     121             : 
+     122             : /* defines //{ */
+     123             : 
+     124             : #define TAU 2 * M_PI
+     125             : #define REF_X 0
+     126             : #define REF_Y 1
+     127             : #define REF_Z 2
+     128             : #define REF_HEADING 3
+     129             : #define ELAND_STR "eland"
+     130             : #define EHOVER_STR "ehover"
+     131             : #define ESCALATING_FAILSAFE_STR "escalating_failsafe"
+     132             : #define FAILSAFE_STR "failsafe"
+     133             : #define INPUT_UAV_STATE 0
+     134             : #define INPUT_ODOMETRY 1
+     135             : #define RC_DEADBAND 0.2
+     136             : 
+     137             : //}
+     138             : 
+     139             : /* using //{ */
+     140             : 
+     141             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+     142             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+     143             : 
+     144             : using radians  = mrs_lib::geometry::radians;
+     145             : using sradians = mrs_lib::geometry::sradians;
+     146             : 
+     147             : //}
+     148             : 
+     149             : namespace mrs_uav_managers
+     150             : {
+     151             : 
+     152             : namespace control_manager
+     153             : {
+     154             : 
+     155             : /* //{ class ControlManager */
+     156             : 
+     157             : // state machine
+     158             : typedef enum
+     159             : {
+     160             : 
+     161             :   IDLE_STATE,
+     162             :   LANDING_STATE,
+     163             : 
+     164             : } LandingStates_t;
+     165             : 
+     166             : const char* state_names[2] = {"IDLING", "LANDING"};
+     167             : 
+     168             : // state machine
+     169             : typedef enum
+     170             : {
+     171             : 
+     172             :   FCU_FRAME,
+     173             :   RELATIVE_FRAME,
+     174             :   ABSOLUTE_FRAME
+     175             : 
+     176             : } ReferenceFrameType_t;
+     177             : 
+     178             : // state machine
+     179             : typedef enum
+     180             : {
+     181             : 
+     182             :   ESC_NONE_STATE     = 0,
+     183             :   ESC_EHOVER_STATE   = 1,
+     184             :   ESC_ELAND_STATE    = 2,
+     185             :   ESC_FAILSAFE_STATE = 3,
+     186             :   ESC_FINISHED_STATE = 4,
+     187             : 
+     188             : } EscalatingFailsafeStates_t;
+     189             : 
+     190             : /* class ControllerParams() //{ */
+     191             : 
+     192             : class ControllerParams {
+     193             : 
+     194             : public:
+     195             :   ControllerParams(std::string address, std::string name_space, double eland_threshold, double failsafe_threshold, double odometry_innovation_threshold,
+     196             :                    bool human_switchable);
+     197             : 
+     198             : public:
+     199             :   double      failsafe_threshold;
+     200             :   double      eland_threshold;
+     201             :   double      odometry_innovation_threshold;
+     202             :   std::string address;
+     203             :   std::string name_space;
+     204             :   bool        human_switchable;
+     205             : };
+     206             : 
+     207         545 : ControllerParams::ControllerParams(std::string address, std::string name_space, double eland_threshold, double failsafe_threshold,
+     208         545 :                                    double odometry_innovation_threshold, bool human_switchable) {
+     209             : 
+     210         545 :   this->eland_threshold               = eland_threshold;
+     211         545 :   this->odometry_innovation_threshold = odometry_innovation_threshold;
+     212         545 :   this->failsafe_threshold            = failsafe_threshold;
+     213         545 :   this->address                       = address;
+     214         545 :   this->name_space                    = name_space;
+     215         545 :   this->human_switchable              = human_switchable;
+     216         545 : }
+     217             : 
+     218             : //}
+     219             : 
+     220             : /* class TrackerParams() //{ */
+     221             : 
+     222             : class TrackerParams {
+     223             : 
+     224             : public:
+     225             :   TrackerParams(std::string address, std::string name_space, bool human_switchable);
+     226             : 
+     227             : public:
+     228             :   std::string address;
+     229             :   std::string name_space;
+     230             :   bool        human_switchable;
+     231             : };
+     232             : 
+     233         655 : TrackerParams::TrackerParams(std::string address, std::string name_space, bool human_switchable) {
+     234             : 
+     235         655 :   this->address          = address;
+     236         655 :   this->name_space       = name_space;
+     237         655 :   this->human_switchable = human_switchable;
+     238         655 : }
+     239             : 
+     240             : //}
+     241             : 
+     242             : class ControlManager : public nodelet::Nodelet {
+     243             : 
+     244             : public:
+     245             :   virtual void onInit();
+     246             : 
+     247             : private:
+     248             :   ros::NodeHandle   nh_;
+     249             :   std::atomic<bool> is_initialized_ = false;
+     250             :   std::string       _uav_name_;
+     251             :   std::string       _body_frame_;
+     252             : 
+     253             :   std::string _custom_config_;
+     254             :   std::string _platform_config_;
+     255             :   std::string _world_config_;
+     256             :   std::string _network_config_;
+     257             : 
+     258             :   // | --------------- dynamic loading of trackers -------------- |
+     259             : 
+     260             :   std::unique_ptr<pluginlib::ClassLoader<mrs_uav_managers::Tracker>> tracker_loader_;  // pluginlib loader of dynamically loaded trackers
+     261             :   std::vector<std::string>                                           _tracker_names_;  // list of tracker names
+     262             :   std::map<std::string, TrackerParams>                               trackers_;        // map between tracker names and tracker param
+     263             :   std::vector<boost::shared_ptr<mrs_uav_managers::Tracker>>          tracker_list_;    // list of trackers, routines are callable from this
+     264             :   std::mutex                                                         mutex_tracker_list_;
+     265             : 
+     266             :   // | ------------- dynamic loading of controllers ------------- |
+     267             : 
+     268             :   std::unique_ptr<pluginlib::ClassLoader<mrs_uav_managers::Controller>> controller_loader_;  // pluginlib loader of dynamically loaded controllers
+     269             :   std::vector<std::string>                                              _controller_names_;  // list of controller names
+     270             :   std::map<std::string, ControllerParams>                               controllers_;        // map between controller names and controller params
+     271             :   std::vector<boost::shared_ptr<mrs_uav_managers::Controller>>          controller_list_;    // list of controllers, routines are callable from this
+     272             :   std::mutex                                                            mutex_controller_list_;
+     273             : 
+     274             :   // | ------------------------- HW API ------------------------- |
+     275             : 
+     276             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities> sh_hw_api_capabilities_;
+     277             : 
+     278             :   OutputPublisher control_output_publisher_;
+     279             : 
+     280             :   ControlOutputModalities_t _hw_api_inputs_;
+     281             : 
+     282             :   double desired_uav_state_rate_ = 100.0;
+     283             : 
+     284             :   // this timer will check till we already got the hardware api diagnostics
+     285             :   // then it will trigger the initialization of the controllers and finish
+     286             :   // the initialization of the ControlManager
+     287             :   ros::Timer timer_hw_api_capabilities_;
+     288             :   void       timerHwApiCapabilities(const ros::TimerEvent& event);
+     289             : 
+     290             :   void preinitialize(void);
+     291             :   void initialize(void);
+     292             : 
+     293             :   // | ------------ tracker and controller switching ------------ |
+     294             : 
+     295             :   std::tuple<bool, std::string> switchController(const std::string& controller_name);
+     296             :   std::tuple<bool, std::string> switchTracker(const std::string& tracker_name);
+     297             : 
+     298             :   // the time of last switching of a tracker or a controller
+     299             :   ros::Time  controller_tracker_switch_time_;
+     300             :   std::mutex mutex_controller_tracker_switch_time_;
+     301             : 
+     302             :   // | -------------------- the transformer  -------------------- |
+     303             : 
+     304             :   std::shared_ptr<mrs_lib::Transformer> transformer_;
+     305             : 
+     306             :   // | ------------------- scope timer logger ------------------- |
+     307             : 
+     308             :   bool                                       scope_timer_enabled_ = false;
+     309             :   std::shared_ptr<mrs_lib::ScopeTimerLogger> scope_timer_logger_;
+     310             : 
+     311             :   // | --------------------- general params --------------------- |
+     312             : 
+     313             :   // defines the type of state input: odometry or uav_state mesasge types
+     314             :   int _state_input_;
+     315             : 
+     316             :   // names of important trackers
+     317             :   std::string _null_tracker_name_;     // null tracker is active when UAV is not in the air
+     318             :   std::string _ehover_tracker_name_;   // ehover tracker is used for emergency hovering
+     319             :   std::string _landoff_tracker_name_;  // landoff is used for landing and takeoff
+     320             : 
+     321             :   // names of important controllers
+     322             :   std::string _failsafe_controller_name_;  // controller used for feed-forward failsafe
+     323             :   std::string _eland_controller_name_;     // controller used for emergancy landing
+     324             : 
+     325             :   // joystick control
+     326             :   bool        _joystick_enabled_ = false;
+     327             :   int         _joystick_mode_;
+     328             :   std::string _joystick_tracker_name_;
+     329             :   std::string _joystick_controller_name_;
+     330             :   std::string _joystick_fallback_tracker_name_;
+     331             :   std::string _joystick_fallback_controller_name_;
+     332             : 
+     333             :   // should disarm after emergancy landing?
+     334             :   bool _eland_disarm_enabled_ = false;
+     335             : 
+     336             :   // enabling the emergency handoff -> will disable eland and failsafe
+     337             :   bool _rc_emergency_handoff_ = false;
+     338             : 
+     339             :   // what throttle should be output when null tracker is active?
+     340             :   double _min_throttle_null_tracker_ = 0.0;
+     341             : 
+     342             :   // rates of all the timers
+     343             :   double _status_timer_rate_   = 0;
+     344             :   double _safety_timer_rate_   = 0;
+     345             :   double _elanding_timer_rate_ = 0;
+     346             :   double _failsafe_timer_rate_ = 0;
+     347             :   double _bumper_timer_rate_   = 0;
+     348             : 
+     349             :   bool _snap_trajectory_to_safety_area_ = false;
+     350             : 
+     351             :   // | -------------- uav_state/odometry subscriber ------------- |
+     352             : 
+     353             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_odometry_;
+     354             :   mrs_lib::SubscribeHandler<mrs_msgs::UavState> sh_uav_state_;
+     355             : 
+     356             :   mrs_msgs::UavState uav_state_;
+     357             :   mrs_msgs::UavState previous_uav_state_;
+     358             :   bool               got_uav_state_               = false;
+     359             :   double             _uav_state_max_missing_time_ = 0;  // how long should we tolerate missing state estimate?
+     360             :   double             uav_roll_                    = 0;
+     361             :   double             uav_pitch_                   = 0;
+     362             :   double             uav_yaw_                     = 0;
+     363             :   double             uav_heading_                 = 0;
+     364             :   std::mutex         mutex_uav_state_;
+     365             : 
+     366             :   // odometry hiccup detection
+     367             :   double uav_state_avg_dt_        = 1;
+     368             :   double uav_state_hiccup_factor_ = 1;
+     369             :   int    uav_state_count_         = 0;
+     370             : 
+     371             :   mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix> sh_gnss_;
+     372             : 
+     373             :   // | -------------- safety area max z subscriber -------------- |
+     374             : 
+     375             :   mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped> sh_max_z_;
+     376             : 
+     377             :   // | ------------- odometry innovation subscriber ------------- |
+     378             : 
+     379             :   // odometry innovation is published by the odometry node
+     380             :   // it is used to issue eland if the estimator's input is too wonky
+     381             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_odometry_innovation_;
+     382             : 
+     383             :   // | --------------------- common handlers -------------------- |
+     384             : 
+     385             :   // contains handlers that are shared with trackers and controllers
+     386             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers_;
+     387             : 
+     388             :   // | --------------- tracker and controller IDs --------------- |
+     389             : 
+     390             :   // keeping track of currently active controllers and trackers
+     391             :   unsigned int active_tracker_idx_    = 0;
+     392             :   unsigned int active_controller_idx_ = 0;
+     393             : 
+     394             :   // indeces of some notable trackers
+     395             :   unsigned int _ehover_tracker_idx_               = 0;
+     396             :   unsigned int _landoff_tracker_idx_              = 0;
+     397             :   unsigned int _joystick_tracker_idx_             = 0;
+     398             :   unsigned int _joystick_controller_idx_          = 0;
+     399             :   unsigned int _failsafe_controller_idx_          = 0;
+     400             :   unsigned int _joystick_fallback_controller_idx_ = 0;
+     401             :   unsigned int _joystick_fallback_tracker_idx_    = 0;
+     402             :   unsigned int _null_tracker_idx_                 = 0;
+     403             :   unsigned int _eland_controller_idx_             = 0;
+     404             : 
+     405             :   // | -------------- enabling the output publisher ------------- |
+     406             : 
+     407             :   void              toggleOutput(const bool& input);
+     408             :   std::atomic<bool> output_enabled_ = false;
+     409             : 
+     410             :   // | ----------------------- publishers ----------------------- |
+     411             : 
+     412             :   mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics>     ph_controller_diagnostics_;
+     413             :   mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand>            ph_tracker_cmd_;
+     414             :   mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput>            ph_mrs_odom_input_;
+     415             :   mrs_lib::PublisherHandler<nav_msgs::Odometry>                  ph_control_reference_odom_;
+     416             :   mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics> ph_diagnostics_;
+     417             :   mrs_lib::PublisherHandler<std_msgs::Empty>                     ph_offboard_on_;
+     418             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>            ph_tilt_error_;
+     419             :   mrs_lib::PublisherHandler<std_msgs::Float64>                   ph_mass_estimate_;
+     420             :   mrs_lib::PublisherHandler<std_msgs::Float64>                   ph_mass_nominal_;
+     421             :   mrs_lib::PublisherHandler<std_msgs::Float64>                   ph_throttle_;
+     422             :   mrs_lib::PublisherHandler<std_msgs::Float64>                   ph_thrust_;
+     423             :   mrs_lib::PublisherHandler<mrs_msgs::ControlError>              ph_control_error_;
+     424             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>     ph_safety_area_markers_;
+     425             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>     ph_safety_area_coordinates_markers_;
+     426             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>     ph_disturbances_markers_;
+     427             :   mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints>       ph_current_constraints_;
+     428             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>            ph_heading_;
+     429             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>            ph_speed_;
+     430             : 
+     431             :   // | --------------------- service servers -------------------- |
+     432             : 
+     433             :   ros::ServiceServer service_server_switch_tracker_;
+     434             :   ros::ServiceServer service_server_switch_controller_;
+     435             :   ros::ServiceServer service_server_reset_tracker_;
+     436             :   ros::ServiceServer service_server_hover_;
+     437             :   ros::ServiceServer service_server_ehover_;
+     438             :   ros::ServiceServer service_server_failsafe_;
+     439             :   ros::ServiceServer service_server_failsafe_escalating_;
+     440             :   ros::ServiceServer service_server_toggle_output_;
+     441             :   ros::ServiceServer service_server_arm_;
+     442             :   ros::ServiceServer service_server_enable_callbacks_;
+     443             :   ros::ServiceServer service_server_set_constraints_;
+     444             :   ros::ServiceServer service_server_use_joystick_;
+     445             :   ros::ServiceServer service_server_use_safety_area_;
+     446             :   ros::ServiceServer service_server_emergency_reference_;
+     447             :   ros::ServiceServer service_server_pirouette_;
+     448             :   ros::ServiceServer service_server_eland_;
+     449             :   ros::ServiceServer service_server_parachute_;
+     450             :   ros::ServiceServer service_server_set_min_z_;
+     451             : 
+     452             :   // human callbable services for references
+     453             :   ros::ServiceServer service_server_goto_;
+     454             :   ros::ServiceServer service_server_goto_fcu_;
+     455             :   ros::ServiceServer service_server_goto_relative_;
+     456             :   ros::ServiceServer service_server_goto_altitude_;
+     457             :   ros::ServiceServer service_server_set_heading_;
+     458             :   ros::ServiceServer service_server_set_heading_relative_;
+     459             : 
+     460             :   // the reference service and subscriber
+     461             :   ros::ServiceServer                                    service_server_reference_;
+     462             :   mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped> sh_reference_;
+     463             : 
+     464             :   // the velocity reference service and subscriber
+     465             :   ros::ServiceServer                                            service_server_velocity_reference_;
+     466             :   mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped> sh_velocity_reference_;
+     467             : 
+     468             :   // trajectory tracking
+     469             :   ros::ServiceServer                                       service_server_trajectory_reference_;
+     470             :   mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference> sh_trajectory_reference_;
+     471             :   ros::ServiceServer                                       service_server_start_trajectory_tracking_;
+     472             :   ros::ServiceServer                                       service_server_stop_trajectory_tracking_;
+     473             :   ros::ServiceServer                                       service_server_resume_trajectory_tracking_;
+     474             :   ros::ServiceServer                                       service_server_goto_trajectory_start_;
+     475             : 
+     476             :   // transform service servers
+     477             :   ros::ServiceServer service_server_transform_reference_;
+     478             :   ros::ServiceServer service_server_transform_reference_array_;
+     479             :   ros::ServiceServer service_server_transform_pose_;
+     480             :   ros::ServiceServer service_server_transform_vector3_;
+     481             : 
+     482             :   // safety area services
+     483             :   ros::ServiceServer service_server_validate_reference_;
+     484             :   ros::ServiceServer service_server_validate_reference_2d_;
+     485             :   ros::ServiceServer service_server_validate_reference_array_;
+     486             : 
+     487             :   // bumper service servers
+     488             :   ros::ServiceServer service_server_bumper_enabler_;
+     489             :   ros::ServiceServer service_server_bumper_repulsion_enabler_;
+     490             : 
+     491             :   // service clients
+     492             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool> sch_arming_;
+     493             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_eland_;
+     494             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_shutdown_;
+     495             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool> sch_set_odometry_callbacks_;
+     496             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_parachute_;
+     497             : 
+     498             :   // safety area min z servers
+     499             :   ros::ServiceServer service_server_get_min_z_;
+     500             : 
+     501             :   // | --------- trackers' and controllers' last results -------- |
+     502             : 
+     503             :   // the last result of an active tracker
+     504             :   std::optional<mrs_msgs::TrackerCommand> last_tracker_cmd_;
+     505             :   std::mutex                              mutex_last_tracker_cmd_;
+     506             : 
+     507             :   // the last result of an active controller
+     508             :   Controller::ControlOutput last_control_output_;
+     509             :   std::mutex                mutex_last_control_output_;
+     510             : 
+     511             :   // | -------------- HW API diagnostics subscriber ------------- |
+     512             : 
+     513             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus> sh_hw_api_status_;
+     514             : 
+     515             :   bool offboard_mode_          = false;
+     516             :   bool offboard_mode_was_true_ = false;  // if it was ever true
+     517             :   bool armed_                  = false;
+     518             : 
+     519             :   // | -------------------- throttle and mass ------------------- |
+     520             : 
+     521             :   // throttle mass estimation during eland
+     522             :   double    throttle_mass_estimate_   = 0;
+     523             :   bool      throttle_under_threshold_ = false;
+     524             :   ros::Time throttle_mass_estimate_first_time_;
+     525             : 
+     526             :   // | ---------------------- safety params --------------------- |
+     527             : 
+     528             :   // failsafe when tilt error is too large
+     529             :   bool   _tilt_error_disarm_enabled_;
+     530             :   double _tilt_error_disarm_timeout_;
+     531             :   double _tilt_error_disarm_threshold_;
+     532             : 
+     533             :   ros::Time tilt_error_disarm_time_;
+     534             :   bool      tilt_error_disarm_over_thr_ = false;
+     535             : 
+     536             :   // elanding when tilt error is too large
+     537             :   bool   _tilt_limit_eland_enabled_;
+     538             :   double _tilt_limit_eland_ = 0;  // [rad]
+     539             : 
+     540             :   // disarming when tilt error is too large
+     541             :   bool   _tilt_limit_disarm_enabled_;
+     542             :   double _tilt_limit_disarm_ = 0;  // [rad]
+     543             : 
+     544             :   // elanding when yaw error is too large
+     545             :   bool   _yaw_error_eland_enabled_;
+     546             :   double _yaw_error_eland_ = 0;  // [rad]
+     547             : 
+     548             :   // keeping track of control errors
+     549             :   std::optional<double> tilt_error_ = 0;
+     550             :   std::optional<double> yaw_error_  = 0;
+     551             :   std::mutex            mutex_attitude_error_;
+     552             : 
+     553             :   std::optional<Eigen::Vector3d> position_error_;
+     554             :   std::mutex                     mutex_position_error_;
+     555             : 
+     556             :   // control error for triggering failsafe, eland, etc.
+     557             :   // this filled with the current controllers failsafe threshold
+     558             :   double _failsafe_threshold_                = 0;  // control error for triggering failsafe
+     559             :   double _eland_threshold_                   = 0;  // control error for triggering eland
+     560             :   bool   _odometry_innovation_check_enabled_ = false;
+     561             :   double _odometry_innovation_threshold_     = 0;  // innovation size for triggering eland
+     562             : 
+     563             :   bool callbacks_enabled_ = true;
+     564             : 
+     565             :   // | ------------------------ parachute ----------------------- |
+     566             : 
+     567             :   bool _parachute_enabled_ = false;
+     568             : 
+     569             :   std::tuple<bool, std::string> deployParachute(void);
+     570             :   bool                          parachuteSrv(void);
+     571             : 
+     572             :   // | ----------------------- safety area ---------------------- |
+     573             : 
+     574             :   // safety area
+     575             :   std::unique_ptr<mrs_lib::SafetyZone> safety_zone_;
+     576             : 
+     577             :   std::atomic<bool> use_safety_area_ = false;
+     578             : 
+     579             :   std::string _safety_area_horizontal_frame_;
+     580             :   std::string _safety_area_vertical_frame_;
+     581             : 
+     582             :   std::atomic<double> _safety_area_min_z_ = 0;
+     583             : 
+     584             :   double _safety_area_max_z_ = 0;
+     585             : 
+     586             :   // safety area routines
+     587             :   // those are passed to trackers using the common_handlers object
+     588             :   bool   isPointInSafetyArea2d(const mrs_msgs::ReferenceStamped& point);
+     589             :   bool   isPointInSafetyArea3d(const mrs_msgs::ReferenceStamped& point);
+     590             :   bool   isPathToPointInSafetyArea2d(const mrs_msgs::ReferenceStamped& from, const mrs_msgs::ReferenceStamped& to);
+     591             :   bool   isPathToPointInSafetyArea3d(const mrs_msgs::ReferenceStamped& from, const mrs_msgs::ReferenceStamped& to);
+     592             :   double getMinZ(const std::string& frame_id);
+     593             :   double getMaxZ(const std::string& frame_id);
+     594             : 
+     595             :   // | ------------------------ callbacks ----------------------- |
+     596             : 
+     597             :   // topic callbacks
+     598             :   void callbackOdometry(const nav_msgs::Odometry::ConstPtr msg);
+     599             :   void callbackUavState(const mrs_msgs::UavState::ConstPtr msg);
+     600             :   void callbackHwApiStatus(const mrs_msgs::HwApiStatus::ConstPtr msg);
+     601             :   void callbackGNSS(const sensor_msgs::NavSatFix::ConstPtr msg);
+     602             :   void callbackRC(const mrs_msgs::HwApiRcChannels::ConstPtr msg);
+     603             : 
+     604             :   // topic timeouts
+     605             :   void timeoutUavState(const double& missing_for);
+     606             : 
+     607             :   // switching controller and tracker services
+     608             :   bool callbackSwitchTracker(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+     609             :   bool callbackSwitchController(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+     610             :   bool callbackTrackerResetStatic(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     611             : 
+     612             :   // reference callbacks
+     613             :   void callbackReferenceTopic(const mrs_msgs::ReferenceStamped::ConstPtr msg);
+     614             :   void callbackVelocityReferenceTopic(const mrs_msgs::VelocityReferenceStamped::ConstPtr msg);
+     615             :   void callbackTrajectoryReferenceTopic(const mrs_msgs::TrajectoryReference::ConstPtr msg);
+     616             :   bool callbackGoto(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res);
+     617             :   bool callbackGotoFcu(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res);
+     618             :   bool callbackGotoRelative(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res);
+     619             :   bool callbackGotoAltitude(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res);
+     620             :   bool callbackSetHeading(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res);
+     621             :   bool callbackSetHeadingRelative(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res);
+     622             :   bool callbackReferenceService(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res);
+     623             :   bool callbackVelocityReferenceService(mrs_msgs::VelocityReferenceStampedSrv::Request& req, mrs_msgs::VelocityReferenceStampedSrv::Response& res);
+     624             :   bool callbackTrajectoryReferenceService(mrs_msgs::TrajectoryReferenceSrv::Request& req, mrs_msgs::TrajectoryReferenceSrv::Response& res);
+     625             :   bool callbackEmergencyReference(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res);
+     626             : 
+     627             :   // safety callbacks
+     628             :   bool callbackHover(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     629             :   bool callbackStartTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     630             :   bool callbackStopTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     631             :   bool callbackResumeTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     632             :   bool callbackGotoTrajectoryStart([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     633             :   bool callbackEHover(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     634             :   bool callbackFailsafe(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     635             :   bool callbackFailsafeEscalating(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     636             :   bool callbackEland(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     637             :   bool callbackParachute([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     638             :   bool callbackSetMinZ(mrs_msgs::Float64StampedSrv::Request& req, mrs_msgs::Float64StampedSrv::Response& res);
+     639             :   bool callbackToggleOutput(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     640             :   bool callbackArm(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     641             :   bool callbackEnableCallbacks(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     642             :   bool callbackEnableBumper(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     643             :   bool callbackUseSafetyArea(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     644             : 
+     645             :   bool callbackGetMinZ(mrs_msgs::GetFloat64::Request& req, mrs_msgs::GetFloat64::Response& res);
+     646             : 
+     647             :   bool callbackValidateReference(mrs_msgs::ValidateReference::Request& req, mrs_msgs::ValidateReference::Response& res);
+     648             :   bool callbackValidateReference2d(mrs_msgs::ValidateReference::Request& req, mrs_msgs::ValidateReference::Response& res);
+     649             :   bool callbackValidateReferenceArray(mrs_msgs::ValidateReferenceArray::Request& req, mrs_msgs::ValidateReferenceArray::Response& res);
+     650             : 
+     651             :   // transformation callbacks
+     652             :   bool callbackTransformReference(mrs_msgs::TransformReferenceSrv::Request& req, mrs_msgs::TransformReferenceSrv::Response& res);
+     653             :   bool callbackTransformReferenceArray(mrs_msgs::TransformReferenceArraySrv::Request& req, mrs_msgs::TransformReferenceArraySrv::Response& res);
+     654             :   bool callbackTransformPose(mrs_msgs::TransformPoseSrv::Request& req, mrs_msgs::TransformPoseSrv::Response& res);
+     655             :   bool callbackTransformVector3(mrs_msgs::TransformVector3Srv::Request& req, mrs_msgs::TransformVector3Srv::Response& res);
+     656             : 
+     657             :   // | ----------------------- constraints ---------------------- |
+     658             : 
+     659             :   // sets constraints to all trackers
+     660             :   bool callbackSetConstraints(mrs_msgs::DynamicsConstraintsSrv::Request& req, mrs_msgs::DynamicsConstraintsSrv::Response& res);
+     661             : 
+     662             :   // constraints management
+     663             :   bool              got_constraints_ = false;
+     664             :   std::mutex        mutex_constraints_;
+     665             :   void              setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints);
+     666             :   void              setConstraintsToTrackers(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints);
+     667             :   void              setConstraintsToControllers(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints);
+     668             :   std::atomic<bool> constraints_being_enforced_ = false;
+     669             : 
+     670             :   std::optional<mrs_msgs::DynamicsConstraintsSrvRequest> enforceControllersConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints);
+     671             : 
+     672             :   mrs_msgs::DynamicsConstraintsSrvRequest current_constraints_;
+     673             :   mrs_msgs::DynamicsConstraintsSrvRequest sanitized_constraints_;
+     674             : 
+     675             :   // | ------------------ emergency triggered? ------------------ |
+     676             : 
+     677             :   std::atomic<bool> failsafe_triggered_ = false;
+     678             :   std::atomic<bool> eland_triggered_    = false;
+     679             : 
+     680             :   // | ------------------------- timers ------------------------- |
+     681             : 
+     682             :   // timer for regular status publishing
+     683             :   ros::Timer timer_status_;
+     684             :   void       timerStatus(const ros::TimerEvent& event);
+     685             : 
+     686             :   // timer for issuing the failsafe landing
+     687             :   ros::Timer timer_failsafe_;
+     688             :   void       timerFailsafe(const ros::TimerEvent& event);
+     689             : 
+     690             :   // oneshot timer for running controllers and trackers
+     691             :   void              asyncControl(void);
+     692             :   std::atomic<bool> running_async_control_ = false;
+     693             :   std::future<void> async_control_result_;
+     694             : 
+     695             :   // timer for issuing emergancy landing
+     696             :   ros::Timer timer_eland_;
+     697             :   void       timerEland(const ros::TimerEvent& event);
+     698             : 
+     699             :   // timer for regular checking of controller errors
+     700             :   ros::Timer        timer_safety_;
+     701             :   void              timerSafety(const ros::TimerEvent& event);
+     702             :   std::atomic<bool> running_safety_timer_        = false;
+     703             :   std::atomic<bool> odometry_switch_in_progress_ = false;
+     704             : 
+     705             :   // timer for issuing the pirouette
+     706             :   ros::Timer timer_pirouette_;
+     707             :   void       timerPirouette(const ros::TimerEvent& event);
+     708             : 
+     709             :   // | --------------------- obstacle bumper -------------------- |
+     710             : 
+     711             :   // bumper timer
+     712             :   ros::Timer timer_bumper_;
+     713             :   void       timerBumper(const ros::TimerEvent& event);
+     714             : 
+     715             :   // bumper subscriber
+     716             :   mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors> sh_bumper_;
+     717             : 
+     718             :   bool        _bumper_switch_tracker_    = false;
+     719             :   bool        _bumper_switch_controller_ = false;
+     720             :   std::string _bumper_tracker_name_;
+     721             :   std::string _bumper_controller_name_;
+     722             :   std::string bumper_previous_tracker_;
+     723             :   std::string bumper_previous_controller_;
+     724             : 
+     725             :   std::atomic<bool> bumper_enabled_   = false;
+     726             :   std::atomic<bool> bumper_repulsing_ = false;
+     727             : 
+     728             :   bool _bumper_horizontal_derive_from_dynamics_;
+     729             :   bool _bumper_vertical_derive_from_dynamics_;
+     730             : 
+     731             :   double _bumper_horizontal_distance_ = 0;
+     732             :   double _bumper_vertical_distance_   = 0;
+     733             : 
+     734             :   double _bumper_horizontal_overshoot_ = 0;
+     735             :   double _bumper_vertical_overshoot_   = 0;
+     736             : 
+     737             :   int  bumperGetSectorId(const double& x, const double& y, const double& z);
+     738             :   void bumperPushFromObstacle(void);
+     739             : 
+     740             :   // | --------------- safety checks and failsafes -------------- |
+     741             : 
+     742             :   // escalating failsafe (eland -> failsafe -> disarm)
+     743             :   bool                       _service_escalating_failsafe_enabled_ = false;
+     744             :   bool                       _rc_escalating_failsafe_enabled_      = false;
+     745             :   double                     _escalating_failsafe_timeout_         = 0;
+     746             :   ros::Time                  escalating_failsafe_time_;
+     747             :   bool                       _escalating_failsafe_ehover_   = false;
+     748             :   bool                       _escalating_failsafe_eland_    = false;
+     749             :   bool                       _escalating_failsafe_failsafe_ = false;
+     750             :   double                     _rc_escalating_failsafe_threshold_;
+     751             :   int                        _rc_escalating_failsafe_channel_  = 0;
+     752             :   bool                       rc_escalating_failsafe_triggered_ = false;
+     753             :   EscalatingFailsafeStates_t state_escalating_failsafe_        = ESC_NONE_STATE;
+     754             : 
+     755             :   std::string _tracker_error_action_;
+     756             : 
+     757             :   // emergancy landing state machine
+     758             :   LandingStates_t current_state_landing_  = IDLE_STATE;
+     759             :   LandingStates_t previous_state_landing_ = IDLE_STATE;
+     760             :   std::mutex      mutex_landing_state_machine_;
+     761             :   void            changeLandingState(LandingStates_t new_state);
+     762             :   double          _uav_mass_ = 0;
+     763             :   double          _elanding_cutoff_mass_factor_;
+     764             :   double          _elanding_cutoff_timeout_;
+     765             :   double          landing_uav_mass_ = 0;
+     766             : 
+     767             :   // initial body disturbance loaded from params
+     768             :   double _initial_body_disturbance_x_ = 0;
+     769             :   double _initial_body_disturbance_y_ = 0;
+     770             : 
+     771             :   // profiling
+     772             :   mrs_lib::Profiler profiler_;
+     773             :   bool              _profiler_enabled_ = false;
+     774             : 
+     775             :   // diagnostics publishing
+     776             :   void       publishDiagnostics(void);
+     777             :   std::mutex mutex_diagnostics_;
+     778             : 
+     779             :   void                                             ungripSrv(void);
+     780             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_ungrip_;
+     781             : 
+     782             :   bool isFlyingNormally(void);
+     783             : 
+     784             :   // | ------------------------ pirouette ----------------------- |
+     785             : 
+     786             :   bool       _pirouette_enabled_ = false;
+     787             :   double     _pirouette_speed_;
+     788             :   double     _pirouette_timer_rate_;
+     789             :   std::mutex mutex_pirouette_;
+     790             :   double     pirouette_initial_heading_;
+     791             :   double     pirouette_iterator_;
+     792             :   bool       callbackPirouette(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     793             : 
+     794             :   // | -------------------- joystick control -------------------- |
+     795             : 
+     796             :   mrs_lib::SubscribeHandler<sensor_msgs::Joy> sh_joystick_;
+     797             : 
+     798             :   void callbackJoystick(const sensor_msgs::Joy::ConstPtr msg);
+     799             :   bool callbackUseJoystick([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     800             : 
+     801             :   // joystick buttons mappings
+     802             :   int _channel_A_, _channel_B_, _channel_X_, _channel_Y_, _channel_start_, _channel_back_, _channel_LT_, _channel_RT_, _channel_L_joy_, _channel_R_joy_;
+     803             : 
+     804             :   // channel numbers and channel multipliers
+     805             :   int    _channel_pitch_, _channel_roll_, _channel_heading_, _channel_throttle_;
+     806             :   double _channel_mult_pitch_, _channel_mult_roll_, _channel_mult_heading_, _channel_mult_throttle_;
+     807             : 
+     808             :   ros::Timer timer_joystick_;
+     809             :   void       timerJoystick(const ros::TimerEvent& event);
+     810             :   double     _joystick_timer_rate_ = 0;
+     811             : 
+     812             :   double _joystick_carrot_distance_ = 0;
+     813             : 
+     814             :   ros::Time joystick_start_press_time_;
+     815             :   bool      joystick_start_pressed_ = false;
+     816             : 
+     817             :   ros::Time joystick_back_press_time_;
+     818             :   bool      joystick_back_pressed_ = false;
+     819             :   bool      joystick_goto_enabled_ = false;
+     820             : 
+     821             :   bool      joystick_failsafe_pressed_ = false;
+     822             :   ros::Time joystick_failsafe_press_time_;
+     823             : 
+     824             :   bool      joystick_eland_pressed_ = false;
+     825             :   ros::Time joystick_eland_press_time_;
+     826             : 
+     827             :   // | ------------------- RC joystick control ------------------ |
+     828             : 
+     829             :   // listening to the RC channels as told by pixhawk
+     830             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels> sh_hw_api_rc_;
+     831             : 
+     832             :   // the RC channel mapping of the main 4 control signals
+     833             :   double _rc_channel_pitch_, _rc_channel_roll_, _rc_channel_heading_, _rc_channel_throttle_;
+     834             : 
+     835             :   bool              _rc_goto_enabled_               = false;
+     836             :   std::atomic<bool> rc_goto_active_                 = false;
+     837             :   double            rc_joystick_channel_last_value_ = 0.5;
+     838             :   bool              rc_joystick_channel_was_low_    = false;
+     839             :   int               _rc_joystick_channel_           = 0;
+     840             : 
+     841             :   double _rc_horizontal_speed_ = 0;
+     842             :   double _rc_vertical_speed_   = 0;
+     843             :   double _rc_heading_rate_     = 0;
+     844             : 
+     845             :   // | ------------------- trajectory loading ------------------- |
+     846             : 
+     847             :   mrs_lib::PublisherHandler<geometry_msgs::PoseArray>        pub_debug_original_trajectory_poses_;
+     848             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray> pub_debug_original_trajectory_markers_;
+     849             : 
+     850             :   // | --------------------- other routines --------------------- |
+     851             : 
+     852             :   // this is called to update the trackers and to receive position control command from the active one
+     853             :   void updateTrackers(void);
+     854             : 
+     855             :   // this is called to update the controllers and to receive attitude control command from the active one
+     856             :   void updateControllers(const mrs_msgs::UavState& uav_state);
+     857             : 
+     858             :   // sets the reference to the active tracker
+     859             :   std::tuple<bool, std::string> setReference(const mrs_msgs::ReferenceStamped reference_in);
+     860             : 
+     861             :   // sets the velocity reference to the active tracker
+     862             :   std::tuple<bool, std::string> setVelocityReference(const mrs_msgs::VelocityReferenceStamped& reference_in);
+     863             : 
+     864             :   // sets the reference trajectory to the active tracker
+     865             :   std::tuple<bool, std::string, bool, std::vector<std::string>, std::vector<bool>, std::vector<std::string>> setTrajectoryReference(
+     866             :       const mrs_msgs::TrajectoryReference trajectory_in);
+     867             : 
+     868             :   // publishes
+     869             :   void publish(void);
+     870             : 
+     871             :   bool loadConfigFile(const std::string& file_path, const std::string ns);
+     872             : 
+     873             :   double getMass(void);
+     874             : 
+     875             :   // publishes rviz-visualizable control reference
+     876             :   void publishControlReferenceOdom(const std::optional<mrs_msgs::TrackerCommand>& tracker_command, const Controller::ControlOutput& control_output);
+     877             : 
+     878             :   void initializeControlOutput(void);
+     879             : 
+     880             :   // tell the mrs_odometry to disable its callbacks
+     881             :   void odometryCallbacksSrv(const bool input);
+     882             : 
+     883             :   mrs_msgs::ReferenceStamped velocityReferenceToReference(const mrs_msgs::VelocityReferenceStamped& vel_reference);
+     884             : 
+     885             :   void                          setCallbacks(bool in);
+     886             :   bool                          isOffboard(void);
+     887             :   bool                          elandSrv(void);
+     888             :   std::tuple<bool, std::string> arming(const bool input);
+     889             : 
+     890             :   // safety functions impl
+     891             :   std::tuple<bool, std::string> ehover(void);
+     892             :   std::tuple<bool, std::string> hover(void);
+     893             :   std::tuple<bool, std::string> startTrajectoryTracking(void);
+     894             :   std::tuple<bool, std::string> stopTrajectoryTracking(void);
+     895             :   std::tuple<bool, std::string> resumeTrajectoryTracking(void);
+     896             :   std::tuple<bool, std::string> gotoTrajectoryStart(void);
+     897             :   std::tuple<bool, std::string> eland(void);
+     898             :   std::tuple<bool, std::string> failsafe(void);
+     899             :   std::tuple<bool, std::string> escalatingFailsafe(void);
+     900             : 
+     901             :   EscalatingFailsafeStates_t getNextEscFailsafeState(void);
+     902             : };
+     903             : 
+     904             : //}
+     905             : 
+     906             : /* //{ onInit() */
+     907             : 
+     908         109 : void ControlManager::onInit() {
+     909         109 :   preinitialize();
+     910         109 : }
+     911             : 
+     912             : //}
+     913             : 
+     914             : /* preinitialize() //{ */
+     915             : 
+     916         109 : void ControlManager::preinitialize(void) {
+     917             : 
+     918         109 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     919             : 
+     920         109 :   ros::Time::waitForValid();
+     921             : 
+     922         109 :   mrs_lib::SubscribeHandlerOptions shopts;
+     923         109 :   shopts.nh                 = nh_;
+     924         109 :   shopts.node_name          = "ControlManager";
+     925         109 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     926         109 :   shopts.threadsafe         = true;
+     927         109 :   shopts.autostart          = true;
+     928         109 :   shopts.queue_size         = 10;
+     929         109 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     930             : 
+     931         109 :   sh_hw_api_capabilities_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>(shopts, "hw_api_capabilities_in");
+     932             : 
+     933         109 :   timer_hw_api_capabilities_ = nh_.createTimer(ros::Rate(1.0), &ControlManager::timerHwApiCapabilities, this);
+     934         109 : }
+     935             : 
+     936             : //}
+     937             : 
+     938             : /* initialize() //{ */
+     939             : 
+     940         109 : void ControlManager::initialize(void) {
+     941             : 
+     942         109 :   joystick_start_press_time_      = ros::Time(0);
+     943         109 :   joystick_failsafe_press_time_   = ros::Time(0);
+     944         109 :   joystick_eland_press_time_      = ros::Time(0);
+     945         109 :   escalating_failsafe_time_       = ros::Time(0);
+     946         109 :   controller_tracker_switch_time_ = ros::Time(0);
+     947             : 
+     948         109 :   ROS_INFO("[ControlManager]: initializing");
+     949             : 
+     950             :   // --------------------------------------------------------------
+     951             :   // |         common handler for trackers and controllers        |
+     952             :   // --------------------------------------------------------------
+     953             : 
+     954         109 :   common_handlers_ = std::make_shared<mrs_uav_managers::control_manager::CommonHandlers_t>();
+     955             : 
+     956             :   // --------------------------------------------------------------
+     957             :   // |                           params                           |
+     958             :   // --------------------------------------------------------------
+     959             : 
+     960         218 :   mrs_lib::ParamLoader param_loader(nh_, "ControlManager");
+     961             : 
+     962         109 :   param_loader.loadParam("custom_config", _custom_config_);
+     963         109 :   param_loader.loadParam("platform_config", _platform_config_);
+     964         109 :   param_loader.loadParam("world_config", _world_config_);
+     965         109 :   param_loader.loadParam("network_config", _network_config_);
+     966             : 
+     967         109 :   if (_custom_config_ != "") {
+     968         109 :     param_loader.addYamlFile(_custom_config_);
+     969             :   }
+     970             : 
+     971         109 :   if (_platform_config_ != "") {
+     972         109 :     param_loader.addYamlFile(_platform_config_);
+     973             :   }
+     974             : 
+     975         109 :   if (_world_config_ != "") {
+     976         109 :     param_loader.addYamlFile(_world_config_);
+     977             :   }
+     978             : 
+     979         109 :   if (_network_config_ != "") {
+     980         109 :     param_loader.addYamlFile(_network_config_);
+     981             :   }
+     982             : 
+     983         109 :   param_loader.addYamlFileFromParam("private_config");
+     984         109 :   param_loader.addYamlFileFromParam("public_config");
+     985         109 :   param_loader.addYamlFileFromParam("private_trackers");
+     986         109 :   param_loader.addYamlFileFromParam("private_controllers");
+     987         109 :   param_loader.addYamlFileFromParam("public_controllers");
+     988             : 
+     989             :   // params passed from the launch file are not prefixed
+     990         109 :   param_loader.loadParam("uav_name", _uav_name_);
+     991         109 :   param_loader.loadParam("body_frame", _body_frame_);
+     992         109 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     993         109 :   param_loader.loadParam("uav_mass", _uav_mass_);
+     994         109 :   param_loader.loadParam("body_disturbance_x", _initial_body_disturbance_x_);
+     995         109 :   param_loader.loadParam("body_disturbance_y", _initial_body_disturbance_y_);
+     996         109 :   param_loader.loadParam("g", common_handlers_->g);
+     997             : 
+     998             :   // motor params are also not prefixed, since they are common to more nodes
+     999         109 :   param_loader.loadParam("motor_params/a", common_handlers_->throttle_model.A);
+    1000         109 :   param_loader.loadParam("motor_params/b", common_handlers_->throttle_model.B);
+    1001         109 :   param_loader.loadParam("motor_params/n_motors", common_handlers_->throttle_model.n_motors);
+    1002             : 
+    1003             :   // | ----------------------- safety area ---------------------- |
+    1004             : 
+    1005             :   bool use_safety_area;
+    1006         109 :   param_loader.loadParam("safety_area/enabled", use_safety_area);
+    1007         109 :   use_safety_area_ = use_safety_area;
+    1008             : 
+    1009         109 :   param_loader.loadParam("safety_area/horizontal/frame_name", _safety_area_horizontal_frame_);
+    1010             : 
+    1011         109 :   param_loader.loadParam("safety_area/vertical/frame_name", _safety_area_vertical_frame_);
+    1012         109 :   param_loader.loadParam("safety_area/vertical/max_z", _safety_area_max_z_);
+    1013             : 
+    1014             :   {
+    1015             :     double temp;
+    1016         109 :     param_loader.loadParam("safety_area/vertical/min_z", temp);
+    1017             : 
+    1018         109 :     _safety_area_min_z_ = temp;
+    1019             :   }
+    1020             : 
+    1021         109 :   if (use_safety_area_) {
+    1022             : 
+    1023         261 :     Eigen::MatrixXd border_points = param_loader.loadMatrixDynamic2("safety_area/horizontal/points", -1, 2);
+    1024             : 
+    1025             :     try {
+    1026             : 
+    1027         174 :       std::vector<Eigen::MatrixXd> polygon_obstacle_points;
+    1028          87 :       std::vector<Eigen::MatrixXd> point_obstacle_points;
+    1029             : 
+    1030          87 :       safety_zone_ = std::make_unique<mrs_lib::SafetyZone>(border_points);
+    1031             :     }
+    1032             : 
+    1033           0 :     catch (mrs_lib::SafetyZone::BorderError& e) {
+    1034           0 :       ROS_ERROR("[ControlManager]: SafetyArea: wrong configruation for the safety zone border polygon");
+    1035           0 :       ros::shutdown();
+    1036             :     }
+    1037           0 :     catch (...) {
+    1038           0 :       ROS_ERROR("[ControlManager]: SafetyArea: unhandled exception!");
+    1039           0 :       ros::shutdown();
+    1040             :     }
+    1041             : 
+    1042          87 :     ROS_INFO("[ControlManager]: safety area initialized");
+    1043             :   }
+    1044             : 
+    1045         109 :   param_loader.setPrefix("mrs_uav_managers/control_manager/");
+    1046             : 
+    1047         109 :   param_loader.loadParam("state_input", _state_input_);
+    1048             : 
+    1049         109 :   if (!(_state_input_ == INPUT_UAV_STATE || _state_input_ == INPUT_ODOMETRY)) {
+    1050           0 :     ROS_ERROR("[ControlManager]: the state_input parameter has to be in {0, 1}");
+    1051           0 :     ros::shutdown();
+    1052             :   }
+    1053             : 
+    1054         109 :   param_loader.loadParam("safety/min_throttle_null_tracker", _min_throttle_null_tracker_);
+    1055         109 :   param_loader.loadParam("safety/ehover_tracker", _ehover_tracker_name_);
+    1056         109 :   param_loader.loadParam("safety/failsafe_controller", _failsafe_controller_name_);
+    1057             : 
+    1058         109 :   param_loader.loadParam("safety/eland/controller", _eland_controller_name_);
+    1059         109 :   param_loader.loadParam("safety/eland/cutoff_mass_factor", _elanding_cutoff_mass_factor_);
+    1060         109 :   param_loader.loadParam("safety/eland/cutoff_timeout", _elanding_cutoff_timeout_);
+    1061         109 :   param_loader.loadParam("safety/eland/timer_rate", _elanding_timer_rate_);
+    1062         109 :   param_loader.loadParam("safety/eland/disarm", _eland_disarm_enabled_);
+    1063             : 
+    1064         109 :   param_loader.loadParam("safety/escalating_failsafe/service/enabled", _service_escalating_failsafe_enabled_);
+    1065         109 :   param_loader.loadParam("safety/escalating_failsafe/rc/enabled", _rc_escalating_failsafe_enabled_);
+    1066         109 :   param_loader.loadParam("safety/escalating_failsafe/rc/channel_number", _rc_escalating_failsafe_channel_);
+    1067         109 :   param_loader.loadParam("safety/escalating_failsafe/rc/threshold", _rc_escalating_failsafe_threshold_);
+    1068         109 :   param_loader.loadParam("safety/escalating_failsafe/timeout", _escalating_failsafe_timeout_);
+    1069         109 :   param_loader.loadParam("safety/escalating_failsafe/ehover", _escalating_failsafe_ehover_);
+    1070         109 :   param_loader.loadParam("safety/escalating_failsafe/eland", _escalating_failsafe_eland_);
+    1071         109 :   param_loader.loadParam("safety/escalating_failsafe/failsafe", _escalating_failsafe_failsafe_);
+    1072             : 
+    1073         109 :   param_loader.loadParam("safety/tilt_limit/eland/enabled", _tilt_limit_eland_enabled_);
+    1074         109 :   param_loader.loadParam("safety/tilt_limit/eland/limit", _tilt_limit_eland_);
+    1075             : 
+    1076         109 :   _tilt_limit_eland_ = M_PI * (_tilt_limit_eland_ / 180.0);
+    1077             : 
+    1078         109 :   if (_tilt_limit_eland_enabled_ && fabs(_tilt_limit_eland_) < 1e-3) {
+    1079           0 :     ROS_ERROR("[ControlManager]: safety/tilt_limit/eland/enabled = 'TRUE' but the limit is too low");
+    1080           0 :     ros::shutdown();
+    1081             :   }
+    1082             : 
+    1083         109 :   param_loader.loadParam("safety/tilt_limit/disarm/enabled", _tilt_limit_disarm_enabled_);
+    1084         109 :   param_loader.loadParam("safety/tilt_limit/disarm/limit", _tilt_limit_disarm_);
+    1085             : 
+    1086         109 :   _tilt_limit_disarm_ = M_PI * (_tilt_limit_disarm_ / 180.0);
+    1087             : 
+    1088         109 :   if (_tilt_limit_disarm_enabled_ && fabs(_tilt_limit_disarm_) < 1e-3) {
+    1089           0 :     ROS_ERROR("[ControlManager]: safety/tilt_limit/disarm/enabled = 'TRUE' but the limit is too low");
+    1090           0 :     ros::shutdown();
+    1091             :   }
+    1092             : 
+    1093         109 :   param_loader.loadParam("safety/yaw_error_eland/enabled", _yaw_error_eland_enabled_);
+    1094         109 :   param_loader.loadParam("safety/yaw_error_eland/limit", _yaw_error_eland_);
+    1095             : 
+    1096         109 :   _yaw_error_eland_ = M_PI * (_yaw_error_eland_ / 180.0);
+    1097             : 
+    1098         109 :   if (_yaw_error_eland_enabled_ && fabs(_yaw_error_eland_) < 1e-3) {
+    1099           0 :     ROS_ERROR("[ControlManager]: safety/yaw_error_eland/enabled = 'TRUE' but the limit is too low");
+    1100           0 :     ros::shutdown();
+    1101             :   }
+    1102             : 
+    1103         109 :   param_loader.loadParam("status_timer_rate", _status_timer_rate_);
+    1104         109 :   param_loader.loadParam("safety/safety_timer_rate", _safety_timer_rate_);
+    1105         109 :   param_loader.loadParam("safety/failsafe_timer_rate", _failsafe_timer_rate_);
+    1106         109 :   param_loader.loadParam("safety/rc_emergency_handoff/enabled", _rc_emergency_handoff_);
+    1107             : 
+    1108         109 :   param_loader.loadParam("safety/odometry_max_missing_time", _uav_state_max_missing_time_);
+    1109         109 :   param_loader.loadParam("safety/odometry_innovation_eland/enabled", _odometry_innovation_check_enabled_);
+    1110             : 
+    1111         109 :   param_loader.loadParam("safety/tilt_error_disarm/enabled", _tilt_error_disarm_enabled_);
+    1112         109 :   param_loader.loadParam("safety/tilt_error_disarm/timeout", _tilt_error_disarm_timeout_);
+    1113         109 :   param_loader.loadParam("safety/tilt_error_disarm/error_threshold", _tilt_error_disarm_threshold_);
+    1114             : 
+    1115         109 :   _tilt_error_disarm_threshold_ = M_PI * (_tilt_error_disarm_threshold_ / 180.0);
+    1116             : 
+    1117         109 :   if (_tilt_error_disarm_enabled_ && fabs(_tilt_error_disarm_threshold_) < 1e-3) {
+    1118           0 :     ROS_ERROR("[ControlManager]: safety/tilt_error_disarm/enabled = 'TRUE' but the limit is too low");
+    1119           0 :     ros::shutdown();
+    1120             :   }
+    1121             : 
+    1122             :   // default constraints
+    1123             : 
+    1124         109 :   param_loader.loadParam("default_constraints/horizontal/speed", current_constraints_.constraints.horizontal_speed);
+    1125         109 :   param_loader.loadParam("default_constraints/horizontal/acceleration", current_constraints_.constraints.horizontal_acceleration);
+    1126         109 :   param_loader.loadParam("default_constraints/horizontal/jerk", current_constraints_.constraints.horizontal_jerk);
+    1127         109 :   param_loader.loadParam("default_constraints/horizontal/snap", current_constraints_.constraints.horizontal_snap);
+    1128             : 
+    1129         109 :   param_loader.loadParam("default_constraints/vertical/ascending/speed", current_constraints_.constraints.vertical_ascending_speed);
+    1130         109 :   param_loader.loadParam("default_constraints/vertical/ascending/acceleration", current_constraints_.constraints.vertical_ascending_acceleration);
+    1131         109 :   param_loader.loadParam("default_constraints/vertical/ascending/jerk", current_constraints_.constraints.vertical_ascending_jerk);
+    1132         109 :   param_loader.loadParam("default_constraints/vertical/ascending/snap", current_constraints_.constraints.vertical_ascending_snap);
+    1133             : 
+    1134         109 :   param_loader.loadParam("default_constraints/vertical/descending/speed", current_constraints_.constraints.vertical_descending_speed);
+    1135         109 :   param_loader.loadParam("default_constraints/vertical/descending/acceleration", current_constraints_.constraints.vertical_descending_acceleration);
+    1136         109 :   param_loader.loadParam("default_constraints/vertical/descending/jerk", current_constraints_.constraints.vertical_descending_jerk);
+    1137         109 :   param_loader.loadParam("default_constraints/vertical/descending/snap", current_constraints_.constraints.vertical_descending_snap);
+    1138             : 
+    1139         109 :   param_loader.loadParam("default_constraints/heading/speed", current_constraints_.constraints.heading_speed);
+    1140         109 :   param_loader.loadParam("default_constraints/heading/acceleration", current_constraints_.constraints.heading_acceleration);
+    1141         109 :   param_loader.loadParam("default_constraints/heading/jerk", current_constraints_.constraints.heading_jerk);
+    1142         109 :   param_loader.loadParam("default_constraints/heading/snap", current_constraints_.constraints.heading_snap);
+    1143             : 
+    1144         109 :   param_loader.loadParam("default_constraints/angular_speed/roll", current_constraints_.constraints.roll_rate);
+    1145         109 :   param_loader.loadParam("default_constraints/angular_speed/pitch", current_constraints_.constraints.pitch_rate);
+    1146         109 :   param_loader.loadParam("default_constraints/angular_speed/yaw", current_constraints_.constraints.yaw_rate);
+    1147             : 
+    1148         109 :   param_loader.loadParam("default_constraints/tilt", current_constraints_.constraints.tilt);
+    1149             : 
+    1150         109 :   current_constraints_.constraints.tilt = M_PI * (current_constraints_.constraints.tilt / 180.0);
+    1151             : 
+    1152             :   // joystick
+    1153             : 
+    1154         109 :   param_loader.loadParam("joystick/enabled", _joystick_enabled_);
+    1155         109 :   param_loader.loadParam("joystick/mode", _joystick_mode_);
+    1156         109 :   param_loader.loadParam("joystick/carrot_distance", _joystick_carrot_distance_);
+    1157         109 :   param_loader.loadParam("joystick/joystick_timer_rate", _joystick_timer_rate_);
+    1158         109 :   param_loader.loadParam("joystick/attitude_control/tracker", _joystick_tracker_name_);
+    1159         109 :   param_loader.loadParam("joystick/attitude_control/controller", _joystick_controller_name_);
+    1160         109 :   param_loader.loadParam("joystick/attitude_control/fallback/tracker", _joystick_fallback_tracker_name_);
+    1161         109 :   param_loader.loadParam("joystick/attitude_control/fallback/controller", _joystick_fallback_controller_name_);
+    1162             : 
+    1163         109 :   param_loader.loadParam("joystick/channels/A", _channel_A_);
+    1164         109 :   param_loader.loadParam("joystick/channels/B", _channel_B_);
+    1165         109 :   param_loader.loadParam("joystick/channels/X", _channel_X_);
+    1166         109 :   param_loader.loadParam("joystick/channels/Y", _channel_Y_);
+    1167         109 :   param_loader.loadParam("joystick/channels/start", _channel_start_);
+    1168         109 :   param_loader.loadParam("joystick/channels/back", _channel_back_);
+    1169         109 :   param_loader.loadParam("joystick/channels/LT", _channel_LT_);
+    1170         109 :   param_loader.loadParam("joystick/channels/RT", _channel_RT_);
+    1171         109 :   param_loader.loadParam("joystick/channels/L_joy", _channel_L_joy_);
+    1172         109 :   param_loader.loadParam("joystick/channels/R_joy", _channel_R_joy_);
+    1173             : 
+    1174             :   // load channels
+    1175         109 :   param_loader.loadParam("joystick/channels/pitch", _channel_pitch_);
+    1176         109 :   param_loader.loadParam("joystick/channels/roll", _channel_roll_);
+    1177         109 :   param_loader.loadParam("joystick/channels/heading", _channel_heading_);
+    1178         109 :   param_loader.loadParam("joystick/channels/throttle", _channel_throttle_);
+    1179             : 
+    1180             :   // load channel multipliers
+    1181         109 :   param_loader.loadParam("joystick/channel_multipliers/pitch", _channel_mult_pitch_);
+    1182         109 :   param_loader.loadParam("joystick/channel_multipliers/roll", _channel_mult_roll_);
+    1183         109 :   param_loader.loadParam("joystick/channel_multipliers/heading", _channel_mult_heading_);
+    1184         109 :   param_loader.loadParam("joystick/channel_multipliers/throttle", _channel_mult_throttle_);
+    1185             : 
+    1186             :   bool bumper_enabled;
+    1187         109 :   param_loader.loadParam("obstacle_bumper/enabled", bumper_enabled);
+    1188         109 :   bumper_enabled_ = bumper_enabled;
+    1189             : 
+    1190         109 :   param_loader.loadParam("obstacle_bumper/switch_tracker", _bumper_switch_tracker_);
+    1191         109 :   param_loader.loadParam("obstacle_bumper/switch_controller", _bumper_switch_controller_);
+    1192         109 :   param_loader.loadParam("obstacle_bumper/tracker", _bumper_tracker_name_);
+    1193         109 :   param_loader.loadParam("obstacle_bumper/controller", _bumper_controller_name_);
+    1194         109 :   param_loader.loadParam("obstacle_bumper/timer_rate", _bumper_timer_rate_);
+    1195             : 
+    1196         109 :   param_loader.loadParam("obstacle_bumper/horizontal/min_distance_to_obstacle", _bumper_horizontal_distance_);
+    1197         109 :   param_loader.loadParam("obstacle_bumper/horizontal/derived_from_dynamics", _bumper_horizontal_derive_from_dynamics_);
+    1198             : 
+    1199         109 :   param_loader.loadParam("obstacle_bumper/vertical/min_distance_to_obstacle", _bumper_vertical_distance_);
+    1200         109 :   param_loader.loadParam("obstacle_bumper/vertical/derived_from_dynamics", _bumper_vertical_derive_from_dynamics_);
+    1201             : 
+    1202         109 :   param_loader.loadParam("obstacle_bumper/horizontal/overshoot", _bumper_horizontal_overshoot_);
+    1203         109 :   param_loader.loadParam("obstacle_bumper/vertical/overshoot", _bumper_vertical_overshoot_);
+    1204             : 
+    1205         109 :   param_loader.loadParam("safety/tracker_error_action", _tracker_error_action_);
+    1206             : 
+    1207         109 :   param_loader.loadParam("trajectory_tracking/snap_to_safety_area", _snap_trajectory_to_safety_area_);
+    1208             : 
+    1209             :   // check the values of tracker error action
+    1210         109 :   if (_tracker_error_action_ != ELAND_STR && _tracker_error_action_ != EHOVER_STR) {
+    1211           0 :     ROS_ERROR("[ControlManager]: the tracker_error_action parameter (%s) is not correct, requires {%s, %s}", _tracker_error_action_.c_str(), ELAND_STR,
+    1212             :               EHOVER_STR);
+    1213           0 :     ros::shutdown();
+    1214             :   }
+    1215             : 
+    1216         109 :   param_loader.loadParam("rc_joystick/enabled", _rc_goto_enabled_);
+    1217         109 :   param_loader.loadParam("rc_joystick/channel_number", _rc_joystick_channel_);
+    1218         109 :   param_loader.loadParam("rc_joystick/horizontal_speed", _rc_horizontal_speed_);
+    1219         109 :   param_loader.loadParam("rc_joystick/vertical_speed", _rc_vertical_speed_);
+    1220         109 :   param_loader.loadParam("rc_joystick/heading_rate", _rc_heading_rate_);
+    1221             : 
+    1222         109 :   param_loader.loadParam("rc_joystick/channels/pitch", _rc_channel_pitch_);
+    1223         109 :   param_loader.loadParam("rc_joystick/channels/roll", _rc_channel_roll_);
+    1224         109 :   param_loader.loadParam("rc_joystick/channels/heading", _rc_channel_heading_);
+    1225         109 :   param_loader.loadParam("rc_joystick/channels/throttle", _rc_channel_throttle_);
+    1226             : 
+    1227         109 :   param_loader.loadParam("pirouette/speed", _pirouette_speed_);
+    1228         109 :   param_loader.loadParam("pirouette/timer_rate", _pirouette_timer_rate_);
+    1229             : 
+    1230         109 :   param_loader.loadParam("safety/parachute/enabled", _parachute_enabled_);
+    1231             : 
+    1232             :   // --------------------------------------------------------------
+    1233             :   // |             initialize the last control output             |
+    1234             :   // --------------------------------------------------------------
+    1235             : 
+    1236         109 :   initializeControlOutput();
+    1237             : 
+    1238             :   // | --------------------- tf transformer --------------------- |
+    1239             : 
+    1240         109 :   transformer_ = std::make_shared<mrs_lib::Transformer>(nh_, "ControlManager");
+    1241         109 :   transformer_->setDefaultPrefix(_uav_name_);
+    1242         109 :   transformer_->retryLookupNewest(true);
+    1243             : 
+    1244             :   // | ------------------- scope timer logger ------------------- |
+    1245             : 
+    1246         109 :   param_loader.loadParam("scope_timer/enabled", scope_timer_enabled_);
+    1247         327 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+    1248         109 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+    1249             : 
+    1250             :   // bind transformer to trackers and controllers for use
+    1251         109 :   common_handlers_->transformer = transformer_;
+    1252             : 
+    1253             :   // bind scope timer to trackers and controllers for use
+    1254         109 :   common_handlers_->scope_timer.enabled = scope_timer_enabled_;
+    1255         109 :   common_handlers_->scope_timer.logger  = scope_timer_logger_;
+    1256             : 
+    1257         109 :   common_handlers_->safety_area.use_safety_area       = use_safety_area_;
+    1258         109 :   common_handlers_->safety_area.isPointInSafetyArea2d = boost::bind(&ControlManager::isPointInSafetyArea2d, this, _1);
+    1259         109 :   common_handlers_->safety_area.isPointInSafetyArea3d = boost::bind(&ControlManager::isPointInSafetyArea3d, this, _1);
+    1260         109 :   common_handlers_->safety_area.getMinZ               = boost::bind(&ControlManager::getMinZ, this, _1);
+    1261         109 :   common_handlers_->safety_area.getMaxZ               = boost::bind(&ControlManager::getMaxZ, this, _1);
+    1262             : 
+    1263         109 :   common_handlers_->getMass = boost::bind(&ControlManager::getMass, this);
+    1264             : 
+    1265         109 :   common_handlers_->detailed_model_params = loadDetailedUavModelParams(nh_, "ControlManager", _platform_config_, _custom_config_);
+    1266             : 
+    1267         109 :   common_handlers_->control_output_modalities = _hw_api_inputs_;
+    1268             : 
+    1269         109 :   common_handlers_->uav_name = _uav_name_;
+    1270             : 
+    1271         109 :   common_handlers_->parent_nh = nh_;
+    1272             : 
+    1273             :   // --------------------------------------------------------------
+    1274             :   // |                        load trackers                       |
+    1275             :   // --------------------------------------------------------------
+    1276             : 
+    1277         218 :   std::vector<std::string> custom_trackers;
+    1278             : 
+    1279         109 :   param_loader.loadParam("mrs_trackers", _tracker_names_);
+    1280         109 :   param_loader.loadParam("trackers", custom_trackers);
+    1281             : 
+    1282         109 :   if (!custom_trackers.empty()) {
+    1283           1 :     _tracker_names_.insert(_tracker_names_.end(), custom_trackers.begin(), custom_trackers.end());
+    1284             :   }
+    1285             : 
+    1286         109 :   param_loader.loadParam("null_tracker", _null_tracker_name_);
+    1287         109 :   param_loader.loadParam("landing_takeoff_tracker", _landoff_tracker_name_);
+    1288             : 
+    1289         109 :   tracker_loader_ = std::make_unique<pluginlib::ClassLoader<mrs_uav_managers::Tracker>>("mrs_uav_managers", "mrs_uav_managers::Tracker");
+    1290             : 
+    1291         764 :   for (int i = 0; i < int(_tracker_names_.size()); i++) {
+    1292             : 
+    1293        1310 :     std::string tracker_name = _tracker_names_.at(i);
+    1294             : 
+    1295             :     // load the controller parameters
+    1296        1310 :     std::string address;
+    1297        1310 :     std::string name_space;
+    1298             :     bool        human_switchable;
+    1299             : 
+    1300         655 :     param_loader.loadParam(tracker_name + "/address", address);
+    1301         655 :     param_loader.loadParam(tracker_name + "/namespace", name_space);
+    1302         655 :     param_loader.loadParam(tracker_name + "/human_switchable", human_switchable, false);
+    1303             : 
+    1304        1965 :     TrackerParams new_tracker(address, name_space, human_switchable);
+    1305         655 :     trackers_.insert(std::pair<std::string, TrackerParams>(tracker_name, new_tracker));
+    1306             : 
+    1307             :     try {
+    1308         655 :       ROS_INFO("[ControlManager]: loading the tracker '%s'", new_tracker.address.c_str());
+    1309         655 :       tracker_list_.push_back(tracker_loader_->createInstance(new_tracker.address.c_str()));
+    1310             :     }
+    1311           0 :     catch (pluginlib::CreateClassException& ex1) {
+    1312           0 :       ROS_ERROR("[ControlManager]: CreateClassException for the tracker '%s'", new_tracker.address.c_str());
+    1313           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex1.what());
+    1314           0 :       ros::shutdown();
+    1315             :     }
+    1316           0 :     catch (pluginlib::PluginlibException& ex) {
+    1317           0 :       ROS_ERROR("[ControlManager]: PluginlibException for the tracker '%s'", new_tracker.address.c_str());
+    1318           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex.what());
+    1319           0 :       ros::shutdown();
+    1320             :     }
+    1321             :   }
+    1322             : 
+    1323         109 :   ROS_INFO("[ControlManager]: trackers were loaded");
+    1324             : 
+    1325         764 :   for (int i = 0; i < int(tracker_list_.size()); i++) {
+    1326             : 
+    1327         655 :     std::map<std::string, TrackerParams>::iterator it;
+    1328         655 :     it = trackers_.find(_tracker_names_.at(i));
+    1329             : 
+    1330             :     // create private handlers
+    1331             :     std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers =
+    1332        1310 :         std::make_shared<mrs_uav_managers::control_manager::PrivateHandlers_t>();
+    1333             : 
+    1334         655 :     private_handlers->loadConfigFile = boost::bind(&ControlManager::loadConfigFile, this, _1, it->second.name_space);
+    1335         655 :     private_handlers->name_space     = it->second.name_space;
+    1336         655 :     private_handlers->runtime_name   = _tracker_names_.at(i);
+    1337         655 :     private_handlers->param_loader   = std::make_unique<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, it->second.name_space), _tracker_names_.at(i));
+    1338             : 
+    1339         655 :     if (_custom_config_ != "") {
+    1340         655 :       private_handlers->param_loader->addYamlFile(_custom_config_);
+    1341             :     }
+    1342             : 
+    1343         655 :     if (_platform_config_ != "") {
+    1344         655 :       private_handlers->param_loader->addYamlFile(_platform_config_);
+    1345             :     }
+    1346             : 
+    1347         655 :     if (_world_config_ != "") {
+    1348         655 :       private_handlers->param_loader->addYamlFile(_world_config_);
+    1349             :     }
+    1350             : 
+    1351         655 :     if (_network_config_ != "") {
+    1352         655 :       private_handlers->param_loader->addYamlFile(_network_config_);
+    1353             :     }
+    1354             : 
+    1355         655 :     bool success = false;
+    1356             : 
+    1357             :     try {
+    1358         655 :       ROS_INFO("[ControlManager]: initializing the tracker '%s'", it->second.address.c_str());
+    1359         655 :       success = tracker_list_.at(i)->initialize(ros::NodeHandle(nh_, it->second.name_space), common_handlers_, private_handlers);
+    1360             :     }
+    1361           0 :     catch (std::runtime_error& ex) {
+    1362           0 :       ROS_ERROR("[ControlManager]: exception caught during tracker initialization: '%s'", ex.what());
+    1363             :     }
+    1364             : 
+    1365         655 :     if (!success) {
+    1366           0 :       ROS_ERROR("[ControlManager]: failed to initialize the tracker '%s'", it->second.address.c_str());
+    1367           0 :       ros::shutdown();
+    1368             :     }
+    1369             :   }
+    1370             : 
+    1371         109 :   ROS_INFO("[ControlManager]: trackers were initialized");
+    1372             : 
+    1373             :   // --------------------------------------------------------------
+    1374             :   // |           check the existance of selected trackers         |
+    1375             :   // --------------------------------------------------------------
+    1376             : 
+    1377             :   // | ------ check for the existance of the hover tracker ------ |
+    1378             : 
+    1379             :   // check if the hover_tracker is within the loaded trackers
+    1380             :   {
+    1381         109 :     auto idx = idxInVector(_ehover_tracker_name_, _tracker_names_);
+    1382             : 
+    1383         109 :     if (idx) {
+    1384         109 :       _ehover_tracker_idx_ = idx.value();
+    1385             :     } else {
+    1386           0 :       ROS_ERROR("[ControlManager]: the safety/hover_tracker (%s) is not within the loaded trackers", _ehover_tracker_name_.c_str());
+    1387           0 :       ros::shutdown();
+    1388             :     }
+    1389             :   }
+    1390             : 
+    1391             :   // | ----- check for the existence of the landoff tracker ----- |
+    1392             : 
+    1393             :   {
+    1394         109 :     auto idx = idxInVector(_landoff_tracker_name_, _tracker_names_);
+    1395             : 
+    1396         109 :     if (idx) {
+    1397         109 :       _landoff_tracker_idx_ = idx.value();
+    1398             :     } else {
+    1399           0 :       ROS_ERROR("[ControlManager]: the landoff tracker (%s) is not within the loaded trackers", _landoff_tracker_name_.c_str());
+    1400           0 :       ros::shutdown();
+    1401             :     }
+    1402             :   }
+    1403             : 
+    1404             :   // | ------- check for the existence of the null tracker ------ |
+    1405             : 
+    1406             :   {
+    1407         109 :     auto idx = idxInVector(_null_tracker_name_, _tracker_names_);
+    1408             : 
+    1409         109 :     if (idx) {
+    1410         109 :       _null_tracker_idx_ = idx.value();
+    1411             :     } else {
+    1412           0 :       ROS_ERROR("[ControlManager]: the null tracker (%s) is not within the loaded trackers", _null_tracker_name_.c_str());
+    1413           0 :       ros::shutdown();
+    1414             :     }
+    1415             :   }
+    1416             : 
+    1417             :   // --------------------------------------------------------------
+    1418             :   // |         check existance of trackers for joystick           |
+    1419             :   // --------------------------------------------------------------
+    1420             : 
+    1421         109 :   if (_joystick_enabled_) {
+    1422             : 
+    1423         109 :     auto idx = idxInVector(_joystick_tracker_name_, _tracker_names_);
+    1424             : 
+    1425         109 :     if (idx) {
+    1426         109 :       _joystick_tracker_idx_ = idx.value();
+    1427             :     } else {
+    1428           0 :       ROS_ERROR("[ControlManager]: the joystick tracker (%s) is not within the loaded trackers", _joystick_tracker_name_.c_str());
+    1429           0 :       ros::shutdown();
+    1430             :     }
+    1431             :   }
+    1432             : 
+    1433         109 :   if (_bumper_switch_tracker_) {
+    1434             : 
+    1435         109 :     auto idx = idxInVector(_bumper_tracker_name_, _tracker_names_);
+    1436             : 
+    1437         109 :     if (!idx) {
+    1438           0 :       ROS_ERROR("[ControlManager]: the bumper tracker (%s) is not within the loaded trackers", _bumper_tracker_name_.c_str());
+    1439           0 :       ros::shutdown();
+    1440             :     }
+    1441             :   }
+    1442             : 
+    1443             :   {
+    1444         109 :     auto idx = idxInVector(_joystick_fallback_tracker_name_, _tracker_names_);
+    1445             : 
+    1446         109 :     if (idx) {
+    1447         109 :       _joystick_fallback_tracker_idx_ = idx.value();
+    1448             :     } else {
+    1449           0 :       ROS_ERROR("[ControlManager]: the joystick fallback tracker (%s) is not within the loaded trackers", _joystick_fallback_tracker_name_.c_str());
+    1450           0 :       ros::shutdown();
+    1451             :     }
+    1452             :   }
+    1453             : 
+    1454             :   // --------------------------------------------------------------
+    1455             :   // |                    load the controllers                    |
+    1456             :   // --------------------------------------------------------------
+    1457             : 
+    1458         218 :   std::vector<std::string> custom_controllers;
+    1459             : 
+    1460         109 :   param_loader.loadParam("mrs_controllers", _controller_names_);
+    1461         109 :   param_loader.loadParam("controllers", custom_controllers);
+    1462             : 
+    1463         109 :   if (!custom_controllers.empty()) {
+    1464           0 :     _controller_names_.insert(_controller_names_.end(), custom_controllers.begin(), custom_controllers.end());
+    1465             :   }
+    1466             : 
+    1467         109 :   controller_loader_ = std::make_unique<pluginlib::ClassLoader<mrs_uav_managers::Controller>>("mrs_uav_managers", "mrs_uav_managers::Controller");
+    1468             : 
+    1469             :   // for each controller in the list
+    1470         654 :   for (int i = 0; i < int(_controller_names_.size()); i++) {
+    1471             : 
+    1472        1090 :     std::string controller_name = _controller_names_.at(i);
+    1473             : 
+    1474             :     // load the controller parameters
+    1475        1090 :     std::string address;
+    1476        1090 :     std::string name_space;
+    1477             :     double      eland_threshold, failsafe_threshold, odometry_innovation_threshold;
+    1478             :     bool        human_switchable;
+    1479         545 :     param_loader.loadParam(controller_name + "/address", address);
+    1480         545 :     param_loader.loadParam(controller_name + "/namespace", name_space);
+    1481         545 :     param_loader.loadParam(controller_name + "/eland_threshold", eland_threshold);
+    1482         545 :     param_loader.loadParam(controller_name + "/failsafe_threshold", failsafe_threshold);
+    1483         545 :     param_loader.loadParam(controller_name + "/odometry_innovation_threshold", odometry_innovation_threshold);
+    1484         545 :     param_loader.loadParam(controller_name + "/human_switchable", human_switchable, false);
+    1485             : 
+    1486             :     // check if the controller can output some of the required outputs
+    1487             :     {
+    1488             : 
+    1489         545 :       ControlOutputModalities_t outputs;
+    1490         545 :       param_loader.loadParam(controller_name + "/outputs/actuators", outputs.actuators, false);
+    1491         545 :       param_loader.loadParam(controller_name + "/outputs/control_group", outputs.control_group, false);
+    1492         545 :       param_loader.loadParam(controller_name + "/outputs/attitude_rate", outputs.attitude_rate, false);
+    1493         545 :       param_loader.loadParam(controller_name + "/outputs/attitude", outputs.attitude, false);
+    1494         545 :       param_loader.loadParam(controller_name + "/outputs/acceleration_hdg_rate", outputs.acceleration_hdg_rate, false);
+    1495         545 :       param_loader.loadParam(controller_name + "/outputs/acceleration_hdg", outputs.acceleration_hdg, false);
+    1496         545 :       param_loader.loadParam(controller_name + "/outputs/velocity_hdg_rate", outputs.velocity_hdg_rate, false);
+    1497         545 :       param_loader.loadParam(controller_name + "/outputs/velocity_hdg", outputs.velocity_hdg, false);
+    1498         545 :       param_loader.loadParam(controller_name + "/outputs/position", outputs.position, false);
+    1499             : 
+    1500         545 :       bool meets_actuators             = (_hw_api_inputs_.actuators && outputs.actuators);
+    1501         545 :       bool meets_control_group         = (_hw_api_inputs_.control_group && outputs.control_group);
+    1502         545 :       bool meets_attitude_rate         = (_hw_api_inputs_.attitude_rate && outputs.attitude_rate);
+    1503         545 :       bool meets_attitude              = (_hw_api_inputs_.attitude && outputs.attitude);
+    1504         545 :       bool meets_acceleration_hdg_rate = (_hw_api_inputs_.acceleration_hdg_rate && outputs.acceleration_hdg_rate);
+    1505         545 :       bool meets_acceleration_hdg      = (_hw_api_inputs_.acceleration_hdg && outputs.acceleration_hdg);
+    1506         545 :       bool meets_velocity_hdg_rate     = (_hw_api_inputs_.velocity_hdg_rate && outputs.velocity_hdg_rate);
+    1507         545 :       bool meets_velocity_hdg          = (_hw_api_inputs_.velocity_hdg && outputs.velocity_hdg);
+    1508         545 :       bool meets_position              = (_hw_api_inputs_.position && outputs.position);
+    1509             : 
+    1510         530 :       bool meets_requirements = meets_actuators || meets_control_group || meets_attitude_rate || meets_attitude || meets_acceleration_hdg_rate ||
+    1511        1075 :                                 meets_acceleration_hdg || meets_velocity_hdg_rate || meets_velocity_hdg || meets_position;
+    1512             : 
+    1513         545 :       if (!meets_requirements) {
+    1514             : 
+    1515           0 :         ROS_ERROR("[ControlManager]: the controller '%s' does not meet the control output requirements, which are some of the following",
+    1516             :                   controller_name.c_str());
+    1517             : 
+    1518           0 :         if (_hw_api_inputs_.actuators) {
+    1519           0 :           ROS_ERROR("[ControlManager]: - actuators");
+    1520             :         }
+    1521             : 
+    1522           0 :         if (_hw_api_inputs_.control_group) {
+    1523           0 :           ROS_ERROR("[ControlManager]: - control group");
+    1524             :         }
+    1525             : 
+    1526           0 :         if (_hw_api_inputs_.attitude_rate) {
+    1527           0 :           ROS_ERROR("[ControlManager]: - attitude rate");
+    1528             :         }
+    1529             : 
+    1530           0 :         if (_hw_api_inputs_.attitude) {
+    1531           0 :           ROS_ERROR("[ControlManager]: - attitude");
+    1532             :         }
+    1533             : 
+    1534           0 :         if (_hw_api_inputs_.acceleration_hdg_rate) {
+    1535           0 :           ROS_ERROR("[ControlManager]: - acceleration+hdg rate");
+    1536             :         }
+    1537             : 
+    1538           0 :         if (_hw_api_inputs_.acceleration_hdg) {
+    1539           0 :           ROS_ERROR("[ControlManager]: - acceleration+hdg");
+    1540             :         }
+    1541             : 
+    1542           0 :         if (_hw_api_inputs_.velocity_hdg_rate) {
+    1543           0 :           ROS_ERROR("[ControlManager]: - velocity+hdg rate");
+    1544             :         }
+    1545             : 
+    1546           0 :         if (_hw_api_inputs_.velocity_hdg) {
+    1547           0 :           ROS_ERROR("[ControlManager]: - velocity+hdg");
+    1548             :         }
+    1549             : 
+    1550           0 :         if (_hw_api_inputs_.position) {
+    1551           0 :           ROS_ERROR("[ControlManager]: - position");
+    1552             :         }
+    1553             : 
+    1554           0 :         ros::shutdown();
+    1555             :       }
+    1556             : 
+    1557         545 :       if ((_hw_api_inputs_.actuators || _hw_api_inputs_.control_group) && !common_handlers_->detailed_model_params) {
+    1558           0 :         ROS_ERROR(
+    1559             :             "[ControlManager]: the HW API supports 'actuators' or 'control_group' input, but the 'detailed uav model params' were not loaded sucessfully");
+    1560           0 :         ros::shutdown();
+    1561             :       }
+    1562             :     }
+    1563             : 
+    1564             :     // | --- alter the timer rates based on the hw capabilities --- |
+    1565             : 
+    1566         545 :     CONTROL_OUTPUT lowest_output = getLowestOuput(_hw_api_inputs_);
+    1567             : 
+    1568         545 :     if (lowest_output == ACTUATORS_CMD || lowest_output == CONTROL_GROUP) {
+    1569          30 :       _safety_timer_rate_     = 200.0;
+    1570          30 :       desired_uav_state_rate_ = 250.0;
+    1571         515 :     } else if (lowest_output == ATTITUDE_RATE || lowest_output == ATTITUDE) {
+    1572         425 :       _safety_timer_rate_     = 100.0;
+    1573         425 :       desired_uav_state_rate_ = 100.0;
+    1574          90 :     } else if (lowest_output == ACCELERATION_HDG_RATE || lowest_output == ACCELERATION_HDG) {
+    1575          20 :       _safety_timer_rate_     = 30.0;
+    1576          20 :       _status_timer_rate_     = 1.0;
+    1577          20 :       desired_uav_state_rate_ = 40.0;
+    1578             : 
+    1579          20 :       if (_uav_state_max_missing_time_ < 0.2) {
+    1580           4 :         _uav_state_max_missing_time_ = 0.2;
+    1581             :       }
+    1582          70 :     } else if (lowest_output >= VELOCITY_HDG_RATE) {
+    1583          70 :       _safety_timer_rate_     = 20.0;
+    1584          70 :       _status_timer_rate_     = 1.0;
+    1585          70 :       desired_uav_state_rate_ = 20.0;
+    1586             : 
+    1587          70 :       if (_uav_state_max_missing_time_ < 1.0) {
+    1588          14 :         _uav_state_max_missing_time_ = 1.0;
+    1589             :       }
+    1590             :     }
+    1591             : 
+    1592         545 :     if (eland_threshold == 0) {
+    1593         110 :       eland_threshold = 1e6;
+    1594             :     }
+    1595             : 
+    1596         545 :     if (failsafe_threshold == 0) {
+    1597         110 :       failsafe_threshold = 1e6;
+    1598             :     }
+    1599             : 
+    1600         545 :     if (odometry_innovation_threshold == 0) {
+    1601         111 :       odometry_innovation_threshold = 1e6;
+    1602             :     }
+    1603             : 
+    1604        1635 :     ControllerParams new_controller(address, name_space, eland_threshold, failsafe_threshold, odometry_innovation_threshold, human_switchable);
+    1605         545 :     controllers_.insert(std::pair<std::string, ControllerParams>(controller_name, new_controller));
+    1606             : 
+    1607             :     try {
+    1608         545 :       ROS_INFO("[ControlManager]: loading the controller '%s'", new_controller.address.c_str());
+    1609         545 :       controller_list_.push_back(controller_loader_->createInstance(new_controller.address.c_str()));
+    1610             :     }
+    1611           0 :     catch (pluginlib::CreateClassException& ex1) {
+    1612           0 :       ROS_ERROR("[ControlManager]: CreateClassException for the controller '%s'", new_controller.address.c_str());
+    1613           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex1.what());
+    1614           0 :       ros::shutdown();
+    1615             :     }
+    1616           0 :     catch (pluginlib::PluginlibException& ex) {
+    1617           0 :       ROS_ERROR("[ControlManager]: PluginlibException for the controller '%s'", new_controller.address.c_str());
+    1618           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex.what());
+    1619           0 :       ros::shutdown();
+    1620             :     }
+    1621             :   }
+    1622             : 
+    1623         109 :   ROS_INFO("[ControlManager]: controllers were loaded");
+    1624             : 
+    1625         654 :   for (int i = 0; i < int(controller_list_.size()); i++) {
+    1626             : 
+    1627         545 :     std::map<std::string, ControllerParams>::iterator it;
+    1628         545 :     it = controllers_.find(_controller_names_.at(i));
+    1629             : 
+    1630             :     // create private handlers
+    1631             :     std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers =
+    1632        1090 :         std::make_shared<mrs_uav_managers::control_manager::PrivateHandlers_t>();
+    1633             : 
+    1634         545 :     private_handlers->loadConfigFile = boost::bind(&ControlManager::loadConfigFile, this, _1, it->second.name_space);
+    1635         545 :     private_handlers->name_space     = it->second.name_space;
+    1636         545 :     private_handlers->runtime_name   = _controller_names_.at(i);
+    1637         545 :     private_handlers->param_loader   = std::make_unique<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, it->second.name_space), _controller_names_.at(i));
+    1638             : 
+    1639         545 :     if (_custom_config_ != "") {
+    1640         545 :       private_handlers->param_loader->addYamlFile(_custom_config_);
+    1641             :     }
+    1642             : 
+    1643         545 :     if (_platform_config_ != "") {
+    1644         545 :       private_handlers->param_loader->addYamlFile(_platform_config_);
+    1645             :     }
+    1646             : 
+    1647         545 :     if (_world_config_ != "") {
+    1648         545 :       private_handlers->param_loader->addYamlFile(_world_config_);
+    1649             :     }
+    1650             : 
+    1651         545 :     if (_network_config_ != "") {
+    1652         545 :       private_handlers->param_loader->addYamlFile(_network_config_);
+    1653             :     }
+    1654             : 
+    1655         545 :     bool success = false;
+    1656             : 
+    1657             :     try {
+    1658             : 
+    1659         545 :       ROS_INFO("[ControlManager]: initializing the controller '%s'", it->second.address.c_str());
+    1660         545 :       success = controller_list_.at(i)->initialize(ros::NodeHandle(nh_, it->second.name_space), common_handlers_, private_handlers);
+    1661             :     }
+    1662           0 :     catch (std::runtime_error& ex) {
+    1663           0 :       ROS_ERROR("[ControlManager]: exception caught during controller initialization: '%s'", ex.what());
+    1664             :     }
+    1665             : 
+    1666         545 :     if (!success) {
+    1667           0 :       ROS_ERROR("[ControlManager]: failed to initialize the controller '%s'", it->second.address.c_str());
+    1668           0 :       ros::shutdown();
+    1669             :     }
+    1670             :   }
+    1671             : 
+    1672         109 :   ROS_INFO("[ControlManager]: controllers were initialized");
+    1673             : 
+    1674             :   {
+    1675         109 :     auto idx = idxInVector(_failsafe_controller_name_, _controller_names_);
+    1676             : 
+    1677         109 :     if (idx) {
+    1678         109 :       _failsafe_controller_idx_ = idx.value();
+    1679             :     } else {
+    1680           0 :       ROS_ERROR("[ControlManager]: the failsafe controller (%s) is not within the loaded controllers", _failsafe_controller_name_.c_str());
+    1681           0 :       ros::shutdown();
+    1682             :     }
+    1683             :   }
+    1684             : 
+    1685             :   {
+    1686         109 :     auto idx = idxInVector(_eland_controller_name_, _controller_names_);
+    1687             : 
+    1688         109 :     if (idx) {
+    1689         109 :       _eland_controller_idx_ = idx.value();
+    1690             :     } else {
+    1691           0 :       ROS_ERROR("[ControlManager]: the eland controller (%s) is not within the loaded controllers", _eland_controller_name_.c_str());
+    1692           0 :       ros::shutdown();
+    1693             :     }
+    1694             :   }
+    1695             : 
+    1696             :   {
+    1697         109 :     auto idx = idxInVector(_joystick_controller_name_, _controller_names_);
+    1698             : 
+    1699         109 :     if (idx) {
+    1700         109 :       _joystick_controller_idx_ = idx.value();
+    1701             :     } else {
+    1702           0 :       ROS_ERROR("[ControlManager]: the joystick controller (%s) is not within the loaded controllers", _joystick_controller_name_.c_str());
+    1703           0 :       ros::shutdown();
+    1704             :     }
+    1705             :   }
+    1706             : 
+    1707         109 :   if (_bumper_switch_controller_) {
+    1708             : 
+    1709         109 :     auto idx = idxInVector(_bumper_controller_name_, _controller_names_);
+    1710             : 
+    1711         109 :     if (!idx) {
+    1712           0 :       ROS_ERROR("[ControlManager]: the bumper controller (%s) is not within the loaded controllers", _bumper_controller_name_.c_str());
+    1713           0 :       ros::shutdown();
+    1714             :     }
+    1715             :   }
+    1716             : 
+    1717             :   {
+    1718         109 :     auto idx = idxInVector(_joystick_fallback_controller_name_, _controller_names_);
+    1719             : 
+    1720         109 :     if (idx) {
+    1721         109 :       _joystick_fallback_controller_idx_ = idx.value();
+    1722             :     } else {
+    1723           0 :       ROS_ERROR("[ControlManager]: the joystick fallback controller (%s) is not within the loaded controllers", _joystick_fallback_controller_name_.c_str());
+    1724           0 :       ros::shutdown();
+    1725             :     }
+    1726             :   }
+    1727             : 
+    1728             :   // --------------------------------------------------------------
+    1729             :   // |                  activate the NullTracker                  |
+    1730             :   // --------------------------------------------------------------
+    1731             : 
+    1732         109 :   ROS_INFO("[ControlManager]: activating the null tracker");
+    1733             : 
+    1734         109 :   tracker_list_.at(_null_tracker_idx_)->activate(last_tracker_cmd_);
+    1735         109 :   active_tracker_idx_ = _null_tracker_idx_;
+    1736             : 
+    1737             :   // --------------------------------------------------------------
+    1738             :   // |    activate the eland controller as the first controller   |
+    1739             :   // --------------------------------------------------------------
+    1740             : 
+    1741         109 :   ROS_INFO("[ControlManager]: activating the the eland controller (%s) as the first controller", _controller_names_.at(_eland_controller_idx_).c_str());
+    1742             : 
+    1743         109 :   controller_list_.at(_eland_controller_idx_)->activate(last_control_output_);
+    1744         109 :   active_controller_idx_ = _eland_controller_idx_;
+    1745             : 
+    1746             :   // update the time
+    1747             :   {
+    1748         218 :     std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    1749             : 
+    1750         109 :     controller_tracker_switch_time_ = ros::Time::now();
+    1751             :   }
+    1752             : 
+    1753         109 :   output_enabled_ = false;
+    1754             : 
+    1755             :   // | --------------- set the default constraints -------------- |
+    1756             : 
+    1757         109 :   sanitized_constraints_ = current_constraints_;
+    1758         109 :   setConstraints(current_constraints_);
+    1759             : 
+    1760             :   // | ------------------------ profiler ------------------------ |
+    1761             : 
+    1762         109 :   profiler_ = mrs_lib::Profiler(nh_, "ControlManager", _profiler_enabled_);
+    1763             : 
+    1764             :   // | ----------------------- publishers ----------------------- |
+    1765             : 
+    1766         109 :   control_output_publisher_ = OutputPublisher(nh_);
+    1767             : 
+    1768         109 :   ph_controller_diagnostics_             = mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics>(nh_, "controller_diagnostics_out", 1);
+    1769         109 :   ph_tracker_cmd_                        = mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand>(nh_, "tracker_cmd_out", 1);
+    1770         109 :   ph_mrs_odom_input_                     = mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput>(nh_, "estimator_input_out", 1);
+    1771         109 :   ph_control_reference_odom_             = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh_, "control_reference_out", 1);
+    1772         109 :   ph_diagnostics_                        = mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics>(nh_, "diagnostics_out", 1);
+    1773         109 :   ph_offboard_on_                        = mrs_lib::PublisherHandler<std_msgs::Empty>(nh_, "offboard_on_out", 1);
+    1774         109 :   ph_tilt_error_                         = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "tilt_error_out", 1);
+    1775         109 :   ph_mass_estimate_                      = mrs_lib::PublisherHandler<std_msgs::Float64>(nh_, "mass_estimate_out", 1, false, 10.0);
+    1776         109 :   ph_mass_nominal_                       = mrs_lib::PublisherHandler<std_msgs::Float64>(nh_, "mass_nominal_out", 1, true);
+    1777         109 :   ph_throttle_                           = mrs_lib::PublisherHandler<std_msgs::Float64>(nh_, "throttle_out", 1, false, 10.0);
+    1778         109 :   ph_thrust_                             = mrs_lib::PublisherHandler<std_msgs::Float64>(nh_, "thrust_out", 1, false, 100.0);
+    1779         109 :   ph_control_error_                      = mrs_lib::PublisherHandler<mrs_msgs::ControlError>(nh_, "control_error_out", 1);
+    1780         109 :   ph_safety_area_markers_                = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "safety_area_markers_out", 1, true, 1.0);
+    1781         109 :   ph_safety_area_coordinates_markers_    = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "safety_area_coordinates_markers_out", 1, true, 1.0);
+    1782         109 :   ph_disturbances_markers_               = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "disturbances_markers_out", 1, false, 10.0);
+    1783         109 :   ph_current_constraints_                = mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints>(nh_, "current_constraints_out", 1);
+    1784         109 :   ph_heading_                            = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "heading_out", 1);
+    1785         109 :   ph_speed_                              = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "speed_out", 1, false, 10.0);
+    1786         109 :   pub_debug_original_trajectory_poses_   = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "trajectory_original/poses_out", 1, true);
+    1787         109 :   pub_debug_original_trajectory_markers_ = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "trajectory_original/markers_out", 1, true);
+    1788             : 
+    1789             :   // | ------------------ publish nominal mass ------------------ |
+    1790             : 
+    1791             :   {
+    1792         109 :     std_msgs::Float64 nominal_mass;
+    1793             : 
+    1794         109 :     nominal_mass.data = _uav_mass_;
+    1795             : 
+    1796         109 :     ph_mass_nominal_.publish(nominal_mass);
+    1797             :   }
+    1798             : 
+    1799             :   // | ----------------------- subscribers ---------------------- |
+    1800             : 
+    1801         218 :   mrs_lib::SubscribeHandlerOptions shopts;
+    1802         109 :   shopts.nh                 = nh_;
+    1803         109 :   shopts.node_name          = "ControlManager";
+    1804         109 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+    1805         109 :   shopts.threadsafe         = true;
+    1806         109 :   shopts.autostart          = true;
+    1807         109 :   shopts.queue_size         = 10;
+    1808         109 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+    1809             : 
+    1810         109 :   if (_state_input_ == INPUT_UAV_STATE) {
+    1811         109 :     sh_uav_state_ = mrs_lib::SubscribeHandler<mrs_msgs::UavState>(shopts, "uav_state_in", &ControlManager::callbackUavState, this);
+    1812           0 :   } else if (_state_input_ == INPUT_ODOMETRY) {
+    1813           0 :     sh_odometry_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "odometry_in", &ControlManager::callbackOdometry, this);
+    1814             :   }
+    1815             : 
+    1816         109 :   if (_odometry_innovation_check_enabled_) {
+    1817         109 :     sh_odometry_innovation_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "odometry_innovation_in");
+    1818             :   }
+    1819             : 
+    1820         109 :   sh_bumper_    = mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors>(shopts, "bumper_sectors_in");
+    1821         109 :   sh_max_z_     = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "max_z_in");
+    1822         109 :   sh_joystick_  = mrs_lib::SubscribeHandler<sensor_msgs::Joy>(shopts, "joystick_in", &ControlManager::callbackJoystick, this);
+    1823         109 :   sh_gnss_      = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, "gnss_in", &ControlManager::callbackGNSS, this);
+    1824         109 :   sh_hw_api_rc_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels>(shopts, "hw_api_rc_in", &ControlManager::callbackRC, this);
+    1825             : 
+    1826         109 :   sh_hw_api_status_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>(shopts, "hw_api_status_in", &ControlManager::callbackHwApiStatus, this);
+    1827             : 
+    1828             :   // | -------------------- general services -------------------- |
+    1829             : 
+    1830         109 :   service_server_switch_tracker_             = nh_.advertiseService("switch_tracker_in", &ControlManager::callbackSwitchTracker, this);
+    1831         109 :   service_server_switch_controller_          = nh_.advertiseService("switch_controller_in", &ControlManager::callbackSwitchController, this);
+    1832         109 :   service_server_reset_tracker_              = nh_.advertiseService("tracker_reset_static_in", &ControlManager::callbackTrackerResetStatic, this);
+    1833         109 :   service_server_hover_                      = nh_.advertiseService("hover_in", &ControlManager::callbackHover, this);
+    1834         109 :   service_server_ehover_                     = nh_.advertiseService("ehover_in", &ControlManager::callbackEHover, this);
+    1835         109 :   service_server_failsafe_                   = nh_.advertiseService("failsafe_in", &ControlManager::callbackFailsafe, this);
+    1836         109 :   service_server_failsafe_escalating_        = nh_.advertiseService("failsafe_escalating_in", &ControlManager::callbackFailsafeEscalating, this);
+    1837         109 :   service_server_toggle_output_              = nh_.advertiseService("toggle_output_in", &ControlManager::callbackToggleOutput, this);
+    1838         109 :   service_server_arm_                        = nh_.advertiseService("arm_in", &ControlManager::callbackArm, this);
+    1839         109 :   service_server_enable_callbacks_           = nh_.advertiseService("enable_callbacks_in", &ControlManager::callbackEnableCallbacks, this);
+    1840         109 :   service_server_set_constraints_            = nh_.advertiseService("set_constraints_in", &ControlManager::callbackSetConstraints, this);
+    1841         109 :   service_server_use_joystick_               = nh_.advertiseService("use_joystick_in", &ControlManager::callbackUseJoystick, this);
+    1842         109 :   service_server_use_safety_area_            = nh_.advertiseService("use_safety_area_in", &ControlManager::callbackUseSafetyArea, this);
+    1843         109 :   service_server_eland_                      = nh_.advertiseService("eland_in", &ControlManager::callbackEland, this);
+    1844         109 :   service_server_parachute_                  = nh_.advertiseService("parachute_in", &ControlManager::callbackParachute, this);
+    1845         109 :   service_server_set_min_z_                  = nh_.advertiseService("set_min_z_in", &ControlManager::callbackSetMinZ, this);
+    1846         109 :   service_server_transform_reference_        = nh_.advertiseService("transform_reference_in", &ControlManager::callbackTransformReference, this);
+    1847         109 :   service_server_transform_reference_array_   = nh_.advertiseService("transform_reference_array_in", &ControlManager::callbackTransformReferenceArray, this);
+    1848         109 :   service_server_transform_pose_             = nh_.advertiseService("transform_pose_in", &ControlManager::callbackTransformPose, this);
+    1849         109 :   service_server_transform_vector3_          = nh_.advertiseService("transform_vector3_in", &ControlManager::callbackTransformVector3, this);
+    1850         109 :   service_server_bumper_enabler_             = nh_.advertiseService("bumper_in", &ControlManager::callbackEnableBumper, this);
+    1851         109 :   service_server_get_min_z_                  = nh_.advertiseService("get_min_z_in", &ControlManager::callbackGetMinZ, this);
+    1852         109 :   service_server_validate_reference_         = nh_.advertiseService("validate_reference_in", &ControlManager::callbackValidateReference, this);
+    1853         109 :   service_server_validate_reference_2d_      = nh_.advertiseService("validate_reference_2d_in", &ControlManager::callbackValidateReference2d, this);
+    1854         109 :   service_server_validate_reference_array_    = nh_.advertiseService("validate_reference_array_in", &ControlManager::callbackValidateReferenceArray, this);
+    1855         109 :   service_server_start_trajectory_tracking_  = nh_.advertiseService("start_trajectory_tracking_in", &ControlManager::callbackStartTrajectoryTracking, this);
+    1856         109 :   service_server_stop_trajectory_tracking_   = nh_.advertiseService("stop_trajectory_tracking_in", &ControlManager::callbackStopTrajectoryTracking, this);
+    1857         109 :   service_server_resume_trajectory_tracking_ = nh_.advertiseService("resume_trajectory_tracking_in", &ControlManager::callbackResumeTrajectoryTracking, this);
+    1858         109 :   service_server_goto_trajectory_start_      = nh_.advertiseService("goto_trajectory_start_in", &ControlManager::callbackGotoTrajectoryStart, this);
+    1859             : 
+    1860         109 :   sch_arming_                 = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "hw_api_arming_out");
+    1861         109 :   sch_eland_                  = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "eland_out");
+    1862         109 :   sch_shutdown_               = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "shutdown_out");
+    1863         109 :   sch_set_odometry_callbacks_ = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "set_odometry_callbacks_out");
+    1864         109 :   sch_ungrip_                 = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "ungrip_out");
+    1865         109 :   sch_parachute_              = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "parachute_out");
+    1866             : 
+    1867             :   // | ---------------- setpoint command services --------------- |
+    1868             : 
+    1869             :   // human callable
+    1870         109 :   service_server_goto_                 = nh_.advertiseService("goto_in", &ControlManager::callbackGoto, this);
+    1871         109 :   service_server_goto_fcu_             = nh_.advertiseService("goto_fcu_in", &ControlManager::callbackGotoFcu, this);
+    1872         109 :   service_server_goto_relative_        = nh_.advertiseService("goto_relative_in", &ControlManager::callbackGotoRelative, this);
+    1873         109 :   service_server_goto_altitude_        = nh_.advertiseService("goto_altitude_in", &ControlManager::callbackGotoAltitude, this);
+    1874         109 :   service_server_set_heading_          = nh_.advertiseService("set_heading_in", &ControlManager::callbackSetHeading, this);
+    1875         109 :   service_server_set_heading_relative_ = nh_.advertiseService("set_heading_relative_in", &ControlManager::callbackSetHeadingRelative, this);
+    1876             : 
+    1877         109 :   service_server_reference_ = nh_.advertiseService("reference_in", &ControlManager::callbackReferenceService, this);
+    1878         109 :   sh_reference_             = mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped>(shopts, "reference_in", &ControlManager::callbackReferenceTopic, this);
+    1879             : 
+    1880         109 :   service_server_velocity_reference_ = nh_.advertiseService("velocity_reference_in", &ControlManager::callbackVelocityReferenceService, this);
+    1881             :   sh_velocity_reference_ =
+    1882         109 :       mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped>(shopts, "velocity_reference_in", &ControlManager::callbackVelocityReferenceTopic, this);
+    1883             : 
+    1884         109 :   service_server_trajectory_reference_ = nh_.advertiseService("trajectory_reference_in", &ControlManager::callbackTrajectoryReferenceService, this);
+    1885             :   sh_trajectory_reference_ =
+    1886         109 :       mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference>(shopts, "trajectory_reference_in", &ControlManager::callbackTrajectoryReferenceTopic, this);
+    1887             : 
+    1888             :   // | --------------------- other services --------------------- |
+    1889             : 
+    1890         109 :   service_server_emergency_reference_ = nh_.advertiseService("emergency_reference_in", &ControlManager::callbackEmergencyReference, this);
+    1891         109 :   service_server_pirouette_           = nh_.advertiseService("pirouette_in", &ControlManager::callbackPirouette, this);
+    1892             : 
+    1893             :   // | ------------------------- timers ------------------------- |
+    1894             : 
+    1895         109 :   timer_status_    = nh_.createTimer(ros::Rate(_status_timer_rate_), &ControlManager::timerStatus, this);
+    1896         109 :   timer_safety_    = nh_.createTimer(ros::Rate(_safety_timer_rate_), &ControlManager::timerSafety, this);
+    1897         109 :   timer_bumper_    = nh_.createTimer(ros::Rate(1.0), &ControlManager::timerBumper, this);
+    1898         109 :   timer_eland_     = nh_.createTimer(ros::Rate(_elanding_timer_rate_), &ControlManager::timerEland, this, false, false);
+    1899         109 :   timer_failsafe_  = nh_.createTimer(ros::Rate(_failsafe_timer_rate_), &ControlManager::timerFailsafe, this, false, false);
+    1900         109 :   timer_pirouette_ = nh_.createTimer(ros::Rate(_pirouette_timer_rate_), &ControlManager::timerPirouette, this, false, false);
+    1901         109 :   timer_joystick_  = nh_.createTimer(ros::Rate(_joystick_timer_rate_), &ControlManager::timerJoystick, this);
+    1902             : 
+    1903             :   // | ----------------------- finish init ---------------------- |
+    1904             : 
+    1905         109 :   if (!param_loader.loadedSuccessfully()) {
+    1906           0 :     ROS_ERROR("[ControlManager]: could not load all parameters!");
+    1907           0 :     ros::shutdown();
+    1908             :   }
+    1909             : 
+    1910         109 :   is_initialized_ = true;
+    1911             : 
+    1912         109 :   ROS_INFO("[ControlManager]: initialized");
+    1913         109 : }
+    1914             : 
+    1915             : //}
+    1916             : 
+    1917             : // --------------------------------------------------------------
+    1918             : // |                           timers                           |
+    1919             : // --------------------------------------------------------------
+    1920             : 
+    1921             : /* timerHwApiCapabilities() //{ */
+    1922             : 
+    1923         195 : void ControlManager::timerHwApiCapabilities(const ros::TimerEvent& event) {
+    1924             : 
+    1925         390 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerHwApiCapabilities", _status_timer_rate_, 1.0, event);
+    1926         390 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerHwApiCapabilities", scope_timer_logger_, scope_timer_enabled_);
+    1927             : 
+    1928         195 :   if (!sh_hw_api_capabilities_.hasMsg()) {
+    1929          86 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: waiting for HW API capabilities");
+    1930          86 :     return;
+    1931             :   }
+    1932             : 
+    1933         218 :   auto hw_ap_capabilities = sh_hw_api_capabilities_.getMsg();
+    1934             : 
+    1935         109 :   ROS_INFO("[ControlManager]: got HW API capabilities, the possible control modes are:");
+    1936             : 
+    1937         109 :   if (hw_ap_capabilities->accepts_actuator_cmd) {
+    1938           3 :     ROS_INFO("[ControlManager]: - actuator command");
+    1939           3 :     _hw_api_inputs_.actuators = true;
+    1940             :   }
+    1941             : 
+    1942         109 :   if (hw_ap_capabilities->accepts_control_group_cmd) {
+    1943           3 :     ROS_INFO("[ControlManager]: - control group command");
+    1944           3 :     _hw_api_inputs_.control_group = true;
+    1945             :   }
+    1946             : 
+    1947         109 :   if (hw_ap_capabilities->accepts_attitude_rate_cmd) {
+    1948          82 :     ROS_INFO("[ControlManager]: - attitude rate command");
+    1949          82 :     _hw_api_inputs_.attitude_rate = true;
+    1950             :   }
+    1951             : 
+    1952         109 :   if (hw_ap_capabilities->accepts_attitude_cmd) {
+    1953          80 :     ROS_INFO("[ControlManager]: - attitude command");
+    1954          80 :     _hw_api_inputs_.attitude = true;
+    1955             :   }
+    1956             : 
+    1957         109 :   if (hw_ap_capabilities->accepts_acceleration_hdg_rate_cmd) {
+    1958           2 :     ROS_INFO("[ControlManager]: - acceleration+hdg rate command");
+    1959           2 :     _hw_api_inputs_.acceleration_hdg_rate = true;
+    1960             :   }
+    1961             : 
+    1962         109 :   if (hw_ap_capabilities->accepts_acceleration_hdg_cmd) {
+    1963           2 :     ROS_INFO("[ControlManager]: - acceleration+hdg command");
+    1964           2 :     _hw_api_inputs_.acceleration_hdg = true;
+    1965             :   }
+    1966             : 
+    1967         109 :   if (hw_ap_capabilities->accepts_velocity_hdg_rate_cmd) {
+    1968           8 :     ROS_INFO("[ControlManager]: - velocityhdg rate command");
+    1969           8 :     _hw_api_inputs_.velocity_hdg_rate = true;
+    1970             :   }
+    1971             : 
+    1972         109 :   if (hw_ap_capabilities->accepts_velocity_hdg_cmd) {
+    1973           4 :     ROS_INFO("[ControlManager]: - velocityhdg command");
+    1974           4 :     _hw_api_inputs_.velocity_hdg = true;
+    1975             :   }
+    1976             : 
+    1977         109 :   if (hw_ap_capabilities->accepts_position_cmd) {
+    1978           2 :     ROS_INFO("[ControlManager]: - position command");
+    1979           2 :     _hw_api_inputs_.position = true;
+    1980             :   }
+    1981             : 
+    1982         109 :   initialize();
+    1983             : 
+    1984         109 :   timer_hw_api_capabilities_.stop();
+    1985             : }
+    1986             : 
+    1987             : //}
+    1988             : 
+    1989             : /* //{ timerStatus() */
+    1990             : 
+    1991       19283 : void ControlManager::timerStatus(const ros::TimerEvent& event) {
+    1992             : 
+    1993       19283 :   if (!is_initialized_) {
+    1994           0 :     return;
+    1995             :   }
+    1996             : 
+    1997       57849 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerStatus", _status_timer_rate_, 0.1, event);
+    1998       57849 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerStatus", scope_timer_logger_, scope_timer_enabled_);
+    1999             : 
+    2000             :   // copy member variables
+    2001       38566 :   auto uav_state             = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    2002       38566 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    2003       19283 :   auto yaw_error             = mrs_lib::get_mutexed(mutex_attitude_error_, yaw_error_);
+    2004       19283 :   auto position_error        = mrs_lib::get_mutexed(mutex_position_error_, position_error_);
+    2005       19283 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    2006       19283 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    2007             : 
+    2008             :   double uav_x, uav_y, uav_z;
+    2009       19283 :   uav_x = uav_state.pose.position.x;
+    2010       19283 :   uav_y = uav_state.pose.position.y;
+    2011       19283 :   uav_z = uav_state.pose.position.z;
+    2012             : 
+    2013             :   // --------------------------------------------------------------
+    2014             :   // |                      print the status                      |
+    2015             :   // --------------------------------------------------------------
+    2016             : 
+    2017             :   {
+    2018       38566 :     std::string controller = _controller_names_.at(active_controller_idx);
+    2019       38566 :     std::string tracker    = _tracker_names_.at(active_tracker_idx);
+    2020       19283 :     double      mass       = last_control_output.diagnostics.total_mass;
+    2021       19283 :     double      bx_b       = last_control_output.diagnostics.disturbance_bx_b;
+    2022       19283 :     double      by_b       = last_control_output.diagnostics.disturbance_by_b;
+    2023       19283 :     double      wx_w       = last_control_output.diagnostics.disturbance_wx_w;
+    2024       19283 :     double      wy_w       = last_control_output.diagnostics.disturbance_wy_w;
+    2025             : 
+    2026       19283 :     ROS_INFO_THROTTLE(5.0, "[ControlManager]: tracker: '%s', controller: '%s', mass: '%.2f kg', disturbances: body [%.2f, %.2f] N, world [%.2f, %.2f] N",
+    2027             :                       tracker.c_str(), controller.c_str(), mass, bx_b, by_b, wx_w, wy_w);
+    2028             :   }
+    2029             : 
+    2030             :   // --------------------------------------------------------------
+    2031             :   // |                   publish the diagnostics                  |
+    2032             :   // --------------------------------------------------------------
+    2033             : 
+    2034       19283 :   publishDiagnostics();
+    2035             : 
+    2036             :   // --------------------------------------------------------------
+    2037             :   // |                publish if the offboard is on               |
+    2038             :   // --------------------------------------------------------------
+    2039             : 
+    2040       19283 :   if (offboard_mode_) {
+    2041             : 
+    2042       13129 :     std_msgs::Empty offboard_on_out;
+    2043             : 
+    2044       13129 :     ph_offboard_on_.publish(offboard_on_out);
+    2045             :   }
+    2046             : 
+    2047             :   // --------------------------------------------------------------
+    2048             :   // |                   publish the tilt error                   |
+    2049             :   // --------------------------------------------------------------
+    2050             :   {
+    2051       38566 :     std::scoped_lock lock(mutex_attitude_error_);
+    2052             : 
+    2053       19283 :     if (tilt_error_) {
+    2054             : 
+    2055       38566 :       mrs_msgs::Float64Stamped tilt_error_out;
+    2056       19283 :       tilt_error_out.header.stamp    = ros::Time::now();
+    2057       19283 :       tilt_error_out.header.frame_id = uav_state.header.frame_id;
+    2058       19283 :       tilt_error_out.value           = (180.0 / M_PI) * tilt_error_.value();
+    2059             : 
+    2060       19283 :       ph_tilt_error_.publish(tilt_error_out);
+    2061             :     }
+    2062             :   }
+    2063             : 
+    2064             :   // --------------------------------------------------------------
+    2065             :   // |                  publish the control error                 |
+    2066             :   // --------------------------------------------------------------
+    2067             : 
+    2068       19283 :   if (position_error) {
+    2069             : 
+    2070       11986 :     Eigen::Vector3d pos_error_value = position_error.value();
+    2071             : 
+    2072       23972 :     mrs_msgs::ControlError msg_out;
+    2073             : 
+    2074       11986 :     msg_out.header.stamp    = ros::Time::now();
+    2075       11986 :     msg_out.header.frame_id = uav_state.header.frame_id;
+    2076             : 
+    2077       11986 :     msg_out.position_errors.x    = pos_error_value(0);
+    2078       11986 :     msg_out.position_errors.y    = pos_error_value(1);
+    2079       11986 :     msg_out.position_errors.z    = pos_error_value(2);
+    2080       11986 :     msg_out.total_position_error = pos_error_value.norm();
+    2081             : 
+    2082       11986 :     if (yaw_error_) {
+    2083       11986 :       msg_out.yaw_error = yaw_error.value();
+    2084             :     }
+    2085             : 
+    2086       11986 :     std::map<std::string, ControllerParams>::iterator it;
+    2087             : 
+    2088       11986 :     it = controllers_.find(_controller_names_.at(active_controller_idx));
+    2089             : 
+    2090       11986 :     msg_out.position_eland_threshold    = it->second.eland_threshold;
+    2091       11986 :     msg_out.position_failsafe_threshold = it->second.failsafe_threshold;
+    2092             : 
+    2093       11986 :     ph_control_error_.publish(msg_out);
+    2094             :   }
+    2095             : 
+    2096             :   // --------------------------------------------------------------
+    2097             :   // |                  publish the mass estimate                 |
+    2098             :   // --------------------------------------------------------------
+    2099             : 
+    2100       19283 :   if (last_control_output.diagnostics.mass_estimator) {
+    2101             : 
+    2102       10643 :     std_msgs::Float64 mass_estimate_out;
+    2103       10643 :     mass_estimate_out.data = _uav_mass_ + last_control_output.diagnostics.mass_difference;
+    2104             : 
+    2105       10643 :     ph_mass_estimate_.publish(mass_estimate_out);
+    2106             :   }
+    2107             : 
+    2108             :   // --------------------------------------------------------------
+    2109             :   // |                 publish the current heading                |
+    2110             :   // --------------------------------------------------------------
+    2111             : 
+    2112       19283 :   if (_state_input_ == INPUT_UAV_STATE && sh_uav_state_.hasMsg()) {
+    2113             : 
+    2114             :     try {
+    2115             : 
+    2116             :       double heading;
+    2117             : 
+    2118       16283 :       heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    2119             : 
+    2120       32566 :       mrs_msgs::Float64Stamped heading_out;
+    2121       16283 :       heading_out.header = uav_state.header;
+    2122       16283 :       heading_out.value  = heading;
+    2123             : 
+    2124       16283 :       ph_heading_.publish(heading_out);
+    2125             :     }
+    2126           0 :     catch (...) {
+    2127           0 :       ROS_ERROR_THROTTLE(1.0, "exception caught, could not transform heading");
+    2128             :     }
+    2129             :   }
+    2130             : 
+    2131             :   // --------------------------------------------------------------
+    2132             :   // |                  publish the current speed                 |
+    2133             :   // --------------------------------------------------------------
+    2134             : 
+    2135       19283 :   if (_state_input_ == INPUT_UAV_STATE && sh_uav_state_.hasMsg()) {
+    2136             : 
+    2137       16283 :     double speed = sqrt(pow(uav_state.velocity.linear.x, 2) + pow(uav_state.velocity.linear.y, 2) + pow(uav_state.velocity.linear.z, 2));
+    2138             : 
+    2139       32566 :     mrs_msgs::Float64Stamped speed_out;
+    2140       16283 :     speed_out.header = uav_state.header;
+    2141       16283 :     speed_out.value  = speed;
+    2142             : 
+    2143       16283 :     ph_speed_.publish(speed_out);
+    2144             :   }
+    2145             : 
+    2146             :   // --------------------------------------------------------------
+    2147             :   // |               publish the safety area markers              |
+    2148             :   // --------------------------------------------------------------
+    2149             : 
+    2150       19283 :   if (use_safety_area_) {
+    2151             : 
+    2152       30794 :     mrs_msgs::ReferenceStamped temp_ref;
+    2153       15397 :     temp_ref.header.frame_id = _safety_area_horizontal_frame_;
+    2154             : 
+    2155       30794 :     geometry_msgs::TransformStamped tf;
+    2156             : 
+    2157       46191 :     auto ret = transformer_->getTransform(_safety_area_horizontal_frame_, "local_origin", ros::Time(0));
+    2158             : 
+    2159       15397 :     if (ret) {
+    2160             : 
+    2161       12776 :       ROS_INFO_ONCE("[ControlManager]: got TFs, publishing safety area markers");
+    2162             : 
+    2163       25552 :       visualization_msgs::MarkerArray safety_area_marker_array;
+    2164       25552 :       visualization_msgs::MarkerArray safety_area_coordinates_marker_array;
+    2165             : 
+    2166       25552 :       mrs_lib::Polygon border = safety_zone_->getBorder();
+    2167             : 
+    2168       25552 :       std::vector<geometry_msgs::Point> border_points_bot_original = border.getPointMessageVector(getMinZ(_safety_area_horizontal_frame_));
+    2169       25552 :       std::vector<geometry_msgs::Point> border_points_top_original = border.getPointMessageVector(getMaxZ(_safety_area_horizontal_frame_));
+    2170             : 
+    2171       25552 :       std::vector<geometry_msgs::Point> border_points_bot_transformed = border_points_bot_original;
+    2172       25552 :       std::vector<geometry_msgs::Point> border_points_top_transformed = border_points_bot_original;
+    2173             : 
+    2174             :       // if we fail in transforming the area at some point
+    2175             :       // do not publish it at all
+    2176       12776 :       bool tf_success = true;
+    2177             : 
+    2178       25552 :       geometry_msgs::TransformStamped tf = ret.value();
+    2179             : 
+    2180             :       /* transform area points to local origin //{ */
+    2181             : 
+    2182             :       // transform border bottom points to local origin
+    2183       63880 :       for (size_t i = 0; i < border_points_bot_original.size(); i++) {
+    2184             : 
+    2185       51104 :         temp_ref.header.frame_id      = _safety_area_horizontal_frame_;
+    2186       51104 :         temp_ref.header.stamp         = ros::Time(0);
+    2187       51104 :         temp_ref.reference.position.x = border_points_bot_original.at(i).x;
+    2188       51104 :         temp_ref.reference.position.y = border_points_bot_original.at(i).y;
+    2189       51104 :         temp_ref.reference.position.z = border_points_bot_original.at(i).z;
+    2190             : 
+    2191      102208 :         if (auto ret = transformer_->transform(temp_ref, tf)) {
+    2192             : 
+    2193       51104 :           temp_ref = ret.value();
+    2194             : 
+    2195       51104 :           border_points_bot_transformed.at(i).x = temp_ref.reference.position.x;
+    2196       51104 :           border_points_bot_transformed.at(i).y = temp_ref.reference.position.y;
+    2197       51104 :           border_points_bot_transformed.at(i).z = temp_ref.reference.position.z;
+    2198             : 
+    2199             :         } else {
+    2200           0 :           tf_success = false;
+    2201             :         }
+    2202             :       }
+    2203             : 
+    2204             :       // transform border top points to local origin
+    2205       63880 :       for (size_t i = 0; i < border_points_top_original.size(); i++) {
+    2206             : 
+    2207       51104 :         temp_ref.header.frame_id      = _safety_area_horizontal_frame_;
+    2208       51104 :         temp_ref.header.stamp         = ros::Time(0);
+    2209       51104 :         temp_ref.reference.position.x = border_points_top_original.at(i).x;
+    2210       51104 :         temp_ref.reference.position.y = border_points_top_original.at(i).y;
+    2211       51104 :         temp_ref.reference.position.z = border_points_top_original.at(i).z;
+    2212             : 
+    2213      102208 :         if (auto ret = transformer_->transform(temp_ref, tf)) {
+    2214             : 
+    2215       51104 :           temp_ref = ret.value();
+    2216             : 
+    2217       51104 :           border_points_top_transformed.at(i).x = temp_ref.reference.position.x;
+    2218       51104 :           border_points_top_transformed.at(i).y = temp_ref.reference.position.y;
+    2219       51104 :           border_points_top_transformed.at(i).z = temp_ref.reference.position.z;
+    2220             : 
+    2221             :         } else {
+    2222           0 :           tf_success = false;
+    2223             :         }
+    2224             :       }
+    2225             : 
+    2226             :       //}
+    2227             : 
+    2228       25552 :       visualization_msgs::Marker safety_area_marker;
+    2229             : 
+    2230       12776 :       safety_area_marker.header.frame_id = _uav_name_ + "/local_origin";
+    2231       12776 :       safety_area_marker.type            = visualization_msgs::Marker::LINE_LIST;
+    2232       12776 :       safety_area_marker.color.a         = 0.15;
+    2233       12776 :       safety_area_marker.scale.x         = 0.2;
+    2234       12776 :       safety_area_marker.color.r         = 1;
+    2235       12776 :       safety_area_marker.color.g         = 0;
+    2236       12776 :       safety_area_marker.color.b         = 0;
+    2237             : 
+    2238       12776 :       safety_area_marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2239             : 
+    2240       25552 :       visualization_msgs::Marker safety_area_coordinates_marker;
+    2241             : 
+    2242       12776 :       safety_area_coordinates_marker.header.frame_id = _uav_name_ + "/local_origin";
+    2243       12776 :       safety_area_coordinates_marker.type            = visualization_msgs::Marker::TEXT_VIEW_FACING;
+    2244       12776 :       safety_area_coordinates_marker.color.a         = 1;
+    2245       12776 :       safety_area_coordinates_marker.scale.z         = 1.0;
+    2246       12776 :       safety_area_coordinates_marker.color.r         = 0;
+    2247       12776 :       safety_area_coordinates_marker.color.g         = 0;
+    2248       12776 :       safety_area_coordinates_marker.color.b         = 0;
+    2249             : 
+    2250       12776 :       safety_area_coordinates_marker.id = 0;
+    2251             : 
+    2252       12776 :       safety_area_coordinates_marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2253             : 
+    2254             :       /* adding safety area points //{ */
+    2255             : 
+    2256             :       // bottom border
+    2257       63880 :       for (size_t i = 0; i < border_points_bot_transformed.size(); i++) {
+    2258             : 
+    2259       51104 :         safety_area_marker.points.push_back(border_points_bot_transformed.at(i));
+    2260       51104 :         safety_area_marker.points.push_back(border_points_bot_transformed.at((i + 1) % border_points_bot_transformed.size()));
+    2261             : 
+    2262      102208 :         std::stringstream ss;
+    2263             : 
+    2264       51104 :         if (_safety_area_horizontal_frame_ == "latlon_origin") {
+    2265           0 :           ss << "idx: " << i << std::endl
+    2266           0 :              << std::setprecision(6) << std::fixed << "lat: " << border_points_bot_original.at(i).x << std::endl
+    2267           0 :              << "lon: " << border_points_bot_original.at(i).y;
+    2268             :         } else {
+    2269       51104 :           ss << "idx: " << i << std::endl
+    2270       51104 :              << std::setprecision(1) << std::fixed << "x: " << border_points_bot_original.at(i).x << std::endl
+    2271       51104 :              << "y: " << border_points_bot_original.at(i).y;
+    2272             :         }
+    2273             : 
+    2274       51104 :         safety_area_coordinates_marker.color.r = 0;
+    2275       51104 :         safety_area_coordinates_marker.color.g = 0;
+    2276       51104 :         safety_area_coordinates_marker.color.b = 0;
+    2277             : 
+    2278       51104 :         safety_area_coordinates_marker.pose.position = border_points_bot_transformed.at(i);
+    2279       51104 :         safety_area_coordinates_marker.text          = ss.str();
+    2280       51104 :         safety_area_coordinates_marker.id++;
+    2281             : 
+    2282       51104 :         safety_area_coordinates_marker_array.markers.push_back(safety_area_coordinates_marker);
+    2283             :       }
+    2284             : 
+    2285             :       // top border + top/bot edges
+    2286       63880 :       for (size_t i = 0; i < border_points_top_transformed.size(); i++) {
+    2287             : 
+    2288       51104 :         safety_area_marker.points.push_back(border_points_top_transformed.at(i));
+    2289       51104 :         safety_area_marker.points.push_back(border_points_top_transformed.at((i + 1) % border_points_top_transformed.size()));
+    2290             : 
+    2291       51104 :         safety_area_marker.points.push_back(border_points_bot_transformed.at(i));
+    2292       51104 :         safety_area_marker.points.push_back(border_points_top_transformed.at(i));
+    2293             : 
+    2294      102208 :         std::stringstream ss;
+    2295             : 
+    2296       51104 :         if (_safety_area_horizontal_frame_ == "latlon_origin") {
+    2297           0 :           ss << "idx: " << i << std::endl
+    2298           0 :              << std::setprecision(6) << std::fixed << "lat: " << border_points_bot_original.at(i).x << std::endl
+    2299           0 :              << "lon: " << border_points_bot_original.at(i).y;
+    2300             :         } else {
+    2301       51104 :           ss << "idx: " << i << std::endl
+    2302       51104 :              << std::setprecision(1) << std::fixed << "x: " << border_points_bot_original.at(i).x << std::endl
+    2303       51104 :              << "y: " << border_points_bot_original.at(i).y;
+    2304             :         }
+    2305             : 
+    2306       51104 :         safety_area_coordinates_marker.color.r = 1;
+    2307       51104 :         safety_area_coordinates_marker.color.g = 1;
+    2308       51104 :         safety_area_coordinates_marker.color.b = 1;
+    2309             : 
+    2310       51104 :         safety_area_coordinates_marker.pose.position = border_points_top_transformed.at(i);
+    2311       51104 :         safety_area_coordinates_marker.text          = ss.str();
+    2312       51104 :         safety_area_coordinates_marker.id++;
+    2313             : 
+    2314       51104 :         safety_area_coordinates_marker_array.markers.push_back(safety_area_coordinates_marker);
+    2315             :       }
+    2316             : 
+    2317             :       //}
+    2318             : 
+    2319       12776 :       if (tf_success) {
+    2320             : 
+    2321       12776 :         safety_area_marker_array.markers.push_back(safety_area_marker);
+    2322             : 
+    2323       12776 :         ph_safety_area_markers_.publish(safety_area_marker_array);
+    2324             : 
+    2325       12776 :         ph_safety_area_coordinates_markers_.publish(safety_area_coordinates_marker_array);
+    2326             :       }
+    2327             : 
+    2328             :     } else {
+    2329        2621 :       ROS_WARN_ONCE("[ControlManager]: missing TFs, can not publish safety area markers");
+    2330             :     }
+    2331             :   }
+    2332             : 
+    2333             :   // --------------------------------------------------------------
+    2334             :   // |              publish the disturbances markers              |
+    2335             :   // --------------------------------------------------------------
+    2336             : 
+    2337       19283 :   if (last_control_output.diagnostics.disturbance_estimator && got_uav_state_) {
+    2338             : 
+    2339       21394 :     visualization_msgs::MarkerArray msg_out;
+    2340             : 
+    2341       10697 :     double id = 0;
+    2342             : 
+    2343       10697 :     double multiplier = 1.0;
+    2344             : 
+    2345       10697 :     Eigen::Quaterniond quat_eigen = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+    2346             : 
+    2347       10697 :     Eigen::Vector3d      vec3d;
+    2348       10697 :     geometry_msgs::Point point;
+    2349             : 
+    2350             :     /* world disturbance //{ */
+    2351             :     {
+    2352             : 
+    2353       21394 :       visualization_msgs::Marker marker;
+    2354             : 
+    2355       10697 :       marker.header.frame_id = uav_state.header.frame_id;
+    2356       10697 :       marker.header.stamp    = ros::Time::now();
+    2357       10697 :       marker.ns              = "control_manager";
+    2358       10697 :       marker.id              = id++;
+    2359       10697 :       marker.type            = visualization_msgs::Marker::ARROW;
+    2360       10697 :       marker.action          = visualization_msgs::Marker::ADD;
+    2361             : 
+    2362             :       /* position //{ */
+    2363             : 
+    2364       10697 :       marker.pose.position.x = 0.0;
+    2365       10697 :       marker.pose.position.y = 0.0;
+    2366       10697 :       marker.pose.position.z = 0.0;
+    2367             : 
+    2368             :       //}
+    2369             : 
+    2370             :       /* orientation //{ */
+    2371             : 
+    2372       10697 :       marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2373             : 
+    2374             :       //}
+    2375             : 
+    2376             :       /* origin //{ */
+    2377       10697 :       point.x = uav_x;
+    2378       10697 :       point.y = uav_y;
+    2379       10697 :       point.z = uav_z;
+    2380             : 
+    2381       10697 :       marker.points.push_back(point);
+    2382             : 
+    2383             :       //}
+    2384             : 
+    2385             :       /* tip //{ */
+    2386             : 
+    2387       10697 :       point.x = uav_x + multiplier * last_control_output.diagnostics.disturbance_wx_w;
+    2388       10697 :       point.y = uav_y + multiplier * last_control_output.diagnostics.disturbance_wy_w;
+    2389       10697 :       point.z = uav_z;
+    2390             : 
+    2391       10697 :       marker.points.push_back(point);
+    2392             : 
+    2393             :       //}
+    2394             : 
+    2395       10697 :       marker.scale.x = 0.05;
+    2396       10697 :       marker.scale.y = 0.05;
+    2397       10697 :       marker.scale.z = 0.05;
+    2398             : 
+    2399       10697 :       marker.color.a = 0.5;
+    2400       10697 :       marker.color.r = 1.0;
+    2401       10697 :       marker.color.g = 0.0;
+    2402       10697 :       marker.color.b = 0.0;
+    2403             : 
+    2404       10697 :       marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+    2405             : 
+    2406       10697 :       msg_out.markers.push_back(marker);
+    2407             :     }
+    2408             : 
+    2409             :     //}
+    2410             : 
+    2411             :     /* body disturbance //{ */
+    2412             :     {
+    2413             : 
+    2414       21394 :       visualization_msgs::Marker marker;
+    2415             : 
+    2416       10697 :       marker.header.frame_id = uav_state.header.frame_id;
+    2417       10697 :       marker.header.stamp    = ros::Time::now();
+    2418       10697 :       marker.ns              = "control_manager";
+    2419       10697 :       marker.id              = id++;
+    2420       10697 :       marker.type            = visualization_msgs::Marker::ARROW;
+    2421       10697 :       marker.action          = visualization_msgs::Marker::ADD;
+    2422             : 
+    2423             :       /* position //{ */
+    2424             : 
+    2425       10697 :       marker.pose.position.x = 0.0;
+    2426       10697 :       marker.pose.position.y = 0.0;
+    2427       10697 :       marker.pose.position.z = 0.0;
+    2428             : 
+    2429             :       //}
+    2430             : 
+    2431             :       /* orientation //{ */
+    2432             : 
+    2433       10697 :       marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2434             : 
+    2435             :       //}
+    2436             : 
+    2437             :       /* origin //{ */
+    2438             : 
+    2439       10697 :       point.x = uav_x;
+    2440       10697 :       point.y = uav_y;
+    2441       10697 :       point.z = uav_z;
+    2442             : 
+    2443       10697 :       marker.points.push_back(point);
+    2444             : 
+    2445             :       //}
+    2446             : 
+    2447             :       /* tip //{ */
+    2448             : 
+    2449       10697 :       vec3d << multiplier * last_control_output.diagnostics.disturbance_bx_b, multiplier * last_control_output.diagnostics.disturbance_by_b, 0;
+    2450       10697 :       vec3d = quat_eigen * vec3d;
+    2451             : 
+    2452       10697 :       point.x = uav_x + vec3d(0);
+    2453       10697 :       point.y = uav_y + vec3d(1);
+    2454       10697 :       point.z = uav_z + vec3d(2);
+    2455             : 
+    2456       10697 :       marker.points.push_back(point);
+    2457             : 
+    2458             :       //}
+    2459             : 
+    2460       10697 :       marker.scale.x = 0.05;
+    2461       10697 :       marker.scale.y = 0.05;
+    2462       10697 :       marker.scale.z = 0.05;
+    2463             : 
+    2464       10697 :       marker.color.a = 0.5;
+    2465       10697 :       marker.color.r = 0.0;
+    2466       10697 :       marker.color.g = 1.0;
+    2467       10697 :       marker.color.b = 0.0;
+    2468             : 
+    2469       10697 :       marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+    2470             : 
+    2471       10697 :       msg_out.markers.push_back(marker);
+    2472             :     }
+    2473             : 
+    2474             :     //}
+    2475             : 
+    2476       10697 :     ph_disturbances_markers_.publish(msg_out);
+    2477             :   }
+    2478             : 
+    2479             :   // --------------------------------------------------------------
+    2480             :   // |               publish the current constraints              |
+    2481             :   // --------------------------------------------------------------
+    2482             : 
+    2483       19283 :   if (got_constraints_) {
+    2484             : 
+    2485       16207 :     auto sanitized_constraints = mrs_lib::get_mutexed(mutex_constraints_, sanitized_constraints_);
+    2486             : 
+    2487       16207 :     mrs_msgs::DynamicsConstraints constraints = sanitized_constraints.constraints;
+    2488             : 
+    2489       16207 :     ph_current_constraints_.publish(constraints);
+    2490             :   }
+    2491             : }
+    2492             : 
+    2493             : //}
+    2494             : 
+    2495             : /* //{ timerSafety() */
+    2496             : 
+    2497      348359 : void ControlManager::timerSafety(const ros::TimerEvent& event) {
+    2498             : 
+    2499      348359 :   mrs_lib::AtomicScopeFlag unset_running(running_safety_timer_);
+    2500             : 
+    2501      348363 :   if (!is_initialized_) {
+    2502           0 :     return;
+    2503             :   }
+    2504             : 
+    2505      696725 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerSafety", _safety_timer_rate_, 0.05, event);
+    2506      696726 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerSafety", scope_timer_logger_, scope_timer_enabled_);
+    2507             : 
+    2508             :   // copy member variables
+    2509      348362 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    2510      348363 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    2511      348363 :   auto [uav_state, uav_yaw]  = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_, uav_yaw_);
+    2512      348363 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    2513      348363 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    2514             : 
+    2515      663587 :   if (!got_uav_state_ || (_state_input_ == INPUT_UAV_STATE && _odometry_innovation_check_enabled_ && !sh_odometry_innovation_.hasMsg()) ||
+    2516      315224 :       active_tracker_idx == _null_tracker_idx_) {
+    2517      116616 :     return;
+    2518             :   }
+    2519             : 
+    2520      231747 :   if (odometry_switch_in_progress_) {
+    2521           5 :     ROS_WARN("[ControlManager]: timerSafety tried to run while odometry switch in progress");
+    2522           5 :     return;
+    2523             :   }
+    2524             : 
+    2525             :   // | ------------------------ timeouts ------------------------ |
+    2526             : 
+    2527      231742 :   if (_state_input_ == INPUT_UAV_STATE && sh_uav_state_.hasMsg()) {
+    2528      231742 :     double missing_for = (ros::Time::now() - sh_uav_state_.lastMsgTime()).toSec();
+    2529             : 
+    2530      231742 :     if (missing_for > _uav_state_max_missing_time_) {
+    2531           0 :       timeoutUavState(missing_for);
+    2532             :     }
+    2533             :   }
+    2534             : 
+    2535      231742 :   if (_state_input_ == INPUT_ODOMETRY && sh_odometry_.hasMsg()) {
+    2536           0 :     double missing_for = (ros::Time::now() - sh_odometry_.lastMsgTime()).toSec();
+    2537             : 
+    2538           0 :     if (missing_for > _uav_state_max_missing_time_) {
+    2539           0 :       timeoutUavState(missing_for);
+    2540             :     }
+    2541             :   }
+    2542             : 
+    2543             :   // | -------------- eland and failsafe thresholds ------------- |
+    2544             : 
+    2545      231742 :   std::map<std::string, ControllerParams>::iterator it;
+    2546      231742 :   it = controllers_.find(_controller_names_.at(active_controller_idx));
+    2547             : 
+    2548      231742 :   _eland_threshold_               = it->second.eland_threshold;
+    2549      231742 :   _failsafe_threshold_            = it->second.failsafe_threshold;
+    2550      231742 :   _odometry_innovation_threshold_ = it->second.odometry_innovation_threshold;
+    2551             : 
+    2552             :   // | --------- calculate control errors and tilt angle -------- |
+    2553             : 
+    2554             :   // This means that the timerFailsafe only does its work when Controllers and Trackers produce valid output.
+    2555             :   // Cases when the commands are not valid should be handle in updateControllers() and updateTrackers() methods.
+    2556      231742 :   if (!last_tracker_cmd || !last_control_output.control_output) {
+    2557         218 :     return;
+    2558             :   }
+    2559             : 
+    2560             :   {
+    2561      231524 :     std::scoped_lock lock(mutex_attitude_error_);
+    2562             : 
+    2563      231524 :     tilt_error_ = 0;
+    2564      231524 :     yaw_error_  = 0;
+    2565             :   }
+    2566             : 
+    2567             :   {
+    2568      231524 :     Eigen::Vector3d position_error = Eigen::Vector3d::Zero();
+    2569             : 
+    2570      231524 :     bool position_error_set = false;
+    2571             : 
+    2572      231524 :     if (last_tracker_cmd->use_position_horizontal && !std::holds_alternative<mrs_msgs::HwApiPositionCmd>(last_control_output.control_output.value())) {
+    2573             : 
+    2574      230399 :       position_error(0) = last_tracker_cmd->position.x - uav_state.pose.position.x;
+    2575      230400 :       position_error(1) = last_tracker_cmd->position.y - uav_state.pose.position.y;
+    2576             : 
+    2577      230401 :       position_error_set = true;
+    2578             :     }
+    2579             : 
+    2580      231524 :     if (last_tracker_cmd->use_position_vertical && !std::holds_alternative<mrs_msgs::HwApiPositionCmd>(last_control_output.control_output.value())) {
+    2581             : 
+    2582      230398 :       position_error(2) = last_tracker_cmd->position.z - uav_state.pose.position.z;
+    2583             : 
+    2584      230401 :       position_error_set = true;
+    2585             :     }
+    2586             : 
+    2587      231525 :     if (position_error_set) {
+    2588             : 
+    2589      230401 :       mrs_lib::set_mutexed(mutex_position_error_, {position_error}, position_error_);
+    2590             :     }
+    2591             :   }
+    2592             : 
+    2593             :   // rotate the drone's z axis
+    2594      231525 :   tf2::Transform uav_state_transform = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+    2595      231524 :   tf2::Vector3   uav_z_in_world      = uav_state_transform * tf2::Vector3(0, 0, 1);
+    2596             : 
+    2597             :   // calculate the angle between the drone's z axis and the world's z axis
+    2598      231524 :   double tilt_angle = acos(uav_z_in_world.dot(tf2::Vector3(0, 0, 1)));
+    2599             : 
+    2600             :   // | ------------ calculate the tilt and yaw error ------------ |
+    2601             : 
+    2602             :   // | --------------------- the tilt error --------------------- |
+    2603             : 
+    2604      231524 :   if (last_control_output.desired_orientation) {
+    2605             : 
+    2606             :     // calculate the desired drone's z axis in the world frame
+    2607      205260 :     tf2::Transform attitude_cmd_transform = mrs_lib::AttitudeConverter(last_control_output.desired_orientation.value());
+    2608      205260 :     tf2::Vector3   uav_z_in_world_desired = attitude_cmd_transform * tf2::Vector3(0, 0, 1);
+    2609             : 
+    2610             :     {
+    2611      205261 :       std::scoped_lock lock(mutex_attitude_error_);
+    2612             : 
+    2613             :       // calculate the angle between the drone's z axis and the world's z axis
+    2614      205261 :       tilt_error_ = acos(uav_z_in_world.dot(uav_z_in_world_desired));
+    2615             : 
+    2616             :       // calculate the yaw error
+    2617      205261 :       double cmd_yaw = mrs_lib::AttitudeConverter(last_control_output.desired_orientation.value()).getYaw();
+    2618      205261 :       yaw_error_     = fabs(radians::diff(cmd_yaw, uav_yaw));
+    2619             :     }
+    2620             :   }
+    2621             : 
+    2622      231524 :   auto position_error          = mrs_lib::get_mutexed(mutex_position_error_, position_error_);
+    2623      231524 :   auto [tilt_error, yaw_error] = mrs_lib::get_mutexed(mutex_attitude_error_, tilt_error_, yaw_error_);
+    2624             : 
+    2625             :   // --------------------------------------------------------------
+    2626             :   // |   activate the failsafe controller in case of large error  |
+    2627             :   // --------------------------------------------------------------
+    2628             : 
+    2629      231524 :   if (position_error) {
+    2630             : 
+    2631      230401 :     if (position_error->norm() > _failsafe_threshold_ && !failsafe_triggered_) {
+    2632             : 
+    2633          13 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2634             : 
+    2635          13 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2636             : 
+    2637           1 :         if (!failsafe_triggered_) {
+    2638             : 
+    2639           1 :           ROS_ERROR("[ControlManager]: activating failsafe land: control_error=%.2f/%.2f m (x: %.2f, y: %.2f, z: %.2f)", position_error->norm(),
+    2640             :                     _failsafe_threshold_, position_error.value()(0), position_error.value()(1), position_error.value()(2));
+    2641             : 
+    2642           1 :           failsafe();
+    2643             :         }
+    2644             :       }
+    2645             :     }
+    2646             :   }
+    2647             : 
+    2648             :   // --------------------------------------------------------------
+    2649             :   // |     activate emergency land in case of large innovation    |
+    2650             :   // --------------------------------------------------------------
+    2651             : 
+    2652      231523 :   if (_odometry_innovation_check_enabled_) {
+    2653             : 
+    2654      231520 :     std::optional<nav_msgs::Odometry::ConstPtr> innovation;
+    2655             : 
+    2656      231524 :     if (sh_odometry_innovation_.hasMsg()) {
+    2657      231524 :       innovation = {sh_odometry_innovation_.getMsg()};
+    2658             :     } else {
+    2659           0 :       ROS_WARN_THROTTLE(1.0, "[ControlManager]: missing estimator innnovation but the innovation check is enabled!");
+    2660             :     }
+    2661             : 
+    2662      231524 :     if (innovation) {
+    2663             : 
+    2664      231524 :       auto [x, y, z] = mrs_lib::getPosition(innovation.value());
+    2665             : 
+    2666      231524 :       double heading = 0;
+    2667             :       try {
+    2668      231524 :         heading = mrs_lib::getHeading(innovation.value());
+    2669             :       }
+    2670           0 :       catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+    2671           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception caught: '%s'", e.what());
+    2672             :       }
+    2673             : 
+    2674      231523 :       double last_innovation = mrs_lib::geometry::dist(vec3_t(x, y, z), vec3_t(0, 0, 0));
+    2675             : 
+    2676      231523 :       if (last_innovation > _odometry_innovation_threshold_ || radians::diff(heading, 0) > M_PI_2) {
+    2677             : 
+    2678           0 :         auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2679             : 
+    2680           0 :         if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2681             : 
+    2682           0 :           if (!failsafe_triggered_ && !eland_triggered_) {
+    2683             : 
+    2684           0 :             ROS_ERROR("[ControlManager]: activating emergency land: odometry innovation too large: %.2f/%.2f (x: %.2f, y: %.2f, z: %.2f, heading: %.2f)",
+    2685             :                       last_innovation, _odometry_innovation_threshold_, x, y, z, heading);
+    2686             : 
+    2687           0 :             eland();
+    2688             :           }
+    2689             :         }
+    2690             :       }
+    2691             :     }
+    2692             :   }
+    2693             : 
+    2694             :   // --------------------------------------------------------------
+    2695             :   // |   activate emergency land in case of medium control error  |
+    2696             :   // --------------------------------------------------------------
+    2697             : 
+    2698             :   // | ------------------- tilt control error ------------------- |
+    2699             : 
+    2700      231520 :   if (_tilt_limit_eland_enabled_ && tilt_angle > _tilt_limit_eland_) {
+    2701             : 
+    2702           0 :     auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2703             : 
+    2704           0 :     if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2705             : 
+    2706           0 :       if (!failsafe_triggered_ && !eland_triggered_) {
+    2707             : 
+    2708           0 :         ROS_ERROR("[ControlManager]: activating emergency land: tilt angle too large (%.2f/%.2f deg)", (180.0 / M_PI) * tilt_angle,
+    2709             :                   (180.0 / M_PI) * _tilt_limit_eland_);
+    2710             : 
+    2711           0 :         eland();
+    2712             :       }
+    2713             :     }
+    2714             :   }
+    2715             : 
+    2716             :   // | ----------------- position control error ----------------- |
+    2717             : 
+    2718      231520 :   if (position_error) {
+    2719             : 
+    2720      230395 :     double error_size = position_error->norm();
+    2721             : 
+    2722      230399 :     if (error_size > _eland_threshold_ / 2.0) {
+    2723             : 
+    2724         687 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2725             : 
+    2726         687 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2727             : 
+    2728         457 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2729             : 
+    2730          54 :           ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: releasing payload due to large position error");
+    2731             : 
+    2732          54 :           ungripSrv();
+    2733             :         }
+    2734             :       }
+    2735             :     }
+    2736             : 
+    2737      230399 :     if (error_size > _eland_threshold_) {
+    2738             : 
+    2739         305 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2740             : 
+    2741         305 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2742             : 
+    2743         126 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2744             : 
+    2745           4 :           ROS_ERROR("[ControlManager]: activating emergency land: position error %.2f/%.2f m (error x: %.2f, y: %.2f, z: %.2f)", error_size, _eland_threshold_,
+    2746             :                     position_error.value()(0), position_error.value()(1), position_error.value()(2));
+    2747             : 
+    2748           4 :           eland();
+    2749             :         }
+    2750             :       }
+    2751             :     }
+    2752             :   }
+    2753             : 
+    2754             :   // | -------------------- yaw control error ------------------- |
+    2755             :   // do not have to mutex the yaw_error_ here since I am filling it in this function
+    2756             : 
+    2757      231524 :   if (_yaw_error_eland_enabled_ && yaw_error) {
+    2758             : 
+    2759      231522 :     if (yaw_error.value() > (_yaw_error_eland_ / 2.0)) {
+    2760             : 
+    2761           0 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2762             : 
+    2763           0 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2764             : 
+    2765           0 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2766             : 
+    2767           0 :           ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: releasing payload: yaw error %.2f/%.2f deg", (180.0 / M_PI) * yaw_error.value(),
+    2768             :                              (180.0 / M_PI) * _yaw_error_eland_ / 2.0);
+    2769             : 
+    2770           0 :           ungripSrv();
+    2771             :         }
+    2772             :       }
+    2773             :     }
+    2774             : 
+    2775      231521 :     if (yaw_error.value() > _yaw_error_eland_) {
+    2776             : 
+    2777           0 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2778             : 
+    2779           0 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2780             : 
+    2781           0 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2782             : 
+    2783           0 :           ROS_ERROR("[ControlManager]: activating emergency land: yaw error %.2f/%.2f deg", (180.0 / M_PI) * yaw_error.value(),
+    2784             :                     (180.0 / M_PI) * _yaw_error_eland_);
+    2785             : 
+    2786           0 :           eland();
+    2787             :         }
+    2788             :       }
+    2789             :     }
+    2790             :   }
+    2791             : 
+    2792             :   // --------------------------------------------------------------
+    2793             :   // |      disarm the drone when the tilt exceeds the limit      |
+    2794             :   // --------------------------------------------------------------
+    2795      231519 :   if (_tilt_limit_disarm_enabled_ && tilt_angle > _tilt_limit_disarm_) {
+    2796             : 
+    2797           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_);
+    2798             : 
+    2799           0 :     arming(false);
+    2800             :   }
+    2801             : 
+    2802             :   // --------------------------------------------------------------
+    2803             :   // |     disarm the drone when tilt error exceeds the limit     |
+    2804             :   // --------------------------------------------------------------
+    2805             : 
+    2806      231519 :   if (_tilt_error_disarm_enabled_ && tilt_error) {
+    2807             : 
+    2808      231519 :     auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2809             : 
+    2810             :     // the time from the last controller/tracker switch
+    2811             :     // fyi: we should not
+    2812      231524 :     double time_from_ctrl_tracker_switch = (ros::Time::now() - controller_tracker_switch_time).toSec();
+    2813             : 
+    2814             :     // if the tile error is over the threshold
+    2815             :     // && we are not ramping up during takeoff
+    2816      231524 :     if (fabs(tilt_error.value()) > _tilt_error_disarm_threshold_ && !last_control_output.diagnostics.ramping_up) {
+    2817             : 
+    2818             :       // only account for the error if some time passed from the last tracker/controller switch
+    2819           0 :       if (time_from_ctrl_tracker_switch > 1.0) {
+    2820             : 
+    2821             :         // if the threshold was not exceeded before
+    2822           0 :         if (!tilt_error_disarm_over_thr_) {
+    2823             : 
+    2824           0 :           tilt_error_disarm_over_thr_ = true;
+    2825           0 :           tilt_error_disarm_time_     = ros::Time::now();
+    2826             : 
+    2827           0 :           ROS_WARN("[ControlManager]: tilt error exceeded threshold (%.2f/%.2f deg)", (180.0 / M_PI) * tilt_error.value(),
+    2828             :                    (180.0 / M_PI) * _tilt_error_disarm_threshold_);
+    2829             : 
+    2830             :           // if it was exceeded before, just keep it
+    2831             :         } else {
+    2832             : 
+    2833           0 :           ROS_WARN_THROTTLE(0.1, "[ControlManager]: tilt error (%.2f deg) over threshold for %.2f s", (180.0 / M_PI) * tilt_error.value(),
+    2834             :                             (ros::Time::now() - tilt_error_disarm_time_).toSec());
+    2835             :         }
+    2836             : 
+    2837             :         // if the tile error is bad, but the controller just switched,
+    2838             :         // don't think its bad anymore
+    2839             :       } else {
+    2840             : 
+    2841           0 :         tilt_error_disarm_over_thr_ = false;
+    2842           0 :         tilt_error_disarm_time_     = ros::Time::now();
+    2843             :       }
+    2844             : 
+    2845             :       // if the tilt error is fine
+    2846             :     } else {
+    2847             : 
+    2848             :       // make it fine
+    2849      231524 :       tilt_error_disarm_over_thr_ = false;
+    2850      231524 :       tilt_error_disarm_time_     = ros::Time::now();
+    2851             :     }
+    2852             : 
+    2853             :     // calculate the time over the threshold
+    2854      231524 :     double tot = (ros::Time::now() - tilt_error_disarm_time_).toSec();
+    2855             : 
+    2856             :     // if the tot exceeds the limit (and if we are actually over the threshold)
+    2857      231524 :     if (tilt_error_disarm_over_thr_ && (tot > _tilt_error_disarm_timeout_)) {
+    2858             : 
+    2859           0 :       bool is_flying = offboard_mode_ && active_tracker_idx != _null_tracker_idx_;
+    2860             : 
+    2861             :       // only when flying and not in failsafe
+    2862           0 :       if (is_flying) {
+    2863             : 
+    2864           0 :         ROS_ERROR("[ControlManager]: tilt error too large for %.2f s, disarming", tot);
+    2865             : 
+    2866           0 :         toggleOutput(false);
+    2867           0 :         arming(false);
+    2868             :       }
+    2869             :     }
+    2870             :   }
+    2871             : 
+    2872             :   // | --------- dropping out of OFFBOARD in mid flight --------- |
+    2873             : 
+    2874             :   // if we are not in offboard and the drone is in mid air (NullTracker is not active)
+    2875      231522 :   if (offboard_mode_was_true_ && !offboard_mode_ && active_tracker_idx != _null_tracker_idx_) {
+    2876             : 
+    2877           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: we fell out of OFFBOARD in mid air, disabling output");
+    2878             : 
+    2879           0 :     toggleOutput(false);
+    2880             :   }
+    2881             : }  // namespace control_manager
+    2882             : 
+    2883             : //}
+    2884             : 
+    2885             : /* //{ timerEland() */
+    2886             : 
+    2887         483 : void ControlManager::timerEland(const ros::TimerEvent& event) {
+    2888             : 
+    2889         483 :   if (!is_initialized_) {
+    2890         115 :     return;
+    2891             :   }
+    2892             : 
+    2893         966 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerEland", _elanding_timer_rate_, 0.01, event);
+    2894         966 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerEland", scope_timer_logger_, scope_timer_enabled_);
+    2895             : 
+    2896             :   // copy member variables
+    2897         483 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    2898             : 
+    2899         483 :   if (!last_control_output.control_output) {
+    2900           0 :     return;
+    2901             :   }
+    2902             : 
+    2903         483 :   auto throttle = extractThrottle(last_control_output);
+    2904             : 
+    2905         483 :   if (!throttle) {
+    2906         115 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: TODO: implement landing detection mechanism for the current control modality");
+    2907         115 :     return;
+    2908             :   }
+    2909             : 
+    2910         368 :   if (current_state_landing_ == IDLE_STATE) {
+    2911             : 
+    2912           0 :     return;
+    2913             : 
+    2914         368 :   } else if (current_state_landing_ == LANDING_STATE) {
+    2915             : 
+    2916             :     // --------------------------------------------------------------
+    2917             :     // |                            TODO                            |
+    2918             :     // This section needs work. The throttle landing detection      |
+    2919             :     // mechanism should be extracted and other mechanisms, such     |
+    2920             :     // as velocity-based detection should be used for high          |
+    2921             :     // modalities                                                   |
+    2922             :     // --------------------------------------------------------------
+    2923             : 
+    2924         368 :     if (!last_control_output.control_output) {
+    2925           0 :       ROS_WARN_THROTTLE(1.0, "[ControlManager]: timerEland: last_control_output has not been initialized, returning");
+    2926           0 :       ROS_WARN_THROTTLE(1.0, "[ControlManager]: tip: the RC eland is probably triggered");
+    2927           0 :       return;
+    2928             :     }
+    2929             : 
+    2930             :     // recalculate the mass based on the throttle
+    2931         368 :     throttle_mass_estimate_ = mrs_lib::quadratic_throttle_model::throttleToForce(common_handlers_->throttle_model, throttle.value()) / common_handlers_->g;
+    2932         368 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: landing: initial mass: %.2f throttle_mass_estimate: %.2f", landing_uav_mass_, throttle_mass_estimate_);
+    2933             : 
+    2934             :     // condition for automatic motor turn off
+    2935         368 :     if (((throttle_mass_estimate_ < _elanding_cutoff_mass_factor_ * landing_uav_mass_) || throttle < 0.01)) {
+    2936          88 :       if (!throttle_under_threshold_) {
+    2937             : 
+    2938           4 :         throttle_mass_estimate_first_time_ = ros::Time::now();
+    2939           4 :         throttle_under_threshold_          = true;
+    2940             :       }
+    2941             : 
+    2942          88 :       ROS_INFO_THROTTLE(0.1, "[ControlManager]: throttle is under cutoff factor for %.2f s", (ros::Time::now() - throttle_mass_estimate_first_time_).toSec());
+    2943             : 
+    2944             :     } else {
+    2945         280 :       throttle_mass_estimate_first_time_ = ros::Time::now();
+    2946         280 :       throttle_under_threshold_          = false;
+    2947             :     }
+    2948             : 
+    2949         368 :     if (throttle_under_threshold_ && ((ros::Time::now() - throttle_mass_estimate_first_time_).toSec() > _elanding_cutoff_timeout_)) {
+    2950             :       // enable callbacks? ... NO
+    2951             : 
+    2952           4 :       ROS_INFO("[ControlManager]: reached cutoff throttle, disabling output");
+    2953           4 :       toggleOutput(false);
+    2954             : 
+    2955             :       // disarm the drone
+    2956           4 :       if (_eland_disarm_enabled_) {
+    2957             : 
+    2958           4 :         ROS_INFO("[ControlManager]: calling for disarm");
+    2959           4 :         arming(false);
+    2960             :       }
+    2961             : 
+    2962           4 :       changeLandingState(IDLE_STATE);
+    2963             : 
+    2964           4 :       ROS_WARN("[ControlManager]: emergency landing finished");
+    2965             : 
+    2966           4 :       ROS_DEBUG("[ControlManager]: stopping eland timer");
+    2967           4 :       timer_eland_.stop();
+    2968           4 :       ROS_DEBUG("[ControlManager]: eland timer stopped");
+    2969             : 
+    2970             :       // we should NOT set eland_triggered_=true
+    2971             :     }
+    2972             :   }
+    2973             : }
+    2974             : 
+    2975             : //}
+    2976             : 
+    2977             : /* //{ timerFailsafe() */
+    2978             : 
+    2979        9716 : void ControlManager::timerFailsafe(const ros::TimerEvent& event) {
+    2980             : 
+    2981        9716 :   if (!is_initialized_) {
+    2982           0 :     return;
+    2983             :   }
+    2984             : 
+    2985        9716 :   ROS_INFO_ONCE("[ControlManager]: timerFailsafe() spinning");
+    2986             : 
+    2987       19432 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerFailsafe", _failsafe_timer_rate_, 0.01, event);
+    2988       19432 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerFailsafe", scope_timer_logger_, scope_timer_enabled_);
+    2989             : 
+    2990             :   // copy member variables
+    2991        9716 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    2992             : 
+    2993        9716 :   updateControllers(uav_state);
+    2994             : 
+    2995        9716 :   publish();
+    2996             : 
+    2997        9716 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    2998             : 
+    2999        9716 :   if (!last_control_output.control_output) {
+    3000           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: timerFailsafe: the control output produced by the failsafe controller is empty!");
+    3001           0 :     return;
+    3002             :   }
+    3003             : 
+    3004        9716 :   auto throttle = extractThrottle(last_control_output);
+    3005             : 
+    3006        9716 :   if (!throttle) {
+    3007           0 :     ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: FailsafeTimer: could not extract throttle out of the last control output");
+    3008           0 :     return;
+    3009             :   }
+    3010             : 
+    3011             :   // --------------------------------------------------------------
+    3012             :   // |                            TODO                            |
+    3013             :   // This section needs work. The throttle landing detection      |
+    3014             :   // mechanism should be extracted and other mechanisms, such     |
+    3015             :   // as velocity-based detection should be used for high          |
+    3016             :   // modalities                                                   |
+    3017             :   // --------------------------------------------------------------
+    3018             : 
+    3019        9716 :   double throttle_mass_estimate_ = mrs_lib::quadratic_throttle_model::throttleToForce(common_handlers_->throttle_model, throttle.value()) / common_handlers_->g;
+    3020        9716 :   ROS_INFO_THROTTLE(1.0, "[ControlManager]: failsafe: initial mass: %.2f throttle_mass_estimate: %.2f", landing_uav_mass_, throttle_mass_estimate_);
+    3021             : 
+    3022             :   // condition for automatic motor turn off
+    3023        9716 :   if (((throttle_mass_estimate_ < _elanding_cutoff_mass_factor_ * landing_uav_mass_))) {
+    3024             : 
+    3025        1414 :     if (!throttle_under_threshold_) {
+    3026             : 
+    3027           7 :       throttle_mass_estimate_first_time_ = ros::Time::now();
+    3028           7 :       throttle_under_threshold_          = true;
+    3029             :     }
+    3030             : 
+    3031        1414 :     ROS_INFO_THROTTLE(0.1, "[ControlManager]: throttle is under cutoff factor for %.2f s", (ros::Time::now() - throttle_mass_estimate_first_time_).toSec());
+    3032             : 
+    3033             :   } else {
+    3034             : 
+    3035        8302 :     throttle_mass_estimate_first_time_ = ros::Time::now();
+    3036        8302 :     throttle_under_threshold_          = false;
+    3037             :   }
+    3038             : 
+    3039             :   // condition for automatic motor turn off
+    3040        9716 :   if (throttle_under_threshold_ && ((ros::Time::now() - throttle_mass_estimate_first_time_).toSec() > _elanding_cutoff_timeout_)) {
+    3041             : 
+    3042           7 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: detecting zero throttle, disarming");
+    3043             : 
+    3044           7 :     arming(false);
+    3045             :   }
+    3046             : }
+    3047             : 
+    3048             : //}
+    3049             : 
+    3050             : /* //{ timerJoystick() */
+    3051             : 
+    3052       67637 : void ControlManager::timerJoystick(const ros::TimerEvent& event) {
+    3053             : 
+    3054       67637 :   if (!is_initialized_) {
+    3055           0 :     return;
+    3056             :   }
+    3057             : 
+    3058      202911 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerJoystick", _status_timer_rate_, 0.05, event);
+    3059      202911 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerJoystick", scope_timer_logger_, scope_timer_enabled_);
+    3060             : 
+    3061      135274 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    3062             : 
+    3063             :   // if start was pressed and held for > 3.0 s
+    3064       67637 :   if (joystick_start_pressed_ && joystick_start_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_start_press_time_).toSec() > 3.0) {
+    3065             : 
+    3066           0 :     joystick_start_press_time_ = ros::Time(0);
+    3067             : 
+    3068           0 :     ROS_INFO("[ControlManager]: transitioning to joystick control: activating '%s' and '%s'", _joystick_tracker_name_.c_str(),
+    3069             :              _joystick_controller_name_.c_str());
+    3070             : 
+    3071           0 :     joystick_start_pressed_ = false;
+    3072             : 
+    3073           0 :     switchTracker(_joystick_tracker_name_);
+    3074           0 :     switchController(_joystick_controller_name_);
+    3075             :   }
+    3076             : 
+    3077             :   // if RT+LT were pressed and held for > 0.1 s
+    3078       67637 :   if (joystick_failsafe_pressed_ && joystick_failsafe_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_failsafe_press_time_).toSec() > 0.1) {
+    3079             : 
+    3080           0 :     joystick_failsafe_press_time_ = ros::Time(0);
+    3081             : 
+    3082           0 :     ROS_INFO("[ControlManager]: activating failsafe by joystick");
+    3083             : 
+    3084           0 :     joystick_failsafe_pressed_ = false;
+    3085             : 
+    3086           0 :     failsafe();
+    3087             :   }
+    3088             : 
+    3089             :   // if joypads were pressed and held for > 0.1 s
+    3090       67637 :   if (joystick_eland_pressed_ && joystick_eland_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_eland_press_time_).toSec() > 0.1) {
+    3091             : 
+    3092           0 :     joystick_eland_press_time_ = ros::Time(0);
+    3093             : 
+    3094           0 :     ROS_INFO("[ControlManager]: activating eland by joystick");
+    3095             : 
+    3096           0 :     joystick_failsafe_pressed_ = false;
+    3097             : 
+    3098           0 :     eland();
+    3099             :   }
+    3100             : 
+    3101             :   // if back was pressed and held for > 0.1 s
+    3102       67637 :   if (joystick_back_pressed_ && joystick_back_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_back_press_time_).toSec() > 0.1) {
+    3103             : 
+    3104           0 :     joystick_back_press_time_ = ros::Time(0);
+    3105             : 
+    3106             :     // activate/deactivate the joystick goto functionality
+    3107           0 :     joystick_goto_enabled_ = !joystick_goto_enabled_;
+    3108             : 
+    3109           0 :     ROS_INFO("[ControlManager]: joystick control %s", joystick_goto_enabled_ ? "activated" : "deactivated");
+    3110             :   }
+    3111             : 
+    3112             :   // if the GOTO functionality is enabled...
+    3113       67637 :   if (joystick_goto_enabled_ && sh_joystick_.hasMsg()) {
+    3114             : 
+    3115           0 :     auto joystick_data = sh_joystick_.getMsg();
+    3116             : 
+    3117             :     // create the reference
+    3118             : 
+    3119           0 :     mrs_msgs::Vec4::Request request;
+    3120             : 
+    3121           0 :     if (fabs(joystick_data->axes.at(_channel_pitch_)) >= 0.05 || fabs(joystick_data->axes.at(_channel_roll_)) >= 0.05 ||
+    3122           0 :         fabs(joystick_data->axes.at(_channel_heading_)) >= 0.05 || fabs(joystick_data->axes.at(_channel_throttle_)) >= 0.05) {
+    3123             : 
+    3124           0 :       if (_joystick_mode_ == 0) {
+    3125             : 
+    3126           0 :         request.goal.at(REF_X)       = _channel_mult_pitch_ * joystick_data->axes.at(_channel_pitch_) * _joystick_carrot_distance_;
+    3127           0 :         request.goal.at(REF_Y)       = _channel_mult_roll_ * joystick_data->axes.at(_channel_roll_) * _joystick_carrot_distance_;
+    3128           0 :         request.goal.at(REF_Z)       = _channel_mult_throttle_ * joystick_data->axes.at(_channel_throttle_);
+    3129           0 :         request.goal.at(REF_HEADING) = _channel_mult_heading_ * joystick_data->axes.at(_channel_heading_);
+    3130             : 
+    3131           0 :         mrs_msgs::Vec4::Response response;
+    3132             : 
+    3133           0 :         callbackGotoFcu(request, response);
+    3134             : 
+    3135           0 :       } else if (_joystick_mode_ == 1) {
+    3136             : 
+    3137           0 :         mrs_msgs::TrajectoryReference trajectory;
+    3138             : 
+    3139           0 :         double dt = 0.2;
+    3140             : 
+    3141           0 :         trajectory.fly_now         = true;
+    3142           0 :         trajectory.header.frame_id = "fcu_untilted";
+    3143           0 :         trajectory.use_heading     = true;
+    3144           0 :         trajectory.dt              = dt;
+    3145             : 
+    3146           0 :         mrs_msgs::Reference point;
+    3147           0 :         point.position.x = 0;
+    3148           0 :         point.position.y = 0;
+    3149           0 :         point.position.z = 0;
+    3150           0 :         point.heading    = 0;
+    3151             : 
+    3152           0 :         trajectory.points.push_back(point);
+    3153             : 
+    3154           0 :         double speed = 1.0;
+    3155             : 
+    3156           0 :         for (int i = 0; i < 50; i++) {
+    3157             : 
+    3158           0 :           point.position.x += _channel_mult_pitch_ * joystick_data->axes.at(_channel_pitch_) * (speed * dt);
+    3159           0 :           point.position.y += _channel_mult_roll_ * joystick_data->axes.at(_channel_roll_) * (speed * dt);
+    3160           0 :           point.position.z += _channel_mult_throttle_ * joystick_data->axes.at(_channel_throttle_) * (speed * dt);
+    3161           0 :           point.heading = _channel_mult_heading_ * joystick_data->axes.at(_channel_heading_);
+    3162             : 
+    3163           0 :           trajectory.points.push_back(point);
+    3164             :         }
+    3165             : 
+    3166           0 :         setTrajectoryReference(trajectory);
+    3167             :       }
+    3168             :     }
+    3169             :   }
+    3170             : 
+    3171       67637 :   if (rc_goto_active_ && last_tracker_cmd && sh_hw_api_rc_.hasMsg()) {
+    3172             : 
+    3173             :     // create the reference
+    3174        1588 :     mrs_msgs::VelocityReferenceStampedSrv::Request request;
+    3175             : 
+    3176         794 :     double des_x       = 0;
+    3177         794 :     double des_y       = 0;
+    3178         794 :     double des_z       = 0;
+    3179         794 :     double des_heading = 0;
+    3180             : 
+    3181         794 :     bool nothing_to_do = true;
+    3182             : 
+    3183             :     // copy member variables
+    3184        1588 :     mrs_msgs::HwApiRcChannelsConstPtr rc_channels = sh_hw_api_rc_.getMsg();
+    3185             : 
+    3186         794 :     if (rc_channels->channels.size() < 4) {
+    3187             : 
+    3188           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: RC control channel numbers are out of range (the # of channels in rc/in topic is %d)",
+    3189             :                          int(rc_channels->channels.size()));
+    3190           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: tip: this could be caused by the RC failsafe not being configured!");
+    3191             : 
+    3192             :     } else {
+    3193             : 
+    3194         794 :       double tmp_x       = RCChannelToRange(rc_channels->channels.at(_rc_channel_pitch_), _rc_horizontal_speed_, 0.1);
+    3195         794 :       double tmp_y       = -RCChannelToRange(rc_channels->channels.at(_rc_channel_roll_), _rc_horizontal_speed_, 0.1);
+    3196         794 :       double tmp_z       = RCChannelToRange(rc_channels->channels.at(_rc_channel_throttle_), _rc_vertical_speed_, 0.3);
+    3197         794 :       double tmp_heading = -RCChannelToRange(rc_channels->channels.at(_rc_channel_heading_), _rc_heading_rate_, 0.1);
+    3198             : 
+    3199         794 :       if (abs(tmp_x) > 1e-3) {
+    3200         275 :         des_x         = tmp_x;
+    3201         275 :         nothing_to_do = false;
+    3202             :       }
+    3203             : 
+    3204         794 :       if (abs(tmp_y) > 1e-3) {
+    3205         119 :         des_y         = tmp_y;
+    3206         119 :         nothing_to_do = false;
+    3207             :       }
+    3208             : 
+    3209         794 :       if (abs(tmp_z) > 1e-3) {
+    3210         255 :         des_z         = tmp_z;
+    3211         255 :         nothing_to_do = false;
+    3212             :       }
+    3213             : 
+    3214         794 :       if (abs(tmp_heading) > 1e-3) {
+    3215          77 :         des_heading   = tmp_heading;
+    3216          77 :         nothing_to_do = false;
+    3217             :       }
+    3218             :     }
+    3219             : 
+    3220         794 :     if (!nothing_to_do) {
+    3221             : 
+    3222         726 :       request.reference.header.frame_id = "fcu_untilted";
+    3223             : 
+    3224         726 :       request.reference.reference.use_heading_rate = true;
+    3225             : 
+    3226         726 :       request.reference.reference.velocity.x   = des_x;
+    3227         726 :       request.reference.reference.velocity.y   = des_y;
+    3228         726 :       request.reference.reference.velocity.z   = des_z;
+    3229         726 :       request.reference.reference.heading_rate = des_heading;
+    3230             : 
+    3231        1452 :       mrs_msgs::VelocityReferenceStampedSrv::Response response;
+    3232             : 
+    3233             :       // disable callbacks of all trackers
+    3234         726 :       std_srvs::SetBoolRequest req_enable_callbacks;
+    3235             : 
+    3236             :       // enable the callbacks for the active tracker
+    3237         726 :       req_enable_callbacks.data = true;
+    3238             :       {
+    3239         726 :         std::scoped_lock lock(mutex_tracker_list_);
+    3240             : 
+    3241         726 :         tracker_list_.at(active_tracker_idx_)
+    3242         726 :             ->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3243             :       }
+    3244             : 
+    3245         726 :       callbacks_enabled_ = true;
+    3246             : 
+    3247         726 :       callbackVelocityReferenceService(request, response);
+    3248             : 
+    3249         726 :       callbacks_enabled_ = false;
+    3250             : 
+    3251         726 :       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);
+    3252             : 
+    3253             :       // disable the callbacks back again
+    3254         726 :       req_enable_callbacks.data = false;
+    3255             :       {
+    3256         726 :         std::scoped_lock lock(mutex_tracker_list_);
+    3257             : 
+    3258         726 :         tracker_list_.at(active_tracker_idx_)
+    3259         726 :             ->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3260             :       }
+    3261             :     }
+    3262             :   }
+    3263             : }
+    3264             : 
+    3265             : //}
+    3266             : 
+    3267             : /* //{ timerBumper() */
+    3268             : 
+    3269        2471 : void ControlManager::timerBumper(const ros::TimerEvent& event) {
+    3270             : 
+    3271        2471 :   if (!is_initialized_) {
+    3272        2193 :     return;
+    3273             :   }
+    3274             : 
+    3275        4942 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerBumper", _bumper_timer_rate_, 0.05, event);
+    3276        4942 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerBumper", scope_timer_logger_, scope_timer_enabled_);
+    3277             : 
+    3278             :   // | ---------------------- preconditions --------------------- |
+    3279             : 
+    3280        2471 :   if (!sh_bumper_.hasMsg()) {
+    3281        2190 :     return;
+    3282             :   }
+    3283             : 
+    3284         281 :   if (!bumper_enabled_) {
+    3285           0 :     return;
+    3286             :   }
+    3287             : 
+    3288         281 :   if (!isFlyingNormally() && !bumper_repulsing_) {
+    3289           3 :     return;
+    3290             :   }
+    3291             : 
+    3292         278 :   if (!got_uav_state_) {
+    3293           0 :     return;
+    3294             :   }
+    3295             : 
+    3296         278 :   if (sh_bumper_.hasMsg() && (ros::Time::now() - sh_bumper_.lastMsgTime()).toSec() > 1.0) {
+    3297             : 
+    3298           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: obstacle bumper is missing messages although we got them before");
+    3299             : 
+    3300           0 :     return;
+    3301             :   }
+    3302             : 
+    3303         278 :   timer_bumper_.setPeriod(ros::Duration(1.0 / _bumper_timer_rate_));
+    3304             : 
+    3305             :   // | ------------------ call the bumper logic ----------------- |
+    3306             : 
+    3307         278 :   bumperPushFromObstacle();
+    3308             : }
+    3309             : 
+    3310             : //}
+    3311             : 
+    3312             : /* //{ timerPirouette() */
+    3313             : 
+    3314           0 : void ControlManager::timerPirouette(const ros::TimerEvent& event) {
+    3315             : 
+    3316           0 :   if (!is_initialized_) {
+    3317           0 :     return;
+    3318             :   }
+    3319             : 
+    3320           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerPirouette", _pirouette_timer_rate_, 0.01, event);
+    3321           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerPirouette", scope_timer_logger_, scope_timer_enabled_);
+    3322             : 
+    3323           0 :   pirouette_iterator_++;
+    3324             : 
+    3325           0 :   double pirouette_duration  = (2 * M_PI) / _pirouette_speed_;
+    3326           0 :   double pirouette_n_steps   = pirouette_duration * _pirouette_timer_rate_;
+    3327           0 :   double pirouette_step_size = (2 * M_PI) / pirouette_n_steps;
+    3328             : 
+    3329           0 :   if (rc_escalating_failsafe_triggered_ || failsafe_triggered_ || eland_triggered_ || (pirouette_iterator_ > pirouette_duration * _pirouette_timer_rate_)) {
+    3330             : 
+    3331           0 :     _pirouette_enabled_ = false;
+    3332           0 :     timer_pirouette_.stop();
+    3333             : 
+    3334           0 :     setCallbacks(true);
+    3335             : 
+    3336           0 :     return;
+    3337             :   }
+    3338             : 
+    3339             :   // set the reference
+    3340           0 :   mrs_msgs::ReferenceStamped reference_request;
+    3341             : 
+    3342           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    3343             : 
+    3344           0 :   reference_request.header.frame_id      = "";
+    3345           0 :   reference_request.header.stamp         = ros::Time(0);
+    3346           0 :   reference_request.reference.position.x = last_tracker_cmd->position.x;
+    3347           0 :   reference_request.reference.position.y = last_tracker_cmd->position.y;
+    3348           0 :   reference_request.reference.position.z = last_tracker_cmd->position.z;
+    3349           0 :   reference_request.reference.heading    = pirouette_initial_heading_ + pirouette_iterator_ * pirouette_step_size;
+    3350             : 
+    3351             :   // enable the callbacks for the active tracker
+    3352             :   {
+    3353           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    3354             : 
+    3355           0 :     std_srvs::SetBoolRequest req_enable_callbacks;
+    3356           0 :     req_enable_callbacks.data = true;
+    3357             : 
+    3358           0 :     tracker_list_.at(active_tracker_idx_)
+    3359           0 :         ->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3360             : 
+    3361           0 :     callbacks_enabled_ = true;
+    3362             :   }
+    3363             : 
+    3364           0 :   setReference(reference_request);
+    3365             : 
+    3366             :   {
+    3367           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    3368             : 
+    3369             :     // disable the callbacks for the active tracker
+    3370           0 :     std_srvs::SetBoolRequest req_enable_callbacks;
+    3371           0 :     req_enable_callbacks.data = false;
+    3372             : 
+    3373           0 :     tracker_list_.at(active_tracker_idx_)
+    3374           0 :         ->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3375             : 
+    3376           0 :     callbacks_enabled_ = false;
+    3377             :   }
+    3378             : }
+    3379             : 
+    3380             : //}
+    3381             : 
+    3382             : // --------------------------------------------------------------
+    3383             : // |                           asyncs                           |
+    3384             : // --------------------------------------------------------------
+    3385             : 
+    3386             : /* asyncControl() //{ */
+    3387             : 
+    3388      149290 : void ControlManager::asyncControl(void) {
+    3389             : 
+    3390      149290 :   if (!is_initialized_) {
+    3391           0 :     return;
+    3392             :   }
+    3393             : 
+    3394      298580 :   mrs_lib::AtomicScopeFlag unset_running(running_async_control_);
+    3395             : 
+    3396      447870 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("asyncControl");
+    3397      447870 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::asyncControl", scope_timer_logger_, scope_timer_enabled_);
+    3398             : 
+    3399             :   // copy member variables
+    3400      298580 :   auto uav_state           = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    3401      149290 :   auto current_constraints = mrs_lib::get_mutexed(mutex_constraints_, current_constraints_);
+    3402             : 
+    3403      149290 :   if (!failsafe_triggered_) {  // when failsafe is triggered, updateControllers() and publish() is called in timerFailsafe()
+    3404             : 
+    3405             :     // run the safety timer
+    3406             :     // in the case of large control errors, the safety mechanisms will be triggered before the controllers and trackers are updated...
+    3407      140021 :     while (running_safety_timer_) {
+    3408             : 
+    3409         945 :       ROS_DEBUG("[ControlManager]: waiting for safety timer to finish");
+    3410         945 :       ros::Duration wait(0.001);
+    3411         945 :       wait.sleep();
+    3412             : 
+    3413         945 :       if (!running_safety_timer_) {
+    3414         934 :         ROS_DEBUG("[ControlManager]: safety timer finished");
+    3415         934 :         break;
+    3416             :       }
+    3417             :     }
+    3418             : 
+    3419      140010 :     ros::TimerEvent safety_timer_event;
+    3420      140010 :     timerSafety(safety_timer_event);
+    3421             : 
+    3422      140010 :     updateTrackers();
+    3423             : 
+    3424      140010 :     updateControllers(uav_state);
+    3425             : 
+    3426      140010 :     if (got_constraints_) {
+    3427             : 
+    3428             :       // update the constraints to trackers, if need to
+    3429      139280 :       auto enforce = enforceControllersConstraints(current_constraints);
+    3430             : 
+    3431      139280 :       if (enforce && !constraints_being_enforced_) {
+    3432             : 
+    3433          82 :         setConstraintsToTrackers(enforce.value());
+    3434          82 :         mrs_lib::set_mutexed(mutex_constraints_, enforce.value(), sanitized_constraints_);
+    3435             : 
+    3436          82 :         constraints_being_enforced_ = true;
+    3437             : 
+    3438          82 :         auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    3439             : 
+    3440          82 :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: the controller '%s' is enforcing constraints over the ConstraintManager",
+    3441             :                           _controller_names_.at(active_controller_idx).c_str());
+    3442             : 
+    3443      139198 :       } else if (!enforce && constraints_being_enforced_) {
+    3444             : 
+    3445          74 :         ROS_INFO_THROTTLE(1.0, "[ControlManager]: constraint values returned to original values");
+    3446             : 
+    3447          74 :         constraints_being_enforced_ = false;
+    3448             : 
+    3449          74 :         mrs_lib::set_mutexed(mutex_constraints_, current_constraints, sanitized_constraints_);
+    3450             : 
+    3451          74 :         setConstraintsToTrackers(current_constraints);
+    3452             :       }
+    3453             :     }
+    3454             : 
+    3455      140010 :     publish();
+    3456             :   }
+    3457             : 
+    3458             :   // if odometry switch happened, we finish it here and turn the safety timer back on
+    3459      149290 :   if (odometry_switch_in_progress_) {
+    3460             : 
+    3461           5 :     ROS_DEBUG("[ControlManager]: starting safety timer");
+    3462           5 :     timer_safety_.start();
+    3463           5 :     ROS_DEBUG("[ControlManager]: safety timer started");
+    3464           5 :     odometry_switch_in_progress_ = false;
+    3465             : 
+    3466             :     {
+    3467          10 :       std::scoped_lock lock(mutex_uav_state_);
+    3468             : 
+    3469           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,
+    3470             :                uav_state.pose.position.z, uav_heading_);
+    3471             :     }
+    3472             :   }
+    3473             : }
+    3474             : 
+    3475             : //}
+    3476             : 
+    3477             : // --------------------------------------------------------------
+    3478             : // |                          callbacks                         |
+    3479             : // --------------------------------------------------------------
+    3480             : 
+    3481             : // | --------------------- topic callbacks -------------------- |
+    3482             : 
+    3483             : /* //{ callbackOdometry() */
+    3484             : 
+    3485           0 : void ControlManager::callbackOdometry(const nav_msgs::Odometry::ConstPtr msg) {
+    3486             : 
+    3487           0 :   if (!is_initialized_) {
+    3488           0 :     return;
+    3489             :   }
+    3490             : 
+    3491           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackOdometry");
+    3492           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackOdometry", scope_timer_logger_, scope_timer_enabled_);
+    3493             : 
+    3494           0 :   nav_msgs::OdometryConstPtr odom = msg;
+    3495             : 
+    3496             :   // | ------------------ check for time stamp ------------------ |
+    3497             : 
+    3498             :   {
+    3499           0 :     std::scoped_lock lock(mutex_uav_state_);
+    3500             : 
+    3501           0 :     if (uav_state_.header.stamp == odom->header.stamp) {
+    3502           0 :       return;
+    3503             :     }
+    3504             :   }
+    3505             : 
+    3506             :   // | --------------------- check for nans --------------------- |
+    3507             : 
+    3508           0 :   if (!validateOdometry(*odom, "ControlManager", "odometry")) {
+    3509           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: incoming 'odometry' contains invalid values, throwing it away");
+    3510           0 :     return;
+    3511             :   }
+    3512             : 
+    3513             :   // | ---------------------- frame switch ---------------------- |
+    3514             : 
+    3515             :   /* Odometry frame switch //{ */
+    3516             : 
+    3517             :   // | -- prepare an OdometryConstPtr for trackers & controllers -- |
+    3518             : 
+    3519           0 :   mrs_msgs::UavState uav_state_odom;
+    3520             : 
+    3521           0 :   uav_state_odom.header   = odom->header;
+    3522           0 :   uav_state_odom.pose     = odom->pose.pose;
+    3523           0 :   uav_state_odom.velocity = odom->twist.twist;
+    3524             : 
+    3525             :   // | ----- check for change in odometry frame of reference ---- |
+    3526             : 
+    3527           0 :   if (got_uav_state_) {
+    3528             : 
+    3529           0 :     if (odom->header.frame_id != uav_state_.header.frame_id) {
+    3530             : 
+    3531           0 :       ROS_INFO("[ControlManager]: detecting switch of odometry frame");
+    3532             :       {
+    3533           0 :         std::scoped_lock lock(mutex_uav_state_);
+    3534             : 
+    3535           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,
+    3536             :                  uav_state_.pose.position.z, uav_heading_);
+    3537             :       }
+    3538             : 
+    3539           0 :       odometry_switch_in_progress_ = true;
+    3540             : 
+    3541             :       // we have to stop safety timer, otherwise it will interfere
+    3542           0 :       ROS_DEBUG("[ControlManager]: stopping the safety timer");
+    3543           0 :       timer_safety_.stop();
+    3544           0 :       ROS_DEBUG("[ControlManager]: safety timer stopped");
+    3545             : 
+    3546             :       // wait for the safety timer to stop if its running
+    3547           0 :       while (running_safety_timer_) {
+    3548             : 
+    3549           0 :         ROS_DEBUG("[ControlManager]: waiting for safety timer to finish");
+    3550           0 :         ros::Duration wait(0.001);
+    3551           0 :         wait.sleep();
+    3552             : 
+    3553           0 :         if (!running_safety_timer_) {
+    3554           0 :           ROS_DEBUG("[ControlManager]: safety timer finished");
+    3555           0 :           break;
+    3556             :         }
+    3557             :       }
+    3558             : 
+    3559             :       // we have to also for the oneshot control timer to finish
+    3560           0 :       while (running_async_control_) {
+    3561             : 
+    3562           0 :         ROS_DEBUG("[ControlManager]: waiting for control timer to finish");
+    3563           0 :         ros::Duration wait(0.001);
+    3564           0 :         wait.sleep();
+    3565             : 
+    3566           0 :         if (!running_async_control_) {
+    3567           0 :           ROS_DEBUG("[ControlManager]: control timer finished");
+    3568           0 :           break;
+    3569             :         }
+    3570             :       }
+    3571             : 
+    3572             :       {
+    3573           0 :         std::scoped_lock lock(mutex_controller_list_, mutex_tracker_list_);
+    3574             : 
+    3575           0 :         tracker_list_.at(active_tracker_idx_)->switchOdometrySource(uav_state_odom);
+    3576           0 :         controller_list_.at(active_controller_idx_)->switchOdometrySource(uav_state_odom);
+    3577             :       }
+    3578             :     }
+    3579             :   }
+    3580             : 
+    3581             :   //}
+    3582             : 
+    3583             :   // | ----------- copy the odometry to the uav_state ----------- |
+    3584             : 
+    3585             :   {
+    3586           0 :     std::scoped_lock lock(mutex_uav_state_);
+    3587             : 
+    3588           0 :     previous_uav_state_ = uav_state_;
+    3589             : 
+    3590           0 :     uav_state_ = mrs_msgs::UavState();
+    3591             : 
+    3592           0 :     uav_state_.header           = odom->header;
+    3593           0 :     uav_state_.pose             = odom->pose.pose;
+    3594           0 :     uav_state_.velocity.angular = odom->twist.twist.angular;
+    3595             : 
+    3596             :     // transform the twist into the header's frame
+    3597             :     {
+    3598             :       // the velocity from the odometry
+    3599           0 :       geometry_msgs::Vector3Stamped speed_child_frame;
+    3600           0 :       speed_child_frame.header.frame_id = odom->child_frame_id;
+    3601           0 :       speed_child_frame.header.stamp    = odom->header.stamp;
+    3602           0 :       speed_child_frame.vector.x        = odom->twist.twist.linear.x;
+    3603           0 :       speed_child_frame.vector.y        = odom->twist.twist.linear.y;
+    3604           0 :       speed_child_frame.vector.z        = odom->twist.twist.linear.z;
+    3605             : 
+    3606           0 :       auto res = transformer_->transformSingle(speed_child_frame, odom->header.frame_id);
+    3607             : 
+    3608           0 :       if (res) {
+    3609           0 :         uav_state_.velocity.linear.x = res.value().vector.x;
+    3610           0 :         uav_state_.velocity.linear.y = res.value().vector.y;
+    3611           0 :         uav_state_.velocity.linear.z = res.value().vector.z;
+    3612             :       } else {
+    3613           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not transform the odometry speed from '%s' to '%s'", odom->child_frame_id.c_str(),
+    3614             :                            odom->header.frame_id.c_str());
+    3615           0 :         return;
+    3616             :       }
+    3617             :     }
+    3618             : 
+    3619             :     // calculate the euler angles
+    3620           0 :     std::tie(uav_roll_, uav_pitch_, uav_yaw_) = mrs_lib::AttitudeConverter(odom->pose.pose.orientation);
+    3621             : 
+    3622             :     try {
+    3623           0 :       uav_heading_ = mrs_lib::AttitudeConverter(odom->pose.pose.orientation).getHeading();
+    3624             :     }
+    3625           0 :     catch (...) {
+    3626           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not calculate UAV heading");
+    3627             :     }
+    3628             : 
+    3629           0 :     transformer_->setDefaultFrame(odom->header.frame_id);
+    3630             : 
+    3631           0 :     got_uav_state_ = true;
+    3632             :   }
+    3633             : 
+    3634             :   // run the control loop asynchronously in an OneShotTimer
+    3635             :   // but only if its not already running
+    3636           0 :   if (!running_async_control_) {
+    3637             : 
+    3638           0 :     running_async_control_ = true;
+    3639             : 
+    3640           0 :     async_control_result_ = std::async(std::launch::async, &ControlManager::asyncControl, this);
+    3641             :   }
+    3642             : }
+    3643             : 
+    3644             : //}
+    3645             : 
+    3646             : /* //{ callbackUavState() */
+    3647             : 
+    3648      175841 : void ControlManager::callbackUavState(const mrs_msgs::UavState::ConstPtr msg) {
+    3649             : 
+    3650      175841 :   if (!is_initialized_) {
+    3651       23583 :     return;
+    3652             :   }
+    3653             : 
+    3654      351682 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackUavState");
+    3655      351682 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackUavState", scope_timer_logger_, scope_timer_enabled_);
+    3656             : 
+    3657      175841 :   mrs_msgs::UavStateConstPtr uav_state = msg;
+    3658             : 
+    3659             :   // | ------------------ check for time stamp ------------------ |
+    3660             : 
+    3661             :   {
+    3662      175841 :     std::scoped_lock lock(mutex_uav_state_);
+    3663             : 
+    3664      175841 :     if (uav_state_.header.stamp == uav_state->header.stamp) {
+    3665       23583 :       return;
+    3666             :     }
+    3667             :   }
+    3668             : 
+    3669             :   // | --------------------- check for nans --------------------- |
+    3670             : 
+    3671      152258 :   if (!validateUavState(*uav_state, "ControlManager", "uav_state")) {
+    3672           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: incoming 'uav_state' contains invalid values, throwing it away");
+    3673           0 :     return;
+    3674             :   }
+    3675             : 
+    3676             :   // | -------------------- check for hiccups ------------------- |
+    3677             : 
+    3678             :   /* hickup detection //{ */
+    3679             : 
+    3680      152258 :   double alpha               = 0.99;
+    3681      152258 :   double alpha2              = 0.666;
+    3682      152258 :   double uav_state_count_lim = 1000;
+    3683             : 
+    3684      152258 :   double uav_state_dt = (ros::Time::now() - previous_uav_state_.header.stamp).toSec();
+    3685             : 
+    3686             :   // belive only reasonable numbers
+    3687      152258 :   if (uav_state_dt <= 1.0) {
+    3688             : 
+    3689      152040 :     uav_state_avg_dt_ = alpha * uav_state_avg_dt_ + (1 - alpha) * uav_state_dt;
+    3690             : 
+    3691      152040 :     if (uav_state_count_ < uav_state_count_lim) {
+    3692       83409 :       uav_state_count_++;
+    3693             :     }
+    3694             :   }
+    3695             : 
+    3696      152258 :   if (uav_state_count_ == uav_state_count_lim) {
+    3697             : 
+    3698             :     /* ROS_INFO_STREAM("[ControlManager]: uav_state_dt = " << uav_state_dt); */
+    3699             : 
+    3700       68697 :     if (uav_state_dt < uav_state_avg_dt_ && uav_state_dt > 0.0001) {
+    3701             : 
+    3702       29606 :       uav_state_hiccup_factor_ = alpha2 * uav_state_hiccup_factor_ + (1 - alpha2) * (uav_state_avg_dt_ / uav_state_dt);
+    3703             : 
+    3704       39091 :     } else if (uav_state_avg_dt_ > 0.0001) {
+    3705             : 
+    3706       39091 :       uav_state_hiccup_factor_ = alpha2 * uav_state_hiccup_factor_ + (1 - alpha2) * (uav_state_dt / uav_state_avg_dt_);
+    3707             :     }
+    3708             : 
+    3709       68697 :     if (uav_state_hiccup_factor_ > 3.141592653) {
+    3710             : 
+    3711             :       /* ROS_ERROR_STREAM_THROTTLE(0.1, "[ControlManager]: hiccup factor = " << uav_state_hiccup_factor_); */
+    3712             : 
+    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           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |            UAV_STATE has a large hiccup factor!            |");
+    3717           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |           hint, hint: you are probably rosbagging          |");
+    3718           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |           lot of data or publishing lot of large           |");
+    3719           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |          messages without mutual nodelet managers.         |");
+    3720           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |                                                            |");
+    3721           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // | ------------------------- WARNING ------------------------ |");
+    3722           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: ");
+    3723             :     }
+    3724             :   }
+    3725             : 
+    3726             :   //}
+    3727             : 
+    3728             :   // | ---------------------- frame switch ---------------------- |
+    3729             : 
+    3730             :   /* frame switch //{ */
+    3731             : 
+    3732             :   // | ----- check for change in odometry frame of reference ---- |
+    3733             : 
+    3734      152258 :   if (got_uav_state_) {
+    3735             : 
+    3736      152149 :     if (uav_state->estimator_iteration != uav_state_.estimator_iteration) {
+    3737             : 
+    3738           5 :       ROS_INFO("[ControlManager]: detecting switch of odometry frame");
+    3739             :       {
+    3740          10 :         std::scoped_lock lock(mutex_uav_state_);
+    3741             : 
+    3742           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,
+    3743             :                  uav_state_.pose.position.z, uav_heading_);
+    3744             :       }
+    3745             : 
+    3746           5 :       odometry_switch_in_progress_ = true;
+    3747             : 
+    3748             :       // we have to stop safety timer, otherwise it will interfere
+    3749           5 :       ROS_DEBUG("[ControlManager]: stopping the safety timer");
+    3750           5 :       timer_safety_.stop();
+    3751           5 :       ROS_DEBUG("[ControlManager]: safety timer stopped");
+    3752             : 
+    3753             :       // wait for the safety timer to stop if its running
+    3754           5 :       while (running_safety_timer_) {
+    3755             : 
+    3756           0 :         ROS_DEBUG("[ControlManager]: waiting for safety timer to finish");
+    3757           0 :         ros::Duration wait(0.001);
+    3758           0 :         wait.sleep();
+    3759             : 
+    3760           0 :         if (!running_safety_timer_) {
+    3761           0 :           ROS_DEBUG("[ControlManager]: safety timer finished");
+    3762           0 :           break;
+    3763             :         }
+    3764             :       }
+    3765             : 
+    3766             :       // we have to also for the oneshot control timer to finish
+    3767           5 :       while (running_async_control_) {
+    3768             : 
+    3769           0 :         ROS_DEBUG("[ControlManager]: waiting for control timer to finish");
+    3770           0 :         ros::Duration wait(0.001);
+    3771           0 :         wait.sleep();
+    3772             : 
+    3773           0 :         if (!running_async_control_) {
+    3774           0 :           ROS_DEBUG("[ControlManager]: control timer finished");
+    3775           0 :           break;
+    3776             :         }
+    3777             :       }
+    3778             : 
+    3779             :       {
+    3780          10 :         std::scoped_lock lock(mutex_controller_list_, mutex_tracker_list_);
+    3781             : 
+    3782           5 :         tracker_list_.at(active_tracker_idx_)->switchOdometrySource(*uav_state);
+    3783           5 :         controller_list_.at(active_controller_idx_)->switchOdometrySource(*uav_state);
+    3784             :       }
+    3785             :     }
+    3786             :   }
+    3787             : 
+    3788             :   //}
+    3789             : 
+    3790             :   // --------------------------------------------------------------
+    3791             :   // |           copy the UavState message for later use          |
+    3792             :   // --------------------------------------------------------------
+    3793             : 
+    3794             :   {
+    3795      152258 :     std::scoped_lock lock(mutex_uav_state_);
+    3796             : 
+    3797      152258 :     previous_uav_state_ = uav_state_;
+    3798             : 
+    3799      152258 :     uav_state_ = *uav_state;
+    3800             : 
+    3801      152258 :     std::tie(uav_roll_, uav_pitch_, uav_yaw_) = mrs_lib::AttitudeConverter(uav_state_.pose.orientation);
+    3802             : 
+    3803             :     try {
+    3804      152258 :       uav_heading_ = mrs_lib::AttitudeConverter(uav_state_.pose.orientation).getHeading();
+    3805             :     }
+    3806           0 :     catch (...) {
+    3807           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not calculate UAV heading, not updating it");
+    3808             :     }
+    3809             : 
+    3810      152258 :     transformer_->setDefaultFrame(uav_state->header.frame_id);
+    3811             : 
+    3812      152258 :     got_uav_state_ = true;
+    3813             :   }
+    3814             : 
+    3815             :   // run the control loop asynchronously in an OneShotTimer
+    3816             :   // but only if its not already running
+    3817      152258 :   if (!running_async_control_) {
+    3818             : 
+    3819      149290 :     running_async_control_ = true;
+    3820             : 
+    3821      149290 :     async_control_result_ = std::async(std::launch::async, &ControlManager::asyncControl, this);
+    3822             :   }
+    3823             : }
+    3824             : 
+    3825             : //}
+    3826             : 
+    3827             : /* //{ callbackGNSS() */
+    3828             : 
+    3829       78883 : void ControlManager::callbackGNSS(const sensor_msgs::NavSatFix::ConstPtr msg) {
+    3830             : 
+    3831       78883 :   if (!is_initialized_) {
+    3832         114 :     return;
+    3833             :   }
+    3834             : 
+    3835      236307 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGNSS");
+    3836      236307 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGNSS", scope_timer_logger_, scope_timer_enabled_);
+    3837             : 
+    3838       78769 :   transformer_->setLatLon(msg->latitude, msg->longitude);
+    3839             : }
+    3840             : 
+    3841             : //}
+    3842             : 
+    3843             : /* callbackJoystick() //{ */
+    3844             : 
+    3845           0 : void ControlManager::callbackJoystick(const sensor_msgs::Joy::ConstPtr msg) {
+    3846             : 
+    3847           0 :   if (!is_initialized_) {
+    3848           0 :     return;
+    3849             :   }
+    3850             : 
+    3851           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackJoystick");
+    3852           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackJoystick", scope_timer_logger_, scope_timer_enabled_);
+    3853             : 
+    3854             :   // copy member variables
+    3855           0 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    3856           0 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    3857             : 
+    3858           0 :   sensor_msgs::JoyConstPtr joystick_data = msg;
+    3859             : 
+    3860             :   // TODO check if the array is smaller than the largest idx
+    3861           0 :   if (joystick_data->buttons.size() == 0 || joystick_data->axes.size() == 0) {
+    3862           0 :     return;
+    3863             :   }
+    3864             : 
+    3865             :   // | ---- switching back to fallback tracker and controller --- |
+    3866             : 
+    3867             :   // if any of the A, B, X, Y buttons are pressed when flying with joystick, switch back to fallback controller and tracker
+    3868           0 :   if ((joystick_data->buttons.at(_channel_A_) == 1 || joystick_data->buttons.at(_channel_B_) == 1 || joystick_data->buttons.at(_channel_X_) == 1 ||
+    3869           0 :        joystick_data->buttons.at(_channel_Y_) == 1) &&
+    3870           0 :       active_tracker_idx == _joystick_tracker_idx_ && active_controller_idx == _joystick_controller_idx_) {
+    3871             : 
+    3872           0 :     ROS_INFO("[ControlManager]: switching from joystick to normal control");
+    3873             : 
+    3874           0 :     switchTracker(_joystick_fallback_tracker_name_);
+    3875           0 :     switchController(_joystick_fallback_controller_name_);
+    3876             : 
+    3877           0 :     joystick_goto_enabled_ = false;
+    3878             :   }
+    3879             : 
+    3880             :   // | ------- joystick control activation ------- |
+    3881             : 
+    3882             :   // if start button was pressed
+    3883           0 :   if (joystick_data->buttons.at(_channel_start_) == 1) {
+    3884             : 
+    3885           0 :     if (!joystick_start_pressed_) {
+    3886             : 
+    3887           0 :       ROS_INFO("[ControlManager]: joystick start button pressed");
+    3888             : 
+    3889           0 :       joystick_start_pressed_    = true;
+    3890           0 :       joystick_start_press_time_ = ros::Time::now();
+    3891             :     }
+    3892             : 
+    3893           0 :   } else if (joystick_start_pressed_) {
+    3894             : 
+    3895           0 :     ROS_INFO("[ControlManager]: joystick start button released");
+    3896             : 
+    3897           0 :     joystick_start_pressed_    = false;
+    3898           0 :     joystick_start_press_time_ = ros::Time(0);
+    3899             :   }
+    3900             : 
+    3901             :   // | ---------------- Joystick goto activation ---------------- |
+    3902             : 
+    3903             :   // if back button was pressed
+    3904           0 :   if (joystick_data->buttons.at(_channel_back_) == 1) {
+    3905             : 
+    3906           0 :     if (!joystick_back_pressed_) {
+    3907             : 
+    3908           0 :       ROS_INFO("[ControlManager]: joystick back button pressed");
+    3909             : 
+    3910           0 :       joystick_back_pressed_    = true;
+    3911           0 :       joystick_back_press_time_ = ros::Time::now();
+    3912             :     }
+    3913             : 
+    3914           0 :   } else if (joystick_back_pressed_) {
+    3915             : 
+    3916           0 :     ROS_INFO("[ControlManager]: joystick back button released");
+    3917             : 
+    3918           0 :     joystick_back_pressed_    = false;
+    3919           0 :     joystick_back_press_time_ = ros::Time(0);
+    3920             :   }
+    3921             : 
+    3922             :   // | ------------------------ Failsafes ----------------------- |
+    3923             : 
+    3924             :   // if LT and RT buttons are both pressed down
+    3925           0 :   if (joystick_data->axes.at(_channel_LT_) < -0.99 && joystick_data->axes.at(_channel_RT_) < -0.99) {
+    3926             : 
+    3927           0 :     if (!joystick_failsafe_pressed_) {
+    3928             : 
+    3929           0 :       ROS_INFO("[ControlManager]: joystick Failsafe pressed");
+    3930             : 
+    3931           0 :       joystick_failsafe_pressed_    = true;
+    3932           0 :       joystick_failsafe_press_time_ = ros::Time::now();
+    3933             :     }
+    3934             : 
+    3935           0 :   } else if (joystick_failsafe_pressed_) {
+    3936             : 
+    3937           0 :     ROS_INFO("[ControlManager]: joystick Failsafe released");
+    3938             : 
+    3939           0 :     joystick_failsafe_pressed_    = false;
+    3940           0 :     joystick_failsafe_press_time_ = ros::Time(0);
+    3941             :   }
+    3942             : 
+    3943             :   // if left and right joypads are both pressed down
+    3944           0 :   if (joystick_data->buttons.at(_channel_L_joy_) == 1 && joystick_data->buttons.at(_channel_R_joy_) == 1) {
+    3945             : 
+    3946           0 :     if (!joystick_eland_pressed_) {
+    3947             : 
+    3948           0 :       ROS_INFO("[ControlManager]: joystick eland pressed");
+    3949             : 
+    3950           0 :       joystick_eland_pressed_    = true;
+    3951           0 :       joystick_eland_press_time_ = ros::Time::now();
+    3952             :     }
+    3953             : 
+    3954           0 :   } else if (joystick_eland_pressed_) {
+    3955             : 
+    3956           0 :     ROS_INFO("[ControlManager]: joystick eland released");
+    3957             : 
+    3958           0 :     joystick_eland_pressed_    = false;
+    3959           0 :     joystick_eland_press_time_ = ros::Time(0);
+    3960             :   }
+    3961             : }
+    3962             : 
+    3963             : //}
+    3964             : 
+    3965             : /* //{ callbackHwApiStatus() */
+    3966             : 
+    3967      449286 : void ControlManager::callbackHwApiStatus(const mrs_msgs::HwApiStatus::ConstPtr msg) {
+    3968             : 
+    3969      449286 :   if (!is_initialized_) {
+    3970         317 :     return;
+    3971             :   }
+    3972             : 
+    3973     1346907 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackHwApiStatus");
+    3974     1346907 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackHwApiStatus", scope_timer_logger_, scope_timer_enabled_);
+    3975             : 
+    3976      897938 :   mrs_msgs::HwApiStatusConstPtr state = msg;
+    3977             : 
+    3978             :   // | ------ detect and print the changes in offboard mode ----- |
+    3979      448969 :   if (state->offboard) {
+    3980             : 
+    3981      313072 :     if (!offboard_mode_) {
+    3982         103 :       offboard_mode_          = true;
+    3983         103 :       offboard_mode_was_true_ = true;
+    3984         103 :       ROS_INFO("[ControlManager]: detected: OFFBOARD mode ON");
+    3985             :     }
+    3986             : 
+    3987             :   } else {
+    3988             : 
+    3989      135897 :     if (offboard_mode_) {
+    3990           0 :       offboard_mode_ = false;
+    3991           0 :       ROS_INFO("[ControlManager]: detected: OFFBOARD mode OFF");
+    3992             :     }
+    3993             :   }
+    3994             : 
+    3995             :   // | --------- detect and print the changes in arming --------- |
+    3996      448969 :   if (state->armed == true) {
+    3997             : 
+    3998      326833 :     if (!armed_) {
+    3999         108 :       armed_ = true;
+    4000         108 :       ROS_INFO("[ControlManager]: detected: vehicle ARMED");
+    4001             :     }
+    4002             : 
+    4003             :   } else {
+    4004             : 
+    4005      122136 :     if (armed_) {
+    4006          20 :       armed_ = false;
+    4007          20 :       ROS_INFO("[ControlManager]: detected: vehicle DISARMED");
+    4008             :     }
+    4009             :   }
+    4010             : }
+    4011             : 
+    4012             : //}
+    4013             : 
+    4014             : /* //{ callbackRC() */
+    4015             : 
+    4016       24726 : void ControlManager::callbackRC(const mrs_msgs::HwApiRcChannels::ConstPtr msg) {
+    4017             : 
+    4018       24726 :   if (!is_initialized_) {
+    4019           0 :     return;
+    4020             :   }
+    4021             : 
+    4022       74178 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackRC");
+    4023       74178 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackRC", scope_timer_logger_, scope_timer_enabled_);
+    4024             : 
+    4025       49452 :   mrs_msgs::HwApiRcChannelsConstPtr rc = msg;
+    4026             : 
+    4027       24726 :   ROS_INFO_ONCE("[ControlManager]: getting RC channels");
+    4028             : 
+    4029             :   // | ------------------- rc joystic control ------------------- |
+    4030             : 
+    4031             :   // when the switch change its position
+    4032       24726 :   if (_rc_goto_enabled_) {
+    4033             : 
+    4034       24726 :     if (_rc_joystick_channel_ >= int(rc->channels.size())) {
+    4035             : 
+    4036           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: RC joystick activation channel number (%d) is out of range [0-%d]", _rc_joystick_channel_,
+    4037             :                          int(rc->channels.size()));
+    4038             : 
+    4039             :     } else {
+    4040             : 
+    4041       24726 :       bool channel_low  = rc->channels.at(_rc_joystick_channel_) < (0.5 - RC_DEADBAND) ? true : false;
+    4042       24726 :       bool channel_high = rc->channels.at(_rc_joystick_channel_) > (0.5 + RC_DEADBAND) ? true : false;
+    4043             : 
+    4044       24726 :       if (channel_low) {
+    4045       22114 :         rc_joystick_channel_was_low_ = true;
+    4046             :       }
+    4047             : 
+    4048             :       // rc control activation
+    4049       24726 :       if (!rc_goto_active_) {
+    4050             : 
+    4051       22115 :         if (rc_joystick_channel_last_value_ < (0.5 - RC_DEADBAND) && channel_high) {
+    4052             : 
+    4053           2 :           if (isFlyingNormally()) {
+    4054             : 
+    4055           2 :             ROS_INFO_THROTTLE(1.0, "[ControlManager]: activating RC joystick");
+    4056             : 
+    4057           2 :             callbacks_enabled_ = false;
+    4058             : 
+    4059           2 :             std_srvs::SetBoolRequest req_goto_out;
+    4060           2 :             req_goto_out.data = false;
+    4061             : 
+    4062           2 :             std_srvs::SetBoolRequest req_enable_callbacks;
+    4063           2 :             req_enable_callbacks.data = callbacks_enabled_;
+    4064             : 
+    4065             :             {
+    4066           4 :               std::scoped_lock lock(mutex_tracker_list_);
+    4067             : 
+    4068             :               // disable callbacks of all trackers
+    4069          14 :               for (int i = 0; i < int(tracker_list_.size()); i++) {
+    4070          12 :                 tracker_list_.at(i)->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4071             :               }
+    4072             :             }
+    4073             : 
+    4074           2 :             rc_goto_active_ = true;
+    4075             : 
+    4076             :           } else {
+    4077             : 
+    4078           0 :             ROS_WARN_THROTTLE(1.0, "[ControlManager]: can not activate RC joystick, not flying normally");
+    4079           2 :           }
+    4080             : 
+    4081       22113 :         } else if (channel_high && !rc_joystick_channel_was_low_) {
+    4082             : 
+    4083           0 :           ROS_WARN_THROTTLE(1.0, "[ControlManager]: can not activate RC joystick, the switch is ON from the beginning");
+    4084             :         }
+    4085             :       }
+    4086             : 
+    4087             :       // rc control deactivation
+    4088       24726 :       if (rc_goto_active_ && channel_low) {
+    4089             : 
+    4090           1 :         ROS_INFO("[ControlManager]: deactivating RC joystick");
+    4091             : 
+    4092           1 :         callbacks_enabled_ = true;
+    4093             : 
+    4094           1 :         std_srvs::SetBoolRequest req_goto_out;
+    4095           1 :         req_goto_out.data = true;
+    4096             : 
+    4097           1 :         std_srvs::SetBoolRequest req_enable_callbacks;
+    4098           1 :         req_enable_callbacks.data = callbacks_enabled_;
+    4099             : 
+    4100             :         {
+    4101           2 :           std::scoped_lock lock(mutex_tracker_list_);
+    4102             : 
+    4103             :           // enable callbacks of all trackers
+    4104           7 :           for (int i = 0; i < int(tracker_list_.size()); i++) {
+    4105           6 :             tracker_list_.at(i)->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4106             :           }
+    4107             :         }
+    4108             : 
+    4109           1 :         rc_goto_active_ = false;
+    4110             :       }
+    4111             : 
+    4112             :       // do not forget to update the last... variable
+    4113             :       // only do that if its out of the deadband
+    4114       24726 :       if (channel_high || channel_low) {
+    4115       24726 :         rc_joystick_channel_last_value_ = rc->channels.at(_rc_joystick_channel_);
+    4116             :       }
+    4117             :     }
+    4118             :   }
+    4119             : 
+    4120             :   // | ----------------- RC escalating failsafe ----------------- |
+    4121             : 
+    4122       24726 :   if (_rc_escalating_failsafe_enabled_) {
+    4123             : 
+    4124       24726 :     if (_rc_escalating_failsafe_channel_ >= int(rc->channels.size())) {
+    4125             : 
+    4126           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: RC eland channel number (%d) is out of range [0-%d]", _rc_escalating_failsafe_channel_,
+    4127             :                          int(rc->channels.size()));
+    4128             : 
+    4129             :     } else {
+    4130             : 
+    4131       24726 :       if (rc->channels.at(_rc_escalating_failsafe_channel_) >= _rc_escalating_failsafe_threshold_) {
+    4132             : 
+    4133         140 :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: triggering escalating failsafe by RC");
+    4134             : 
+    4135         280 :         auto [success, message] = escalatingFailsafe();
+    4136             : 
+    4137         140 :         if (success) {
+    4138           3 :           rc_escalating_failsafe_triggered_ = true;
+    4139             :         }
+    4140             :       }
+    4141             :     }
+    4142             :   }
+    4143             : }
+    4144             : 
+    4145             : //}
+    4146             : 
+    4147             : // | --------------------- topic timeouts --------------------- |
+    4148             : 
+    4149             : /* timeoutUavState() //{ */
+    4150             : 
+    4151           0 : void ControlManager::timeoutUavState(const double& missing_for) {
+    4152             : 
+    4153           0 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    4154             : 
+    4155           0 :   if (output_enabled_ && last_control_output.control_output && !failsafe_triggered_) {
+    4156             : 
+    4157             :     // We need to fire up timerFailsafe, which will regularly trigger the controllers
+    4158             :     // in place of the callbackUavState/callbackOdometry().
+    4159             : 
+    4160           0 :     ROS_ERROR_THROTTLE(0.1, "[ControlManager]: not receiving uav_state/odometry for %.3f s, initiating failsafe land", missing_for);
+    4161             : 
+    4162           0 :     failsafe();
+    4163             :   }
+    4164           0 : }
+    4165             : 
+    4166             : //}
+    4167             : 
+    4168             : // | -------------------- service callbacks ------------------- |
+    4169             : 
+    4170             : /* //{ callbackSwitchTracker() */
+    4171             : 
+    4172         214 : bool ControlManager::callbackSwitchTracker(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+    4173             : 
+    4174         214 :   if (!is_initialized_) {
+    4175           0 :     return false;
+    4176             :   }
+    4177             : 
+    4178         214 :   if (failsafe_triggered_ || eland_triggered_) {
+    4179             : 
+    4180           0 :     std::stringstream ss;
+    4181           0 :     ss << "can not switch tracker, eland or failsafe active";
+    4182             : 
+    4183           0 :     res.message = ss.str();
+    4184           0 :     res.success = false;
+    4185             : 
+    4186           0 :     ROS_WARN_STREAM("[ControlManager]: " << ss.str());
+    4187             : 
+    4188           0 :     return true;
+    4189             :   }
+    4190             : 
+    4191         214 :   if (rc_goto_active_) {
+    4192             : 
+    4193           0 :     std::stringstream ss;
+    4194           0 :     ss << "can not switch tracker, RC joystick is active";
+    4195             : 
+    4196           0 :     res.message = ss.str();
+    4197           0 :     res.success = false;
+    4198             : 
+    4199           0 :     ROS_WARN_STREAM("[ControlManager]: " << ss.str());
+    4200             : 
+    4201           0 :     return true;
+    4202             :   }
+    4203             : 
+    4204         214 :   auto [success, response] = switchTracker(req.value);
+    4205             : 
+    4206         214 :   res.success = success;
+    4207         214 :   res.message = response;
+    4208             : 
+    4209         214 :   return true;
+    4210             : }
+    4211             : 
+    4212             : //}
+    4213             : 
+    4214             : /* callbackSwitchController() //{ */
+    4215             : 
+    4216         215 : bool ControlManager::callbackSwitchController(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+    4217             : 
+    4218         215 :   if (!is_initialized_) {
+    4219           0 :     return false;
+    4220             :   }
+    4221             : 
+    4222         215 :   if (failsafe_triggered_ || eland_triggered_) {
+    4223             : 
+    4224           0 :     std::stringstream ss;
+    4225           0 :     ss << "can not switch controller, eland or failsafe active";
+    4226             : 
+    4227           0 :     res.message = ss.str();
+    4228           0 :     res.success = false;
+    4229             : 
+    4230           0 :     ROS_WARN_STREAM("[ControlManager]: " << ss.str());
+    4231             : 
+    4232           0 :     return true;
+    4233             :   }
+    4234             : 
+    4235         215 :   if (rc_goto_active_) {
+    4236             : 
+    4237           2 :     std::stringstream ss;
+    4238           2 :     ss << "can not switch controller, RC joystick is active";
+    4239             : 
+    4240           2 :     res.message = ss.str();
+    4241           2 :     res.success = false;
+    4242             : 
+    4243           2 :     ROS_WARN_STREAM("[ControlManager]: " << ss.str());
+    4244             : 
+    4245           2 :     return true;
+    4246             :   }
+    4247             : 
+    4248         213 :   auto [success, response] = switchController(req.value);
+    4249             : 
+    4250         213 :   res.success = success;
+    4251         213 :   res.message = response;
+    4252             : 
+    4253         213 :   return true;
+    4254             : }
+    4255             : 
+    4256             : //}
+    4257             : 
+    4258             : /* //{ callbackSwitchTracker() */
+    4259             : 
+    4260           0 : bool ControlManager::callbackTrackerResetStatic([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4261             : 
+    4262           0 :   if (!is_initialized_) {
+    4263           0 :     return false;
+    4264             :   }
+    4265             : 
+    4266           0 :   std::stringstream message;
+    4267             : 
+    4268           0 :   if (failsafe_triggered_ || eland_triggered_) {
+    4269             : 
+    4270           0 :     message << "can not reset tracker, eland or failsafe active";
+    4271             : 
+    4272           0 :     res.message = message.str();
+    4273           0 :     res.success = false;
+    4274             : 
+    4275           0 :     ROS_WARN_STREAM("[ControlManager]: " << message.str());
+    4276             : 
+    4277           0 :     return true;
+    4278             :   }
+    4279             : 
+    4280             :   // reactivate the current tracker
+    4281             :   {
+    4282           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    4283             : 
+    4284           0 :     std::string tracker_name = _tracker_names_.at(active_tracker_idx_);
+    4285             : 
+    4286           0 :     bool succ = tracker_list_.at(active_tracker_idx_)->resetStatic();
+    4287             : 
+    4288           0 :     if (succ) {
+    4289           0 :       message << "the tracker '" << tracker_name << "' was reset";
+    4290           0 :       ROS_INFO_STREAM("[ControlManager]: " << message.str());
+    4291             :     } else {
+    4292           0 :       message << "the tracker '" << tracker_name << "' reset failed!";
+    4293           0 :       ROS_ERROR_STREAM("[ControlManager]: " << message.str());
+    4294             :     }
+    4295             :   }
+    4296             : 
+    4297           0 :   res.message = message.str();
+    4298           0 :   res.success = true;
+    4299             : 
+    4300           0 :   return true;
+    4301             : }
+    4302             : 
+    4303             : //}
+    4304             : 
+    4305             : /* //{ callbackEHover() */
+    4306             : 
+    4307           2 : bool ControlManager::callbackEHover([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4308             : 
+    4309           2 :   if (!is_initialized_) {
+    4310           0 :     return false;
+    4311             :   }
+    4312             : 
+    4313           2 :   if (failsafe_triggered_ || eland_triggered_) {
+    4314             : 
+    4315           0 :     std::stringstream ss;
+    4316           0 :     ss << "can not switch controller, eland or failsafe active";
+    4317             : 
+    4318           0 :     res.message = ss.str();
+    4319           0 :     res.success = false;
+    4320             : 
+    4321           0 :     ROS_WARN_STREAM("[ControlManager]: " << ss.str());
+    4322             : 
+    4323           0 :     return true;
+    4324             :   }
+    4325             : 
+    4326           2 :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: ehover trigger by callback");
+    4327             : 
+    4328           2 :   auto [success, message] = ehover();
+    4329             : 
+    4330           2 :   res.success = success;
+    4331           2 :   res.message = message;
+    4332             : 
+    4333           2 :   return true;
+    4334             : }
+    4335             : 
+    4336             : //}
+    4337             : 
+    4338             : /* callbackFailsafe() //{ */
+    4339             : 
+    4340           4 : bool ControlManager::callbackFailsafe([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4341             : 
+    4342           4 :   if (!is_initialized_) {
+    4343           0 :     return false;
+    4344             :   }
+    4345             : 
+    4346           4 :   if (failsafe_triggered_) {
+    4347             : 
+    4348           0 :     std::stringstream ss;
+    4349           0 :     ss << "can not activate failsafe, it is already active";
+    4350             : 
+    4351           0 :     res.message = ss.str();
+    4352           0 :     res.success = false;
+    4353             : 
+    4354           0 :     ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4355             : 
+    4356           0 :     return true;
+    4357             :   }
+    4358             : 
+    4359           4 :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: failsafe triggered by callback");
+    4360             : 
+    4361           4 :   auto [success, message] = failsafe();
+    4362             : 
+    4363           4 :   res.success = success;
+    4364           4 :   res.message = message;
+    4365             : 
+    4366           4 :   return true;
+    4367             : }
+    4368             : 
+    4369             : //}
+    4370             : 
+    4371             : /* callbackFailsafeEscalating() //{ */
+    4372             : 
+    4373           7 : bool ControlManager::callbackFailsafeEscalating([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4374             : 
+    4375           7 :   if (!is_initialized_) {
+    4376           0 :     return false;
+    4377             :   }
+    4378             : 
+    4379           7 :   if (_service_escalating_failsafe_enabled_) {
+    4380             : 
+    4381           7 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: escalating failsafe triggered by callback");
+    4382             : 
+    4383          14 :     auto [success, message] = escalatingFailsafe();
+    4384             : 
+    4385           7 :     res.success = success;
+    4386           7 :     res.message = message;
+    4387             : 
+    4388             :   } else {
+    4389             : 
+    4390           0 :     std::stringstream ss;
+    4391           0 :     ss << "escalating failsafe is disabled";
+    4392             : 
+    4393           0 :     res.success = false;
+    4394           0 :     res.message = ss.str();
+    4395             : 
+    4396           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: %s", ss.str().c_str());
+    4397             :   }
+    4398             : 
+    4399           7 :   return true;
+    4400             : }
+    4401             : 
+    4402             : //}
+    4403             : 
+    4404             : /* //{ callbackELand() */
+    4405             : 
+    4406           2 : bool ControlManager::callbackEland([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4407             : 
+    4408           2 :   if (!is_initialized_) {
+    4409           0 :     return false;
+    4410             :   }
+    4411             : 
+    4412           2 :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: eland triggered by callback");
+    4413             : 
+    4414           2 :   auto [success, message] = eland();
+    4415             : 
+    4416           2 :   res.success = success;
+    4417           2 :   res.message = message;
+    4418             : 
+    4419           2 :   return true;
+    4420             : }
+    4421             : 
+    4422             : //}
+    4423             : 
+    4424             : /* //{ callbackParachute() */
+    4425             : 
+    4426           0 : bool ControlManager::callbackParachute([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4427             : 
+    4428           0 :   if (!is_initialized_) {
+    4429           0 :     return false;
+    4430             :   }
+    4431             : 
+    4432           0 :   if (!_parachute_enabled_) {
+    4433             : 
+    4434           0 :     std::stringstream ss;
+    4435           0 :     ss << "parachute disabled";
+    4436           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4437           0 :     res.message = ss.str();
+    4438           0 :     res.success = false;
+    4439             :   }
+    4440             : 
+    4441           0 :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: parachute triggered by callback");
+    4442             : 
+    4443           0 :   auto [success, message] = deployParachute();
+    4444             : 
+    4445           0 :   res.success = success;
+    4446           0 :   res.message = message;
+    4447             : 
+    4448           0 :   return true;
+    4449             : }
+    4450             : 
+    4451             : //}
+    4452             : 
+    4453             : /* //{ callbackSetMinZ() */
+    4454             : 
+    4455           0 : bool ControlManager::callbackSetMinZ([[maybe_unused]] mrs_msgs::Float64StampedSrv::Request& req, mrs_msgs::Float64StampedSrv::Response& res) {
+    4456             : 
+    4457           0 :   if (!is_initialized_) {
+    4458           0 :     return false;
+    4459             :   }
+    4460             : 
+    4461           0 :   if (!use_safety_area_) {
+    4462           0 :     res.success = true;
+    4463           0 :     res.message = "safety area is disabled";
+    4464           0 :     return true;
+    4465             :   }
+    4466             : 
+    4467             :   // | -------- transform min_z to the safety area frame -------- |
+    4468             : 
+    4469           0 :   mrs_msgs::ReferenceStamped point;
+    4470           0 :   point.header               = req.header;
+    4471           0 :   point.reference.position.z = req.value;
+    4472             : 
+    4473           0 :   auto result = transformer_->transformSingle(point, _safety_area_vertical_frame_);
+    4474             : 
+    4475           0 :   if (result) {
+    4476             : 
+    4477           0 :     _safety_area_min_z_ = result.value().reference.position.z;
+    4478             : 
+    4479           0 :     res.success = true;
+    4480           0 :     res.message = "safety area's min z updated";
+    4481             : 
+    4482             :   } else {
+    4483             : 
+    4484           0 :     res.success = false;
+    4485           0 :     res.message = "could not transform the value to safety area's vertical frame";
+    4486             :   }
+    4487             : 
+    4488           0 :   return true;
+    4489             : }
+    4490             : 
+    4491             : //}
+    4492             : 
+    4493             : /* //{ callbackToggleOutput() */
+    4494             : 
+    4495         110 : bool ControlManager::callbackToggleOutput(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4496             : 
+    4497         110 :   if (!is_initialized_) {
+    4498           0 :     return false;
+    4499             :   }
+    4500             : 
+    4501         110 :   ROS_INFO("[ControlManager]: toggling output by service");
+    4502             : 
+    4503             :   // copy member variables
+    4504         220 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    4505             : 
+    4506         220 :   std::stringstream ss;
+    4507             : 
+    4508         110 :   bool prereq_check = true;
+    4509             : 
+    4510             :   {
+    4511         220 :     mrs_msgs::ReferenceStamped current_coord;
+    4512         110 :     current_coord.header.frame_id      = uav_state.header.frame_id;
+    4513         110 :     current_coord.reference.position.x = uav_state.pose.position.x;
+    4514         110 :     current_coord.reference.position.y = uav_state.pose.position.y;
+    4515             : 
+    4516         110 :     if (!isPointInSafetyArea2d(current_coord)) {
+    4517           1 :       ss << "cannot toggle output, the UAV is outside of the safety area!";
+    4518           1 :       prereq_check = false;
+    4519             :     }
+    4520             :   }
+    4521             : 
+    4522         110 :   if (req.data && (failsafe_triggered_ || eland_triggered_ || rc_escalating_failsafe_triggered_)) {
+    4523           0 :     ss << "cannot toggle output ON, we landed in emergency";
+    4524           0 :     prereq_check = false;
+    4525             :   }
+    4526             : 
+    4527         110 :   if (!sh_hw_api_status_.hasMsg() || (ros::Time::now() - sh_hw_api_status_.lastMsgTime()).toSec() > 1.0) {
+    4528           0 :     ss << "cannot toggle output ON, missing HW API status!";
+    4529           0 :     prereq_check = false;
+    4530             :   }
+    4531             : 
+    4532         110 :   if (!prereq_check) {
+    4533             : 
+    4534           1 :     res.message = ss.str();
+    4535           1 :     res.success = false;
+    4536             : 
+    4537           1 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4538             : 
+    4539           1 :     return false;
+    4540             : 
+    4541             :   } else {
+    4542             : 
+    4543         109 :     toggleOutput(req.data);
+    4544             : 
+    4545         109 :     ss << "Output: " << (output_enabled_ ? "ON" : "OFF");
+    4546         109 :     res.message = ss.str();
+    4547         109 :     res.success = true;
+    4548             : 
+    4549         109 :     ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4550             : 
+    4551         109 :     publishDiagnostics();
+    4552             : 
+    4553         109 :     return true;
+    4554             :   }
+    4555             : }
+    4556             : 
+    4557             : //}
+    4558             : 
+    4559             : /* callbackArm() //{ */
+    4560             : 
+    4561           7 : bool ControlManager::callbackArm(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4562             : 
+    4563           7 :   if (!is_initialized_) {
+    4564           0 :     return false;
+    4565             :   }
+    4566             : 
+    4567           7 :   ROS_INFO("[ControlManager]: arming by service");
+    4568             : 
+    4569          14 :   std::stringstream ss;
+    4570             : 
+    4571           7 :   if (failsafe_triggered_ || eland_triggered_) {
+    4572             : 
+    4573           0 :     ss << "can not " << (req.data ? "arm" : "disarm") << ", eland or failsafe active";
+    4574             : 
+    4575           0 :     res.message = ss.str();
+    4576           0 :     res.success = false;
+    4577             : 
+    4578           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4579             : 
+    4580           0 :     return true;
+    4581             :   }
+    4582             : 
+    4583           7 :   if (req.data) {
+    4584             : 
+    4585           0 :     ss << "this service is not allowed to arm the UAV";
+    4586           0 :     res.success = false;
+    4587           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4588             : 
+    4589             :   } else {
+    4590             : 
+    4591          14 :     auto [success, message] = arming(false);
+    4592             : 
+    4593           7 :     if (success) {
+    4594             : 
+    4595           7 :       ss << "disarmed";
+    4596           7 :       res.success = true;
+    4597           7 :       ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4598             : 
+    4599             :     } else {
+    4600             : 
+    4601           0 :       ss << "could not disarm: " << message;
+    4602           0 :       res.success = false;
+    4603           0 :       ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4604             :     }
+    4605             :   }
+    4606             : 
+    4607           7 :   res.message = ss.str();
+    4608             : 
+    4609           7 :   return true;
+    4610             : }
+    4611             : 
+    4612             : //}
+    4613             : 
+    4614             : /* //{ callbackEnableCallbacks() */
+    4615             : 
+    4616         101 : bool ControlManager::callbackEnableCallbacks(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4617             : 
+    4618         101 :   if (!is_initialized_) {
+    4619           0 :     return false;
+    4620             :   }
+    4621             : 
+    4622         101 :   setCallbacks(req.data);
+    4623             : 
+    4624         101 :   std::stringstream ss;
+    4625             : 
+    4626         101 :   ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+    4627             : 
+    4628         101 :   res.message = ss.str();
+    4629         101 :   res.success = true;
+    4630             : 
+    4631         101 :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4632             : 
+    4633         101 :   return true;
+    4634             : }
+    4635             : 
+    4636             : //}
+    4637             : 
+    4638             : /* callbackSetConstraints() //{ */
+    4639             : 
+    4640         112 : bool ControlManager::callbackSetConstraints(mrs_msgs::DynamicsConstraintsSrv::Request& req, mrs_msgs::DynamicsConstraintsSrv::Response& res) {
+    4641             : 
+    4642         112 :   if (!is_initialized_) {
+    4643           0 :     res.message = "not initialized";
+    4644           0 :     res.success = false;
+    4645           0 :     return true;
+    4646             :   }
+    4647             : 
+    4648             :   {
+    4649         224 :     std::scoped_lock lock(mutex_constraints_);
+    4650             : 
+    4651         112 :     current_constraints_ = req;
+    4652             : 
+    4653         112 :     auto enforced = enforceControllersConstraints(current_constraints_);
+    4654             : 
+    4655         112 :     if (enforced) {
+    4656           0 :       sanitized_constraints_      = enforced.value();
+    4657           0 :       constraints_being_enforced_ = true;
+    4658             :     } else {
+    4659         112 :       sanitized_constraints_      = req;
+    4660         112 :       constraints_being_enforced_ = false;
+    4661             :     }
+    4662             : 
+    4663         112 :     got_constraints_ = true;
+    4664             : 
+    4665         112 :     setConstraintsToControllers(current_constraints_);
+    4666         112 :     setConstraintsToTrackers(sanitized_constraints_);
+    4667             :   }
+    4668             : 
+    4669         112 :   res.message = "setting constraints";
+    4670         112 :   res.success = true;
+    4671             : 
+    4672         112 :   return true;
+    4673             : }
+    4674             : 
+    4675             : //}
+    4676             : 
+    4677             : /* //{ callbackEmergencyReference() */
+    4678             : 
+    4679         100 : bool ControlManager::callbackEmergencyReference(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res) {
+    4680             : 
+    4681         100 :   if (!is_initialized_) {
+    4682           0 :     return false;
+    4683             :   }
+    4684             : 
+    4685         200 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    4686             : 
+    4687         100 :   callbacks_enabled_ = false;
+    4688             : 
+    4689         100 :   mrs_msgs::ReferenceSrvResponse::ConstPtr tracker_response;
+    4690             : 
+    4691         200 :   std::stringstream ss;
+    4692             : 
+    4693             :   // transform the reference to the current frame
+    4694         200 :   mrs_msgs::ReferenceStamped original_reference;
+    4695         100 :   original_reference.header    = req.header;
+    4696         100 :   original_reference.reference = req.reference;
+    4697             : 
+    4698         200 :   auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    4699             : 
+    4700         100 :   if (!ret) {
+    4701             : 
+    4702           0 :     ss << "the emergency reference could not be transformed";
+    4703             : 
+    4704           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4705           0 :     res.message = ss.str();
+    4706           0 :     res.success = false;
+    4707           0 :     return true;
+    4708             :   }
+    4709             : 
+    4710         100 :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    4711             : 
+    4712         100 :   std_srvs::SetBoolRequest req_enable_callbacks;
+    4713             : 
+    4714         100 :   mrs_msgs::ReferenceSrvRequest req_goto_out;
+    4715         100 :   req_goto_out.reference = transformed_reference.reference;
+    4716             : 
+    4717             :   {
+    4718         200 :     std::scoped_lock lock(mutex_tracker_list_);
+    4719             : 
+    4720             :     // disable callbacks of all trackers
+    4721         100 :     req_enable_callbacks.data = false;
+    4722         700 :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    4723         600 :       tracker_list_.at(i)->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4724             :     }
+    4725             : 
+    4726             :     // enable the callbacks for the active tracker
+    4727         100 :     req_enable_callbacks.data = true;
+    4728         100 :     tracker_list_.at(active_tracker_idx_)
+    4729         100 :         ->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4730             : 
+    4731             :     // call the setReference()
+    4732         100 :     tracker_response = tracker_list_.at(active_tracker_idx_)
+    4733         100 :                            ->setReference(mrs_msgs::ReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::ReferenceSrvRequest>(req_goto_out)));
+    4734             : 
+    4735             :     // disable the callbacks back again
+    4736         100 :     req_enable_callbacks.data = false;
+    4737         100 :     tracker_list_.at(active_tracker_idx_)
+    4738         100 :         ->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4739             : 
+    4740         100 :     if (tracker_response != mrs_msgs::ReferenceSrvResponse::Ptr()) {
+    4741         100 :       res.message = tracker_response->message;
+    4742         100 :       res.success = tracker_response->success;
+    4743             :     } else {
+    4744           0 :       ss << "the tracker '" << _tracker_names_.at(active_tracker_idx_) << "' does not implement the 'setReference()' function!";
+    4745           0 :       res.message = ss.str();
+    4746           0 :       res.success = false;
+    4747             :     }
+    4748             :   }
+    4749             : 
+    4750         100 :   return true;
+    4751             : }
+    4752             : 
+    4753             : //}
+    4754             : 
+    4755             : /* callbackPirouette() //{ */
+    4756             : 
+    4757           0 : bool ControlManager::callbackPirouette([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4758             : 
+    4759           0 :   if (!is_initialized_) {
+    4760           0 :     return false;
+    4761             :   }
+    4762             : 
+    4763             :   // copy member variables
+    4764           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    4765             : 
+    4766             :   double uav_heading;
+    4767             :   try {
+    4768           0 :     uav_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    4769             :   }
+    4770           0 :   catch (...) {
+    4771           0 :     std::stringstream ss;
+    4772           0 :     ss << "could not calculate the UAV heading to initialize the pirouette";
+    4773             : 
+    4774           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4775             : 
+    4776           0 :     res.message = ss.str();
+    4777           0 :     res.success = false;
+    4778             : 
+    4779           0 :     return false;
+    4780             :   }
+    4781             : 
+    4782           0 :   if (_pirouette_enabled_) {
+    4783           0 :     res.success = false;
+    4784           0 :     res.message = "already active";
+    4785           0 :     return true;
+    4786             :   }
+    4787             : 
+    4788           0 :   if (failsafe_triggered_ || eland_triggered_ || rc_escalating_failsafe_triggered_) {
+    4789             : 
+    4790           0 :     std::stringstream ss;
+    4791           0 :     ss << "can not activate the pirouette, eland or failsafe active";
+    4792             : 
+    4793           0 :     res.message = ss.str();
+    4794           0 :     res.success = false;
+    4795             : 
+    4796           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4797             : 
+    4798           0 :     return true;
+    4799             :   }
+    4800             : 
+    4801           0 :   _pirouette_enabled_ = true;
+    4802             : 
+    4803           0 :   setCallbacks(false);
+    4804             : 
+    4805           0 :   pirouette_initial_heading_ = uav_heading;
+    4806           0 :   pirouette_iterator_        = 0;
+    4807           0 :   timer_pirouette_.start();
+    4808             : 
+    4809           0 :   res.success = true;
+    4810           0 :   res.message = "activated";
+    4811             : 
+    4812           0 :   return true;
+    4813             : }
+    4814             : 
+    4815             : //}
+    4816             : 
+    4817             : /* callbackUseJoystick() //{ */
+    4818             : 
+    4819           0 : bool ControlManager::callbackUseJoystick([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4820             : 
+    4821           0 :   if (!is_initialized_) {
+    4822           0 :     return false;
+    4823             :   }
+    4824             : 
+    4825           0 :   std::stringstream ss;
+    4826             : 
+    4827             :   {
+    4828           0 :     auto [success, response] = switchTracker(_joystick_tracker_name_);
+    4829             : 
+    4830           0 :     if (!success) {
+    4831             : 
+    4832           0 :       ss << "switching to '" << _joystick_tracker_name_ << "' was unsuccessfull: '" << response << "'";
+    4833           0 :       ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4834             : 
+    4835           0 :       res.success = false;
+    4836           0 :       res.message = ss.str();
+    4837             : 
+    4838           0 :       return true;
+    4839             :     }
+    4840             :   }
+    4841             : 
+    4842           0 :   auto [success, response] = switchController(_joystick_controller_name_);
+    4843             : 
+    4844           0 :   if (!success) {
+    4845             : 
+    4846           0 :     ss << "switching to '" << _joystick_controller_name_ << "' was unsuccessfull: '" << response << "'";
+    4847           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4848             : 
+    4849           0 :     res.success = false;
+    4850           0 :     res.message = ss.str();
+    4851             : 
+    4852             :     // switch back to hover tracker
+    4853           0 :     switchTracker(_ehover_tracker_name_);
+    4854             : 
+    4855             :     // switch back to safety controller
+    4856           0 :     switchController(_eland_controller_name_);
+    4857             : 
+    4858           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4859             : 
+    4860           0 :     return true;
+    4861             :   }
+    4862             : 
+    4863           0 :   ss << "switched to joystick control";
+    4864             : 
+    4865           0 :   res.success = true;
+    4866           0 :   res.message = ss.str();
+    4867             : 
+    4868           0 :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4869             : 
+    4870           0 :   return true;
+    4871             : }
+    4872             : 
+    4873             : //}
+    4874             : 
+    4875             : /* //{ callbackHover() */
+    4876             : 
+    4877           1 : bool ControlManager::callbackHover([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4878             : 
+    4879           1 :   if (!is_initialized_) {
+    4880           0 :     return false;
+    4881             :   }
+    4882             : 
+    4883           1 :   auto [success, message] = hover();
+    4884             : 
+    4885           1 :   res.success = success;
+    4886           1 :   res.message = message;
+    4887             : 
+    4888           1 :   return true;
+    4889             : }
+    4890             : 
+    4891             : //}
+    4892             : 
+    4893             : /* //{ callbackStartTrajectoryTracking() */
+    4894             : 
+    4895           2 : bool ControlManager::callbackStartTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4896             : 
+    4897           2 :   if (!is_initialized_) {
+    4898           0 :     return false;
+    4899             :   }
+    4900             : 
+    4901           2 :   auto [success, message] = startTrajectoryTracking();
+    4902             : 
+    4903           2 :   res.success = success;
+    4904           2 :   res.message = message;
+    4905             : 
+    4906           2 :   return true;
+    4907             : }
+    4908             : 
+    4909             : //}
+    4910             : 
+    4911             : /* //{ callbackStopTrajectoryTracking() */
+    4912             : 
+    4913           1 : bool ControlManager::callbackStopTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4914             : 
+    4915           1 :   if (!is_initialized_) {
+    4916           0 :     return false;
+    4917             :   }
+    4918             : 
+    4919           1 :   auto [success, message] = stopTrajectoryTracking();
+    4920             : 
+    4921           1 :   res.success = success;
+    4922           1 :   res.message = message;
+    4923             : 
+    4924           1 :   return true;
+    4925             : }
+    4926             : 
+    4927             : //}
+    4928             : 
+    4929             : /* //{ callbackResumeTrajectoryTracking() */
+    4930             : 
+    4931           1 : bool ControlManager::callbackResumeTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4932             : 
+    4933           1 :   if (!is_initialized_) {
+    4934           0 :     return false;
+    4935             :   }
+    4936             : 
+    4937           1 :   auto [success, message] = resumeTrajectoryTracking();
+    4938             : 
+    4939           1 :   res.success = success;
+    4940           1 :   res.message = message;
+    4941             : 
+    4942           1 :   return true;
+    4943             : }
+    4944             : 
+    4945             : //}
+    4946             : 
+    4947             : /* //{ callbackGotoTrajectoryStart() */
+    4948             : 
+    4949           2 : bool ControlManager::callbackGotoTrajectoryStart([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4950             : 
+    4951           2 :   if (!is_initialized_) {
+    4952           0 :     return false;
+    4953             :   }
+    4954             : 
+    4955           2 :   auto [success, message] = gotoTrajectoryStart();
+    4956             : 
+    4957           2 :   res.success = success;
+    4958           2 :   res.message = message;
+    4959             : 
+    4960           2 :   return true;
+    4961             : }
+    4962             : 
+    4963             : //}
+    4964             : 
+    4965             : /* //{ callbackTransformReference() */
+    4966             : 
+    4967           1 : bool ControlManager::callbackTransformReference(mrs_msgs::TransformReferenceSrv::Request& req, mrs_msgs::TransformReferenceSrv::Response& res) {
+    4968             : 
+    4969           1 :   if (!is_initialized_) {
+    4970           0 :     return false;
+    4971             :   }
+    4972             : 
+    4973             :   // transform the reference to the current frame
+    4974           2 :   mrs_msgs::ReferenceStamped transformed_reference = req.reference;
+    4975             : 
+    4976           2 :   if (auto ret = transformer_->transformSingle(transformed_reference, req.frame_id)) {
+    4977             : 
+    4978           1 :     res.reference = ret.value();
+    4979           1 :     res.message   = "transformation successful";
+    4980           1 :     res.success   = true;
+    4981           1 :     return true;
+    4982             : 
+    4983             :   } else {
+    4984             : 
+    4985           0 :     res.message = "the reference could not be transformed";
+    4986           0 :     res.success = false;
+    4987           0 :     return true;
+    4988             :   }
+    4989             : 
+    4990             :   return true;
+    4991             : }
+    4992             : 
+    4993             : //}
+    4994             : 
+    4995             : /* //{ callbackTransformReferenceArray() */
+    4996             : 
+    4997           0 : bool ControlManager::callbackTransformReferenceArray(mrs_msgs::TransformReferenceArraySrv::Request& req, mrs_msgs::TransformReferenceArraySrv::Response& res) {
+    4998             : 
+    4999           0 :   if (!is_initialized_) {
+    5000           0 :     return false;
+    5001             :   }
+    5002             : 
+    5003             :   // transform the reference array to the current frame
+    5004           0 :   const auto tf_opt = transformer_->getTransform(req.array.header.frame_id, req.to_frame_id, req.array.header.stamp);
+    5005           0 :   if (!tf_opt.has_value()) {
+    5006           0 :     res.message = "The reference array could not be transformed";
+    5007           0 :     res.success = false;
+    5008           0 :     return true;
+    5009             :   }
+    5010           0 :   const auto tf = tf_opt.value();
+    5011             : 
+    5012           0 :   res.array.header.stamp = req.array.header.stamp;
+    5013           0 :   res.array.header.frame_id = req.to_frame_id;
+    5014           0 :   res.array.array.reserve(req.array.array.size());
+    5015             : 
+    5016           0 :   for (const auto& ref : req.array.array) {
+    5017             : 
+    5018           0 :     mrs_msgs::ReferenceStamped ref_stamped; 
+    5019           0 :     ref_stamped.header = req.array.header;
+    5020           0 :     ref_stamped.reference = ref;
+    5021             : 
+    5022           0 :     if (auto ret = transformer_->transform(ref_stamped, tf)) {
+    5023             : 
+    5024           0 :       res.array.array.push_back(ret.value().reference);
+    5025             : 
+    5026             :     } else {
+    5027             : 
+    5028           0 :       res.message = "The reference array could not be transformed";
+    5029           0 :       res.success = false;
+    5030           0 :       return true;
+    5031             :     }
+    5032             : 
+    5033             :   }
+    5034             : 
+    5035           0 :   res.message   = "transformation successful";
+    5036           0 :   res.success   = true;
+    5037           0 :   return true;
+    5038             : }
+    5039             : 
+    5040             : //}
+    5041             : 
+    5042             : /* //{ callbackTransformPose() */
+    5043             : 
+    5044           1 : bool ControlManager::callbackTransformPose(mrs_msgs::TransformPoseSrv::Request& req, mrs_msgs::TransformPoseSrv::Response& res) {
+    5045             : 
+    5046           1 :   if (!is_initialized_) {
+    5047           0 :     return false;
+    5048             :   }
+    5049             : 
+    5050             :   // transform the reference to the current frame
+    5051           2 :   geometry_msgs::PoseStamped transformed_pose = req.pose;
+    5052             : 
+    5053           2 :   if (auto ret = transformer_->transformSingle(transformed_pose, req.frame_id)) {
+    5054             : 
+    5055           1 :     res.pose    = ret.value();
+    5056           1 :     res.message = "transformation successful";
+    5057           1 :     res.success = true;
+    5058           1 :     return true;
+    5059             : 
+    5060             :   } else {
+    5061             : 
+    5062           0 :     res.message = "the pose could not be transformed";
+    5063           0 :     res.success = false;
+    5064           0 :     return true;
+    5065             :   }
+    5066             : 
+    5067             :   return true;
+    5068             : }
+    5069             : 
+    5070             : //}
+    5071             : 
+    5072             : /* //{ callbackTransformVector3() */
+    5073             : 
+    5074           1 : bool ControlManager::callbackTransformVector3(mrs_msgs::TransformVector3Srv::Request& req, mrs_msgs::TransformVector3Srv::Response& res) {
+    5075             : 
+    5076           1 :   if (!is_initialized_) {
+    5077           0 :     return false;
+    5078             :   }
+    5079             : 
+    5080             :   // transform the reference to the current frame
+    5081           2 :   geometry_msgs::Vector3Stamped transformed_vector3 = req.vector;
+    5082             : 
+    5083           2 :   if (auto ret = transformer_->transformSingle(transformed_vector3, req.frame_id)) {
+    5084             : 
+    5085           1 :     res.vector  = ret.value();
+    5086           1 :     res.message = "transformation successful";
+    5087           1 :     res.success = true;
+    5088           1 :     return true;
+    5089             : 
+    5090             :   } else {
+    5091             : 
+    5092           0 :     res.message = "the twist could not be transformed";
+    5093           0 :     res.success = false;
+    5094           0 :     return true;
+    5095             :   }
+    5096             : 
+    5097             :   return true;
+    5098             : }
+    5099             : 
+    5100             : //}
+    5101             : 
+    5102             : /* //{ callbackEnableBumper() */
+    5103             : 
+    5104           0 : bool ControlManager::callbackEnableBumper(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    5105             : 
+    5106           0 :   if (!is_initialized_) {
+    5107           0 :     return false;
+    5108             :   }
+    5109             : 
+    5110           0 :   bumper_enabled_ = req.data;
+    5111             : 
+    5112           0 :   std::stringstream ss;
+    5113             : 
+    5114           0 :   ss << "bumper " << (bumper_enabled_ ? "enalbed" : "disabled");
+    5115             : 
+    5116           0 :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    5117             : 
+    5118           0 :   res.success = true;
+    5119           0 :   res.message = ss.str();
+    5120             : 
+    5121           0 :   return true;
+    5122             : }
+    5123             : 
+    5124             : //}
+    5125             : 
+    5126             : /* //{ callbackUseSafetyArea() */
+    5127             : 
+    5128           0 : bool ControlManager::callbackUseSafetyArea(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    5129             : 
+    5130           0 :   if (!is_initialized_) {
+    5131           0 :     return false;
+    5132             :   }
+    5133             : 
+    5134           0 :   use_safety_area_ = req.data;
+    5135             : 
+    5136           0 :   std::stringstream ss;
+    5137             : 
+    5138           0 :   ss << "safety area " << (use_safety_area_ ? "enabled" : "disabled");
+    5139             : 
+    5140           0 :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    5141             : 
+    5142           0 :   res.success = true;
+    5143           0 :   res.message = ss.str();
+    5144             : 
+    5145           0 :   return true;
+    5146             : }
+    5147             : 
+    5148             : //}
+    5149             : 
+    5150             : /* //{ callbackGetMinZ() */
+    5151             : 
+    5152           0 : bool ControlManager::callbackGetMinZ([[maybe_unused]] mrs_msgs::GetFloat64::Request& req, mrs_msgs::GetFloat64::Response& res) {
+    5153             : 
+    5154           0 :   if (!is_initialized_) {
+    5155           0 :     return false;
+    5156             :   }
+    5157             : 
+    5158           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5159             : 
+    5160           0 :   res.success = true;
+    5161           0 :   res.value   = getMinZ(uav_state.header.frame_id);
+    5162             : 
+    5163           0 :   return true;
+    5164             : }
+    5165             : 
+    5166             : //}
+    5167             : 
+    5168             : /* //{ callbackValidateReference() */
+    5169             : 
+    5170           4 : bool ControlManager::callbackValidateReference(mrs_msgs::ValidateReference::Request& req, mrs_msgs::ValidateReference::Response& res) {
+    5171             : 
+    5172           4 :   if (!is_initialized_) {
+    5173           0 :     res.message = "not initialized";
+    5174           0 :     res.success = false;
+    5175           0 :     return true;
+    5176             :   }
+    5177             : 
+    5178           4 :   if (!validateReference(req.reference.reference, "ControlManager", "reference_for_validation")) {
+    5179           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: NaN detected in variable 'req.reference'!!!");
+    5180           0 :     res.message = "NaNs/infs in input!";
+    5181           0 :     res.success = false;
+    5182           0 :     return true;
+    5183             :   }
+    5184             : 
+    5185             :   // copy member variables
+    5186           8 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5187           8 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5188             : 
+    5189             :   // transform the reference to the current frame
+    5190           8 :   mrs_msgs::ReferenceStamped original_reference;
+    5191           4 :   original_reference.header    = req.reference.header;
+    5192           4 :   original_reference.reference = req.reference.reference;
+    5193             : 
+    5194           8 :   auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    5195             : 
+    5196           4 :   if (!ret) {
+    5197             : 
+    5198           1 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: the reference could not be transformed");
+    5199           1 :     res.message = "the reference could not be transformed";
+    5200           1 :     res.success = false;
+    5201           1 :     return true;
+    5202             :   }
+    5203             : 
+    5204           6 :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5205             : 
+    5206           3 :   if (!isPointInSafetyArea3d(transformed_reference)) {
+    5207           2 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the point is outside of the safety area!");
+    5208           2 :     res.message = "the point is outside of the safety area";
+    5209           2 :     res.success = false;
+    5210           2 :     return true;
+    5211             :   }
+    5212             : 
+    5213           1 :   if (last_tracker_cmd) {
+    5214             : 
+    5215           1 :     mrs_msgs::ReferenceStamped from_point;
+    5216           1 :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5217           1 :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5218           1 :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5219           1 :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5220             : 
+    5221           1 :     if (!isPathToPointInSafetyArea3d(from_point, transformed_reference)) {
+    5222           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the path is going outside the safety area!");
+    5223           0 :       res.message = "the path is going outside the safety area";
+    5224           0 :       res.success = false;
+    5225           0 :       return true;
+    5226             :     }
+    5227             :   }
+    5228             : 
+    5229           1 :   res.message = "the reference is ok";
+    5230           1 :   res.success = true;
+    5231           1 :   return true;
+    5232             : }
+    5233             : 
+    5234             : //}
+    5235             : 
+    5236             : /* //{ callbackValidateReference2d() */
+    5237             : 
+    5238       10023 : bool ControlManager::callbackValidateReference2d(mrs_msgs::ValidateReference::Request& req, mrs_msgs::ValidateReference::Response& res) {
+    5239             : 
+    5240       10023 :   if (!is_initialized_) {
+    5241           0 :     res.message = "not initialized";
+    5242           0 :     res.success = false;
+    5243           0 :     return true;
+    5244             :   }
+    5245             : 
+    5246       10023 :   if (!validateReference(req.reference.reference, "ControlManager", "reference_for_validation")) {
+    5247           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: NaN detected in variable 'req.reference'!!!");
+    5248           0 :     res.message = "NaNs/infs in input!";
+    5249           0 :     res.success = false;
+    5250           0 :     return true;
+    5251             :   }
+    5252             : 
+    5253             :   // copy member variables
+    5254       20046 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5255       20046 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5256             : 
+    5257             :   // transform the reference to the current frame
+    5258       20046 :   mrs_msgs::ReferenceStamped original_reference;
+    5259       10023 :   original_reference.header    = req.reference.header;
+    5260       10023 :   original_reference.reference = req.reference.reference;
+    5261             : 
+    5262       20046 :   auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    5263             : 
+    5264       10023 :   if (!ret) {
+    5265             : 
+    5266           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: the reference could not be transformed");
+    5267           0 :     res.message = "the reference could not be transformed";
+    5268           0 :     res.success = false;
+    5269           0 :     return true;
+    5270             :   }
+    5271             : 
+    5272       20046 :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5273             : 
+    5274       10023 :   if (!isPointInSafetyArea2d(transformed_reference)) {
+    5275          74 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the point is outside of the safety area!");
+    5276          74 :     res.message = "the point is outside of the safety area";
+    5277          74 :     res.success = false;
+    5278          74 :     return true;
+    5279             :   }
+    5280             : 
+    5281        9949 :   if (last_tracker_cmd) {
+    5282             : 
+    5283           0 :     mrs_msgs::ReferenceStamped from_point;
+    5284           0 :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5285           0 :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5286           0 :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5287           0 :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5288             : 
+    5289           0 :     if (!isPathToPointInSafetyArea2d(from_point, transformed_reference)) {
+    5290           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the path is going outside the safety area!");
+    5291           0 :       res.message = "the path is going outside the safety area";
+    5292           0 :       res.success = false;
+    5293           0 :       return true;
+    5294             :     }
+    5295             :   }
+    5296             : 
+    5297        9949 :   res.message = "the reference is ok";
+    5298        9949 :   res.success = true;
+    5299        9949 :   return true;
+    5300             : }
+    5301             : 
+    5302             : //}
+    5303             : 
+    5304             : /* //{ callbackValidateReferenceArray() */
+    5305             : 
+    5306           2 : bool ControlManager::callbackValidateReferenceArray(mrs_msgs::ValidateReferenceArray::Request& req, mrs_msgs::ValidateReferenceArray::Response& res) {
+    5307             : 
+    5308           2 :   if (!is_initialized_) {
+    5309           0 :     res.message = "not initialized";
+    5310           0 :     return false;
+    5311             :   }
+    5312             : 
+    5313             :   // copy member variables
+    5314           4 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5315           4 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5316             : 
+    5317             :   // get the transformer
+    5318           4 :   auto ret = transformer_->getTransform(uav_state.header.frame_id, req.array.header.frame_id, req.array.header.stamp);
+    5319             : 
+    5320           2 :   if (!ret) {
+    5321             : 
+    5322           1 :     ROS_DEBUG("[ControlManager]: could not find transform for the reference");
+    5323           1 :     res.message = "could not find transform";
+    5324           1 :     return false;
+    5325             :   }
+    5326             : 
+    5327           1 :   geometry_msgs::TransformStamped tf = ret.value();
+    5328             : 
+    5329           5 :   for (int i = 0; i < int(req.array.array.size()); i++) {
+    5330             : 
+    5331           4 :     res.success.push_back(true);
+    5332             : 
+    5333           8 :     mrs_msgs::ReferenceStamped original_reference;
+    5334           4 :     original_reference.header    = req.array.header;
+    5335           4 :     original_reference.reference = req.array.array.at(i);
+    5336             : 
+    5337           4 :     res.success.at(i) = validateReference(original_reference.reference, "ControlManager", "reference_array");
+    5338             : 
+    5339           8 :     auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    5340             : 
+    5341           4 :     if (!ret) {
+    5342             : 
+    5343           0 :       ROS_DEBUG("[ControlManager]: the reference could not be transformed");
+    5344           0 :       res.success.at(i) = false;
+    5345             :     }
+    5346             : 
+    5347           8 :     mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5348             : 
+    5349           4 :     if (!isPointInSafetyArea3d(transformed_reference)) {
+    5350           2 :       res.success.at(i) = false;
+    5351             :     }
+    5352             : 
+    5353           4 :     if (last_tracker_cmd) {
+    5354             : 
+    5355           8 :       mrs_msgs::ReferenceStamped from_point;
+    5356           4 :       from_point.header.frame_id      = uav_state.header.frame_id;
+    5357           4 :       from_point.reference.position.x = last_tracker_cmd->position.x;
+    5358           4 :       from_point.reference.position.y = last_tracker_cmd->position.y;
+    5359           4 :       from_point.reference.position.z = last_tracker_cmd->position.z;
+    5360             : 
+    5361           4 :       if (!isPathToPointInSafetyArea3d(from_point, transformed_reference)) {
+    5362           2 :         res.success.at(i) = false;
+    5363             :       }
+    5364             :     }
+    5365             :   }
+    5366             : 
+    5367           1 :   res.message = "references were checked";
+    5368           1 :   return true;
+    5369             : }
+    5370             : 
+    5371             : //}
+    5372             : 
+    5373             : // | -------------- setpoint topics and services -------------- |
+    5374             : 
+    5375             : /* //{ callbackReferenceService() */
+    5376             : 
+    5377           2 : bool ControlManager::callbackReferenceService(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res) {
+    5378             : 
+    5379           2 :   if (!is_initialized_) {
+    5380           0 :     res.message = "not initialized";
+    5381           0 :     res.success = false;
+    5382           0 :     return true;
+    5383             :   }
+    5384             : 
+    5385           6 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackReferenceService");
+    5386           6 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackReferenceService", scope_timer_logger_, scope_timer_enabled_);
+    5387             : 
+    5388           4 :   mrs_msgs::ReferenceStamped des_reference;
+    5389           2 :   des_reference.header    = req.header;
+    5390           2 :   des_reference.reference = req.reference;
+    5391             : 
+    5392           4 :   auto [success, message] = setReference(des_reference);
+    5393             : 
+    5394           2 :   res.success = success;
+    5395           2 :   res.message = message;
+    5396             : 
+    5397           2 :   return true;
+    5398             : }
+    5399             : 
+    5400             : //}
+    5401             : 
+    5402             : /* //{ callbackReferenceTopic() */
+    5403             : 
+    5404           1 : void ControlManager::callbackReferenceTopic(const mrs_msgs::ReferenceStamped::ConstPtr msg) {
+    5405             : 
+    5406           1 :   if (!is_initialized_) {
+    5407           0 :     return;
+    5408             :   }
+    5409             : 
+    5410           3 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackReferenceTopic");
+    5411           2 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackReferenceTopic", scope_timer_logger_, scope_timer_enabled_);
+    5412             : 
+    5413           1 :   setReference(*msg);
+    5414             : }
+    5415             : 
+    5416             : //}
+    5417             : 
+    5418             : /* //{ callbackVelocityReferenceService() */
+    5419             : 
+    5420         726 : bool ControlManager::callbackVelocityReferenceService(mrs_msgs::VelocityReferenceStampedSrv::Request&  req,
+    5421             :                                                       mrs_msgs::VelocityReferenceStampedSrv::Response& res) {
+    5422             : 
+    5423         726 :   if (!is_initialized_) {
+    5424           0 :     res.message = "not initialized";
+    5425           0 :     res.success = false;
+    5426           0 :     return true;
+    5427             :   }
+    5428             : 
+    5429        2178 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackVelocityReferenceService");
+    5430        2178 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackVelocityReferenceService", scope_timer_logger_, scope_timer_enabled_);
+    5431             : 
+    5432        1452 :   mrs_msgs::VelocityReferenceStamped des_reference;
+    5433         726 :   des_reference = req.reference;
+    5434             : 
+    5435         726 :   auto [success, message] = setVelocityReference(des_reference);
+    5436             : 
+    5437         726 :   res.success = success;
+    5438         726 :   res.message = message;
+    5439             : 
+    5440         726 :   return true;
+    5441             : }
+    5442             : 
+    5443             : //}
+    5444             : 
+    5445             : /* //{ callbackVelocityReferenceTopic() */
+    5446             : 
+    5447          90 : void ControlManager::callbackVelocityReferenceTopic(const mrs_msgs::VelocityReferenceStamped::ConstPtr msg) {
+    5448             : 
+    5449          90 :   if (!is_initialized_) {
+    5450           0 :     return;
+    5451             :   }
+    5452             : 
+    5453         270 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackVelocityReferenceTopic");
+    5454         180 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackVelocityReferenceTopic", scope_timer_logger_, scope_timer_enabled_);
+    5455             : 
+    5456          90 :   setVelocityReference(*msg);
+    5457             : }
+    5458             : 
+    5459             : //}
+    5460             : 
+    5461             : /* //{ callbackTrajectoryReferenceService() */
+    5462             : 
+    5463           4 : bool ControlManager::callbackTrajectoryReferenceService(mrs_msgs::TrajectoryReferenceSrv::Request& req, mrs_msgs::TrajectoryReferenceSrv::Response& res) {
+    5464             : 
+    5465           4 :   if (!is_initialized_) {
+    5466           0 :     res.message = "not initialized";
+    5467           0 :     res.success = false;
+    5468           0 :     return true;
+    5469             :   }
+    5470             : 
+    5471          12 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackTrajectoryReferenceService");
+    5472          12 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackTrajectoryReferenceService", scope_timer_logger_, scope_timer_enabled_);
+    5473             : 
+    5474           8 :   auto [success, message, modified, tracker_names, tracker_successes, tracker_messages] = setTrajectoryReference(req.trajectory);
+    5475             : 
+    5476           4 :   res.success          = success;
+    5477           4 :   res.message          = message;
+    5478           4 :   res.modified         = modified;
+    5479           4 :   res.tracker_names    = tracker_names;
+    5480           4 :   res.tracker_messages = tracker_messages;
+    5481             : 
+    5482          28 :   for (size_t i = 0; i < tracker_successes.size(); i++) {
+    5483          24 :     res.tracker_successes.push_back(tracker_successes.at(i));
+    5484             :   }
+    5485             : 
+    5486           4 :   return true;
+    5487             : }
+    5488             : 
+    5489             : //}
+    5490             : 
+    5491             : /* //{ callbackTrajectoryReferenceTopic() */
+    5492             : 
+    5493           2 : void ControlManager::callbackTrajectoryReferenceTopic(const mrs_msgs::TrajectoryReference::ConstPtr msg) {
+    5494             : 
+    5495           2 :   if (!is_initialized_) {
+    5496           0 :     return;
+    5497             :   }
+    5498             : 
+    5499           6 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackTrajectoryReferenceTopic");
+    5500           4 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackTrajectoryReferenceTopic", scope_timer_logger_, scope_timer_enabled_);
+    5501             : 
+    5502           2 :   setTrajectoryReference(*msg);
+    5503             : }
+    5504             : 
+    5505             : //}
+    5506             : 
+    5507             : // | ------------- human-callable "goto" services ------------- |
+    5508             : 
+    5509             : /* //{ callbackGoto() */
+    5510             : 
+    5511          27 : bool ControlManager::callbackGoto(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res) {
+    5512             : 
+    5513          27 :   if (!is_initialized_) {
+    5514           0 :     res.message = "not initialized";
+    5515           0 :     res.success = false;
+    5516           0 :     return true;
+    5517             :   }
+    5518             : 
+    5519          81 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGoto");
+    5520          81 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGoto", scope_timer_logger_, scope_timer_enabled_);
+    5521             : 
+    5522          54 :   mrs_msgs::ReferenceStamped des_reference;
+    5523          27 :   des_reference.header.frame_id      = "";
+    5524          27 :   des_reference.header.stamp         = ros::Time(0);
+    5525          27 :   des_reference.reference.position.x = req.goal.at(REF_X);
+    5526          27 :   des_reference.reference.position.y = req.goal.at(REF_Y);
+    5527          27 :   des_reference.reference.position.z = req.goal.at(REF_Z);
+    5528          27 :   des_reference.reference.heading    = req.goal.at(REF_HEADING);
+    5529             : 
+    5530          54 :   auto [success, message] = setReference(des_reference);
+    5531             : 
+    5532          27 :   res.success = success;
+    5533          27 :   res.message = message;
+    5534             : 
+    5535          27 :   return true;
+    5536             : }
+    5537             : 
+    5538             : //}
+    5539             : 
+    5540             : /* //{ callbackGotoFcu() */
+    5541             : 
+    5542           1 : bool ControlManager::callbackGotoFcu(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res) {
+    5543             : 
+    5544           1 :   if (!is_initialized_) {
+    5545           0 :     res.message = "not initialized";
+    5546           0 :     res.success = false;
+    5547           0 :     return true;
+    5548             :   }
+    5549             : 
+    5550           3 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGotoFcu");
+    5551           3 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGotoFcu", scope_timer_logger_, scope_timer_enabled_);
+    5552             : 
+    5553           2 :   mrs_msgs::ReferenceStamped des_reference;
+    5554           1 :   des_reference.header.frame_id      = "fcu_untilted";
+    5555           1 :   des_reference.header.stamp         = ros::Time(0);
+    5556           1 :   des_reference.reference.position.x = req.goal.at(REF_X);
+    5557           1 :   des_reference.reference.position.y = req.goal.at(REF_Y);
+    5558           1 :   des_reference.reference.position.z = req.goal.at(REF_Z);
+    5559           1 :   des_reference.reference.heading    = req.goal.at(REF_HEADING);
+    5560             : 
+    5561           2 :   auto [success, message] = setReference(des_reference);
+    5562             : 
+    5563           1 :   res.success = success;
+    5564           1 :   res.message = message;
+    5565             : 
+    5566           1 :   return true;
+    5567             : }
+    5568             : 
+    5569             : //}
+    5570             : 
+    5571             : /* //{ callbackGotoRelative() */
+    5572             : 
+    5573          25 : bool ControlManager::callbackGotoRelative(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res) {
+    5574             : 
+    5575          25 :   if (!is_initialized_) {
+    5576           0 :     res.message = "not initialized";
+    5577           0 :     res.success = false;
+    5578           0 :     return true;
+    5579             :   }
+    5580             : 
+    5581          75 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGotoRelative");
+    5582          75 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGotoRelative", scope_timer_logger_, scope_timer_enabled_);
+    5583             : 
+    5584          50 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5585             : 
+    5586          25 :   if (!last_tracker_cmd) {
+    5587           0 :     res.message = "not flying";
+    5588           0 :     res.success = false;
+    5589           0 :     return true;
+    5590             :   }
+    5591             : 
+    5592          50 :   mrs_msgs::ReferenceStamped des_reference;
+    5593          25 :   des_reference.header.frame_id      = "";
+    5594          25 :   des_reference.header.stamp         = ros::Time(0);
+    5595          25 :   des_reference.reference.position.x = last_tracker_cmd->position.x + req.goal.at(REF_X);
+    5596          25 :   des_reference.reference.position.y = last_tracker_cmd->position.y + req.goal.at(REF_Y);
+    5597          25 :   des_reference.reference.position.z = last_tracker_cmd->position.z + req.goal.at(REF_Z);
+    5598          25 :   des_reference.reference.heading    = last_tracker_cmd->heading + req.goal.at(REF_HEADING);
+    5599             : 
+    5600          50 :   auto [success, message] = setReference(des_reference);
+    5601             : 
+    5602          25 :   res.success = success;
+    5603          25 :   res.message = message;
+    5604             : 
+    5605          25 :   return true;
+    5606             : }
+    5607             : 
+    5608             : //}
+    5609             : 
+    5610             : /* //{ callbackGotoAltitude() */
+    5611             : 
+    5612           2 : bool ControlManager::callbackGotoAltitude(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    5613             : 
+    5614           2 :   if (!is_initialized_) {
+    5615           0 :     res.message = "not initialized";
+    5616           0 :     res.success = false;
+    5617           0 :     return true;
+    5618             :   }
+    5619             : 
+    5620           6 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGotoAltitude");
+    5621           6 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGotoAltitude", scope_timer_logger_, scope_timer_enabled_);
+    5622             : 
+    5623           4 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5624             : 
+    5625           2 :   if (!last_tracker_cmd) {
+    5626           0 :     res.message = "not flying";
+    5627           0 :     res.success = false;
+    5628           0 :     return true;
+    5629             :   }
+    5630             : 
+    5631           4 :   mrs_msgs::ReferenceStamped des_reference;
+    5632           2 :   des_reference.header.frame_id      = "";
+    5633           2 :   des_reference.header.stamp         = ros::Time(0);
+    5634           2 :   des_reference.reference.position.x = last_tracker_cmd->position.x;
+    5635           2 :   des_reference.reference.position.y = last_tracker_cmd->position.y;
+    5636           2 :   des_reference.reference.position.z = req.goal;
+    5637           2 :   des_reference.reference.heading    = last_tracker_cmd->heading;
+    5638             : 
+    5639           4 :   auto [success, message] = setReference(des_reference);
+    5640             : 
+    5641           2 :   res.success = success;
+    5642           2 :   res.message = message;
+    5643             : 
+    5644           2 :   return true;
+    5645             : }
+    5646             : 
+    5647             : //}
+    5648             : 
+    5649             : /* //{ callbackSetHeading() */
+    5650             : 
+    5651           4 : bool ControlManager::callbackSetHeading(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    5652             : 
+    5653           4 :   if (!is_initialized_) {
+    5654           0 :     res.message = "not initialized";
+    5655           0 :     res.success = false;
+    5656           0 :     return true;
+    5657             :   }
+    5658             : 
+    5659          12 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackSetHeading");
+    5660          12 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackSetHeading", scope_timer_logger_, scope_timer_enabled_);
+    5661             : 
+    5662           8 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5663             : 
+    5664           4 :   if (!last_tracker_cmd) {
+    5665           0 :     res.message = "not flying";
+    5666           0 :     res.success = false;
+    5667           0 :     return true;
+    5668             :   }
+    5669             : 
+    5670           8 :   mrs_msgs::ReferenceStamped des_reference;
+    5671           4 :   des_reference.header.frame_id      = "";
+    5672           4 :   des_reference.header.stamp         = ros::Time(0);
+    5673           4 :   des_reference.reference.position.x = last_tracker_cmd->position.x;
+    5674           4 :   des_reference.reference.position.y = last_tracker_cmd->position.y;
+    5675           4 :   des_reference.reference.position.z = last_tracker_cmd->position.z;
+    5676           4 :   des_reference.reference.heading    = req.goal;
+    5677             : 
+    5678           8 :   auto [success, message] = setReference(des_reference);
+    5679             : 
+    5680           4 :   res.success = success;
+    5681           4 :   res.message = message;
+    5682             : 
+    5683           4 :   return true;
+    5684             : }
+    5685             : 
+    5686             : //}
+    5687             : 
+    5688             : /* //{ callbackSetHeadingRelative() */
+    5689             : 
+    5690           3 : bool ControlManager::callbackSetHeadingRelative(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    5691             : 
+    5692           3 :   if (!is_initialized_) {
+    5693           0 :     res.message = "not initialized";
+    5694           0 :     res.success = false;
+    5695           0 :     return true;
+    5696             :   }
+    5697             : 
+    5698           9 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackSetHeadingRelative");
+    5699           9 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackSetHeadingRelative", scope_timer_logger_, scope_timer_enabled_);
+    5700             : 
+    5701           6 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5702             : 
+    5703           3 :   if (!last_tracker_cmd) {
+    5704           0 :     res.message = "not flying";
+    5705           0 :     res.success = false;
+    5706           0 :     return true;
+    5707             :   }
+    5708             : 
+    5709           6 :   mrs_msgs::ReferenceStamped des_reference;
+    5710           3 :   des_reference.header.frame_id      = "";
+    5711           3 :   des_reference.header.stamp         = ros::Time(0);
+    5712           3 :   des_reference.reference.position.x = last_tracker_cmd->position.x;
+    5713           3 :   des_reference.reference.position.y = last_tracker_cmd->position.y;
+    5714           3 :   des_reference.reference.position.z = last_tracker_cmd->position.z;
+    5715           3 :   des_reference.reference.heading    = last_tracker_cmd->heading + req.goal;
+    5716             : 
+    5717           6 :   auto [success, message] = setReference(des_reference);
+    5718             : 
+    5719           3 :   res.success = success;
+    5720           3 :   res.message = message;
+    5721             : 
+    5722           3 :   return true;
+    5723             : }
+    5724             : 
+    5725             : //}
+    5726             : 
+    5727             : // --------------------------------------------------------------
+    5728             : // |                          routines                          |
+    5729             : // --------------------------------------------------------------
+    5730             : 
+    5731             : /* setReference() //{ */
+    5732             : 
+    5733          65 : std::tuple<bool, std::string> ControlManager::setReference(const mrs_msgs::ReferenceStamped reference_in) {
+    5734             : 
+    5735         130 :   std::stringstream ss;
+    5736             : 
+    5737          65 :   if (!callbacks_enabled_) {
+    5738           0 :     ss << "can not set the reference, the callbacks are disabled";
+    5739           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5740           0 :     return std::tuple(false, ss.str());
+    5741             :   }
+    5742             : 
+    5743          65 :   if (!validateReference(reference_in.reference, "ControlManager", "reference")) {
+    5744           0 :     ss << "incoming reference is not finite!!!";
+    5745           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5746           0 :     return std::tuple(false, ss.str());
+    5747             :   }
+    5748             : 
+    5749             :   // copy member variables
+    5750         130 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5751         130 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5752             : 
+    5753             :   // transform the reference to the current frame
+    5754         130 :   auto ret = transformer_->transformSingle(reference_in, uav_state.header.frame_id);
+    5755             : 
+    5756          65 :   if (!ret) {
+    5757             : 
+    5758           0 :     ss << "the reference could not be transformed";
+    5759           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5760           0 :     return std::tuple(false, ss.str());
+    5761             :   }
+    5762             : 
+    5763         130 :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5764             : 
+    5765             :   // safety area check
+    5766          65 :   if (!isPointInSafetyArea3d(transformed_reference)) {
+    5767           0 :     ss << "failed to set the reference, the point is outside of the safety area!";
+    5768           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5769           0 :     return std::tuple(false, ss.str());
+    5770             :   }
+    5771             : 
+    5772          65 :   if (last_tracker_cmd) {
+    5773             : 
+    5774          65 :     mrs_msgs::ReferenceStamped from_point;
+    5775          65 :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5776          65 :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5777          65 :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5778          65 :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5779             : 
+    5780          65 :     if (!isPathToPointInSafetyArea3d(from_point, transformed_reference)) {
+    5781           0 :       ss << "failed to set the reference, the path is going outside the safety area!";
+    5782           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5783           0 :       return std::tuple(false, ss.str());
+    5784             :     }
+    5785             :   }
+    5786             : 
+    5787          65 :   mrs_msgs::ReferenceSrvResponse::ConstPtr tracker_response;
+    5788             : 
+    5789             :   // prepare the message for current tracker
+    5790          65 :   mrs_msgs::ReferenceSrvRequest reference_request;
+    5791          65 :   reference_request.reference = transformed_reference.reference;
+    5792             : 
+    5793             :   {
+    5794         130 :     std::scoped_lock lock(mutex_tracker_list_);
+    5795             : 
+    5796          65 :     ROS_INFO("[ControlManager]: setting reference to x=%.2f, y=%.2f, z=%.2f, hdg=%.2f (expressed in '%s')", reference_request.reference.position.x,
+    5797             :              reference_request.reference.position.y, reference_request.reference.position.z, reference_request.reference.heading,
+    5798             :              transformed_reference.header.frame_id.c_str());
+    5799             : 
+    5800          65 :     tracker_response = tracker_list_.at(active_tracker_idx_)
+    5801          65 :                            ->setReference(mrs_msgs::ReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::ReferenceSrvRequest>(reference_request)));
+    5802             : 
+    5803          65 :     if (tracker_response != mrs_msgs::ReferenceSrvResponse::Ptr()) {
+    5804             : 
+    5805         130 :       return std::tuple(tracker_response->success, tracker_response->message);
+    5806             : 
+    5807             :     } else {
+    5808             : 
+    5809           0 :       ss << "the tracker '" << _tracker_names_.at(active_tracker_idx_) << "' does not implement the 'setReference()' function!";
+    5810           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: failed to set the reference: " << ss.str());
+    5811           0 :       return std::tuple(false, ss.str());
+    5812             :     }
+    5813             :   }
+    5814             : }
+    5815             : 
+    5816             : //}
+    5817             : 
+    5818             : /* setVelocityReference() //{ */
+    5819             : 
+    5820         816 : std::tuple<bool, std::string> ControlManager::setVelocityReference(const mrs_msgs::VelocityReferenceStamped& reference_in) {
+    5821             : 
+    5822        1632 :   std::stringstream ss;
+    5823             : 
+    5824         816 :   if (!callbacks_enabled_) {
+    5825           0 :     ss << "can not set the reference, the callbacks are disabled";
+    5826           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5827           0 :     return std::tuple(false, ss.str());
+    5828             :   }
+    5829             : 
+    5830         816 :   if (!validateVelocityReference(reference_in.reference, "ControlManager", "velocity_reference")) {
+    5831           0 :     ss << "velocity command is not valid!";
+    5832           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5833           0 :     return std::tuple(false, ss.str());
+    5834             :   }
+    5835             : 
+    5836             :   {
+    5837         816 :     std::scoped_lock lock(mutex_last_tracker_cmd_);
+    5838             : 
+    5839         816 :     if (!last_tracker_cmd_) {
+    5840           0 :       ss << "could not set velocity command, not flying!";
+    5841           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5842           0 :       return std::tuple(false, ss.str());
+    5843             :     }
+    5844             :   }
+    5845             : 
+    5846             :   // copy member variables
+    5847        1632 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5848        1632 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5849             : 
+    5850             :   // | -- transform the velocity reference to the current frame - |
+    5851             : 
+    5852        1632 :   mrs_msgs::VelocityReferenceStamped transformed_reference = reference_in;
+    5853             : 
+    5854        1632 :   auto ret = transformer_->getTransform(reference_in.header.frame_id, uav_state.header.frame_id, reference_in.header.stamp);
+    5855             : 
+    5856        1632 :   geometry_msgs::TransformStamped tf;
+    5857             : 
+    5858         816 :   if (!ret) {
+    5859           0 :     ss << "could not find tf from " << reference_in.header.frame_id << " to " << uav_state.header.frame_id;
+    5860           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5861           0 :     return std::tuple(false, ss.str());
+    5862             :   } else {
+    5863         816 :     tf = ret.value();
+    5864             :   }
+    5865             : 
+    5866             :   // transform the velocity
+    5867             :   {
+    5868         816 :     geometry_msgs::Vector3Stamped velocity;
+    5869         816 :     velocity.header   = reference_in.header;
+    5870         816 :     velocity.vector.x = reference_in.reference.velocity.x;
+    5871         816 :     velocity.vector.y = reference_in.reference.velocity.y;
+    5872         816 :     velocity.vector.z = reference_in.reference.velocity.z;
+    5873             : 
+    5874         816 :     auto ret = transformer_->transform(velocity, tf);
+    5875             : 
+    5876         816 :     if (!ret) {
+    5877             : 
+    5878           0 :       ss << "the velocity reference could not be transformed";
+    5879           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5880           0 :       return std::tuple(false, ss.str());
+    5881             : 
+    5882             :     } else {
+    5883         816 :       transformed_reference.reference.velocity.x = ret->vector.x;
+    5884         816 :       transformed_reference.reference.velocity.y = ret->vector.y;
+    5885         816 :       transformed_reference.reference.velocity.z = ret->vector.z;
+    5886             :     }
+    5887             :   }
+    5888             : 
+    5889             :   // transform the z and the heading
+    5890             :   {
+    5891         816 :     geometry_msgs::PoseStamped pose;
+    5892         816 :     pose.header           = reference_in.header;
+    5893         816 :     pose.pose.position.x  = 0;
+    5894         816 :     pose.pose.position.y  = 0;
+    5895         816 :     pose.pose.position.z  = reference_in.reference.altitude;
+    5896         816 :     pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, reference_in.reference.heading);
+    5897             : 
+    5898         816 :     auto ret = transformer_->transform(pose, tf);
+    5899             : 
+    5900         816 :     if (!ret) {
+    5901             : 
+    5902           0 :       ss << "the velocity reference could not be transformed";
+    5903           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5904           0 :       return std::tuple(false, ss.str());
+    5905             : 
+    5906             :     } else {
+    5907         816 :       transformed_reference.reference.altitude = ret->pose.position.z;
+    5908         816 :       transformed_reference.reference.heading  = mrs_lib::AttitudeConverter(ret->pose.orientation).getHeading();
+    5909             :     }
+    5910             :   }
+    5911             : 
+    5912             :   // the heading rate doees not need to be transformed
+    5913         816 :   transformed_reference.reference.heading_rate = reference_in.reference.heading_rate;
+    5914             : 
+    5915         816 :   transformed_reference.header.stamp    = tf.header.stamp;
+    5916         816 :   transformed_reference.header.frame_id = transformer_->frame_to(tf);
+    5917             : 
+    5918        1632 :   mrs_msgs::ReferenceStamped eqivalent_reference = velocityReferenceToReference(transformed_reference);
+    5919             : 
+    5920         816 :   ROS_DEBUG("[ControlManager]: equivalent reference: %.2f, %.2f, %.2f, %.2f", eqivalent_reference.reference.position.x,
+    5921             :             eqivalent_reference.reference.position.y, eqivalent_reference.reference.position.z, eqivalent_reference.reference.heading);
+    5922             : 
+    5923             :   // safety area check
+    5924         816 :   if (!isPointInSafetyArea3d(eqivalent_reference)) {
+    5925           0 :     ss << "failed to set the reference, the point is outside of the safety area!";
+    5926           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5927           0 :     return std::tuple(false, ss.str());
+    5928             :   }
+    5929             : 
+    5930         816 :   if (last_tracker_cmd) {
+    5931             : 
+    5932         816 :     mrs_msgs::ReferenceStamped from_point;
+    5933         816 :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5934         816 :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5935         816 :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5936         816 :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5937             : 
+    5938         816 :     if (!isPathToPointInSafetyArea3d(from_point, eqivalent_reference)) {
+    5939           0 :       ss << "failed to set the reference, the path is going outside the safety area!";
+    5940           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5941           0 :       return std::tuple(false, ss.str());
+    5942             :     }
+    5943             :   }
+    5944             : 
+    5945         816 :   mrs_msgs::VelocityReferenceSrvResponse::ConstPtr tracker_response;
+    5946             : 
+    5947             :   // prepare the message for current tracker
+    5948         816 :   mrs_msgs::VelocityReferenceSrvRequest reference_request;
+    5949         816 :   reference_request.reference = transformed_reference.reference;
+    5950             : 
+    5951             :   {
+    5952        1632 :     std::scoped_lock lock(mutex_tracker_list_);
+    5953             : 
+    5954             :     tracker_response =
+    5955         816 :         tracker_list_.at(active_tracker_idx_)
+    5956         816 :             ->setVelocityReference(mrs_msgs::VelocityReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::VelocityReferenceSrvRequest>(reference_request)));
+    5957             : 
+    5958         816 :     if (tracker_response != mrs_msgs::VelocityReferenceSrvResponse::Ptr()) {
+    5959             : 
+    5960        1632 :       return std::tuple(tracker_response->success, tracker_response->message);
+    5961             : 
+    5962             :     } else {
+    5963             : 
+    5964           0 :       ss << "the tracker '" << _tracker_names_.at(active_tracker_idx_) << "' does not implement the 'setVelocityReference()' function!";
+    5965           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: failed to set the velocity reference: " << ss.str());
+    5966           0 :       return std::tuple(false, ss.str());
+    5967             :     }
+    5968             :   }
+    5969             : }
+    5970             : 
+    5971             : //}
+    5972             : 
+    5973             : /* setTrajectoryReference() //{ */
+    5974             : 
+    5975           6 : std::tuple<bool, std::string, bool, std::vector<std::string>, std::vector<bool>, std::vector<std::string>> ControlManager::setTrajectoryReference(
+    5976             :     const mrs_msgs::TrajectoryReference trajectory_in) {
+    5977             : 
+    5978          12 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5979             : 
+    5980          12 :   std::stringstream ss;
+    5981             : 
+    5982           6 :   if (!callbacks_enabled_) {
+    5983           0 :     ss << "can not set the reference, the callbacks are disabled";
+    5984           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5985           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    5986             :   }
+    5987             : 
+    5988             :   /* validate the size and check for NaNs //{ */
+    5989             : 
+    5990             :   // check for the size 0, which is invalid
+    5991           6 :   if (trajectory_in.points.size() == 0) {
+    5992             : 
+    5993           0 :     ss << "can not load trajectory with size 0";
+    5994           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5995           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    5996             :   }
+    5997             : 
+    5998         700 :   for (int i = 0; i < int(trajectory_in.points.size()); i++) {
+    5999             : 
+    6000             :     // check the point for NaN/inf
+    6001         694 :     bool valid = validateReference(trajectory_in.points.at(i), "ControlManager", "trajectory_in.points");
+    6002             : 
+    6003         694 :     if (!valid) {
+    6004             : 
+    6005           0 :       ss << "trajectory contains NaNs/infs.";
+    6006           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6007           0 :       return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6008             :     }
+    6009             :   }
+    6010             : 
+    6011             :   //}
+    6012             : 
+    6013             :   /* publish the debugging topics of the original trajectory //{ */
+    6014             : 
+    6015             :   {
+    6016             : 
+    6017          12 :     geometry_msgs::PoseArray debug_trajectory_out;
+    6018           6 :     debug_trajectory_out.header = trajectory_in.header;
+    6019             : 
+    6020           6 :     debug_trajectory_out.header.frame_id = transformer_->resolveFrame(debug_trajectory_out.header.frame_id);
+    6021             : 
+    6022           6 :     if (debug_trajectory_out.header.stamp == ros::Time(0)) {
+    6023           4 :       debug_trajectory_out.header.stamp = ros::Time::now();
+    6024             :     }
+    6025             : 
+    6026         694 :     for (int i = 0; i < int(trajectory_in.points.size()) - 1; i++) {
+    6027             : 
+    6028         688 :       geometry_msgs::Pose new_pose;
+    6029             : 
+    6030         688 :       new_pose.position.x = trajectory_in.points.at(i).position.x;
+    6031         688 :       new_pose.position.y = trajectory_in.points.at(i).position.y;
+    6032         688 :       new_pose.position.z = trajectory_in.points.at(i).position.z;
+    6033             : 
+    6034         688 :       new_pose.orientation = mrs_lib::AttitudeConverter(0, 0, trajectory_in.points.at(i).heading);
+    6035             : 
+    6036         688 :       debug_trajectory_out.poses.push_back(new_pose);
+    6037             :     }
+    6038             : 
+    6039           6 :     pub_debug_original_trajectory_poses_.publish(debug_trajectory_out);
+    6040             : 
+    6041          12 :     visualization_msgs::MarkerArray msg_out;
+    6042             : 
+    6043          12 :     visualization_msgs::Marker marker;
+    6044             : 
+    6045           6 :     marker.header = trajectory_in.header;
+    6046             : 
+    6047           6 :     marker.header.frame_id = transformer_->resolveFrame(marker.header.frame_id);
+    6048             : 
+    6049           6 :     if (marker.header.frame_id == "") {
+    6050           0 :       marker.header.frame_id = uav_state.header.frame_id;
+    6051             :     }
+    6052             : 
+    6053           6 :     if (marker.header.stamp == ros::Time(0)) {
+    6054           4 :       marker.header.stamp = ros::Time::now();
+    6055             :     }
+    6056             : 
+    6057           6 :     marker.type             = visualization_msgs::Marker::LINE_LIST;
+    6058           6 :     marker.color.a          = 1;
+    6059           6 :     marker.scale.x          = 0.05;
+    6060           6 :     marker.color.r          = 0;
+    6061           6 :     marker.color.g          = 1;
+    6062           6 :     marker.color.b          = 0;
+    6063           6 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    6064             : 
+    6065         694 :     for (int i = 0; i < int(trajectory_in.points.size()) - 1; i++) {
+    6066             : 
+    6067         688 :       geometry_msgs::Point point1;
+    6068             : 
+    6069         688 :       point1.x = trajectory_in.points.at(i).position.x;
+    6070         688 :       point1.y = trajectory_in.points.at(i).position.y;
+    6071         688 :       point1.z = trajectory_in.points.at(i).position.z;
+    6072             : 
+    6073         688 :       marker.points.push_back(point1);
+    6074             : 
+    6075         688 :       geometry_msgs::Point point2;
+    6076             : 
+    6077         688 :       point2.x = trajectory_in.points.at(i + 1).position.x;
+    6078         688 :       point2.y = trajectory_in.points.at(i + 1).position.y;
+    6079         688 :       point2.z = trajectory_in.points.at(i + 1).position.z;
+    6080             : 
+    6081         688 :       marker.points.push_back(point2);
+    6082             :     }
+    6083             : 
+    6084           6 :     msg_out.markers.push_back(marker);
+    6085             : 
+    6086           6 :     pub_debug_original_trajectory_markers_.publish(msg_out);
+    6087             :   }
+    6088             : 
+    6089             :   //}
+    6090             : 
+    6091          12 :   mrs_msgs::TrajectoryReference processed_trajectory = trajectory_in;
+    6092             : 
+    6093           6 :   int trajectory_size = int(processed_trajectory.points.size());
+    6094             : 
+    6095           6 :   bool trajectory_modified = false;
+    6096             : 
+    6097             :   /* safety area check //{ */
+    6098             : 
+    6099           6 :   if (use_safety_area_) {
+    6100             : 
+    6101           5 :     int last_valid_idx    = 0;
+    6102           5 :     int first_invalid_idx = -1;
+    6103             : 
+    6104           5 :     double min_z = getMinZ(processed_trajectory.header.frame_id);
+    6105           5 :     double max_z = getMaxZ(processed_trajectory.header.frame_id);
+    6106             : 
+    6107         678 :     for (int i = 0; i < trajectory_size; i++) {
+    6108             : 
+    6109         673 :       if (_snap_trajectory_to_safety_area_) {
+    6110             : 
+    6111             :         // saturate the trajectory to min and max Z
+    6112           0 :         if (processed_trajectory.points.at(i).position.z < min_z) {
+    6113             : 
+    6114           0 :           processed_trajectory.points.at(i).position.z = min_z;
+    6115           0 :           ROS_WARN_THROTTLE(1.0, "[ControlManager]: the trajectory violates the minimum Z!");
+    6116           0 :           trajectory_modified = true;
+    6117             :         }
+    6118             : 
+    6119           0 :         if (processed_trajectory.points.at(i).position.z > max_z) {
+    6120             : 
+    6121           0 :           processed_trajectory.points.at(i).position.z = max_z;
+    6122           0 :           ROS_WARN_THROTTLE(1.0, "[ControlManager]: the trajectory violates the maximum Z!");
+    6123           0 :           trajectory_modified = true;
+    6124             :         }
+    6125             :       }
+    6126             : 
+    6127             :       // check the point against the safety area
+    6128         673 :       mrs_msgs::ReferenceStamped des_reference;
+    6129         673 :       des_reference.header    = processed_trajectory.header;
+    6130         673 :       des_reference.reference = processed_trajectory.points.at(i);
+    6131             : 
+    6132         673 :       if (!isPointInSafetyArea3d(des_reference)) {
+    6133             : 
+    6134           0 :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: the trajectory contains points outside of the safety area!");
+    6135           0 :         trajectory_modified = true;
+    6136             : 
+    6137             :         // the first invalid point
+    6138           0 :         if (first_invalid_idx == -1) {
+    6139             : 
+    6140           0 :           first_invalid_idx = i;
+    6141             : 
+    6142           0 :           last_valid_idx = i - 1;
+    6143             :         }
+    6144             : 
+    6145             :         // the point is ok
+    6146             :       } else {
+    6147             : 
+    6148             :         // we found a point, which is ok, after finding a point which was not ok
+    6149         673 :         if (first_invalid_idx != -1) {
+    6150             : 
+    6151             :           // special case, we had no valid point so far
+    6152           0 :           if (last_valid_idx == -1) {
+    6153             : 
+    6154           0 :             ss << "the trajectory starts outside of the safety area!";
+    6155           0 :             ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6156           0 :             return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6157             : 
+    6158             :             // we have a valid point in the past
+    6159             :           } else {
+    6160             : 
+    6161           0 :             if (!_snap_trajectory_to_safety_area_) {
+    6162           0 :               break;
+    6163             :             }
+    6164             : 
+    6165           0 :             bool interpolation_success = true;
+    6166             : 
+    6167             :             // iterpolate between the last valid point and this new valid point
+    6168           0 :             double angle = atan2((processed_trajectory.points.at(i).position.y - processed_trajectory.points.at(last_valid_idx).position.y),
+    6169           0 :                                  (processed_trajectory.points.at(i).position.x - processed_trajectory.points.at(last_valid_idx).position.x));
+    6170             : 
+    6171           0 :             double dist_two_points = mrs_lib::geometry::dist(
+    6172           0 :                 vec2_t(processed_trajectory.points.at(i).position.x, processed_trajectory.points.at(i).position.y),
+    6173           0 :                 vec2_t(processed_trajectory.points.at(last_valid_idx).position.x, processed_trajectory.points.at(last_valid_idx).position.y));
+    6174           0 :             double step = dist_two_points / (i - last_valid_idx);
+    6175             : 
+    6176           0 :             for (int j = last_valid_idx; j < i; j++) {
+    6177             : 
+    6178           0 :               mrs_msgs::ReferenceStamped temp_point;
+    6179           0 :               temp_point.header.frame_id      = processed_trajectory.header.frame_id;
+    6180           0 :               temp_point.reference.position.x = processed_trajectory.points.at(last_valid_idx).position.x + (j - last_valid_idx) * cos(angle) * step;
+    6181           0 :               temp_point.reference.position.y = processed_trajectory.points.at(last_valid_idx).position.y + (j - last_valid_idx) * sin(angle) * step;
+    6182             : 
+    6183           0 :               if (!isPointInSafetyArea2d(temp_point)) {
+    6184             : 
+    6185           0 :                 interpolation_success = false;
+    6186           0 :                 break;
+    6187             : 
+    6188             :               } else {
+    6189             : 
+    6190           0 :                 processed_trajectory.points.at(j).position.x = temp_point.reference.position.x;
+    6191           0 :                 processed_trajectory.points.at(j).position.y = temp_point.reference.position.y;
+    6192             :               }
+    6193             :             }
+    6194             : 
+    6195           0 :             if (!interpolation_success) {
+    6196           0 :               break;
+    6197             :             }
+    6198             :           }
+    6199             : 
+    6200           0 :           first_invalid_idx = -1;
+    6201             :         }
+    6202             :       }
+    6203             :     }
+    6204             : 
+    6205             :     // special case, the trajectory does not end with a valid point
+    6206           5 :     if (first_invalid_idx != -1) {
+    6207             : 
+    6208             :       // super special case, the whole trajectory is invalid
+    6209           0 :       if (first_invalid_idx == 0) {
+    6210             : 
+    6211           0 :         ss << "the whole trajectory is outside of the safety area!";
+    6212           0 :         ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6213           0 :         return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6214             : 
+    6215             :         // there is a good portion of the trajectory in the beginning
+    6216             :       } else {
+    6217             : 
+    6218           0 :         trajectory_size = last_valid_idx + 1;
+    6219           0 :         processed_trajectory.points.resize(trajectory_size);
+    6220           0 :         trajectory_modified = true;
+    6221             :       }
+    6222             :     }
+    6223             :   }
+    6224             : 
+    6225           6 :   if (trajectory_size == 0) {
+    6226             : 
+    6227           0 :     ss << "the trajectory happened to be empty after all the checks! This message should not appear!";
+    6228           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6229           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6230             :   }
+    6231             : 
+    6232             :   //}
+    6233             : 
+    6234             :   /* transform the trajectory to the current control frame //{ */
+    6235             : 
+    6236           6 :   std::optional<geometry_msgs::TransformStamped> tf_traj_state;
+    6237             : 
+    6238           6 :   if (processed_trajectory.header.stamp > ros::Time::now()) {
+    6239           0 :     tf_traj_state = transformer_->getTransform(processed_trajectory.header.frame_id, "", processed_trajectory.header.stamp);
+    6240             :   } else {
+    6241           6 :     tf_traj_state = transformer_->getTransform(processed_trajectory.header.frame_id, "", uav_state_.header.stamp);
+    6242             :   }
+    6243             : 
+    6244           6 :   if (!tf_traj_state) {
+    6245           0 :     ss << "could not create TF transformer for the trajectory";
+    6246           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6247           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6248             :   }
+    6249             : 
+    6250           6 :   processed_trajectory.header.frame_id = transformer_->frame_to(*tf_traj_state);
+    6251             : 
+    6252         700 :   for (int i = 0; i < trajectory_size; i++) {
+    6253             : 
+    6254         694 :     mrs_msgs::ReferenceStamped trajectory_point;
+    6255         694 :     trajectory_point.header    = processed_trajectory.header;
+    6256         694 :     trajectory_point.reference = processed_trajectory.points.at(i);
+    6257             : 
+    6258         694 :     auto ret = transformer_->transform(trajectory_point, *tf_traj_state);
+    6259             : 
+    6260         694 :     if (!ret) {
+    6261             : 
+    6262           0 :       ss << "trajectory cannnot be transformed";
+    6263           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6264           0 :       return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6265             : 
+    6266             :     } else {
+    6267             : 
+    6268             :       // transform the points in the trajectory to the current frame
+    6269         694 :       processed_trajectory.points.at(i) = ret.value().reference;
+    6270             :     }
+    6271             :   }
+    6272             : 
+    6273             :   //}
+    6274             : 
+    6275           6 :   mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr response;
+    6276          12 :   mrs_msgs::TrajectoryReferenceSrvRequest            request;
+    6277             : 
+    6278             :   // check for empty trajectory
+    6279           6 :   if (processed_trajectory.points.size() == 0) {
+    6280           0 :     ss << "reference trajectory was processing and it is now empty, this should not happen!";
+    6281           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6282           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6283             :   }
+    6284             : 
+    6285             :   // prepare the message for current tracker
+    6286           6 :   request.trajectory = processed_trajectory;
+    6287             : 
+    6288             :   bool                     success;
+    6289          12 :   std::string              message;
+    6290             :   bool                     modified;
+    6291          12 :   std::vector<std::string> tracker_names;
+    6292          12 :   std::vector<bool>        tracker_successes;
+    6293          12 :   std::vector<std::string> tracker_messages;
+    6294             : 
+    6295             :   {
+    6296          12 :     std::scoped_lock lock(mutex_tracker_list_);
+    6297             : 
+    6298             :     // set the trajectory to the currently active tracker
+    6299             :     response =
+    6300           6 :         tracker_list_.at(active_tracker_idx_)
+    6301           6 :             ->setTrajectoryReference(mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::TrajectoryReferenceSrvRequest>(request)));
+    6302             : 
+    6303           6 :     tracker_names.push_back(_tracker_names_.at(active_tracker_idx_));
+    6304             : 
+    6305           6 :     if (response != mrs_msgs::TrajectoryReferenceSrvResponse::Ptr()) {
+    6306             : 
+    6307           5 :       success  = response->success;
+    6308           5 :       message  = response->message;
+    6309           5 :       modified = response->modified || trajectory_modified;
+    6310           5 :       tracker_successes.push_back(response->success);
+    6311           5 :       tracker_messages.push_back(response->message);
+    6312             : 
+    6313             :     } else {
+    6314             : 
+    6315           1 :       ss << "the active tracker '" << _tracker_names_.at(active_tracker_idx_) << "' does not implement the 'setTrajectoryReference()' function!";
+    6316           1 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6317             : 
+    6318           1 :       success  = true;
+    6319           1 :       message  = ss.str();
+    6320           1 :       modified = false;
+    6321           1 :       tracker_successes.push_back(false);
+    6322           1 :       tracker_messages.push_back(ss.str());
+    6323             :     }
+    6324             : 
+    6325             :     // set the trajectory to the non-active trackers
+    6326          42 :     for (size_t i = 0; i < tracker_list_.size(); i++) {
+    6327             : 
+    6328          36 :       if (i != active_tracker_idx_) {
+    6329             : 
+    6330          30 :         tracker_names.push_back(_tracker_names_.at(i));
+    6331             : 
+    6332          90 :         response = tracker_list_.at(i)->setTrajectoryReference(
+    6333          90 :             mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::TrajectoryReferenceSrvRequest>(request)));
+    6334             : 
+    6335          30 :         if (response != mrs_msgs::TrajectoryReferenceSrvResponse::Ptr()) {
+    6336             : 
+    6337           1 :           tracker_successes.push_back(response->success);
+    6338           1 :           tracker_messages.push_back(response->message);
+    6339             : 
+    6340           1 :           if (response->success) {
+    6341           2 :             std::stringstream ss;
+    6342           1 :             ss << "trajectory loaded to non-active tracker '" << _tracker_names_.at(i);
+    6343           1 :             ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6344             :           }
+    6345             : 
+    6346             :         } else {
+    6347             : 
+    6348          29 :           std::stringstream ss;
+    6349          29 :           ss << "the tracker \"" << _tracker_names_.at(i) << "\" does not implement setTrajectoryReference()";
+    6350          29 :           tracker_successes.push_back(false);
+    6351          29 :           tracker_messages.push_back(ss.str());
+    6352             :         }
+    6353             :       }
+    6354             :     }
+    6355             :   }
+    6356             : 
+    6357           6 :   return std::tuple(success, message, modified, tracker_names, tracker_successes, tracker_messages);
+    6358             : }
+    6359             : 
+    6360             : //}
+    6361             : 
+    6362             : /* isOffboard() //{ */
+    6363             : 
+    6364          18 : bool ControlManager::isOffboard(void) {
+    6365             : 
+    6366          18 :   if (!sh_hw_api_status_.hasMsg()) {
+    6367           0 :     return false;
+    6368             :   }
+    6369             : 
+    6370          18 :   mrs_msgs::HwApiStatusConstPtr hw_api_status = sh_hw_api_status_.getMsg();
+    6371             : 
+    6372          18 :   return hw_api_status->connected && hw_api_status->offboard;
+    6373             : }
+    6374             : 
+    6375             : //}
+    6376             : 
+    6377             : /* setCallbacks() //{ */
+    6378             : 
+    6379         101 : void ControlManager::setCallbacks(bool in) {
+    6380             : 
+    6381         101 :   callbacks_enabled_ = in;
+    6382             : 
+    6383         101 :   std_srvs::SetBoolRequest req_enable_callbacks;
+    6384         101 :   req_enable_callbacks.data = callbacks_enabled_;
+    6385             : 
+    6386             :   {
+    6387         202 :     std::scoped_lock lock(mutex_tracker_list_);
+    6388             : 
+    6389             :     // set callbacks to all trackers
+    6390         707 :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    6391         606 :       tracker_list_.at(i)->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    6392             :     }
+    6393             :   }
+    6394         101 : }
+    6395             : 
+    6396             : //}
+    6397             : 
+    6398             : /* publishDiagnostics() //{ */
+    6399             : 
+    6400       19392 : void ControlManager::publishDiagnostics(void) {
+    6401             : 
+    6402       19392 :   if (!is_initialized_) {
+    6403           0 :     return;
+    6404             :   }
+    6405             : 
+    6406       58176 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("publishDiagnostics");
+    6407       58176 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::publishDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+    6408             : 
+    6409       38784 :   std::scoped_lock lock(mutex_diagnostics_);
+    6410             : 
+    6411       38784 :   mrs_msgs::ControlManagerDiagnostics diagnostics_msg;
+    6412             : 
+    6413       19392 :   diagnostics_msg.stamp    = ros::Time::now();
+    6414       19392 :   diagnostics_msg.uav_name = _uav_name_;
+    6415             : 
+    6416       19392 :   diagnostics_msg.desired_uav_state_rate = desired_uav_state_rate_;
+    6417             : 
+    6418       19392 :   diagnostics_msg.output_enabled = output_enabled_;
+    6419             : 
+    6420       19392 :   diagnostics_msg.joystick_active = rc_goto_active_;
+    6421             : 
+    6422             :   {
+    6423       19392 :     std::scoped_lock lock(mutex_tracker_list_, mutex_controller_list_);
+    6424             : 
+    6425       19392 :     diagnostics_msg.flying_normally = isFlyingNormally();
+    6426             :   }
+    6427             : 
+    6428       19392 :   diagnostics_msg.bumper_active = bumper_repulsing_;
+    6429             : 
+    6430             :   // | ----------------- fill the tracker status ---------------- |
+    6431             : 
+    6432             :   {
+    6433       38784 :     std::scoped_lock lock(mutex_tracker_list_);
+    6434             : 
+    6435       19392 :     mrs_msgs::TrackerStatus tracker_status;
+    6436             : 
+    6437       19392 :     diagnostics_msg.active_tracker = _tracker_names_.at(active_tracker_idx_);
+    6438       19392 :     diagnostics_msg.tracker_status = tracker_list_.at(active_tracker_idx_)->getStatus();
+    6439             :   }
+    6440             : 
+    6441             :   // | --------------- fill the controller status --------------- |
+    6442             : 
+    6443             :   {
+    6444       38784 :     std::scoped_lock lock(mutex_controller_list_);
+    6445             : 
+    6446       19392 :     mrs_msgs::ControllerStatus controller_status;
+    6447             : 
+    6448       19392 :     diagnostics_msg.active_controller = _controller_names_.at(active_controller_idx_);
+    6449       19392 :     diagnostics_msg.controller_status = controller_list_.at(active_controller_idx_)->getStatus();
+    6450             :   }
+    6451             : 
+    6452             :   // | ------------ fill in the available controllers ----------- |
+    6453             : 
+    6454      116352 :   for (int i = 0; i < int(_controller_names_.size()); i++) {
+    6455       96960 :     if ((_controller_names_.at(i) != _failsafe_controller_name_) && (_controller_names_.at(i) != _eland_controller_name_)) {
+    6456       58176 :       diagnostics_msg.available_controllers.push_back(_controller_names_.at(i));
+    6457       58176 :       diagnostics_msg.human_switchable_controllers.push_back(controllers_.at(_controller_names_.at(i)).human_switchable);
+    6458             :     }
+    6459             :   }
+    6460             : 
+    6461             :   // | ------------- fill in the available trackers ------------- |
+    6462             : 
+    6463      135974 :   for (int i = 0; i < int(_tracker_names_.size()); i++) {
+    6464      116582 :     if (_tracker_names_.at(i) != _null_tracker_name_) {
+    6465       97190 :       diagnostics_msg.available_trackers.push_back(_tracker_names_.at(i));
+    6466       97190 :       diagnostics_msg.human_switchable_trackers.push_back(trackers_.at(_tracker_names_.at(i)).human_switchable);
+    6467             :     }
+    6468             :   }
+    6469             : 
+    6470             :   // | ------------------------- publish ------------------------ |
+    6471             : 
+    6472       19392 :   ph_diagnostics_.publish(diagnostics_msg);
+    6473             : }
+    6474             : 
+    6475             : //}
+    6476             : 
+    6477             : /* setConstraintsToTrackers() //{ */
+    6478             : 
+    6479         377 : void ControlManager::setConstraintsToTrackers(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6480             : 
+    6481        1131 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("setConstraintsToTrackers");
+    6482        1131 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::setConstraintsToTrackers", scope_timer_logger_, scope_timer_enabled_);
+    6483             : 
+    6484         377 :   mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr response;
+    6485             : 
+    6486             :   {
+    6487         754 :     std::scoped_lock lock(mutex_tracker_list_);
+    6488             : 
+    6489             :     // for each tracker
+    6490        2642 :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    6491             : 
+    6492             :       // if it is the active one, update and retrieve the command
+    6493        6795 :       response = tracker_list_.at(i)->setConstraints(
+    6494        6795 :           mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr(std::make_unique<mrs_msgs::DynamicsConstraintsSrvRequest>(constraints)));
+    6495             :     }
+    6496             :   }
+    6497         377 : }
+    6498             : 
+    6499             : //}
+    6500             : 
+    6501             : /* setConstraintsToControllers() //{ */
+    6502             : 
+    6503         431 : void ControlManager::setConstraintsToControllers(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6504             : 
+    6505        1293 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("setConstraintsToControllers");
+    6506        1293 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::setConstraintsToControllers", scope_timer_logger_, scope_timer_enabled_);
+    6507             : 
+    6508         431 :   mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr response;
+    6509             : 
+    6510             :   {
+    6511         862 :     std::scoped_lock lock(mutex_controller_list_);
+    6512             : 
+    6513             :     // for each controller
+    6514        2586 :     for (int i = 0; i < int(controller_list_.size()); i++) {
+    6515             : 
+    6516             :       // if it is the active one, update and retrieve the command
+    6517        6465 :       response = controller_list_.at(i)->setConstraints(
+    6518        6465 :           mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr(std::make_unique<mrs_msgs::DynamicsConstraintsSrvRequest>(constraints)));
+    6519             :     }
+    6520             :   }
+    6521         431 : }
+    6522             : 
+    6523             : //}
+    6524             : 
+    6525             : /* setConstraints() //{ */
+    6526             : 
+    6527         109 : void ControlManager::setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6528             : 
+    6529         327 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("setConstraints");
+    6530         327 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::setConstraints", scope_timer_logger_, scope_timer_enabled_);
+    6531             : 
+    6532         109 :   mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr response;
+    6533             : 
+    6534         109 :   setConstraintsToTrackers(constraints);
+    6535             : 
+    6536         109 :   setConstraintsToControllers(constraints);
+    6537         109 : }
+    6538             : 
+    6539             : //}
+    6540             : 
+    6541             : /* enforceControllerConstraints() //{ */
+    6542             : 
+    6543      139392 : std::optional<mrs_msgs::DynamicsConstraintsSrvRequest> ControlManager::enforceControllersConstraints(
+    6544             :     const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6545             : 
+    6546             :   // copy member variables
+    6547      278784 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    6548             : 
+    6549      139392 :   if (!last_control_output.control_output || !last_control_output.diagnostics.controller_enforcing_constraints) {
+    6550      119711 :     return {};
+    6551             :   }
+    6552             : 
+    6553       19681 :   bool enforcing = false;
+    6554             : 
+    6555       19681 :   auto constraints_out = constraints;
+    6556             : 
+    6557       39362 :   std::scoped_lock lock(mutex_tracker_list_);
+    6558             : 
+    6559             :   // enforce horizontal speed
+    6560       19681 :   if (last_control_output.diagnostics.horizontal_speed_constraint < constraints.constraints.horizontal_speed) {
+    6561       14456 :     constraints_out.constraints.horizontal_speed = last_control_output.diagnostics.horizontal_speed_constraint;
+    6562             : 
+    6563       14456 :     enforcing = true;
+    6564             :   }
+    6565             : 
+    6566             :   // enforce horizontal acceleration
+    6567       19681 :   if (last_control_output.diagnostics.horizontal_acc_constraint < constraints.constraints.horizontal_acceleration) {
+    6568       18157 :     constraints_out.constraints.horizontal_acceleration = last_control_output.diagnostics.horizontal_acc_constraint;
+    6569             : 
+    6570       18157 :     enforcing = true;
+    6571             :   }
+    6572             : 
+    6573             :   // enforce vertical ascending speed
+    6574       19681 :   if (last_control_output.diagnostics.vertical_asc_speed_constraint < constraints.constraints.vertical_ascending_speed) {
+    6575       14456 :     constraints_out.constraints.vertical_ascending_speed = last_control_output.diagnostics.vertical_asc_speed_constraint;
+    6576             : 
+    6577       14456 :     enforcing = true;
+    6578             :   }
+    6579             : 
+    6580             :   // enforce vertical ascending acceleration
+    6581       19681 :   if (last_control_output.diagnostics.vertical_asc_acc_constraint < constraints.constraints.vertical_ascending_acceleration) {
+    6582           0 :     constraints_out.constraints.vertical_ascending_acceleration = last_control_output.diagnostics.vertical_asc_acc_constraint;
+    6583             : 
+    6584           0 :     enforcing = true;
+    6585             :   }
+    6586             : 
+    6587             :   // enforce vertical descending speed
+    6588       19681 :   if (last_control_output.diagnostics.vertical_desc_speed_constraint < constraints.constraints.vertical_descending_speed) {
+    6589       14456 :     constraints_out.constraints.vertical_descending_speed = last_control_output.diagnostics.vertical_desc_speed_constraint;
+    6590             : 
+    6591       14456 :     enforcing = true;
+    6592             :   }
+    6593             : 
+    6594             :   // enforce vertical descending acceleration
+    6595       19681 :   if (last_control_output.diagnostics.vertical_desc_acc_constraint < constraints.constraints.vertical_descending_acceleration) {
+    6596           0 :     constraints_out.constraints.vertical_descending_acceleration = last_control_output.diagnostics.vertical_desc_acc_constraint;
+    6597             : 
+    6598           0 :     enforcing = true;
+    6599             :   }
+    6600             : 
+    6601       19681 :   if (enforcing) {
+    6602       18157 :     return {constraints_out};
+    6603             :   } else {
+    6604        1524 :     return {};
+    6605             :   }
+    6606             : }
+    6607             : 
+    6608             : //}
+    6609             : 
+    6610             : /* isFlyingNormally() //{ */
+    6611             : 
+    6612       19675 : bool ControlManager::isFlyingNormally(void) {
+    6613             : 
+    6614       16993 :   return callbacks_enabled_ && (output_enabled_) && (offboard_mode_) && (armed_) &&
+    6615       10694 :          (((active_tracker_idx_ != _ehover_tracker_idx_) && (active_controller_idx_ != _eland_controller_idx_) &&
+    6616       10694 :            (active_controller_idx_ != _failsafe_controller_idx_)) ||
+    6617       38981 :           _controller_names_.size() == 1) &&
+    6618       28056 :          (((active_tracker_idx_ != _null_tracker_idx_) && (active_tracker_idx_ != _landoff_tracker_idx_)) || _tracker_names_.size() == 1);
+    6619             : }
+    6620             : 
+    6621             : //}
+    6622             : 
+    6623             : /* //{ getMass() */
+    6624             : 
+    6625         560 : double ControlManager::getMass(void) {
+    6626             : 
+    6627        1120 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    6628             : 
+    6629         560 :   if (last_control_output.diagnostics.mass_estimator) {
+    6630          13 :     return _uav_mass_ + last_control_output.diagnostics.mass_difference;
+    6631             :   } else {
+    6632         547 :     return _uav_mass_;
+    6633             :   }
+    6634             : }
+    6635             : 
+    6636             : //}
+    6637             : 
+    6638             : /* loadConfigFile() //{ */
+    6639             : 
+    6640           0 : bool ControlManager::loadConfigFile(const std::string& file_path, const std::string ns) {
+    6641             : 
+    6642           0 :   const std::string name_space = nh_.getNamespace() + "/" + ns;
+    6643             : 
+    6644           0 :   ROS_INFO("[ControlManager]: loading '%s' under the namespace '%s'", file_path.c_str(), name_space.c_str());
+    6645             : 
+    6646             :   // load the user-requested file
+    6647             :   {
+    6648           0 :     std::string command = "rosparam load " + file_path + " " + name_space;
+    6649           0 :     int         result  = std::system(command.c_str());
+    6650             : 
+    6651           0 :     if (result != 0) {
+    6652           0 :       ROS_ERROR("[ControlManager]: failed to load '%s'", file_path.c_str());
+    6653           0 :       return false;
+    6654             :     }
+    6655             :   }
+    6656             : 
+    6657             :   // load the platform config
+    6658           0 :   if (_platform_config_ != "") {
+    6659           0 :     std::string command = "rosparam load " + _platform_config_ + " " + name_space;
+    6660           0 :     int         result  = std::system(command.c_str());
+    6661             : 
+    6662           0 :     if (result != 0) {
+    6663           0 :       ROS_ERROR("[ControlManager]: failed to load the platform config file '%s'", _platform_config_.c_str());
+    6664           0 :       return false;
+    6665             :     }
+    6666             :   }
+    6667             : 
+    6668             :   // load the custom config
+    6669           0 :   if (_custom_config_ != "") {
+    6670           0 :     std::string command = "rosparam load " + _custom_config_ + " " + name_space;
+    6671           0 :     int         result  = std::system(command.c_str());
+    6672             : 
+    6673           0 :     if (result != 0) {
+    6674           0 :       ROS_ERROR("[ControlManager]: failed to load the custom config file '%s'", _custom_config_.c_str());
+    6675           0 :       return false;
+    6676             :     }
+    6677             :   }
+    6678             : 
+    6679           0 :   return true;
+    6680             : }
+    6681             : 
+    6682             : //}
+    6683             : 
+    6684             : // | ----------------------- safety area ---------------------- |
+    6685             : 
+    6686             : /* //{ isPointInSafetyArea3d() */
+    6687             : 
+    6688        1845 : bool ControlManager::isPointInSafetyArea3d(const mrs_msgs::ReferenceStamped& point) {
+    6689             : 
+    6690        1845 :   if (!use_safety_area_) {
+    6691         744 :     return true;
+    6692             :   }
+    6693             : 
+    6694        2202 :   auto tfed_horizontal = transformer_->transformSingle(point, _safety_area_horizontal_frame_);
+    6695             : 
+    6696        1101 :   if (!tfed_horizontal) {
+    6697           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform the point to the safety area horizontal frame");
+    6698           0 :     return false;
+    6699             :   }
+    6700             : 
+    6701        1101 :   if (!safety_zone_->isPointValid(tfed_horizontal->reference.position.x, tfed_horizontal->reference.position.y)) {
+    6702           3 :     return false;
+    6703             :   }
+    6704             : 
+    6705        1098 :   if (point.reference.position.z < getMinZ(point.header.frame_id) || point.reference.position.z > getMaxZ(point.header.frame_id)) {
+    6706           3 :     return false;
+    6707             :   }
+    6708             : 
+    6709        1095 :   return true;
+    6710             : }
+    6711             : 
+    6712             : //}
+    6713             : 
+    6714             : /* //{ isPointInSafetyArea2d() */
+    6715             : 
+    6716       10133 : bool ControlManager::isPointInSafetyArea2d(const mrs_msgs::ReferenceStamped& point) {
+    6717             : 
+    6718       10133 :   if (!use_safety_area_) {
+    6719         589 :     return true;
+    6720             :   }
+    6721             : 
+    6722       19088 :   auto tfed_horizontal = transformer_->transformSingle(point, _safety_area_horizontal_frame_);
+    6723             : 
+    6724        9544 :   if (!tfed_horizontal) {
+    6725           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform the point to the safety area horizontal frame");
+    6726           0 :     return false;
+    6727             :   }
+    6728             : 
+    6729        9544 :   if (!safety_zone_->isPointValid(tfed_horizontal->reference.position.x, tfed_horizontal->reference.position.y)) {
+    6730          75 :     return false;
+    6731             :   }
+    6732             : 
+    6733        9469 :   return true;
+    6734             : }
+    6735             : 
+    6736             : //}
+    6737             : 
+    6738             : /* //{ isPathToPointInSafetyArea3d() */
+    6739             : 
+    6740         886 : bool ControlManager::isPathToPointInSafetyArea3d(const mrs_msgs::ReferenceStamped& start, const mrs_msgs::ReferenceStamped& end) {
+    6741             : 
+    6742         886 :   if (!use_safety_area_) {
+    6743         744 :     return true;
+    6744             :   }
+    6745             : 
+    6746         142 :   if (!isPointInSafetyArea3d(start) || !isPointInSafetyArea3d(end)) {
+    6747           2 :     return false;
+    6748             :   }
+    6749             : 
+    6750         280 :   mrs_msgs::ReferenceStamped start_transformed, end_transformed;
+    6751             : 
+    6752             :   {
+    6753         140 :     auto ret = transformer_->transformSingle(start, _safety_area_horizontal_frame_);
+    6754             : 
+    6755         140 :     if (!ret) {
+    6756             : 
+    6757           0 :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6758             : 
+    6759           0 :       return false;
+    6760             :     }
+    6761             : 
+    6762         140 :     start_transformed = ret.value();
+    6763             :   }
+    6764             : 
+    6765             :   {
+    6766         140 :     auto ret = transformer_->transformSingle(end, _safety_area_horizontal_frame_);
+    6767             : 
+    6768         140 :     if (!ret) {
+    6769             : 
+    6770           0 :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6771             : 
+    6772           0 :       return false;
+    6773             :     }
+    6774             : 
+    6775         140 :     end_transformed = ret.value();
+    6776             :   }
+    6777             : 
+    6778         140 :   return safety_zone_->isPathValid(start_transformed.reference.position.x, start_transformed.reference.position.y, end_transformed.reference.position.x,
+    6779         140 :                                    end_transformed.reference.position.y);
+    6780             : }
+    6781             : 
+    6782             : //}
+    6783             : 
+    6784             : /* //{ isPathToPointInSafetyArea2d() */
+    6785             : 
+    6786           0 : bool ControlManager::isPathToPointInSafetyArea2d(const mrs_msgs::ReferenceStamped& start, const mrs_msgs::ReferenceStamped& end) {
+    6787             : 
+    6788           0 :   if (!use_safety_area_) {
+    6789           0 :     return true;
+    6790             :   }
+    6791             : 
+    6792           0 :   mrs_msgs::ReferenceStamped start_transformed, end_transformed;
+    6793             : 
+    6794           0 :   if (!isPointInSafetyArea2d(start) || !isPointInSafetyArea2d(end)) {
+    6795           0 :     return false;
+    6796             :   }
+    6797             : 
+    6798             :   {
+    6799           0 :     auto ret = transformer_->transformSingle(start, _safety_area_horizontal_frame_);
+    6800             : 
+    6801           0 :     if (!ret) {
+    6802             : 
+    6803           0 :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6804             : 
+    6805           0 :       return false;
+    6806             :     }
+    6807             : 
+    6808           0 :     start_transformed = ret.value();
+    6809             :   }
+    6810             : 
+    6811             :   {
+    6812           0 :     auto ret = transformer_->transformSingle(end, _safety_area_horizontal_frame_);
+    6813             : 
+    6814           0 :     if (!ret) {
+    6815             : 
+    6816           0 :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6817             : 
+    6818           0 :       return false;
+    6819             :     }
+    6820             : 
+    6821           0 :     end_transformed = ret.value();
+    6822             :   }
+    6823             : 
+    6824           0 :   return safety_zone_->isPathValid(start_transformed.reference.position.x, start_transformed.reference.position.y, end_transformed.reference.position.x,
+    6825           0 :                                    end_transformed.reference.position.y);
+    6826             : }
+    6827             : 
+    6828             : //}
+    6829             : 
+    6830             : /* //{ getMaxZ() */
+    6831             : 
+    6832       13876 : double ControlManager::getMaxZ(const std::string& frame_id) {
+    6833             : 
+    6834             :   // | ------- first, calculate max_z from the safety area ------ |
+    6835             : 
+    6836       13876 :   double safety_area_max_z = std::numeric_limits<float>::max();
+    6837             : 
+    6838             :   {
+    6839             : 
+    6840       27752 :     geometry_msgs::PointStamped point;
+    6841             : 
+    6842       13876 :     point.header.frame_id = _safety_area_vertical_frame_;
+    6843       13876 :     point.point.x         = 0;
+    6844       13876 :     point.point.y         = 0;
+    6845       13876 :     point.point.z         = _safety_area_max_z_;
+    6846             : 
+    6847       13876 :     auto ret = transformer_->transformSingle(point, frame_id);
+    6848             : 
+    6849       13876 :     if (!ret) {
+    6850           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform safety area's max_z to '%s'", frame_id.c_str());
+    6851             :     }
+    6852             : 
+    6853       13876 :     safety_area_max_z = ret->point.z;
+    6854             :   }
+    6855             : 
+    6856             :   // | ------------ overwrite from estimation manager ----------- |
+    6857             : 
+    6858       13876 :   double estimation_manager_max_z = std::numeric_limits<float>::max();
+    6859             : 
+    6860             :   {
+    6861             :     // if possible, override it with max z from the estimation manager
+    6862       13876 :     if (sh_max_z_.hasMsg()) {
+    6863             : 
+    6864       27718 :       auto msg = sh_max_z_.getMsg();
+    6865             : 
+    6866             :       // transform it into the safety area frame
+    6867       27718 :       geometry_msgs::PointStamped point;
+    6868       13859 :       point.header  = msg->header;
+    6869       13859 :       point.point.x = 0;
+    6870       13859 :       point.point.y = 0;
+    6871       13859 :       point.point.z = msg->value;
+    6872             : 
+    6873       13859 :       auto ret = transformer_->transformSingle(point, frame_id);
+    6874             : 
+    6875       13859 :       if (!ret) {
+    6876           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform estimation manager's max_z to the current control frame");
+    6877             :       }
+    6878             : 
+    6879       13859 :       estimation_manager_max_z = ret->point.z;
+    6880             :     }
+    6881             :   }
+    6882             : 
+    6883       13876 :   if (estimation_manager_max_z < safety_area_max_z) {
+    6884       10455 :     return estimation_manager_max_z;
+    6885             :   } else {
+    6886        3421 :     return safety_area_max_z;
+    6887             :   }
+    6888             : }
+    6889             : 
+    6890             : //}
+    6891             : 
+    6892             : /* //{ getMinZ() */
+    6893             : 
+    6894       13879 : double ControlManager::getMinZ(const std::string& frame_id) {
+    6895             : 
+    6896       13879 :   if (!use_safety_area_) {
+    6897           0 :     return std::numeric_limits<double>::lowest();
+    6898             :   }
+    6899             : 
+    6900       27758 :   geometry_msgs::PointStamped point;
+    6901             : 
+    6902       13879 :   point.header.frame_id = _safety_area_vertical_frame_;
+    6903       13879 :   point.point.x         = 0;
+    6904       13879 :   point.point.y         = 0;
+    6905       13879 :   point.point.z         = _safety_area_min_z_;
+    6906             : 
+    6907       27758 :   auto ret = transformer_->transformSingle(point, frame_id);
+    6908             : 
+    6909       13879 :   if (!ret) {
+    6910           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform safety area's min_z to '%s'", frame_id.c_str());
+    6911           0 :     return std::numeric_limits<double>::lowest();
+    6912             :   }
+    6913             : 
+    6914       13879 :   return ret->point.z;
+    6915             : }
+    6916             : 
+    6917             : //}
+    6918             : 
+    6919             : // | --------------------- obstacle bumper -------------------- |
+    6920             : 
+    6921             : /* bumperPushFromObstacle() //{ */
+    6922             : 
+    6923         278 : void ControlManager::bumperPushFromObstacle(void) {
+    6924             : 
+    6925             :   // | --------------- fabricate the min distances -------------- |
+    6926             : 
+    6927         278 :   double min_distance_horizontal = _bumper_horizontal_distance_;
+    6928         278 :   double min_distance_vertical   = _bumper_vertical_distance_;
+    6929             : 
+    6930         278 :   if (_bumper_horizontal_derive_from_dynamics_ || _bumper_vertical_derive_from_dynamics_) {
+    6931             : 
+    6932         278 :     auto constraints = mrs_lib::get_mutexed(mutex_constraints_, current_constraints_);
+    6933             : 
+    6934         278 :     if (_bumper_horizontal_derive_from_dynamics_) {
+    6935             : 
+    6936         278 :       const double horizontal_t_stop    = constraints.constraints.horizontal_speed / constraints.constraints.horizontal_acceleration;
+    6937         278 :       const double horizontal_stop_dist = (horizontal_t_stop * constraints.constraints.horizontal_speed) / 2.0;
+    6938             : 
+    6939         278 :       min_distance_horizontal += 1.5 * horizontal_stop_dist;
+    6940             :     }
+    6941             : 
+    6942         278 :     if (_bumper_vertical_derive_from_dynamics_) {
+    6943             : 
+    6944             : 
+    6945             :       // larger from the two accelerations
+    6946         556 :       const double vert_acc = constraints.constraints.vertical_ascending_acceleration > constraints.constraints.vertical_descending_acceleration
+    6947         278 :                                   ? constraints.constraints.vertical_ascending_acceleration
+    6948             :                                   : constraints.constraints.vertical_descending_acceleration;
+    6949             : 
+    6950             :       // larger from the two speeds
+    6951         556 :       const double vert_speed = constraints.constraints.vertical_ascending_speed > constraints.constraints.vertical_descending_speed
+    6952         278 :                                     ? constraints.constraints.vertical_ascending_speed
+    6953             :                                     : constraints.constraints.vertical_descending_speed;
+    6954             : 
+    6955         278 :       const double vertical_t_stop    = vert_speed / vert_acc;
+    6956         278 :       const double vertical_stop_dist = (vertical_t_stop * vert_speed) / 2.0;
+    6957             : 
+    6958         278 :       min_distance_vertical += 1.5 * vertical_stop_dist;
+    6959             :     }
+    6960             :   }
+    6961             : 
+    6962             :   // | ----------------------------  ---------------------------- |
+    6963             : 
+    6964             :   // copy member variables
+    6965         278 :   mrs_msgs::ObstacleSectorsConstPtr bumper_data = sh_bumper_.getMsg();
+    6966         278 :   auto                              uav_state   = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    6967             : 
+    6968         278 :   double sector_size = TAU / double(bumper_data->n_horizontal_sectors);
+    6969             : 
+    6970         278 :   double direction          = 0;
+    6971         278 :   double repulsion_distance = std::numeric_limits<double>::max();
+    6972             : 
+    6973         278 :   bool horizontal_collision_detected = false;
+    6974         278 :   bool vertical_collision_detected   = false;
+    6975             : 
+    6976         278 :   double min_horizontal_sector_distance = std::numeric_limits<double>::max();
+    6977         278 :   size_t min_sector_id                  = 0;
+    6978             : 
+    6979        2502 :   for (unsigned long i = 0; i < bumper_data->n_horizontal_sectors; i++) {
+    6980             : 
+    6981        2224 :     if (bumper_data->sectors.at(i) < 0) {
+    6982           0 :       continue;
+    6983             :     }
+    6984             : 
+    6985        2224 :     if (bumper_data->sectors.at(i) < min_horizontal_sector_distance) {
+    6986         278 :       min_horizontal_sector_distance = bumper_data->sectors.at(i);
+    6987         278 :       min_sector_id                  = i;
+    6988             :     }
+    6989             :   }
+    6990             : 
+    6991             :   // if the sector is under the threshold distance
+    6992         278 :   if (min_horizontal_sector_distance < min_distance_horizontal) {
+    6993             : 
+    6994             :     // get the desired direction of motion
+    6995         104 :     double oposite_direction  = double(min_sector_id) * sector_size + M_PI;
+    6996         104 :     int    oposite_sector_idx = bumperGetSectorId(cos(oposite_direction), sin(oposite_direction), 0);
+    6997             : 
+    6998             :     // get the id of the oposite sector
+    6999         104 :     direction = oposite_direction;
+    7000             : 
+    7001         104 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: Bumper: found potential collision (sector %lu vs. %d), obstacle distance: %.2f, repulsing", min_sector_id,
+    7002             :                       oposite_sector_idx, bumper_data->sectors.at(min_sector_id));
+    7003             : 
+    7004         104 :     repulsion_distance = min_distance_horizontal + _bumper_horizontal_overshoot_ - bumper_data->sectors.at(min_sector_id);
+    7005             : 
+    7006         104 :     horizontal_collision_detected = true;
+    7007             :   }
+    7008             : 
+    7009         278 :   double vertical_repulsion_distance = 0;
+    7010             : 
+    7011             :   // check for vertical collision down
+    7012         278 :   if (bumper_data->sectors.at(bumper_data->n_horizontal_sectors) > 0 && bumper_data->sectors.at(bumper_data->n_horizontal_sectors) <= min_distance_vertical) {
+    7013             : 
+    7014           0 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: potential collision below");
+    7015           0 :     vertical_collision_detected = true;
+    7016           0 :     vertical_repulsion_distance = min_distance_vertical - bumper_data->sectors.at(bumper_data->n_horizontal_sectors);
+    7017             :   }
+    7018             : 
+    7019             :   // check for vertical collision up
+    7020         556 :   if (bumper_data->sectors.at(bumper_data->n_horizontal_sectors + 1) > 0 &&
+    7021         278 :       bumper_data->sectors.at(bumper_data->n_horizontal_sectors + 1) <= min_distance_vertical) {
+    7022             : 
+    7023           0 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: potential collision above");
+    7024           0 :     vertical_collision_detected = true;
+    7025           0 :     vertical_repulsion_distance = -(min_distance_vertical - bumper_data->sectors.at(bumper_data->n_horizontal_sectors + 1));
+    7026             :   }
+    7027             : 
+    7028             :   // if potential collision was detected and we should start the repulsing_
+    7029         278 :   if (horizontal_collision_detected || vertical_collision_detected) {
+    7030             : 
+    7031         104 :     if (!bumper_repulsing_) {
+    7032             : 
+    7033           1 :       if (_bumper_switch_tracker_) {
+    7034             : 
+    7035           1 :         auto        active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7036           2 :         std::string active_tracker_name = _tracker_names_.at(active_tracker_idx);
+    7037             : 
+    7038             :         // remember the previously active tracker
+    7039           1 :         bumper_previous_tracker_ = active_tracker_name;
+    7040             : 
+    7041           1 :         if (active_tracker_name != _bumper_tracker_name_) {
+    7042             : 
+    7043           0 :           switchTracker(_bumper_tracker_name_);
+    7044             :         }
+    7045             :       }
+    7046             : 
+    7047           1 :       if (_bumper_switch_controller_) {
+    7048             : 
+    7049           1 :         auto        active_controller_idx  = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    7050           2 :         std::string active_controller_name = _controller_names_.at(active_controller_idx);
+    7051             : 
+    7052             :         // remember the previously active controller
+    7053           1 :         bumper_previous_controller_ = active_controller_name;
+    7054             : 
+    7055           1 :         if (active_controller_name != _bumper_controller_name_) {
+    7056             : 
+    7057           1 :           switchController(_bumper_controller_name_);
+    7058             :         }
+    7059             :       }
+    7060             :     }
+    7061             : 
+    7062         104 :     bumper_repulsing_ = true;
+    7063             : 
+    7064         104 :     callbacks_enabled_ = false;
+    7065             : 
+    7066           0 :     mrs_msgs::ReferenceSrvResponse::ConstPtr tracker_response;
+    7067             : 
+    7068         104 :     std_srvs::SetBoolRequest req_enable_callbacks;
+    7069             : 
+    7070             :     // create the reference in the fcu_untilted frame
+    7071         104 :     mrs_msgs::ReferenceStamped reference_fcu_untilted;
+    7072             : 
+    7073         104 :     reference_fcu_untilted.header.frame_id = "fcu_untilted";
+    7074             : 
+    7075         104 :     if (horizontal_collision_detected) {
+    7076         104 :       reference_fcu_untilted.reference.position.x = cos(direction) * repulsion_distance;
+    7077         104 :       reference_fcu_untilted.reference.position.y = sin(direction) * repulsion_distance;
+    7078             :     } else {
+    7079           0 :       reference_fcu_untilted.reference.position.x = 0;
+    7080           0 :       reference_fcu_untilted.reference.position.y = 0;
+    7081             :     }
+    7082             : 
+    7083         104 :     reference_fcu_untilted.reference.heading = 0;
+    7084             : 
+    7085         104 :     if (vertical_collision_detected) {
+    7086           0 :       reference_fcu_untilted.reference.position.z = vertical_repulsion_distance;
+    7087             :     } else {
+    7088         104 :       reference_fcu_untilted.reference.position.z = 0;
+    7089             :     }
+    7090             : 
+    7091             :     {
+    7092         104 :       std::scoped_lock lock(mutex_tracker_list_);
+    7093             : 
+    7094             :       // transform the reference into the currently used frame
+    7095             :       // this is under the mutex_tracker_list since we don't won't the odometry switch to happen
+    7096             :       // to the tracker before we actually call the goto service
+    7097             : 
+    7098         104 :       auto ret = transformer_->transformSingle(reference_fcu_untilted, uav_state.header.frame_id);
+    7099             : 
+    7100         104 :       if (!ret) {
+    7101           0 :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: Bumper: bumper reference could not be transformed");
+    7102           0 :         return;
+    7103             :       }
+    7104             : 
+    7105         104 :       reference_fcu_untilted = ret.value();
+    7106             : 
+    7107             :       // copy the reference into the service type message
+    7108         104 :       mrs_msgs::ReferenceSrvRequest req_goto_out;
+    7109         104 :       req_goto_out.reference = reference_fcu_untilted.reference;
+    7110             : 
+    7111             :       // disable callbacks of all trackers
+    7112         104 :       req_enable_callbacks.data = false;
+    7113         728 :       for (size_t i = 0; i < tracker_list_.size(); i++) {
+    7114         624 :         tracker_list_.at(i)->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    7115             :       }
+    7116             : 
+    7117             :       // enable the callbacks for the active tracker
+    7118         104 :       req_enable_callbacks.data = true;
+    7119         104 :       tracker_list_.at(active_tracker_idx_)
+    7120         104 :           ->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    7121             : 
+    7122             :       // call the goto
+    7123         104 :       tracker_response = tracker_list_.at(active_tracker_idx_)
+    7124         104 :                              ->setReference(mrs_msgs::ReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::ReferenceSrvRequest>(req_goto_out)));
+    7125             : 
+    7126             :       // disable the callbacks back again
+    7127         104 :       req_enable_callbacks.data = false;
+    7128         104 :       tracker_list_.at(active_tracker_idx_)
+    7129         104 :           ->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    7130             :     }
+    7131             :   }
+    7132             : 
+    7133             :   // if repulsing_ and the distance is safe once again
+    7134         278 :   if (bumper_repulsing_ && !horizontal_collision_detected && !vertical_collision_detected) {
+    7135             : 
+    7136           1 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: no more collision, stopping repulsion");
+    7137             : 
+    7138           1 :     if (_bumper_switch_tracker_) {
+    7139             : 
+    7140           1 :       auto        active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7141           2 :       std::string active_tracker_name = _tracker_names_.at(active_tracker_idx);
+    7142             : 
+    7143           1 :       if (active_tracker_name != bumper_previous_tracker_) {
+    7144             : 
+    7145           0 :         switchTracker(bumper_previous_tracker_);
+    7146             :       }
+    7147             :     }
+    7148             : 
+    7149           1 :     if (_bumper_switch_controller_) {
+    7150             : 
+    7151           1 :       auto        active_controller_idx  = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    7152           2 :       std::string active_controller_name = _controller_names_.at(active_controller_idx);
+    7153             : 
+    7154           1 :       if (active_controller_name != bumper_previous_controller_) {
+    7155             : 
+    7156           1 :         switchController(bumper_previous_controller_);
+    7157             :       }
+    7158             :     }
+    7159             : 
+    7160           1 :     std_srvs::SetBoolRequest req_enable_callbacks;
+    7161             : 
+    7162             :     {
+    7163           2 :       std::scoped_lock lock(mutex_tracker_list_);
+    7164             : 
+    7165             :       // enable callbacks of all trackers
+    7166           1 :       req_enable_callbacks.data = true;
+    7167           7 :       for (size_t i = 0; i < tracker_list_.size(); i++) {
+    7168           6 :         tracker_list_.at(i)->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    7169             :       }
+    7170             :     }
+    7171             : 
+    7172           1 :     callbacks_enabled_ = true;
+    7173             : 
+    7174           1 :     bumper_repulsing_ = false;
+    7175             :   }
+    7176             : }
+    7177             : 
+    7178             : //}
+    7179             : 
+    7180             : /* bumperGetSectorId() //{ */
+    7181             : 
+    7182         104 : int ControlManager::bumperGetSectorId(const double& x, const double& y, [[maybe_unused]] const double& z) {
+    7183             : 
+    7184             :   // copy member variables
+    7185         104 :   mrs_msgs::ObstacleSectorsConstPtr bumper_data = sh_bumper_.getMsg();
+    7186             : 
+    7187             :   // heading of the point in drone frame
+    7188         104 :   double point_heading_horizontal = atan2(y, x);
+    7189             : 
+    7190         104 :   point_heading_horizontal += TAU;
+    7191             : 
+    7192             :   // if point_heading_horizontal is greater then 2*M_PI mod it
+    7193         104 :   if (fabs(point_heading_horizontal) >= TAU) {
+    7194         104 :     point_heading_horizontal = fmod(point_heading_horizontal, TAU);
+    7195             :   }
+    7196             : 
+    7197             :   // heading of the right edge of the first sector
+    7198         104 :   double sector_size = TAU / double(bumper_data->n_horizontal_sectors);
+    7199             : 
+    7200             :   // calculate the idx
+    7201         104 :   int idx = floor((point_heading_horizontal + (sector_size / 2.0)) / sector_size);
+    7202             : 
+    7203         104 :   if (idx > int(bumper_data->n_horizontal_sectors) - 1) {
+    7204           0 :     idx -= bumper_data->n_horizontal_sectors;
+    7205             :   }
+    7206             : 
+    7207         208 :   return idx;
+    7208             : }
+    7209             : 
+    7210             : //}
+    7211             : 
+    7212             : // | ------------------------- safety ------------------------- |
+    7213             : 
+    7214             : /* //{ changeLandingState() */
+    7215             : 
+    7216          12 : void ControlManager::changeLandingState(LandingStates_t new_state) {
+    7217             : 
+    7218             :   // copy member variables
+    7219          24 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7220             : 
+    7221             :   {
+    7222          12 :     std::scoped_lock lock(mutex_landing_state_machine_);
+    7223             : 
+    7224          12 :     previous_state_landing_ = current_state_landing_;
+    7225          12 :     current_state_landing_  = new_state;
+    7226             :   }
+    7227             : 
+    7228          12 :   switch (current_state_landing_) {
+    7229             : 
+    7230           4 :     case IDLE_STATE:
+    7231           4 :       break;
+    7232           8 :     case LANDING_STATE: {
+    7233             : 
+    7234           8 :       ROS_DEBUG("[ControlManager]: starting eland timer");
+    7235           8 :       timer_eland_.start();
+    7236           8 :       ROS_DEBUG("[ControlManager]: eland timer started");
+    7237           8 :       eland_triggered_ = true;
+    7238           8 :       bumper_enabled_  = false;
+    7239             : 
+    7240           8 :       landing_uav_mass_ = getMass();
+    7241             :     }
+    7242             : 
+    7243           8 :     break;
+    7244             :   }
+    7245             : 
+    7246          12 :   ROS_INFO("[ControlManager]: switching emergency landing state %s -> %s", state_names[previous_state_landing_], state_names[current_state_landing_]);
+    7247          12 : }
+    7248             : 
+    7249             : //}
+    7250             : 
+    7251             : /* hover() //{ */
+    7252             : 
+    7253           1 : std::tuple<bool, std::string> ControlManager::hover(void) {
+    7254             : 
+    7255           1 :   if (!is_initialized_) {
+    7256           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7257             :   }
+    7258             : 
+    7259           1 :   if (eland_triggered_) {
+    7260           0 :     return std::tuple(false, "cannot hover, eland already triggered");
+    7261             :   }
+    7262             : 
+    7263           1 :   if (failsafe_triggered_) {
+    7264           0 :     return std::tuple(false, "cannot hover, failsafe already triggered");
+    7265             :   }
+    7266             : 
+    7267             :   {
+    7268           2 :     std::scoped_lock lock(mutex_tracker_list_);
+    7269             : 
+    7270           1 :     std_srvs::TriggerResponse::ConstPtr response;
+    7271           1 :     std_srvs::TriggerRequest            request;
+    7272             : 
+    7273           1 :     response = tracker_list_.at(active_tracker_idx_)->hover(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7274             : 
+    7275           1 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7276             : 
+    7277           2 :       return std::tuple(response->success, response->message);
+    7278             : 
+    7279             :     } else {
+    7280             : 
+    7281           0 :       std::stringstream ss;
+    7282           0 :       ss << "the tracker '" << _tracker_names_.at(active_tracker_idx_) << "' does not implement the 'hover()' function!";
+    7283             : 
+    7284           0 :       return std::tuple(false, ss.str());
+    7285             :     }
+    7286             :   }
+    7287             : }
+    7288             : 
+    7289             : //}
+    7290             : 
+    7291             : /* //{ ehover() */
+    7292             : 
+    7293           4 : std::tuple<bool, std::string> ControlManager::ehover(void) {
+    7294             : 
+    7295           4 :   if (!is_initialized_) {
+    7296           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7297             :   }
+    7298             : 
+    7299           4 :   if (eland_triggered_) {
+    7300           0 :     return std::tuple(false, "cannot ehover, eland already triggered");
+    7301             :   }
+    7302             : 
+    7303           4 :   if (failsafe_triggered_) {
+    7304           0 :     return std::tuple(false, "cannot ehover, failsafe already triggered");
+    7305             :   }
+    7306             : 
+    7307             :   // copy the member variables
+    7308           8 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7309           4 :   auto active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7310             : 
+    7311           4 :   if (active_tracker_idx == _null_tracker_idx_) {
+    7312             : 
+    7313           0 :     std::stringstream ss;
+    7314           0 :     ss << "can not trigger ehover while not flying";
+    7315           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7316             : 
+    7317           0 :     return std::tuple(false, ss.str());
+    7318             :   }
+    7319             : 
+    7320           4 :   ungripSrv();
+    7321             : 
+    7322             :   {
+    7323             : 
+    7324           4 :     auto [success, message] = switchTracker(_ehover_tracker_name_);
+    7325             : 
+    7326             :     // check if the tracker was successfully switched
+    7327             :     // this is vital, that is the core of the hover
+    7328           4 :     if (!success) {
+    7329             : 
+    7330           0 :       std::stringstream ss;
+    7331           0 :       ss << "error during switching to ehover tracker: '" << message << "'";
+    7332           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7333             : 
+    7334           0 :       return std::tuple(success, ss.str());
+    7335             :     }
+    7336             :   }
+    7337             : 
+    7338             :   {
+    7339           8 :     auto [success, message] = switchController(_eland_controller_name_);
+    7340             : 
+    7341             :     // check if the controller was successfully switched
+    7342             :     // this is not vital, we can continue without that
+    7343           4 :     if (!success) {
+    7344             : 
+    7345           0 :       std::stringstream ss;
+    7346           0 :       ss << "error during switching to ehover controller: '" << message << "'";
+    7347           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7348             :     }
+    7349             :   }
+    7350             : 
+    7351           4 :   std::stringstream ss;
+    7352           4 :   ss << "ehover activated";
+    7353           4 :   ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7354             : 
+    7355           4 :   callbacks_enabled_ = false;
+    7356             : 
+    7357           4 :   return std::tuple(true, ss.str());
+    7358             : }
+    7359             : 
+    7360             : //}
+    7361             : 
+    7362             : /* eland() //{ */
+    7363             : 
+    7364           8 : std::tuple<bool, std::string> ControlManager::eland(void) {
+    7365             : 
+    7366           8 :   if (!is_initialized_) {
+    7367           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7368             :   }
+    7369             : 
+    7370           8 :   if (eland_triggered_) {
+    7371           0 :     return std::tuple(false, "cannot eland, eland already triggered");
+    7372             :   }
+    7373             : 
+    7374           8 :   if (failsafe_triggered_) {
+    7375           0 :     return std::tuple(false, "cannot eland, failsafe already triggered");
+    7376             :   }
+    7377             : 
+    7378             :   // copy member variables
+    7379          16 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7380           8 :   auto active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7381             : 
+    7382           8 :   if (active_tracker_idx == _null_tracker_idx_) {
+    7383             : 
+    7384           0 :     std::stringstream ss;
+    7385           0 :     ss << "can not trigger eland while not flying";
+    7386           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7387             : 
+    7388           0 :     return std::tuple(false, ss.str());
+    7389             :   }
+    7390             : 
+    7391           8 :   if (_rc_emergency_handoff_) {
+    7392             : 
+    7393           0 :     toggleOutput(false);
+    7394             : 
+    7395           0 :     return std::tuple(true, "RC emergency handoff is ON, disabling output");
+    7396             :   }
+    7397             : 
+    7398             :   {
+    7399           8 :     auto [success, message] = switchTracker(_ehover_tracker_name_);
+    7400             : 
+    7401             :     // check if the tracker was successfully switched
+    7402             :     // this is vital
+    7403           8 :     if (!success) {
+    7404             : 
+    7405           0 :       std::stringstream ss;
+    7406           0 :       ss << "error during switching to eland tracker: '" << message << "'";
+    7407           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7408             : 
+    7409           0 :       return std::tuple(success, ss.str());
+    7410             :     }
+    7411             :   }
+    7412             : 
+    7413             :   {
+    7414          16 :     auto [success, message] = switchController(_eland_controller_name_);
+    7415             : 
+    7416             :     // check if the controller was successfully switched
+    7417             :     // this is not vital, we can continue without it
+    7418           8 :     if (!success) {
+    7419             : 
+    7420           0 :       std::stringstream ss;
+    7421           0 :       ss << "error during switching to eland controller: '" << message << "'";
+    7422           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7423             :     }
+    7424             :   }
+    7425             : 
+    7426             :   // | ----------------- call the eland service ----------------- |
+    7427             : 
+    7428           8 :   std::stringstream ss;
+    7429             :   bool              success;
+    7430             : 
+    7431           8 :   if (elandSrv()) {
+    7432             : 
+    7433           8 :     changeLandingState(LANDING_STATE);
+    7434             : 
+    7435           8 :     odometryCallbacksSrv(false);
+    7436             : 
+    7437           8 :     ss << "eland activated";
+    7438           8 :     ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7439             : 
+    7440           8 :     success = true;
+    7441             : 
+    7442           8 :     callbacks_enabled_ = false;
+    7443             : 
+    7444             :   } else {
+    7445             : 
+    7446           0 :     ss << "error during activation of eland";
+    7447           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7448             : 
+    7449           0 :     success = false;
+    7450             :   }
+    7451             : 
+    7452          16 :   return std::tuple(success, ss.str());
+    7453             : }
+    7454             : 
+    7455             : //}
+    7456             : 
+    7457             : /* failsafe() //{ */
+    7458             : 
+    7459           7 : std::tuple<bool, std::string> ControlManager::failsafe(void) {
+    7460             : 
+    7461             :   // copy member variables
+    7462          14 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7463           7 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    7464           7 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7465             : 
+    7466           7 :   if (!is_initialized_) {
+    7467           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7468             :   }
+    7469             : 
+    7470           7 :   if (failsafe_triggered_) {
+    7471           0 :     return std::tuple(false, "cannot, failsafe already triggered");
+    7472             :   }
+    7473             : 
+    7474           7 :   if (active_tracker_idx == _null_tracker_idx_) {
+    7475             : 
+    7476           0 :     std::stringstream ss;
+    7477           0 :     ss << "can not trigger failsafe while not flying";
+    7478           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7479           0 :     return std::tuple(false, ss.str());
+    7480             :   }
+    7481             : 
+    7482           7 :   if (_rc_emergency_handoff_) {
+    7483             : 
+    7484           0 :     toggleOutput(false);
+    7485             : 
+    7486           0 :     return std::tuple(true, "RC emergency handoff is ON, disabling output");
+    7487             :   }
+    7488             : 
+    7489           7 :   if (getLowestOuput(_hw_api_inputs_) == POSITION) {
+    7490           0 :     return eland();
+    7491             :   }
+    7492             : 
+    7493           7 :   if (_parachute_enabled_) {
+    7494             : 
+    7495           0 :     auto [success, message] = deployParachute();
+    7496             : 
+    7497           0 :     if (success) {
+    7498             : 
+    7499           0 :       std::stringstream ss;
+    7500           0 :       ss << "failsafe activated (parachute): '" << message << "'";
+    7501           0 :       ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    7502             : 
+    7503           0 :       return std::tuple(true, ss.str());
+    7504             : 
+    7505             :     } else {
+    7506             : 
+    7507           0 :       std::stringstream ss;
+    7508           0 :       ss << "could not deploy parachute: '" << message << "', continuing with normal failsafe";
+    7509           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7510             :     }
+    7511             :   }
+    7512             : 
+    7513           7 :   if (_failsafe_controller_idx_ != active_controller_idx) {
+    7514             : 
+    7515             :     try {
+    7516             : 
+    7517          14 :       std::scoped_lock lock(mutex_controller_list_);
+    7518             : 
+    7519           7 :       ROS_INFO("[ControlManager]: activating the controller '%s'", _failsafe_controller_name_.c_str());
+    7520           7 :       controller_list_.at(_failsafe_controller_idx_)->activate(last_control_output);
+    7521             : 
+    7522             :       {
+    7523          14 :         std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    7524             : 
+    7525             :         // update the time (used in failsafe)
+    7526           7 :         controller_tracker_switch_time_ = ros::Time::now();
+    7527             :       }
+    7528             : 
+    7529           7 :       failsafe_triggered_ = true;
+    7530           7 :       ROS_DEBUG("[ControlManager]: stopping eland timer");
+    7531           7 :       timer_eland_.stop();
+    7532           7 :       ROS_DEBUG("[ControlManager]: eland timer stopped");
+    7533             : 
+    7534           7 :       landing_uav_mass_ = getMass();
+    7535             : 
+    7536           7 :       eland_triggered_ = false;
+    7537           7 :       ROS_DEBUG("[ControlManager]: starting failsafe timer");
+    7538           7 :       timer_failsafe_.start();
+    7539           7 :       ROS_DEBUG("[ControlManager]: failsafe timer started");
+    7540             : 
+    7541           7 :       bumper_enabled_ = false;
+    7542             : 
+    7543           7 :       odometryCallbacksSrv(false);
+    7544             : 
+    7545           7 :       callbacks_enabled_ = false;
+    7546             : 
+    7547           7 :       ROS_INFO_THROTTLE(1.0, "[ControlManager]: the controller '%s' was activated", _failsafe_controller_name_.c_str());
+    7548             : 
+    7549             :       // super important, switch the active controller idx
+    7550             :       try {
+    7551           7 :         controller_list_.at(active_controller_idx_)->deactivate();
+    7552           7 :         active_controller_idx_ = _failsafe_controller_idx_;
+    7553             :       }
+    7554           0 :       catch (std::runtime_error& exrun) {
+    7555           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not deactivate the controller '%s'", _controller_names_.at(active_controller_idx_).c_str());
+    7556             :       }
+    7557             :     }
+    7558           0 :     catch (std::runtime_error& exrun) {
+    7559           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: error during activation of the controller '%s'", _failsafe_controller_name_.c_str());
+    7560           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception: '%s'", exrun.what());
+    7561             :     }
+    7562             :   }
+    7563             : 
+    7564          14 :   return std::tuple(true, "failsafe activated");
+    7565             : }
+    7566             : 
+    7567             : //}
+    7568             : 
+    7569             : /* escalatingFailsafe() //{ */
+    7570             : 
+    7571         147 : std::tuple<bool, std::string> ControlManager::escalatingFailsafe(void) {
+    7572             : 
+    7573         294 :   std::stringstream ss;
+    7574             : 
+    7575         147 :   if ((ros::Time::now() - escalating_failsafe_time_).toSec() < _escalating_failsafe_timeout_) {
+    7576             : 
+    7577         139 :     ss << "too soon for escalating failsafe";
+    7578         139 :     ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7579             : 
+    7580         139 :     return std::tuple(false, ss.str());
+    7581             :   }
+    7582             : 
+    7583           8 :   if (!output_enabled_) {
+    7584             : 
+    7585           0 :     ss << "not escalating failsafe, output is disabled";
+    7586           0 :     ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7587             : 
+    7588           0 :     return std::tuple(false, ss.str());
+    7589             :   }
+    7590             : 
+    7591           8 :   ROS_WARN("[ControlManager]: escalating failsafe triggered");
+    7592             : 
+    7593           8 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7594           8 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    7595             : 
+    7596          16 :   std::string active_tracker_name    = _tracker_names_.at(active_tracker_idx);
+    7597          16 :   std::string active_controller_name = _controller_names_.at(active_controller_idx);
+    7598             : 
+    7599           8 :   EscalatingFailsafeStates_t next_state = getNextEscFailsafeState();
+    7600             : 
+    7601           8 :   escalating_failsafe_time_ = ros::Time::now();
+    7602             : 
+    7603           8 :   switch (next_state) {
+    7604             : 
+    7605           0 :     case ESC_NONE_STATE: {
+    7606             : 
+    7607           0 :       ss << "escalating failsafe has run to impossible situation";
+    7608           0 :       ROS_ERROR_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7609             : 
+    7610           0 :       return std::tuple(false, "escalating failsafe has run to impossible situation");
+    7611             : 
+    7612             :       break;
+    7613             :     }
+    7614             : 
+    7615           2 :     case ESC_EHOVER_STATE: {
+    7616             : 
+    7617           2 :       ss << "escalating failsafe escalates to ehover";
+    7618           2 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7619             : 
+    7620           4 :       auto [success, message] = ehover();
+    7621             : 
+    7622           2 :       if (success) {
+    7623           2 :         state_escalating_failsafe_ = ESC_EHOVER_STATE;
+    7624             :       }
+    7625             : 
+    7626           2 :       return {success, message};
+    7627             : 
+    7628             :       break;
+    7629             :     }
+    7630             : 
+    7631           2 :     case ESC_ELAND_STATE: {
+    7632             : 
+    7633           2 :       ss << "escalating failsafe escalates to eland";
+    7634           2 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7635             : 
+    7636           4 :       auto [success, message] = eland();
+    7637             : 
+    7638           2 :       if (success) {
+    7639           2 :         state_escalating_failsafe_ = ESC_ELAND_STATE;
+    7640             :       }
+    7641             : 
+    7642           2 :       return {success, message};
+    7643             : 
+    7644             :       break;
+    7645             :     }
+    7646             : 
+    7647           2 :     case ESC_FAILSAFE_STATE: {
+    7648             : 
+    7649           2 :       escalating_failsafe_time_ = ros::Time::now();
+    7650             : 
+    7651           2 :       ss << "escalating failsafe escalates to failsafe";
+    7652           2 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7653             : 
+    7654           4 :       auto [success, message] = failsafe();
+    7655             : 
+    7656           2 :       if (success) {
+    7657           2 :         state_escalating_failsafe_ = ESC_FINISHED_STATE;
+    7658             :       }
+    7659             : 
+    7660           2 :       return {success, message};
+    7661             : 
+    7662             :       break;
+    7663             :     }
+    7664             : 
+    7665           2 :     case ESC_FINISHED_STATE: {
+    7666             : 
+    7667           2 :       escalating_failsafe_time_ = ros::Time::now();
+    7668             : 
+    7669           2 :       ss << "escalating failsafe has nothing more to do";
+    7670           2 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7671             : 
+    7672           4 :       return std::tuple(false, "escalating failsafe has nothing more to do");
+    7673             : 
+    7674             :       break;
+    7675             :     }
+    7676             : 
+    7677           0 :     default: {
+    7678             : 
+    7679           0 :       break;
+    7680             :     }
+    7681             :   }
+    7682             : 
+    7683           0 :   ROS_ERROR("[ControlManager]: escalatingFailsafe() reached the final return, this should not happen!");
+    7684             : 
+    7685           0 :   return std::tuple(false, "escalating failsafe exception");
+    7686             : }
+    7687             : 
+    7688             : //}
+    7689             : 
+    7690             : /* getNextEscFailsafeState() //{ */
+    7691             : 
+    7692           8 : EscalatingFailsafeStates_t ControlManager::getNextEscFailsafeState(void) {
+    7693             : 
+    7694           8 :   EscalatingFailsafeStates_t current_state = state_escalating_failsafe_;
+    7695             : 
+    7696           8 :   switch (current_state) {
+    7697             : 
+    7698           2 :     case ESC_FINISHED_STATE: {
+    7699             : 
+    7700           2 :       return ESC_FINISHED_STATE;
+    7701             : 
+    7702             :       break;
+    7703             :     }
+    7704             : 
+    7705           2 :     case ESC_NONE_STATE: {
+    7706             : 
+    7707           2 :       if (_escalating_failsafe_ehover_) {
+    7708           2 :         return ESC_EHOVER_STATE;
+    7709           0 :       } else if (_escalating_failsafe_eland_) {
+    7710           0 :         return ESC_ELAND_STATE;
+    7711           0 :       } else if (_escalating_failsafe_failsafe_) {
+    7712           0 :         return ESC_FAILSAFE_STATE;
+    7713             :       } else {
+    7714           0 :         return ESC_FINISHED_STATE;
+    7715             :       }
+    7716             : 
+    7717             :       break;
+    7718             :     }
+    7719             : 
+    7720           2 :     case ESC_EHOVER_STATE: {
+    7721             : 
+    7722           2 :       if (_escalating_failsafe_eland_) {
+    7723           2 :         return ESC_ELAND_STATE;
+    7724           0 :       } else if (_escalating_failsafe_failsafe_) {
+    7725           0 :         return ESC_FAILSAFE_STATE;
+    7726             :       } else {
+    7727           0 :         return ESC_FINISHED_STATE;
+    7728             :       }
+    7729             : 
+    7730             :       break;
+    7731             :     }
+    7732             : 
+    7733           2 :     case ESC_ELAND_STATE: {
+    7734             : 
+    7735           2 :       if (_escalating_failsafe_failsafe_) {
+    7736           2 :         return ESC_FAILSAFE_STATE;
+    7737             :       } else {
+    7738           0 :         return ESC_FINISHED_STATE;
+    7739             :       }
+    7740             : 
+    7741             :       break;
+    7742             :     }
+    7743             : 
+    7744           0 :     case ESC_FAILSAFE_STATE: {
+    7745             : 
+    7746           0 :       return ESC_FINISHED_STATE;
+    7747             : 
+    7748             :       break;
+    7749             :     }
+    7750             :   }
+    7751             : 
+    7752           0 :   ROS_ERROR("[ControlManager]: getNextEscFailsafeState() reached the final return, this should not happen!");
+    7753             : 
+    7754           0 :   return ESC_NONE_STATE;
+    7755             : }
+    7756             : 
+    7757             : //}
+    7758             : 
+    7759             : // | ------------------- trajectory tracking ------------------ |
+    7760             : 
+    7761             : /* startTrajectoryTracking() //{ */
+    7762             : 
+    7763           2 : std::tuple<bool, std::string> ControlManager::startTrajectoryTracking(void) {
+    7764             : 
+    7765           2 :   if (!is_initialized_) {
+    7766           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7767             :   }
+    7768             : 
+    7769             :   {
+    7770           4 :     std::scoped_lock lock(mutex_tracker_list_);
+    7771             : 
+    7772           2 :     std_srvs::TriggerResponse::ConstPtr response;
+    7773           2 :     std_srvs::TriggerRequest            request;
+    7774             : 
+    7775             :     response =
+    7776           2 :         tracker_list_.at(active_tracker_idx_)->startTrajectoryTracking(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7777             : 
+    7778           2 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7779             : 
+    7780           4 :       return std::tuple(response->success, response->message);
+    7781             : 
+    7782             :     } else {
+    7783             : 
+    7784           0 :       std::stringstream ss;
+    7785           0 :       ss << "the tracker '" << _tracker_names_.at(active_tracker_idx_) << "' does not implement the 'startTrajectoryTracking()' function!";
+    7786             : 
+    7787           0 :       return std::tuple(false, ss.str());
+    7788             :     }
+    7789             :   }
+    7790             : }
+    7791             : 
+    7792             : //}
+    7793             : 
+    7794             : /* stopTrajectoryTracking() //{ */
+    7795             : 
+    7796           1 : std::tuple<bool, std::string> ControlManager::stopTrajectoryTracking(void) {
+    7797             : 
+    7798           1 :   if (!is_initialized_) {
+    7799           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7800             :   }
+    7801             : 
+    7802             :   {
+    7803           2 :     std::scoped_lock lock(mutex_tracker_list_);
+    7804             : 
+    7805           1 :     std_srvs::TriggerResponse::ConstPtr response;
+    7806           1 :     std_srvs::TriggerRequest            request;
+    7807             : 
+    7808             :     response =
+    7809           1 :         tracker_list_.at(active_tracker_idx_)->stopTrajectoryTracking(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7810             : 
+    7811           1 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7812             : 
+    7813           2 :       return std::tuple(response->success, response->message);
+    7814             : 
+    7815             :     } else {
+    7816             : 
+    7817           0 :       std::stringstream ss;
+    7818           0 :       ss << "the tracker '" << _tracker_names_.at(active_tracker_idx_) << "' does not implement the 'stopTrajectoryTracking()' function!";
+    7819             : 
+    7820           0 :       return std::tuple(false, ss.str());
+    7821             :     }
+    7822             :   }
+    7823             : }
+    7824             : 
+    7825             : //}
+    7826             : 
+    7827             : /* resumeTrajectoryTracking() //{ */
+    7828             : 
+    7829           1 : std::tuple<bool, std::string> ControlManager::resumeTrajectoryTracking(void) {
+    7830             : 
+    7831           1 :   if (!is_initialized_) {
+    7832           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7833             :   }
+    7834             : 
+    7835             :   {
+    7836           2 :     std::scoped_lock lock(mutex_tracker_list_);
+    7837             : 
+    7838           1 :     std_srvs::TriggerResponse::ConstPtr response;
+    7839           1 :     std_srvs::TriggerRequest            request;
+    7840             : 
+    7841           1 :     response = tracker_list_.at(active_tracker_idx_)
+    7842           1 :                    ->resumeTrajectoryTracking(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7843             : 
+    7844           1 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7845             : 
+    7846           2 :       return std::tuple(response->success, response->message);
+    7847             : 
+    7848             :     } else {
+    7849             : 
+    7850           0 :       std::stringstream ss;
+    7851           0 :       ss << "the tracker '" << _tracker_names_.at(active_tracker_idx_) << "' does not implement the 'resumeTrajectoryTracking()' function!";
+    7852             : 
+    7853           0 :       return std::tuple(false, ss.str());
+    7854             :     }
+    7855             :   }
+    7856             : }
+    7857             : 
+    7858             : //}
+    7859             : 
+    7860             : /* gotoTrajectoryStart() //{ */
+    7861             : 
+    7862           2 : std::tuple<bool, std::string> ControlManager::gotoTrajectoryStart(void) {
+    7863             : 
+    7864           2 :   if (!is_initialized_) {
+    7865           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7866             :   }
+    7867             : 
+    7868             :   {
+    7869           4 :     std::scoped_lock lock(mutex_tracker_list_);
+    7870             : 
+    7871           2 :     std_srvs::TriggerResponse::ConstPtr response;
+    7872           2 :     std_srvs::TriggerRequest            request;
+    7873             : 
+    7874             :     response =
+    7875           2 :         tracker_list_.at(active_tracker_idx_)->gotoTrajectoryStart(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7876             : 
+    7877           2 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7878             : 
+    7879           4 :       return std::tuple(response->success, response->message);
+    7880             : 
+    7881             :     } else {
+    7882             : 
+    7883           0 :       std::stringstream ss;
+    7884           0 :       ss << "the tracker '" << _tracker_names_.at(active_tracker_idx_) << "' does not implement the 'gotoTrajectoryStart()' function!";
+    7885             : 
+    7886           0 :       return std::tuple(false, ss.str());
+    7887             :     }
+    7888             :   }
+    7889             : }
+    7890             : 
+    7891             : //}
+    7892             : 
+    7893             : // | ----------------- service client wrappers ---------------- |
+    7894             : 
+    7895             : /* arming() //{ */
+    7896             : 
+    7897          18 : std::tuple<bool, std::string> ControlManager::arming(const bool input) {
+    7898             : 
+    7899          36 :   std::stringstream ss;
+    7900             : 
+    7901          18 :   if (input) {
+    7902             : 
+    7903           0 :     ss << "not allowed to arm using the ControlManager, maybe later when we don't do bugs";
+    7904           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7905           0 :     return std::tuple(false, ss.str());
+    7906             :   }
+    7907             : 
+    7908          18 :   if (!input && !isOffboard()) {
+    7909             : 
+    7910           0 :     ss << "can not disarm, not in OFFBOARD mode";
+    7911           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7912           0 :     return std::tuple(false, ss.str());
+    7913             :   }
+    7914             : 
+    7915          18 :   if (!input && _rc_emergency_handoff_) {
+    7916             : 
+    7917           0 :     toggleOutput(false);
+    7918             : 
+    7919           0 :     return std::tuple(true, "RC emergency handoff is ON, disabling output");
+    7920             :   }
+    7921             : 
+    7922          18 :   std_srvs::SetBool srv_out;
+    7923             : 
+    7924          18 :   srv_out.request.data = input ? 1 : 0;  // arm or disarm?
+    7925             : 
+    7926          18 :   ROS_INFO("[ControlManager]: calling for %s", input ? "arming" : "disarming");
+    7927             : 
+    7928          18 :   if (sch_arming_.call(srv_out)) {
+    7929             : 
+    7930          18 :     if (srv_out.response.success) {
+    7931             : 
+    7932          18 :       ss << "service call for " << (input ? "arming" : "disarming") << " was successful";
+    7933          18 :       ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7934             : 
+    7935          18 :       if (!input) {
+    7936             : 
+    7937          18 :         toggleOutput(false);
+    7938             : 
+    7939          18 :         ROS_DEBUG("[ControlManager]: stopping failsafe timer");
+    7940          18 :         timer_failsafe_.stop();
+    7941          18 :         ROS_DEBUG("[ControlManager]: failsafe timer stopped");
+    7942             : 
+    7943          18 :         ROS_DEBUG("[ControlManager]: stopping the eland timer");
+    7944          18 :         timer_eland_.stop();
+    7945          18 :         ROS_DEBUG("[ControlManager]: eland timer stopped");
+    7946             :       }
+    7947             : 
+    7948             :     } else {
+    7949           0 :       ss << "service call for " << (input ? "arming" : "disarming") << " failed";
+    7950           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7951             :     }
+    7952             : 
+    7953             :   } else {
+    7954           0 :     ss << "calling for " << (input ? "arming" : "disarming") << " resulted in failure: '" << srv_out.response.message << "'";
+    7955           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7956             :   }
+    7957             : 
+    7958          36 :   return std::tuple(srv_out.response.success, ss.str());
+    7959             : }
+    7960             : 
+    7961             : //}
+    7962             : 
+    7963             : /* odometryCallbacksSrv() //{ */
+    7964             : 
+    7965          15 : void ControlManager::odometryCallbacksSrv(const bool input) {
+    7966             : 
+    7967          15 :   ROS_INFO("[ControlManager]: switching odometry callbacks to %s", input ? "ON" : "OFF");
+    7968             : 
+    7969          30 :   std_srvs::SetBool srv;
+    7970             : 
+    7971          15 :   srv.request.data = input;
+    7972             : 
+    7973          15 :   bool res = sch_set_odometry_callbacks_.call(srv);
+    7974             : 
+    7975          15 :   if (res) {
+    7976             : 
+    7977          15 :     if (!srv.response.success) {
+    7978           0 :       ROS_WARN("[ControlManager]: service call for toggle odometry callbacks returned: '%s'", srv.response.message.c_str());
+    7979             :     }
+    7980             : 
+    7981             :   } else {
+    7982           0 :     ROS_ERROR("[ControlManager]: service call for toggle odometry callbacks failed!");
+    7983             :   }
+    7984          15 : }
+    7985             : 
+    7986             : //}
+    7987             : 
+    7988             : /* elandSrv() //{ */
+    7989             : 
+    7990           8 : bool ControlManager::elandSrv(void) {
+    7991             : 
+    7992           8 :   ROS_INFO("[ControlManager]: calling for eland");
+    7993             : 
+    7994          16 :   std_srvs::Trigger srv;
+    7995             : 
+    7996           8 :   bool res = sch_eland_.call(srv);
+    7997             : 
+    7998           8 :   if (res) {
+    7999             : 
+    8000           8 :     if (!srv.response.success) {
+    8001           0 :       ROS_WARN("[ControlManager]: service call for eland returned: '%s'", srv.response.message.c_str());
+    8002             :     }
+    8003             : 
+    8004           8 :     return srv.response.success;
+    8005             : 
+    8006             :   } else {
+    8007             : 
+    8008           0 :     ROS_ERROR("[ControlManager]: service call for eland failed!");
+    8009             : 
+    8010           0 :     return false;
+    8011             :   }
+    8012             : }
+    8013             : 
+    8014             : //}
+    8015             : 
+    8016             : /* parachuteSrv() //{ */
+    8017             : 
+    8018           0 : bool ControlManager::parachuteSrv(void) {
+    8019             : 
+    8020           0 :   ROS_INFO("[ControlManager]: calling for parachute deployment");
+    8021             : 
+    8022           0 :   std_srvs::Trigger srv;
+    8023             : 
+    8024           0 :   bool res = sch_parachute_.call(srv);
+    8025             : 
+    8026           0 :   if (res) {
+    8027             : 
+    8028           0 :     if (!srv.response.success) {
+    8029           0 :       ROS_WARN("[ControlManager]: service call for parachute deployment returned: '%s'", srv.response.message.c_str());
+    8030             :     }
+    8031             : 
+    8032           0 :     return srv.response.success;
+    8033             : 
+    8034             :   } else {
+    8035             : 
+    8036           0 :     ROS_ERROR("[ControlManager]: service call for parachute deployment failed!");
+    8037             : 
+    8038           0 :     return false;
+    8039             :   }
+    8040             : }
+    8041             : 
+    8042             : //}
+    8043             : 
+    8044             : /* ungripSrv() //{ */
+    8045             : 
+    8046          58 : void ControlManager::ungripSrv(void) {
+    8047             : 
+    8048         116 :   std_srvs::Trigger srv;
+    8049             : 
+    8050          58 :   bool res = sch_ungrip_.call(srv);
+    8051             : 
+    8052          58 :   if (res) {
+    8053             : 
+    8054           0 :     if (!srv.response.success) {
+    8055           0 :       ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: service call for ungripping payload returned: '%s'", srv.response.message.c_str());
+    8056             :     }
+    8057             : 
+    8058             :   } else {
+    8059          58 :     ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: service call for ungripping payload failed!");
+    8060             :   }
+    8061          58 : }
+    8062             : 
+    8063             : //}
+    8064             : 
+    8065             : // | ------------------------ routines ------------------------ |
+    8066             : 
+    8067             : /* toggleOutput() //{ */
+    8068             : 
+    8069         131 : void ControlManager::toggleOutput(const bool& input) {
+    8070             : 
+    8071         131 :   if (input == output_enabled_) {
+    8072           6 :     ROS_WARN_THROTTLE(0.1, "[ControlManager]: output is already %s", input ? "ON" : "OFF");
+    8073           6 :     return;
+    8074             :   }
+    8075             : 
+    8076         125 :   ROS_INFO("[ControlManager]: switching output %s", input ? "ON" : "OFF");
+    8077             : 
+    8078         125 :   output_enabled_ = input;
+    8079             : 
+    8080             :   // if switching output off, switch to NullTracker
+    8081         125 :   if (!output_enabled_) {
+    8082             : 
+    8083          20 :     ROS_INFO("[ControlManager]: switching to 'NullTracker' after switching output off");
+    8084             : 
+    8085          20 :     switchTracker(_null_tracker_name_);
+    8086             : 
+    8087          20 :     ROS_INFO_STREAM("[ControlManager]: switching to the controller '" << _eland_controller_name_ << "' after switching output off");
+    8088             : 
+    8089          20 :     switchController(_eland_controller_name_);
+    8090             : 
+    8091             :     // | --------- deactivate all trackers and controllers -------- |
+    8092             : 
+    8093         140 :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    8094             : 
+    8095         120 :       std::map<std::string, TrackerParams>::iterator it;
+    8096         120 :       it = trackers_.find(_tracker_names_.at(i));
+    8097             : 
+    8098             :       try {
+    8099         120 :         ROS_INFO("[ControlManager]: deactivating the tracker '%s'", it->second.address.c_str());
+    8100         120 :         tracker_list_.at(i)->deactivate();
+    8101             :       }
+    8102           0 :       catch (std::runtime_error& ex) {
+    8103           0 :         ROS_ERROR("[ControlManager]: exception caught during tracker deactivation: '%s'", ex.what());
+    8104             :       }
+    8105             :     }
+    8106             : 
+    8107         120 :     for (int i = 0; i < int(controller_list_.size()); i++) {
+    8108             : 
+    8109         100 :       std::map<std::string, ControllerParams>::iterator it;
+    8110         100 :       it = controllers_.find(_controller_names_.at(i));
+    8111             : 
+    8112             :       try {
+    8113         100 :         ROS_INFO("[ControlManager]: deactivating the controller '%s'", it->second.address.c_str());
+    8114         100 :         controller_list_.at(i)->deactivate();
+    8115             :       }
+    8116           0 :       catch (std::runtime_error& ex) {
+    8117           0 :         ROS_ERROR("[ControlManager]: exception caught during controller deactivation: '%s'", ex.what());
+    8118             :       }
+    8119             :     }
+    8120             : 
+    8121          20 :     timer_failsafe_.stop();
+    8122          20 :     timer_eland_.stop();
+    8123          20 :     timer_pirouette_.stop();
+    8124             : 
+    8125          20 :     offboard_mode_was_true_ = false;
+    8126             :   }
+    8127             : }
+    8128             : 
+    8129             : //}
+    8130             : 
+    8131             : /* switchTracker() //{ */
+    8132             : 
+    8133         246 : std::tuple<bool, std::string> ControlManager::switchTracker(const std::string& tracker_name) {
+    8134             : 
+    8135         738 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("switchTracker");
+    8136         738 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::switchTracker", scope_timer_logger_, scope_timer_enabled_);
+    8137             : 
+    8138             :   // copy member variables
+    8139         492 :   auto last_tracker_cmd   = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8140         246 :   auto active_tracker_idx = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    8141             : 
+    8142         492 :   std::stringstream ss;
+    8143             : 
+    8144         246 :   if (!got_uav_state_) {
+    8145             : 
+    8146           0 :     ss << "can not switch tracker, missing odometry!";
+    8147           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8148           0 :     return std::tuple(false, ss.str());
+    8149             :   }
+    8150             : 
+    8151         246 :   if (_state_input_ == INPUT_UAV_STATE && _odometry_innovation_check_enabled_ && !sh_odometry_innovation_.hasMsg()) {
+    8152             : 
+    8153           0 :     ss << "can not switch tracker, missing odometry innovation!";
+    8154           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8155           0 :     return std::tuple(false, ss.str());
+    8156             :   }
+    8157             : 
+    8158         246 :   auto new_tracker_idx = idxInVector(tracker_name, _tracker_names_);
+    8159             : 
+    8160             :   // check if the tracker exists
+    8161         246 :   if (!new_tracker_idx) {
+    8162           2 :     ss << "the tracker '" << tracker_name << "' does not exist!";
+    8163           2 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8164           2 :     return std::tuple(false, ss.str());
+    8165             :   }
+    8166             : 
+    8167             :   // check if the tracker is already active
+    8168         244 :   if (new_tracker_idx.value() == active_tracker_idx) {
+    8169          11 :     ss << "not switching, the tracker '" << tracker_name << "' is already active!";
+    8170          11 :     ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    8171          11 :     return std::tuple(true, ss.str());
+    8172             :   }
+    8173             : 
+    8174             :   {
+    8175         233 :     std::scoped_lock lock(mutex_tracker_list_);
+    8176             : 
+    8177             :     try {
+    8178             : 
+    8179         233 :       ROS_INFO("[ControlManager]: activating the tracker '%s'", _tracker_names_.at(new_tracker_idx.value()).c_str());
+    8180             : 
+    8181         233 :       auto [success, message] = tracker_list_.at(new_tracker_idx.value())->activate(last_tracker_cmd);
+    8182             : 
+    8183         233 :       if (!success) {
+    8184             : 
+    8185           0 :         ss << "the tracker '" << tracker_name << "' could not be activated: '" << message << "'";
+    8186           0 :         ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8187           0 :         return std::tuple(false, ss.str());
+    8188             : 
+    8189             :       } else {
+    8190             : 
+    8191         233 :         ss << "the tracker '" << tracker_name << "' was activated";
+    8192         233 :         ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    8193             : 
+    8194             :         {
+    8195         466 :           std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    8196             : 
+    8197             :           // update the time (used in failsafe)
+    8198         233 :           controller_tracker_switch_time_ = ros::Time::now();
+    8199             :         }
+    8200             : 
+    8201             :         // super important, switch the active tracker idx
+    8202             :         try {
+    8203             : 
+    8204         233 :           ROS_INFO("[ControlManager]: deactivating '%s'", _tracker_names_.at(active_tracker_idx_).c_str());
+    8205         233 :           tracker_list_.at(active_tracker_idx_)->deactivate();
+    8206             : 
+    8207             :           // if switching from null tracker, re-activate the already active the controller
+    8208         233 :           if (active_tracker_idx_ == _null_tracker_idx_) {
+    8209             : 
+    8210         102 :             ROS_INFO("[ControlManager]: reactivating '%s' due to switching from 'NullTracker'", _controller_names_.at(active_controller_idx_).c_str());
+    8211             :             {
+    8212         204 :               std::scoped_lock lock(mutex_controller_list_);
+    8213             : 
+    8214         102 :               initializeControlOutput();
+    8215             : 
+    8216         204 :               auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8217             : 
+    8218         102 :               controller_list_.at(active_controller_idx_)->activate(last_control_output);
+    8219             : 
+    8220             :               {
+    8221         204 :                 std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    8222             : 
+    8223             :                 // update the time (used in failsafe)
+    8224         102 :                 controller_tracker_switch_time_ = ros::Time::now();
+    8225             :               }
+    8226             :             }
+    8227             : 
+    8228             :             // if switching to null tracker, deactivate the active controller
+    8229         131 :           } else if (new_tracker_idx == _null_tracker_idx_) {
+    8230             : 
+    8231          17 :             ROS_INFO("[ControlManager]: deactivating '%s' due to switching to 'NullTracker'", _controller_names_.at(active_controller_idx_).c_str());
+    8232             :             {
+    8233          34 :               std::scoped_lock lock(mutex_controller_list_);
+    8234             : 
+    8235          17 :               controller_list_.at(active_controller_idx_)->deactivate();
+    8236             :             }
+    8237             : 
+    8238             :             {
+    8239          17 :               std::scoped_lock lock(mutex_last_tracker_cmd_);
+    8240             : 
+    8241          17 :               last_tracker_cmd_ = {};
+    8242             :             }
+    8243             : 
+    8244          17 :             initializeControlOutput();
+    8245             :           }
+    8246             : 
+    8247         233 :           active_tracker_idx_ = new_tracker_idx.value();
+    8248             :         }
+    8249           0 :         catch (std::runtime_error& exrun) {
+    8250           0 :           ROS_ERROR("[ControlManager]: could not deactivate the tracker '%s'", _tracker_names_.at(active_tracker_idx_).c_str());
+    8251             :         }
+    8252             :       }
+    8253             :     }
+    8254           0 :     catch (std::runtime_error& exrun) {
+    8255           0 :       ROS_ERROR("[ControlManager]: error during activation of the tracker '%s'", tracker_name.c_str());
+    8256           0 :       ROS_ERROR("[ControlManager]: exception: '%s'", exrun.what());
+    8257             :     }
+    8258             :   }
+    8259             : 
+    8260         233 :   return std::tuple(true, ss.str());
+    8261             : }
+    8262             : 
+    8263             : //}
+    8264             : 
+    8265             : /* switchController() //{ */
+    8266             : 
+    8267         247 : std::tuple<bool, std::string> ControlManager::switchController(const std::string& controller_name) {
+    8268             : 
+    8269         741 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("switchController");
+    8270         741 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::switchController", scope_timer_logger_, scope_timer_enabled_);
+    8271             : 
+    8272             :   // copy member variables
+    8273         494 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8274         247 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    8275             : 
+    8276         494 :   std::stringstream ss;
+    8277             : 
+    8278         247 :   if (!got_uav_state_) {
+    8279             : 
+    8280           0 :     ss << "can not switch controller, missing odometry!";
+    8281           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8282           0 :     return std::tuple(false, ss.str());
+    8283             :   }
+    8284             : 
+    8285         247 :   if (_state_input_ == INPUT_UAV_STATE && _odometry_innovation_check_enabled_ && !sh_odometry_innovation_.hasMsg()) {
+    8286             : 
+    8287           0 :     ss << "can not switch controller, missing odometry innovation!";
+    8288           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8289           0 :     return std::tuple(false, ss.str());
+    8290             :   }
+    8291             : 
+    8292         247 :   auto new_controller_idx = idxInVector(controller_name, _controller_names_);
+    8293             : 
+    8294             :   // check if the controller exists
+    8295         247 :   if (!new_controller_idx) {
+    8296           2 :     ss << "the controller '" << controller_name << "' does not exist!";
+    8297           2 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8298           2 :     return std::tuple(false, ss.str());
+    8299             :   }
+    8300             : 
+    8301             :   // check if the controller is not active
+    8302         245 :   if (new_controller_idx.value() == active_controller_idx) {
+    8303             : 
+    8304          35 :     ss << "not switching, the controller '" << controller_name << "' is already active!";
+    8305          35 :     ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    8306          35 :     return std::tuple(true, ss.str());
+    8307             :   }
+    8308             : 
+    8309             :   {
+    8310         210 :     std::scoped_lock lock(mutex_controller_list_);
+    8311             : 
+    8312             :     try {
+    8313             : 
+    8314         210 :       ROS_INFO("[ControlManager]: activating the controller '%s'", _controller_names_.at(new_controller_idx.value()).c_str());
+    8315         210 :       if (!controller_list_.at(new_controller_idx.value())->activate(last_control_output)) {
+    8316             : 
+    8317           0 :         ss << "the controller '" << controller_name << "' was not activated";
+    8318           0 :         ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8319           0 :         return std::tuple(false, ss.str());
+    8320             : 
+    8321             :       } else {
+    8322             : 
+    8323         210 :         ss << "the controller '" << controller_name << "' was activated";
+    8324         210 :         ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    8325             : 
+    8326         210 :         ROS_INFO("[ControlManager]: triggering hover after switching to '%s', re-activating '%s'", _controller_names_.at(new_controller_idx.value()).c_str(),
+    8327             :                  _tracker_names_.at(active_tracker_idx_).c_str());
+    8328             : 
+    8329             :         // reactivate the current tracker
+    8330             :         // TODO this is not the most elegant way to restart the tracker after a controller switch
+    8331             :         // but it serves the purpose
+    8332             :         {
+    8333         210 :           std::scoped_lock lock(mutex_tracker_list_);
+    8334             : 
+    8335         210 :           tracker_list_.at(active_tracker_idx_)->deactivate();
+    8336         210 :           tracker_list_.at(active_tracker_idx_)->activate({});
+    8337             :         }
+    8338             : 
+    8339             :         {
+    8340         420 :           std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    8341             : 
+    8342             :           // update the time (used in failsafe)
+    8343         210 :           controller_tracker_switch_time_ = ros::Time::now();
+    8344             :         }
+    8345             : 
+    8346             :         // super important, switch the active controller idx
+    8347             :         try {
+    8348             : 
+    8349         210 :           controller_list_.at(active_controller_idx_)->deactivate();
+    8350         210 :           active_controller_idx_ = new_controller_idx.value();
+    8351             :         }
+    8352           0 :         catch (std::runtime_error& exrun) {
+    8353           0 :           ROS_ERROR("[ControlManager]: could not deactivate controller '%s'", _controller_names_.at(active_controller_idx_).c_str());
+    8354             :         }
+    8355             :       }
+    8356             :     }
+    8357           0 :     catch (std::runtime_error& exrun) {
+    8358           0 :       ROS_ERROR("[ControlManager]: error during activation of controller '%s'", controller_name.c_str());
+    8359           0 :       ROS_ERROR("[ControlManager]: exception: '%s'", exrun.what());
+    8360             :     }
+    8361             :   }
+    8362             : 
+    8363         210 :   mrs_msgs::DynamicsConstraintsSrvRequest sanitized_constraints;
+    8364             : 
+    8365             :   {
+    8366         210 :     std::scoped_lock lock(mutex_constraints_);
+    8367             : 
+    8368         210 :     sanitized_constraints_ = current_constraints_;
+    8369         210 :     sanitized_constraints  = sanitized_constraints_;
+    8370             :   }
+    8371             : 
+    8372         210 :   setConstraintsToControllers(sanitized_constraints);
+    8373             : 
+    8374         210 :   return std::tuple(true, ss.str());
+    8375             : }
+    8376             : 
+    8377             : //}
+    8378             : 
+    8379             : /* updateTrackers() //{ */
+    8380             : 
+    8381      140010 : void ControlManager::updateTrackers(void) {
+    8382             : 
+    8383      280020 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("updateTrackers");
+    8384      280020 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::updateTrackers", scope_timer_logger_, scope_timer_enabled_);
+    8385             : 
+    8386             :   // copy member variables
+    8387      140010 :   auto uav_state           = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8388      140010 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8389             : 
+    8390             :   // --------------------------------------------------------------
+    8391             :   // |                     Update the trackers                    |
+    8392             :   // --------------------------------------------------------------
+    8393             : 
+    8394           0 :   std::optional<mrs_msgs::TrackerCommand> tracker_command;
+    8395             : 
+    8396             :   unsigned int active_tracker_idx;
+    8397             : 
+    8398             :   {
+    8399      140010 :     std::scoped_lock lock(mutex_tracker_list_);
+    8400             : 
+    8401      140010 :     active_tracker_idx = active_tracker_idx_;
+    8402             : 
+    8403             :     // for each tracker
+    8404      981752 :     for (size_t i = 0; i < tracker_list_.size(); i++) {
+    8405             : 
+    8406      841742 :       if (i == active_tracker_idx) {
+    8407             : 
+    8408             :         try {
+    8409             :           // active tracker => update and retrieve the command
+    8410      140010 :           tracker_command = tracker_list_.at(i)->update(uav_state, last_control_output);
+    8411             :         }
+    8412           0 :         catch (std::runtime_error& exrun) {
+    8413           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: caught an exception while updating the active tracker (%s)",
+    8414             :                              _tracker_names_.at(active_tracker_idx).c_str());
+    8415           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the exception: '%s'", exrun.what());
+    8416           0 :           tracker_command = {};
+    8417             :         }
+    8418             : 
+    8419             :       } else {
+    8420             : 
+    8421             :         try {
+    8422             :           // nonactive tracker => just update without retrieving the command
+    8423      701732 :           tracker_list_.at(i)->update(uav_state, last_control_output);
+    8424             :         }
+    8425           0 :         catch (std::runtime_error& exrun) {
+    8426           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: caught an exception while updating the tracker '%s'", _tracker_names_.at(i).c_str());
+    8427           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the exception: '%s'", exrun.what());
+    8428             :         }
+    8429             :       }
+    8430             :     }
+    8431             : 
+    8432      140010 :     if (active_tracker_idx == _null_tracker_idx_) {
+    8433       39294 :       return;
+    8434             :     }
+    8435             :   }
+    8436             : 
+    8437      100716 :   if (validateTrackerCommand(tracker_command, "ControlManager", "tracker_command")) {
+    8438             : 
+    8439      201432 :     std::scoped_lock lock(mutex_last_tracker_cmd_);
+    8440             : 
+    8441      100716 :     last_tracker_cmd_ = tracker_command;
+    8442             : 
+    8443             :     // | --------- fill in the potentially missing header --------- |
+    8444             : 
+    8445      100716 :     if (last_tracker_cmd_->header.frame_id == "") {
+    8446           0 :       last_tracker_cmd_->header.frame_id = uav_state.header.frame_id;
+    8447             :     }
+    8448             : 
+    8449      100716 :     if (last_tracker_cmd_->header.stamp == ros::Time(0)) {
+    8450           0 :       last_tracker_cmd_->header.stamp = ros::Time::now();
+    8451             :     }
+    8452             : 
+    8453             :   } else {
+    8454             : 
+    8455           0 :     if (active_tracker_idx == _ehover_tracker_idx_) {
+    8456             : 
+    8457           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the emergency tracker '%s' returned empty or invalid command!",
+    8458             :                          _tracker_names_.at(active_tracker_idx).c_str());
+    8459           0 :       failsafe();
+    8460             : 
+    8461             :     } else {
+    8462             : 
+    8463           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the tracker '%s' returned empty or invalid command!", _tracker_names_.at(active_tracker_idx).c_str());
+    8464             : 
+    8465           0 :       if (_tracker_error_action_ == ELAND_STR) {
+    8466           0 :         eland();
+    8467           0 :       } else if (_tracker_error_action_ == EHOVER_STR) {
+    8468           0 :         ehover();
+    8469             :       } else {
+    8470           0 :         failsafe();
+    8471             :       }
+    8472             :     }
+    8473             :   }
+    8474             : }
+    8475             : 
+    8476             : //}
+    8477             : 
+    8478             : /* updateControllers() //{ */
+    8479             : 
+    8480      149726 : void ControlManager::updateControllers(const mrs_msgs::UavState& uav_state) {
+    8481             : 
+    8482      299452 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("updateControllers");
+    8483      299452 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::updateControllers", scope_timer_logger_, scope_timer_enabled_);
+    8484             : 
+    8485             :   // copy member variables
+    8486      149726 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8487             : 
+    8488             :   // | ----------------- update the controllers ----------------- |
+    8489             : 
+    8490             :   // the trackers are not running
+    8491      149726 :   if (!last_tracker_cmd) {
+    8492             : 
+    8493             :     {
+    8494       78588 :       std::scoped_lock lock(mutex_controller_list_);
+    8495             : 
+    8496             :       // nonactive controller => just update without retrieving the command
+    8497      235764 :       for (int i = 0; i < int(controller_list_.size()); i++) {
+    8498      196470 :         controller_list_.at(i)->updateInactive(uav_state, last_tracker_cmd);
+    8499             :       }
+    8500             :     }
+    8501             : 
+    8502       39294 :     return;
+    8503             :   }
+    8504             : 
+    8505      220864 :   Controller::ControlOutput control_output;
+    8506             : 
+    8507             :   unsigned int active_controller_idx;
+    8508             : 
+    8509             :   {
+    8510      220864 :     std::scoped_lock lock(mutex_controller_list_);
+    8511             : 
+    8512      110432 :     active_controller_idx = active_controller_idx_;
+    8513             : 
+    8514             :     // for each controller
+    8515      662592 :     for (size_t i = 0; i < controller_list_.size(); i++) {
+    8516             : 
+    8517      552160 :       if (i == active_controller_idx) {
+    8518             : 
+    8519             :         try {
+    8520             :           // active controller => update and retrieve the command
+    8521      110432 :           control_output = controller_list_.at(active_controller_idx)->updateActive(uav_state, last_tracker_cmd.value());
+    8522             :         }
+    8523           0 :         catch (std::runtime_error& exrun) {
+    8524             : 
+    8525           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: an exception while updating the active controller (%s)",
+    8526             :                              _controller_names_.at(active_controller_idx).c_str());
+    8527           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the exception: '%s'", exrun.what());
+    8528             :         }
+    8529             : 
+    8530             :       } else {
+    8531             : 
+    8532             :         try {
+    8533             :           // nonactive controller => just update without retrieving the command
+    8534      441728 :           controller_list_.at(i)->updateInactive(uav_state, last_tracker_cmd);
+    8535             :         }
+    8536           0 :         catch (std::runtime_error& exrun) {
+    8537             : 
+    8538           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception while updating the controller '%s'", _controller_names_.at(i).c_str());
+    8539           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception: '%s'", exrun.what());
+    8540             :         }
+    8541             :       }
+    8542             :     }
+    8543             :   }
+    8544             : 
+    8545             :   // normally, the active controller returns a valid command
+    8546      110432 :   if (validateControlOutput(control_output, _hw_api_inputs_, "ControlManager", "control_output")) {
+    8547             : 
+    8548      110432 :     mrs_lib::set_mutexed(mutex_last_control_output_, control_output, last_control_output_);
+    8549             : 
+    8550             :     // but it can return an empty command, due to some critical internal error
+    8551             :     // which means we should trigger the failsafe landing
+    8552             :   } else {
+    8553             : 
+    8554             :     // only if the controller is still active, trigger escalating failsafe
+    8555             :     // if not active, we don't care, we should not ask the controller for
+    8556             :     // the result anyway -> this could mean a race condition occured
+    8557             :     // like it once happend during landing
+    8558           0 :     bool controller_status = false;
+    8559             : 
+    8560             :     {
+    8561           0 :       std::scoped_lock lock(mutex_controller_list_);
+    8562             : 
+    8563           0 :       controller_status = controller_list_.at(active_controller_idx)->getStatus().active;
+    8564             :     }
+    8565             : 
+    8566           0 :     if (controller_status) {
+    8567             : 
+    8568           0 :       if (failsafe_triggered_) {
+    8569             : 
+    8570           0 :         ROS_ERROR("[ControlManager]: disabling control, the active controller returned an empty command when failsafe was active");
+    8571             : 
+    8572           0 :         toggleOutput(false);
+    8573             : 
+    8574           0 :       } else if (eland_triggered_) {
+    8575             : 
+    8576           0 :         ROS_ERROR("[ControlManager]: triggering failsafe, the active controller returned an empty command when eland was active");
+    8577             : 
+    8578           0 :         failsafe();
+    8579             : 
+    8580             :       } else {
+    8581             : 
+    8582           0 :         ROS_ERROR("[ControlManager]: triggering eland, the active controller returned an empty command");
+    8583             : 
+    8584           0 :         eland();
+    8585             :       }
+    8586             :     }
+    8587             :   }
+    8588             : }
+    8589             : 
+    8590             : //}
+    8591             : 
+    8592             : /* publish() //{ */
+    8593             : 
+    8594      149726 : void ControlManager::publish(void) {
+    8595             : 
+    8596      299452 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("publish");
+    8597      299452 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::publish", scope_timer_logger_, scope_timer_enabled_);
+    8598             : 
+    8599             :   // copy member variables
+    8600      149726 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8601      149726 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8602      149726 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    8603      149726 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    8604      149726 :   auto uav_state             = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8605             : 
+    8606      149726 :   publishControlReferenceOdom(last_tracker_cmd, last_control_output);
+    8607             : 
+    8608             :   // --------------------------------------------------------------
+    8609             :   // |                 Publish the control command                |
+    8610             :   // --------------------------------------------------------------
+    8611             : 
+    8612      149726 :   mrs_msgs::HwApiAttitudeCmd attitude_target;
+    8613      149726 :   attitude_target.stamp = ros::Time::now();
+    8614             : 
+    8615      149726 :   mrs_msgs::HwApiAttitudeRateCmd attitude_rate_target;
+    8616      149726 :   attitude_rate_target.stamp = ros::Time::now();
+    8617             : 
+    8618      149726 :   if (!output_enabled_) {
+    8619             : 
+    8620       24657 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: output is disabled");
+    8621             : 
+    8622      125069 :   } else if (active_tracker_idx == _null_tracker_idx_) {
+    8623             : 
+    8624       14640 :     ROS_WARN_THROTTLE(5.0, "[ControlManager]: 'NullTracker' is active, not controlling");
+    8625             : 
+    8626             :     Controller::HwApiOutputVariant output =
+    8627       29280 :         initializeDefaultOutput(_hw_api_inputs_, uav_state, _min_throttle_null_tracker_, common_handlers_->throttle_model.n_motors);
+    8628             : 
+    8629             :     {
+    8630       29280 :       std::scoped_lock lock(mutex_last_control_output_);
+    8631             : 
+    8632       14640 :       last_control_output_.control_output = output;
+    8633             :     }
+    8634             : 
+    8635       14640 :     control_output_publisher_.publish(output);
+    8636             : 
+    8637      110429 :   } else if (active_tracker_idx != _null_tracker_idx_ && !last_control_output.control_output) {
+    8638             : 
+    8639           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: the controller '%s' returned nil command, not publishing anything",
+    8640             :                       _controller_names_.at(active_controller_idx).c_str());
+    8641             : 
+    8642             :     Controller::HwApiOutputVariant output =
+    8643           0 :         initializeDefaultOutput(_hw_api_inputs_, uav_state, _min_throttle_null_tracker_, common_handlers_->throttle_model.n_motors);
+    8644             : 
+    8645           0 :     control_output_publisher_.publish(output);
+    8646             : 
+    8647      110429 :   } else if (last_control_output.control_output) {
+    8648             : 
+    8649      110429 :     if (validateHwApiAttitudeCmd(attitude_target, "ControlManager", "last_control_output.control_output")) {
+    8650      110429 :       control_output_publisher_.publish(last_control_output.control_output.value());
+    8651             :     } else {
+    8652           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the attitude cmd is not valid just before publishing!");
+    8653           0 :       return;
+    8654             :     }
+    8655             : 
+    8656             :   } else {
+    8657           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: not publishing a control command");
+    8658             :   }
+    8659             : 
+    8660             :   // | ----------- publish the controller diagnostics ----------- |
+    8661             : 
+    8662      149726 :   ph_controller_diagnostics_.publish(last_control_output.diagnostics);
+    8663             : 
+    8664             :   // | --------- publish the applied throttle and thrust -------- |
+    8665             : 
+    8666      149726 :   auto throttle = extractThrottle(last_control_output);
+    8667             : 
+    8668      149726 :   if (throttle) {
+    8669             : 
+    8670             :     {
+    8671      119335 :       std_msgs::Float64 msg;
+    8672      119335 :       msg.data = throttle.value();
+    8673      119335 :       ph_throttle_.publish(msg);
+    8674             :     }
+    8675             : 
+    8676      119335 :     double thrust = mrs_lib::quadratic_throttle_model::throttleToForce(common_handlers_->throttle_model, throttle.value());
+    8677             : 
+    8678             :     {
+    8679      119335 :       std_msgs::Float64 msg;
+    8680      119335 :       msg.data = thrust;
+    8681      119335 :       ph_thrust_.publish(msg);
+    8682             :     }
+    8683             :   }
+    8684             : 
+    8685             :   // | ----------------- publish tracker command ---------------- |
+    8686             : 
+    8687      149726 :   if (last_tracker_cmd) {
+    8688      110429 :     ph_tracker_cmd_.publish(last_tracker_cmd.value());
+    8689             :   }
+    8690             : 
+    8691             :   // | --------------- publish the odometry input --------------- |
+    8692             : 
+    8693      149726 :   if (last_control_output.control_output) {
+    8694             : 
+    8695      251848 :     mrs_msgs::EstimatorInput msg;
+    8696             : 
+    8697      125924 :     msg.header.frame_id = _uav_name_ + "/fcu";
+    8698      125924 :     msg.header.stamp    = ros::Time::now();
+    8699             : 
+    8700      125924 :     if (last_control_output.desired_unbiased_acceleration) {
+    8701       95840 :       msg.control_acceleration.x = last_control_output.desired_unbiased_acceleration.value()(0);
+    8702       95840 :       msg.control_acceleration.y = last_control_output.desired_unbiased_acceleration.value()(1);
+    8703       95840 :       msg.control_acceleration.z = last_control_output.desired_unbiased_acceleration.value()(2);
+    8704             :     }
+    8705             : 
+    8706      125924 :     if (last_control_output.desired_heading_rate) {
+    8707       92459 :       msg.control_hdg_rate = last_control_output.desired_heading_rate.value();
+    8708             :     }
+    8709             : 
+    8710      125924 :     if (last_control_output.desired_unbiased_acceleration) {
+    8711       95840 :       ph_mrs_odom_input_.publish(msg);
+    8712             :     }
+    8713             :   }
+    8714             : }
+    8715             : 
+    8716             : //}
+    8717             : 
+    8718             : /* deployParachute() //{ */
+    8719             : 
+    8720           0 : std::tuple<bool, std::string> ControlManager::deployParachute(void) {
+    8721             : 
+    8722             :   // if not enabled, return false
+    8723           0 :   if (!_parachute_enabled_) {
+    8724             : 
+    8725           0 :     std::stringstream ss;
+    8726           0 :     ss << "can not deploy parachute, it is disabled";
+    8727           0 :     return std::tuple(false, ss.str());
+    8728             :   }
+    8729             : 
+    8730             :   // we can not disarm if the drone is not in offboard mode
+    8731             :   // this is super important!
+    8732           0 :   if (!isOffboard()) {
+    8733             : 
+    8734           0 :     std::stringstream ss;
+    8735           0 :     ss << "can not deploy parachute, not in offboard mode";
+    8736           0 :     return std::tuple(false, ss.str());
+    8737             :   }
+    8738             : 
+    8739             :   // call the parachute service
+    8740           0 :   bool succ = parachuteSrv();
+    8741             : 
+    8742             :   // if the deployment was successful,
+    8743           0 :   if (succ) {
+    8744             : 
+    8745           0 :     arming(false);
+    8746             : 
+    8747           0 :     std::stringstream ss;
+    8748           0 :     ss << "parachute deployed";
+    8749             : 
+    8750           0 :     return std::tuple(true, ss.str());
+    8751             : 
+    8752             :   } else {
+    8753             : 
+    8754           0 :     std::stringstream ss;
+    8755           0 :     ss << "error during deployment of parachute";
+    8756             : 
+    8757           0 :     return std::tuple(false, ss.str());
+    8758             :   }
+    8759             : }
+    8760             : 
+    8761             : //}
+    8762             : 
+    8763             : /* velocityReferenceToReference() //{ */
+    8764             : 
+    8765         816 : mrs_msgs::ReferenceStamped ControlManager::velocityReferenceToReference(const mrs_msgs::VelocityReferenceStamped& vel_reference) {
+    8766             : 
+    8767        1632 :   auto last_tracker_cmd    = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8768        1632 :   auto uav_state           = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8769         816 :   auto current_constraints = mrs_lib::get_mutexed(mutex_constraints_, current_constraints_);
+    8770             : 
+    8771         816 :   mrs_msgs::ReferenceStamped reference_out;
+    8772             : 
+    8773         816 :   reference_out.header = vel_reference.header;
+    8774             : 
+    8775         816 :   if (vel_reference.reference.use_heading) {
+    8776           0 :     reference_out.reference.heading = vel_reference.reference.heading;
+    8777         816 :   } else if (vel_reference.reference.use_heading_rate) {
+    8778         726 :     reference_out.reference.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading() + vel_reference.reference.use_heading_rate;
+    8779             :   } else {
+    8780          90 :     reference_out.reference.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    8781             :   }
+    8782             : 
+    8783         816 :   if (vel_reference.reference.use_altitude) {
+    8784           0 :     reference_out.reference.position.z = vel_reference.reference.altitude;
+    8785             :   } else {
+    8786             : 
+    8787         816 :     double stopping_time_z = 0;
+    8788             : 
+    8789         816 :     if (vel_reference.reference.velocity.x >= 0) {
+    8790         537 :       stopping_time_z = 1.5 * (fabs(vel_reference.reference.velocity.z) / current_constraints.constraints.vertical_ascending_acceleration) + 1.0;
+    8791             :     } else {
+    8792         279 :       stopping_time_z = 1.5 * (fabs(vel_reference.reference.velocity.z) / current_constraints.constraints.vertical_descending_acceleration) + 1.0;
+    8793             :     }
+    8794             : 
+    8795         816 :     reference_out.reference.position.z = last_tracker_cmd->position.z + vel_reference.reference.velocity.z * stopping_time_z;
+    8796             :   }
+    8797             : 
+    8798             :   {
+    8799         816 :     double stopping_time_x = 1.5 * (fabs(vel_reference.reference.velocity.x) / current_constraints.constraints.horizontal_acceleration) + 1.0;
+    8800         816 :     double stopping_time_y = 1.5 * (fabs(vel_reference.reference.velocity.y) / current_constraints.constraints.horizontal_acceleration) + 1.0;
+    8801             : 
+    8802         816 :     reference_out.reference.position.x = last_tracker_cmd->position.x + vel_reference.reference.velocity.x * stopping_time_x;
+    8803         816 :     reference_out.reference.position.y = last_tracker_cmd->position.y + vel_reference.reference.velocity.y * stopping_time_y;
+    8804             :   }
+    8805             : 
+    8806        1632 :   return reference_out;
+    8807             : }
+    8808             : 
+    8809             : //}
+    8810             : 
+    8811             : /* publishControlReferenceOdom() //{ */
+    8812             : 
+    8813      149726 : void ControlManager::publishControlReferenceOdom([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand>& tracker_command,
+    8814             :                                                  [[maybe_unused]] const Controller::ControlOutput&               control_output) {
+    8815             : 
+    8816      149726 :   if (!tracker_command || !control_output.control_output) {
+    8817       39297 :     return;
+    8818             :   }
+    8819             : 
+    8820      220858 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8821             : 
+    8822      220858 :   nav_msgs::Odometry msg;
+    8823             : 
+    8824      110429 :   msg.header = tracker_command->header;
+    8825             : 
+    8826      110429 :   if (tracker_command->use_position_horizontal) {
+    8827      110429 :     msg.pose.pose.position.x = tracker_command->position.x;
+    8828      110429 :     msg.pose.pose.position.y = tracker_command->position.y;
+    8829             :   } else {
+    8830           0 :     msg.pose.pose.position.x = uav_state.pose.position.x;
+    8831           0 :     msg.pose.pose.position.y = uav_state.pose.position.y;
+    8832             :   }
+    8833             : 
+    8834      110429 :   if (tracker_command->use_position_vertical) {
+    8835      110429 :     msg.pose.pose.position.z = tracker_command->position.z;
+    8836             :   } else {
+    8837           0 :     msg.pose.pose.position.z = uav_state.pose.position.z;
+    8838             :   }
+    8839             : 
+    8840             :   // transform the velocity in the reference to the child_frame
+    8841      110429 :   if (tracker_command->use_velocity_horizontal || tracker_command->use_velocity_vertical) {
+    8842             : 
+    8843      110429 :     msg.child_frame_id = _uav_name_ + "/" + _body_frame_;
+    8844             : 
+    8845      220858 :     geometry_msgs::Vector3Stamped velocity;
+    8846      110429 :     velocity.header = tracker_command->header;
+    8847             : 
+    8848      110429 :     if (tracker_command->use_velocity_horizontal) {
+    8849      110429 :       velocity.vector.x = tracker_command->velocity.x;
+    8850      110429 :       velocity.vector.y = tracker_command->velocity.y;
+    8851             :     }
+    8852             : 
+    8853      110429 :     if (tracker_command->use_velocity_vertical) {
+    8854      110429 :       velocity.vector.z = tracker_command->velocity.z;
+    8855             :     }
+    8856             : 
+    8857      220858 :     auto res = transformer_->transformSingle(velocity, msg.child_frame_id);
+    8858             : 
+    8859      110429 :     if (res) {
+    8860      110429 :       msg.twist.twist.linear.x = res.value().vector.x;
+    8861      110429 :       msg.twist.twist.linear.y = res.value().vector.y;
+    8862      110429 :       msg.twist.twist.linear.z = res.value().vector.z;
+    8863             :     } else {
+    8864           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not transform the reference speed from '%s' to '%s'", velocity.header.frame_id.c_str(),
+    8865             :                          msg.child_frame_id.c_str());
+    8866             :     }
+    8867             :   }
+    8868             : 
+    8869             :   // fill in the orientation or heading
+    8870      110429 :   if (control_output.desired_orientation) {
+    8871       93655 :     msg.pose.pose.orientation = mrs_lib::AttitudeConverter(control_output.desired_orientation.value());
+    8872       16774 :   } else if (tracker_command->use_heading) {
+    8873       16774 :     msg.pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, tracker_command->heading);
+    8874             :   }
+    8875             : 
+    8876             :   // fill in the attitude rate
+    8877      110429 :   if (std::holds_alternative<mrs_msgs::HwApiAttitudeRateCmd>(control_output.control_output.value())) {
+    8878             : 
+    8879       87712 :     auto attitude_cmd = std::get<mrs_msgs::HwApiAttitudeRateCmd>(control_output.control_output.value());
+    8880             : 
+    8881       87712 :     msg.twist.twist.angular.x = attitude_cmd.body_rate.x;
+    8882       87712 :     msg.twist.twist.angular.y = attitude_cmd.body_rate.y;
+    8883       87712 :     msg.twist.twist.angular.z = attitude_cmd.body_rate.z;
+    8884             :   }
+    8885             : 
+    8886      110429 :   ph_control_reference_odom_.publish(msg);
+    8887             : }
+    8888             : 
+    8889             : //}
+    8890             : 
+    8891             : /* initializeControlOutput() //{ */
+    8892             : 
+    8893         228 : void ControlManager::initializeControlOutput(void) {
+    8894             : 
+    8895         228 :   Controller::ControlOutput controller_output;
+    8896             : 
+    8897         228 :   controller_output.diagnostics.total_mass      = _uav_mass_;
+    8898         228 :   controller_output.diagnostics.mass_difference = 0.0;
+    8899             : 
+    8900         228 :   controller_output.diagnostics.disturbance_bx_b = _initial_body_disturbance_x_;
+    8901         228 :   controller_output.diagnostics.disturbance_by_b = _initial_body_disturbance_y_;
+    8902             : 
+    8903         228 :   if (std::abs(_initial_body_disturbance_x_) > 0.001 || std::abs(_initial_body_disturbance_y_) > 0.001) {
+    8904           0 :     controller_output.diagnostics.disturbance_estimator = true;
+    8905             :   }
+    8906             : 
+    8907         228 :   controller_output.diagnostics.disturbance_wx_w = 0.0;
+    8908         228 :   controller_output.diagnostics.disturbance_wy_w = 0.0;
+    8909             : 
+    8910         228 :   controller_output.diagnostics.disturbance_bx_w = 0.0;
+    8911         228 :   controller_output.diagnostics.disturbance_by_w = 0.0;
+    8912             : 
+    8913         228 :   controller_output.diagnostics.controller = "none";
+    8914             : 
+    8915         228 :   mrs_lib::set_mutexed(mutex_last_control_output_, controller_output, last_control_output_);
+    8916         228 : }
+    8917             : 
+    8918             : //}
+    8919             : 
+    8920             : }  // namespace control_manager
+    8921             : 
+    8922             : }  // namespace mrs_uav_managers
+    8923             : 
+    8924             : #include <pluginlib/class_list_macros.h>
+    8925         109 : 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..a8c4942e35 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/control_manager.cpp.gcov.overview.html @@ -0,0 +1,2252 @@ + + + + + + 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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Current view:top level - mrs_uav_managers/src/control_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:2587374569.1 %
Date:2024-12-11 22:27:27Functions:10712486.3 %
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
control_manager.cpp +
68.7%68.7%
+ 		68.7 %2544 / 370284.8 %95 / 112
output_publisher.cpp +
100.0%
+ 		100.0 %43 / 43100.0 %12 / 12
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/control_manager/output_publisher.cpp.func-sort-c.html b/mrs_uav_managers/src/control_manager/output_publisher.cpp.func-sort-c.html new file mode 100644 index 0000000000..725bae50b9 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/output_publisher.cpp.func-sort-c.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/output_publisher.cpp - functions + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions: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&)109
mrs_uav_managers::control_manager::OutputPublisher::OutputPublisher()109
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)563
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1083
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1115
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1387
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2441
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3936
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3962
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)8230
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)102352
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&)125069
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/control_manager/output_publisher.cpp.func.html b/mrs_uav_managers/src/control_manager/output_publisher.cpp.func.html new file mode 100644 index 0000000000..937587eaad --- /dev/null +++ b/mrs_uav_managers/src/control_manager/output_publisher.cpp.func.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/output_publisher.cpp - functions + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions:1212100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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&)3936
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)8230
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)563
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1387
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)102352
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3962
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1083
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2441
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1115
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&)125069
mrs_uav_managers::control_manager::OutputPublisher::OutputPublisher(ros::NodeHandle&)109
mrs_uav_managers::control_manager::OutputPublisher::OutputPublisher()109
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+
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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..0aa282aaa1 --- /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
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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:2024-12-11 22:27:27Functions: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         109 : OutputPublisher::OutputPublisher() {
+      10         109 : }
+      11             : 
+      12         109 : OutputPublisher::OutputPublisher(ros::NodeHandle& nh) {
+      13             : 
+      14         109 :   ph_hw_api_actuator_cmd_              = mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd>(nh, "hw_api_actuator_cmd_out", 1);
+      15         109 :   ph_hw_api_control_group_cmd_         = mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd>(nh, "hw_api_control_group_cmd_out", 1);
+      16         109 :   ph_hw_api_attitude_rate_cmd_         = mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd>(nh, "hw_api_attitude_rate_cmd_out", 1);
+      17         109 :   ph_hw_api_attitude_cmd_              = mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd>(nh, "hw_api_attitude_cmd_out", 1);
+      18         109 :   ph_hw_api_acceleration_hdg_rate_cmd_ = mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd>(nh, "hw_api_acceleration_hdg_rate_cmd_out", 1);
+      19         109 :   ph_hw_api_acceleration_hdg_cmd_      = mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd>(nh, "hw_api_acceleration_hdg_cmd_out", 1);
+      20         109 :   ph_hw_api_velocity_hdg_rate_cmd_     = mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd>(nh, "hw_api_velocity_hdg_rate_cmd_out", 1);
+      21         109 :   ph_hw_api_velocity_hdg_cmd_          = mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd>(nh, "hw_api_velocity_hdg_cmd_out", 1);
+      22         109 :   ph_hw_api_position_cmd_              = mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd>(nh, "hw_api_position_cmd_out", 1);
+      23         109 : }
+      24             : 
+      25      125069 : void OutputPublisher::publish(const Controller::HwApiOutputVariant& control_output) {
+      26             : 
+      27      125069 :   std::visit(OutputPublisher::PublisherVisitor(this), control_output);
+      28      125069 : }
+      29             : 
+      30             : // | ------------------------- private ------------------------ |
+      31             : 
+      32        3936 : void OutputPublisher::publish(const mrs_msgs::HwApiActuatorCmd& msg) {
+      33        3936 :   ph_hw_api_actuator_cmd_.publish(msg);
+      34        3936 : }
+      35             : 
+      36        3962 : void OutputPublisher::publish(const mrs_msgs::HwApiControlGroupCmd& msg) {
+      37        3962 :   ph_hw_api_control_group_cmd_.publish(msg);
+      38        3962 : }
+      39             : 
+      40      102352 : void OutputPublisher::publish(const mrs_msgs::HwApiAttitudeRateCmd& msg) {
+      41      102352 :   ph_hw_api_attitude_rate_cmd_.publish(msg);
+      42      102352 : }
+      43             : 
+      44        8230 : void OutputPublisher::publish(const mrs_msgs::HwApiAttitudeCmd& msg) {
+      45        8230 :   ph_hw_api_attitude_cmd_.publish(msg);
+      46        8230 : }
+      47             : 
+      48        1115 : void OutputPublisher::publish(const mrs_msgs::HwApiAccelerationHdgRateCmd& msg) {
+      49        1115 :   ph_hw_api_acceleration_hdg_rate_cmd_.publish(msg);
+      50        1115 : }
+      51             : 
+      52        1083 : void OutputPublisher::publish(const mrs_msgs::HwApiAccelerationHdgCmd& msg) {
+      53        1083 :   ph_hw_api_acceleration_hdg_cmd_.publish(msg);
+      54        1083 : }
+      55             : 
+      56        2441 : void OutputPublisher::publish(const mrs_msgs::HwApiVelocityHdgRateCmd& msg) {
+      57        2441 :   ph_hw_api_velocity_hdg_rate_cmd_.publish(msg);
+      58        2441 : }
+      59             : 
+      60        1387 : void OutputPublisher::publish(const mrs_msgs::HwApiVelocityHdgCmd& msg) {
+      61        1387 :   ph_hw_api_velocity_hdg_cmd_.publish(msg);
+      62        1387 : }
+      63             : 
+      64         563 : void OutputPublisher::publish(const mrs_msgs::HwApiPositionCmd& msg) {
+      65         563 :   ph_hw_api_position_cmd_.publish(msg);
+      66         563 : }
+      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 + + +
+ Top

+ 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..7dbd17b1cc --- /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
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Current view:top level - mrs_uav_managers/src/estimation_manager - estimation_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:37557864.9 %
Date:2024-12-11 22:27:27Functions:212584.0 %
Legend: Lines: + hit + not hit +
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+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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()109
mrs_uav_managers::estimation_manager::StateMachine::StateMachine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)109
mrs_uav_managers::estimation_manager::EstimationManager::timerInitialization(ros::TimerEvent const&)109
mrs_uav_managers::estimation_manager::EstimationManager::onInit()109
mrs_uav_managers::estimation_manager::EstimationManager::EstimationManager()109
mrs_uav_managers::estimation_manager::EstimationManager::callbackToggleServiceCallbacks(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)144
mrs_uav_managers::estimation_manager::StateMachine::changeState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&)350
mrs_uav_managers::estimation_manager::StateMachine::getPrintName[abi:cxx11]() const350
mrs_uav_managers::estimation_manager::StateMachine::getStateAsString[abi:cxx11](mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const700
mrs_uav_managers::estimation_manager::EstimationManager::getName[abi:cxx11]() const3629
mrs_uav_managers::estimation_manager::StateMachine::getCurrentStateString[abi:cxx11]() const19949
mrs_uav_managers::estimation_manager::EstimationManager::timerPublishDiagnostics(ros::TimerEvent const&)21208
mrs_uav_managers::estimation_manager::StateMachine::isInSwitchableState() const197851
mrs_uav_managers::estimation_manager::EstimationManager::timerPublish(ros::TimerEvent const&)197854
mrs_uav_managers::estimation_manager::EstimationManager::timerCheckHealth(ros::TimerEvent const&)197855
mrs_uav_managers::estimation_manager::StateMachine::isInPublishableState() const219039
mrs_uav_managers::estimation_manager::StateMachine::isInitialized() const416746
mrs_uav_managers::estimation_manager::StateMachine::isInState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const1902860
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+
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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.func.html b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.func.html new file mode 100644 index 0000000000..4e31291e23 --- /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:37557864.9 %
Date:2024-12-11 22:27:27Functions:212584.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()109
mrs_uav_managers::estimation_manager::StateMachine::changeState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&)350
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&)109
mrs_uav_managers::estimation_manager::EstimationManager::timerPublish(ros::TimerEvent const&)197854
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&)197855
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&)109
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&)21208
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> >&)144
mrs_uav_managers::estimation_manager::EstimationManager::onInit()109
mrs_uav_managers::estimation_manager::EstimationManager::EstimationManager()109
mrs_uav_managers::estimation_manager::StateMachine::getPrintName[abi:cxx11]() const350
mrs_uav_managers::estimation_manager::StateMachine::isInitialized() const416746
mrs_uav_managers::estimation_manager::StateMachine::getStateAsString[abi:cxx11](mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const700
mrs_uav_managers::estimation_manager::StateMachine::isInSwitchableState() const197851
mrs_uav_managers::estimation_manager::StateMachine::isInPublishableState() const219039
mrs_uav_managers::estimation_manager::StateMachine::getCurrentStateString[abi:cxx11]() const19949
mrs_uav_managers::estimation_manager::StateMachine::isInState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const1902860
mrs_uav_managers::estimation_manager::EstimationManager::getName[abi:cxx11]() const3629
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+
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/estimation_manager - estimation_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:37557864.9 %
Date:2024-12-11 22:27:27Functions:212584.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          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        1526 :   StateMachine(const std::string& nodelet_name) : nodelet_name_(nodelet_name) {
+      77         109 :   }
+      78             : 
+      79     1902860 :   bool isInState(const SMState_t& state) const {
+      80     1902860 :     return mrs_lib::get_mutexed(mtx_state_, current_state_) == state;
+      81             :   }
+      82             : 
+      83      416746 :   bool isInitialized() const {
+      84      416746 :     return mrs_lib::get_mutexed(mtx_state_, current_state_) != UNINITIALIZED_STATE;
+      85             :   }
+      86             : 
+      87      219039 :   bool isInPublishableState() const {
+      88      219039 :     const SMState_t current_state = mrs_lib::get_mutexed(mtx_state_, current_state_);
+      89      169512 :     return current_state == READY_FOR_FLIGHT_STATE || current_state == TAKING_OFF_STATE || current_state == HOVER_STATE || current_state == FLYING_STATE ||
+      90      388570 :            current_state == LANDING_STATE || current_state == DUMMY_STATE || current_state == FAILSAFE_STATE;
+      91             :   }
+      92             : 
+      93      197851 :   bool isInSwitchableState() const {
+      94      197851 :     const SMState_t current_state = mrs_lib::get_mutexed(mtx_state_, current_state_);
+      95      197851 :     return current_state == READY_FOR_FLIGHT_STATE || current_state == TAKING_OFF_STATE || current_state == HOVER_STATE || current_state == FLYING_STATE ||
+      96      197851 :            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       19949 :   std::string getCurrentStateString() const {
+     109       19949 :     return mrs_lib::get_mutexed(mtx_state_, sm_state_names_[current_state_]);
+     110             :   }
+     111             : 
+     112         700 :   std::string getStateAsString(const SMState_t& state) const {
+     113         700 :     return sm_state_names_[state];
+     114             :   }
+     115             : 
+     116             :   /*//{ changeState() */
+     117         350 :   bool changeState(const SMState_t& target_state) {
+     118             : 
+     119         350 :     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         350 :     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         109 :       case INITIALIZED_STATE: {
+     135         109 :         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         109 :         break;
+     141             :       }
+     142             : 
+     143         109 :       case READY_FOR_FLIGHT_STATE: {
+     144         109 :         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         109 :         break;
+     151             :       }
+     152             : 
+     153          23 :       case TAKING_OFF_STATE: {
+     154          23 :         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          23 :         break;
+     160             :       }
+     161             : 
+     162         104 :       case FLYING_STATE: {
+     163         104 :         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         104 :         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         350 :     std::scoped_lock lock(mtx_state_);
+     241             :     {
+     242         350 :       previous_state_ = current_state_;
+     243         350 :       current_state_  = target_state;
+     244             :     }
+     245             : 
+     246         350 :     ROS_INFO("[%s]: successfully changed states %s -> %s", getPrintName().c_str(), getStateAsString(previous_state_).c_str(),
+     247             :              getStateAsString(current_state_).c_str());
+     248             : 
+     249         350 :     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         350 :   std::string getPrintName() const {
+     274         700 :     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         109 :   EstimationManager() {
+     393         109 :   }
+     394             : 
+     395             :   void onInit();
+     396             : 
+     397             :   std::string getName() const;
+     398             : };
+     399             : /*//}*/
+     400             : 
+     401             : /*//{ onInit() */
+     402         109 : void EstimationManager::onInit() {
+     403             : 
+     404         109 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     405             : 
+     406         109 :   ros::Time::waitForValid();
+     407             : 
+     408         109 :   ROS_INFO("[%s]: initializing", getName().c_str());
+     409             : 
+     410         109 :   sm_ = std::make_shared<StateMachine>(nodelet_name_);
+     411             : 
+     412         109 :   ch_ = std::make_shared<CommonHandlers_t>();
+     413             : 
+     414         109 :   ch_->nodelet_name = nodelet_name_;
+     415         109 :   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         109 :   timer_initialization_ = nh_.createTimer(ros::Rate(1.0), &EstimationManager::timerInitialization, this, true, true);
+     419         109 : }
+     420             : /*//}*/
+     421             : 
+     422             : // --------------------------------------------------------------
+     423             : // |                          callbacks                         |
+     424             : // --------------------------------------------------------------
+     425             : 
+     426             : // | --------------------- timer callbacks -------------------- |
+     427             : 
+     428             : /*//{ timerPublish() */
+     429      197854 : void EstimationManager::timerPublish([[maybe_unused]] const ros::TimerEvent& event) {
+     430             : 
+     431      197854 :   if (!sm_->isInitialized()) {
+     432       21950 :     return;
+     433             :   }
+     434             : 
+     435      395700 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("EstimationManager::timerPublish", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     436             : 
+     437      197850 :   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      197850 :   if (!sm_->isInPublishableState()) {
+     443       21946 :     ROS_WARN_THROTTLE(1.0, "[%s]: not publishing uav state in %s", getName().c_str(), sm_->getCurrentStateString().c_str());
+     444       21946 :     return;
+     445             :   }
+     446             : 
+     447      175904 :   mrs_msgs::UavState uav_state;
+     448      175904 :   auto               ret = active_estimator_->getUavState();
+     449      175904 :   if (ret) {
+     450      175904 :     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      175904 :   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      175904 :   if (active_estimator_->isMitigatingJump()) {
+     463           0 :     estimator_switch_count_++;
+     464             :   }
+     465      175904 :   uav_state.estimator_iteration = estimator_switch_count_;
+     466             : 
+     467      175904 :   scope_timer.checkpoint("get uav state");
+     468             :   // TODO state health checks
+     469             : 
+     470      175904 :   ph_uav_state_.publish(uav_state);
+     471             : 
+     472      175904 :   scope_timer.checkpoint("pub uav state");
+     473      351808 :   nav_msgs::Odometry odom_main = Support::uavStateToOdom(uav_state);
+     474             : 
+     475      175904 :   scope_timer.checkpoint("uav state to odom");
+     476      351808 :   const std::vector<double> pose_covariance = active_estimator_->getPoseCovariance();
+     477     6508446 :   for (size_t i = 0; i < pose_covariance.size(); i++) {
+     478     6332538 :     odom_main.pose.covariance[i] = pose_covariance[i];
+     479             :   }
+     480             : 
+     481      351808 :   const std::vector<double> twist_covariance = active_estimator_->getTwistCovariance();
+     482     6508446 :   for (size_t i = 0; i < twist_covariance.size(); i++) {
+     483     6332538 :     odom_main.twist.covariance[i] = twist_covariance[i];
+     484             :   }
+     485             : 
+     486      175904 :   scope_timer.checkpoint("get covariance");
+     487      175904 :   ph_odom_main_.publish(odom_main);
+     488             : 
+     489      351808 :   nav_msgs::Odometry innovation = active_estimator_->getInnovation();
+     490      175904 :   ph_innovation_.publish(innovation);
+     491             : 
+     492             : 
+     493      351808 :   mrs_msgs::Float64Stamped agl_height;
+     494             : 
+     495      175904 :   if (is_using_agl_estimator_) {
+     496      119254 :     agl_height = est_alt_agl_->getUavAglHeight();
+     497      119254 :     ph_altitude_agl_.publish(agl_height);
+     498             :   }
+     499             : }
+     500             : /*//}*/
+     501             : 
+     502             : /*//{ timerPublishDiagnostics() */
+     503       21208 : void EstimationManager::timerPublishDiagnostics([[maybe_unused]] const ros::TimerEvent& event) {
+     504             : 
+     505       21208 :   if (!sm_->isInitialized()) {
+     506        2175 :     return;
+     507             :   }
+     508             : 
+     509       42416 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("EstimationManager::timerPublishDiagnostics", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     510             : 
+     511       21208 :   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       21208 :   if (!sm_->isInPublishableState()) {
+     517        2175 :     ROS_WARN_THROTTLE(1.0, "[%s]: not publishing uav state in %s", getName().c_str(), sm_->getCurrentStateString().c_str());
+     518        2175 :     return;
+     519             :   }
+     520             : 
+     521       19033 :   mrs_msgs::UavState uav_state;
+     522       19033 :   auto               ret = active_estimator_->getUavState();
+     523       19033 :   if (ret) {
+     524       19033 :     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       19033 :   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       38066 :   mrs_msgs::Float64Stamped agl_height;
+     536             : 
+     537       19033 :   if (is_using_agl_estimator_) {
+     538       12140 :     agl_height = est_alt_agl_->getUavAglHeight();
+     539       12140 :     ph_altitude_agl_.publish(agl_height);
+     540             :   }
+     541             : 
+     542       38066 :   mrs_msgs::Float64Stamped max_flight_z_msg;
+     543       19033 :   max_flight_z_msg.header.stamp = ros::Time::now();
+     544       19033 :   if (active_estimator_ && active_estimator_->isInitialized()) {
+     545       19033 :     max_flight_z_msg.header.frame_id = active_estimator_->getFrameId();
+     546       19033 :     max_flight_z_msg.value           = active_estimator_->getMaxFlightZ();
+     547             :   }
+     548       19033 :   max_flight_z_ = max_flight_z_msg.value;
+     549       19033 :   ph_max_flight_z_.publish(max_flight_z_msg);
+     550             : 
+     551             :   // publish diagnostics
+     552       38066 :   mrs_msgs::EstimationDiagnostics diagnostics;
+     553             : 
+     554       19033 :   diagnostics.header.stamp   = uav_state.header.stamp;
+     555       19033 :   diagnostics.child_frame_id = uav_state.child_frame_id;
+     556             : 
+     557       19033 :   diagnostics.pose         = uav_state.pose;
+     558       19033 :   diagnostics.velocity     = uav_state.velocity;
+     559       19033 :   diagnostics.acceleration = uav_state.acceleration;
+     560             : 
+     561       19033 :   diagnostics.sm_state                 = sm_->getCurrentStateString();
+     562       19033 :   diagnostics.max_flight_z             = max_flight_z_msg.value;
+     563       19033 :   diagnostics.estimator_iteration      = estimator_switch_count_;
+     564       19033 :   diagnostics.estimation_rate          = ch_->desired_uav_state_rate;
+     565       19033 :   diagnostics.running_state_estimators = estimator_names_;
+     566             : 
+     567             :   {
+     568       38066 :     std::scoped_lock lock(mutex_switchable_estimator_names_);
+     569       19033 :     diagnostics.switchable_state_estimators = switchable_estimator_names_;
+     570             :   }
+     571             : 
+     572             : 
+     573       19033 :   if (active_estimator_ && active_estimator_->isInitialized()) {
+     574       19033 :     diagnostics.header.frame_id         = active_estimator_->getFrameId();
+     575       19033 :     diagnostics.current_state_estimator = active_estimator_->getName();
+     576             :   } else {
+     577           0 :     diagnostics.header.frame_id         = "";
+     578           0 :     diagnostics.current_state_estimator = "";
+     579             :   }
+     580             : 
+     581       19033 :   diagnostics.estimator_horizontal = uav_state.estimator_horizontal;
+     582       19033 :   diagnostics.estimator_vertical   = uav_state.estimator_vertical;
+     583       19033 :   diagnostics.estimator_heading    = uav_state.estimator_heading;
+     584             : 
+     585       19033 :   if (is_using_agl_estimator_) {
+     586       12140 :     diagnostics.estimator_agl_height = est_alt_agl_name_;
+     587       12140 :     diagnostics.agl_height           = agl_height.value;
+     588             :   } else {
+     589        6893 :     diagnostics.estimator_agl_height = "NOT_USED";
+     590        6893 :     diagnostics.agl_height           = std::nanf("");
+     591             :   }
+     592             : 
+     593       19033 :   diagnostics.platform_config = _platform_config_;
+     594       19033 :   diagnostics.custom_config   = _custom_config_;
+     595             : 
+     596       19033 :   ph_diagnostics_.publish(diagnostics);
+     597             : 
+     598       19033 :   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      197855 : void EstimationManager::timerCheckHealth([[maybe_unused]] const ros::TimerEvent& event) {
+     606             : 
+     607      197855 :   if (!sm_->isInitialized()) {
+     608           4 :     return;
+     609             :   }
+     610             : 
+     611      593553 :   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      395702 :   std::vector<std::string> switchable_estimator_names;
+     615      420053 :   for (auto estimator : estimator_list_) {
+     616             : 
+     617      222202 :     if (estimator->isReady()) {
+     618             :       try {
+     619        8543 :         ROS_INFO_THROTTLE(1.0, "[%s]: starting the estimator '%s'", getName().c_str(), estimator->getName().c_str());
+     620        8543 :         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      222202 :     if (estimator->isRunning() && estimator->getName() != "dummy" && estimator->getName() != "ground_truth") {
+     629      210743 :       switchable_estimator_names.push_back(estimator->getName());
+     630             :     }
+     631             :   }
+     632             : 
+     633             :   {
+     634      395702 :     std::scoped_lock lock(mutex_switchable_estimator_names_);
+     635      197851 :     switchable_estimator_names_ = switchable_estimator_names;
+     636             :   }
+     637             : 
+     638      197851 :   if (is_using_agl_estimator_ && est_alt_agl_->isReady()) {
+     639         156 :     est_alt_agl_->start();
+     640             :   }
+     641             : 
+     642             :   /*//}*/
+     643             : 
+     644      363043 :   if (!callbacks_disabled_by_service_ &&
+     645      363043 :       (sm_->isInState(StateMachine::FLYING_STATE) || sm_->isInState(StateMachine::HOVER_STATE) || sm_->isInState(StateMachine::READY_FOR_FLIGHT_STATE))) {
+     646      142829 :     callbacks_enabled_ = true;
+     647             :   } else {
+     648       55022 :     callbacks_enabled_ = false;
+     649             :   }
+     650             : 
+     651             :   // TODO fuj if, zmenit na switch
+     652             :   // activate initial estimator
+     653      197851 :   if (sm_->isInState(StateMachine::INITIALIZED_STATE) && initial_estimator_->isRunning()) {
+     654       21300 :     std::scoped_lock lock(mutex_active_estimator_);
+     655       10650 :     ROS_INFO_THROTTLE(1.0, "[%s]: activating the initial estimator %s", getName().c_str(), initial_estimator_->getName().c_str());
+     656       10650 :     active_estimator_ = initial_estimator_;
+     657       10650 :     if (active_estimator_->getName() == "dummy") {
+     658           0 :       sm_->changeState(StateMachine::DUMMY_STATE);
+     659             :     } else {
+     660       10650 :       if (!is_using_agl_estimator_ || est_alt_agl_->isRunning()) {
+     661         109 :         sm_->changeState(StateMachine::READY_FOR_FLIGHT_STATE);
+     662             :       } else {
+     663       10541 :         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      197851 :   if (sm_->isInSwitchableState() && active_estimator_->isError()) {
+     671           0 :     sm_->changeState(StateMachine::ESTIMATOR_SWITCHING_STATE);
+     672             :   }
+     673             : 
+     674      197851 :   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      197851 :   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      197851 :   if (sm_->isInState(StateMachine::READY_FOR_FLIGHT_STATE)) {
+     693       45011 :     if (sh_control_manager_diag_.hasMsg() && sh_control_manager_diag_.getMsg()->active_tracker == takeoff_tracker_name_) {
+     694          23 :       sm_->changeState(StateMachine::TAKING_OFF_STATE);
+     695             :     }
+     696             :   }
+     697             : 
+     698             :   // midair activation
+     699      197851 :   if (sm_->isInState(StateMachine::READY_FOR_FLIGHT_STATE)) {
+     700       44988 :     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      197851 :   if (sm_->isInState(StateMachine::TAKING_OFF_STATE)) {
+     706       11299 :     if (sh_control_manager_diag_.hasMsg() && sh_control_manager_diag_.getMsg()->active_tracker != takeoff_tracker_name_) {
+     707          21 :       sm_->changeState(StateMachine::FLYING_STATE);
+     708             :     }
+     709             :   }
+     710             : 
+     711      197851 :   if (sm_->isInState(StateMachine::FLYING_STATE)) {
+     712      119805 :     if (!sh_control_input_.hasMsg()) {
+     713        4341 :       ROS_WARN_THROTTLE(1.0, "[%s]: not received control input since starting EstimationManager, estimation suboptimal, potentially unstable", getName().c_str());
+     714      115464 :     } else if ((ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {
+     715       13146 :       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         109 : void EstimationManager::timerInitialization([[maybe_unused]] const ros::TimerEvent& event) {
+     724             : 
+     725         218 :   mrs_lib::ParamLoader param_loader(nh_, getName());
+     726             : 
+     727         109 :   param_loader.loadParam("custom_config", _custom_config_);
+     728         109 :   param_loader.loadParam("platform_config", _platform_config_);
+     729         109 :   param_loader.loadParam("world_config", _world_config_);
+     730             : 
+     731         109 :   if (_custom_config_ != "") {
+     732         109 :     param_loader.addYamlFile(_custom_config_);
+     733             :   }
+     734             : 
+     735         109 :   if (_platform_config_ != "") {
+     736         109 :     param_loader.addYamlFile(_platform_config_);
+     737             :   }
+     738             : 
+     739         109 :   if (_world_config_ != "") {
+     740         109 :     param_loader.addYamlFile(_world_config_);
+     741             :   }
+     742             : 
+     743         109 :   param_loader.addYamlFileFromParam("private_config");
+     744         109 :   param_loader.addYamlFileFromParam("public_config");
+     745         109 :   param_loader.addYamlFileFromParam("uav_manager_config");
+     746         109 :   param_loader.addYamlFileFromParam("estimators_config");
+     747         109 :   param_loader.addYamlFileFromParam("active_estimators_config");
+     748             : 
+     749         109 :   param_loader.loadParam("uav_name", ch_->uav_name);
+     750             : 
+     751             :   /*//{ load world_origin parameters */
+     752             : 
+     753         218 :   std::string world_origin_units;
+     754         109 :   bool        is_origin_param_ok = true;
+     755         109 :   double      world_origin_x     = 0;
+     756         109 :   double      world_origin_y     = 0;
+     757             : 
+     758         109 :   param_loader.loadParam("world_origin/units", world_origin_units);
+     759             : 
+     760         109 :   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         109 :   } else if (Support::toLowercase(world_origin_units) == "latlon") {
+     766             :     double lat, lon;
+     767         109 :     ROS_INFO("[%s]: Loading world origin in LatLon units.", getName().c_str());
+     768         109 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_x", lat);
+     769         109 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_y", lon);
+     770         109 :     mrs_lib::UTM(lat, lon, &world_origin_x, &world_origin_y);
+     771         109 :     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         109 :   ch_->world_origin.x = world_origin_x;
+     779         109 :   ch_->world_origin.y = world_origin_y;
+     780             : 
+     781         109 :   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         109 :   param_loader.loadParam("mrs_uav_managers/uav_manager/takeoff/during_takeoff/tracker", takeoff_tracker_name_);
+     789         109 :   param_loader.loadParam("mrs_uav_managers/uav_manager/midair_activation/after_activation/tracker", after_midair_activation_tracker_name_);
+     790             :   /*//}*/
+     791             : 
+     792         109 :   param_loader.setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/");
+     793             : 
+     794             :   /*//{ load parameters into common handlers */
+     795         109 :   param_loader.loadParam("frame_id/fcu", ch_->frames.fcu);
+     796         109 :   ch_->frames.ns_fcu = ch_->uav_name + "/" + ch_->frames.fcu;
+     797             : 
+     798         109 :   param_loader.loadParam("frame_id/fcu_untilted", ch_->frames.fcu_untilted);
+     799         109 :   ch_->frames.ns_fcu_untilted = ch_->uav_name + "/" + ch_->frames.fcu_untilted;
+     800             : 
+     801         109 :   param_loader.loadParam("frame_id/rtk_antenna", ch_->frames.rtk_antenna);
+     802         109 :   ch_->frames.ns_rtk_antenna = ch_->uav_name + "/" + ch_->frames.rtk_antenna;
+     803             : 
+     804         109 :   ch_->transformer = std::make_shared<mrs_lib::Transformer>(nh_, getName());
+     805         109 :   ch_->transformer->retryLookupNewest(true);
+     806             : 
+     807         109 :   param_loader.loadParam("rate/diagnostics", ch_->desired_diagnostics_rate);
+     808             : 
+     809             :   /*//}*/
+     810             : 
+     811             :   /*//{ load parameters */
+     812             : 
+     813             :   /*//{ publish debug topics parameters */
+     814         109 :   param_loader.loadParam("debug_topics/input", ch_->debug_topics.input);
+     815         109 :   param_loader.loadParam("debug_topics/output", ch_->debug_topics.output);
+     816         109 :   param_loader.loadParam("debug_topics/state", ch_->debug_topics.state);
+     817         109 :   param_loader.loadParam("debug_topics/covariance", ch_->debug_topics.covariance);
+     818         109 :   param_loader.loadParam("debug_topics/innovation", ch_->debug_topics.innovation);
+     819         109 :   param_loader.loadParam("debug_topics/diagnostics", ch_->debug_topics.diag);
+     820         109 :   param_loader.loadParam("debug_topics/correction", ch_->debug_topics.correction);
+     821         109 :   param_loader.loadParam("debug_topics/correction_delay", ch_->debug_topics.corr_delay);
+     822             :   /*//}*/
+     823             : 
+     824             :   /*//}*/
+     825             : 
+     826         218 :   mrs_lib::SubscribeHandlerOptions shopts;
+     827         109 :   shopts.nh                 = nh_;
+     828         109 :   shopts.node_name          = getName();
+     829         109 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     830         109 :   shopts.threadsafe         = true;
+     831         109 :   shopts.autostart          = true;
+     832         109 :   shopts.queue_size         = 10;
+     833         109 :   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         327 :       mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>(shopts, "hw_api_capabilities_in");
+     839         219 :   while (!sh_hw_api_capabilities_.hasMsg()) {
+     840         110 :     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         110 :     ros::Duration(1.0).sleep();
+     843             :   }
+     844             : 
+     845         218 :   mrs_msgs::HwApiCapabilitiesConstPtr hw_api_capabilities = sh_hw_api_capabilities_.getMsg();
+     846             :   /*//}*/
+     847             : 
+     848             :   /*//{ wait for desired uav_state rate */
+     849         109 :   sh_control_manager_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     850         230 :   while (!sh_control_manager_diag_.hasMsg()) {
+     851         121 :     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         121 :     ros::Duration(1.0).sleep();
+     854             :   }
+     855             : 
+     856         218 :   mrs_msgs::ControlManagerDiagnosticsConstPtr control_manager_diag_msg = sh_control_manager_diag_.getMsg();
+     857         109 :   ch_->desired_uav_state_rate                                          = control_manager_diag_msg->desired_uav_state_rate;
+     858         109 :   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         109 :   sh_control_input_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>(shopts, "control_input_in");
+     864             : 
+     865             :   /*//}*/
+     866             : 
+     867             :   /*//{ load state estimator plugins */
+     868         109 :   param_loader.loadParam("state_estimators", estimator_names_);
+     869             : 
+     870         109 :   state_estimator_loader_ = std::make_unique<pluginlib::ClassLoader<mrs_uav_managers::StateEstimator>>("mrs_uav_managers", "mrs_uav_managers::StateEstimator");
+     871             : 
+     872         226 :   for (size_t i = 0; i < estimator_names_.size(); i++) {
+     873             : 
+     874         234 :     const std::string estimator_name = estimator_names_[i];
+     875             : 
+     876             :     // load the estimator parameters
+     877         234 :     std::string address;
+     878         117 :     param_loader.loadParam(estimator_name + "/address", address);
+     879             : 
+     880             :     try {
+     881         117 :       ROS_INFO("[%s]: loading the estimator '%s'", getName().c_str(), address.c_str());
+     882         117 :       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         109 :   param_loader.loadParam("agl_height_estimator", est_alt_agl_name_);
+     898         109 :   is_using_agl_estimator_ = est_alt_agl_name_ != "";
+     899         109 :   ROS_WARN_COND(!is_using_agl_estimator_, "[%s]: not using AGL estimator for min height safe checking", getName().c_str());
+     900             : 
+     901             : 
+     902         109 :   if (is_using_agl_estimator_) {
+     903             : 
+     904          80 :     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         160 :     std::string address;
+     908          80 :     param_loader.loadParam(est_alt_agl_name_ + "/address", address);
+     909             : 
+     910             :     try {
+     911          80 :       ROS_INFO("[%s]: loading the estimator '%s'", getName().c_str(), address.c_str());
+     912          80 :       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         109 :   ROS_INFO("[%s]: estimators were loaded", getName().c_str());
+     928             :   /*//}*/
+     929             : 
+     930             :   /*//{ check whether initial estimator was loaded */
+     931         109 :   param_loader.loadParam("initial_state_estimator", initial_estimator_name_);
+     932         109 :   bool initial_estimator_found = false;
+     933         109 :   for (auto estimator : estimator_list_) {
+     934         109 :     if (estimator->getName() == initial_estimator_name_) {
+     935         109 :       initial_estimator_      = estimator;
+     936         109 :       initial_estimator_found = true;
+     937         109 :       break;
+     938             :     }
+     939             :   }
+     940             : 
+     941         109 :   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         226 :   for (auto estimator : estimator_list_) {
+     949             : 
+     950             :     // create private handlers
+     951         234 :     std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> ph = std::make_shared<mrs_uav_managers::estimation_manager::PrivateHandlers_t>();
+     952             : 
+     953         117 :     ph->loadConfigFile = boost::bind(&EstimationManager::loadConfigFile, this, _1);
+     954         117 :     ph->param_loader   = std::make_unique<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, estimator->getName()), "EstimationManager/" + estimator->getName());
+     955             : 
+     956         117 :     if (_custom_config_ != "") {
+     957         117 :       ph->param_loader->addYamlFile(_custom_config_);
+     958             :     }
+     959             : 
+     960         117 :     if (_platform_config_ != "") {
+     961         117 :       ph->param_loader->addYamlFile(_platform_config_);
+     962             :     }
+     963             : 
+     964         117 :     if (_world_config_ != "") {
+     965         117 :       ph->param_loader->addYamlFile(_world_config_);
+     966             :     }
+     967             : 
+     968             :     try {
+     969         117 :       ROS_INFO("[%s]: initializing the estimator '%s'", getName().c_str(), estimator->getName().c_str());
+     970         117 :       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         117 :     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         109 :   if (is_using_agl_estimator_) {
+     985             : 
+     986         160 :     std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> ph = std::make_shared<mrs_uav_managers::estimation_manager::PrivateHandlers_t>();
+     987             : 
+     988          80 :     ph->loadConfigFile = boost::bind(&EstimationManager::loadConfigFile, this, _1);
+     989          80 :     ph->param_loader   = std::make_unique<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, est_alt_agl_->getName()), "EstimationManager/" + est_alt_agl_->getName());
+     990             : 
+     991          80 :     if (_custom_config_ != "") {
+     992          80 :       ph->param_loader->addYamlFile(_custom_config_);
+     993             :     }
+     994             : 
+     995          80 :     if (_platform_config_ != "") {
+     996          80 :       ph->param_loader->addYamlFile(_platform_config_);
+     997             :     }
+     998             : 
+     999          80 :     if (_world_config_ != "") {
+    1000          80 :       ph->param_loader->addYamlFile(_world_config_);
+    1001             :     }
+    1002             : 
+    1003             :     try {
+    1004          80 :       ROS_INFO("[%s]: initializing the estimator '%s'", getName().c_str(), est_alt_agl_->getName().c_str());
+    1005          80 :       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          80 :     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         109 :   ROS_INFO("[%s]: estimators were initialized", getName().c_str());
+    1019             : 
+    1020             :   /*//}*/
+    1021             : 
+    1022             :   /*//{ initialize publishers */
+    1023         109 :   ph_uav_state_    = mrs_lib::PublisherHandler<mrs_msgs::UavState>(nh_, "uav_state_out", 10);
+    1024         109 :   ph_odom_main_    = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh_, "odom_main_out", 10);
+    1025         109 :   ph_innovation_   = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh_, "innovation_out", 10);
+    1026         109 :   ph_diagnostics_  = mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics>(nh_, "diagnostics_out", 10);
+    1027         109 :   ph_max_flight_z_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "max_flight_z_agl_out", 10);
+    1028         109 :   ph_altitude_agl_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "height_agl_out", 10);
+    1029             : 
+    1030             :   /*//}*/
+    1031             : 
+    1032             :   /*//{ initialize timers */
+    1033         109 :   timer_publish_ = nh_.createTimer(ros::Rate(ch_->desired_uav_state_rate), &EstimationManager::timerPublish, this);
+    1034             : 
+    1035         109 :   timer_publish_diagnostics_ = nh_.createTimer(ros::Rate(ch_->desired_diagnostics_rate), &EstimationManager::timerPublishDiagnostics, this);
+    1036             : 
+    1037         109 :   timer_check_health_ = nh_.createTimer(ros::Rate(ch_->desired_uav_state_rate), &EstimationManager::timerCheckHealth, this);
+    1038             :   /*//}*/
+    1039             : 
+    1040             :   /*//{ initialize service clients */
+    1041             : 
+    1042         109 :   srvch_failsafe_.initialize(nh_, "failsafe_out");
+    1043             : 
+    1044             :   /*//}*/
+    1045             : 
+    1046             :   /*//{ initialize service servers */
+    1047         109 :   srvs_change_estimator_ = nh_.advertiseService("change_estimator_in", &EstimationManager::callbackChangeEstimator, this);
+    1048         109 :   srvs_reset_estimator_ = nh_.advertiseService("reset_estimator_in", &EstimationManager::callbackResetEstimator, this);
+    1049         109 :   srvs_toggle_callbacks_ = nh_.advertiseService("toggle_service_callbacks_in", &EstimationManager::callbackToggleServiceCallbacks, this);
+    1050             :   /*//}*/
+    1051             : 
+    1052             :   /*//{ initialize scope timer */
+    1053         109 :   param_loader.loadParam("scope_timer/enabled", ch_->scope_timer.enabled);
+    1054         218 :   std::string       filepath;
+    1055         218 :   const std::string time_logger_filepath = ros::package::getPath(package_name_) + "/scope_timer/scope_timer.txt";
+    1056         109 :   ch_->scope_timer.logger                = std::make_shared<mrs_lib::ScopeTimerLogger>(time_logger_filepath, ch_->scope_timer.enabled);
+    1057             :   /*//}*/
+    1058             : 
+    1059         109 :   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         109 :   sm_->changeState(StateMachine::INITIALIZED_STATE);
+    1065             : 
+    1066         109 :   ROS_INFO("[%s]: initialized", getName().c_str());
+    1067         109 : }
+    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             :   // enable switching out from vins_kickoff estimator during takeoff
+    1080           5 :   if (!callbacks_enabled_ && active_estimator_->getName() != "vins_kickoff") {
+    1081           0 :     res.success = false;
+    1082           0 :     res.message = ("Service callbacks are disabled");
+    1083           0 :     ROS_WARN("[%s]: Ignoring service call. Callbacks are disabled.", getName().c_str());
+    1084           0 :     return true;
+    1085             :   }
+    1086             : 
+    1087             :   // switching into these estimators during flight is dangerous with realhw, so we don't allow it 
+    1088           5 :   if (req.value == "dummy" || req.value == "ground_truth" || req.value == "vins_kickoff") {
+    1089           0 :     res.success = false;
+    1090           0 :     std::stringstream ss;
+    1091           0 :     ss << "Switching to " << req.value << " estimator is not allowed.";
+    1092           0 :     res.message = ss.str();
+    1093           0 :     ROS_WARN("[%s]: Switching to %s estimator is not allowed.", getName().c_str(), req.value.c_str());
+    1094           0 :     return true;
+    1095             :   }
+    1096             : 
+    1097             :   // we do not want the switch to be disturbed by a service call
+    1098           5 :   callbacks_enabled_ = false;
+    1099             : 
+    1100           5 :   bool                                                target_estimator_found = false;
+    1101           5 :   boost::shared_ptr<mrs_uav_managers::StateEstimator> target_estimator;
+    1102          12 :   for (auto estimator : estimator_list_) {
+    1103          12 :     if (estimator->getName() == req.value) {
+    1104           5 :       target_estimator       = estimator;
+    1105           5 :       target_estimator_found = true;
+    1106           5 :       break;
+    1107             :     }
+    1108             :   }
+    1109             : 
+    1110           5 :   if (target_estimator_found) {
+    1111             : 
+    1112           5 :     if (target_estimator->isRunning()) {
+    1113           5 :       sm_->changeState(StateMachine::ESTIMATOR_SWITCHING_STATE);
+    1114           5 :       switchToEstimator(target_estimator);
+    1115           5 :       sm_->changeToPreSwitchState();
+    1116             :     } else {
+    1117           0 :       ROS_WARN("[%s]: Switch to not running estimator %s requested", getName().c_str(), req.value.c_str());
+    1118           0 :       res.success = false;
+    1119           0 :       res.message = ("Requested estimator is not running");
+    1120           0 :       return true;
+    1121             :     }
+    1122             : 
+    1123             :   } else {
+    1124           0 :     ROS_WARN("[%s]: Switch to invalid estimator %s requested", getName().c_str(), req.value.c_str());
+    1125           0 :     res.success = false;
+    1126           0 :     res.message = ("Not a valid estimator type");
+    1127           0 :     return true;
+    1128             :   }
+    1129             : 
+    1130           5 :   res.success = true;
+    1131           5 :   res.message = "Estimator switch successful";
+    1132             : 
+    1133             :   // allow service calllbacks after switch again
+    1134           5 :   callbacks_enabled_ = true;
+    1135             : 
+    1136           5 :   return true;
+    1137             : }
+    1138             : /*//}*/
+    1139             : 
+    1140             : /*//{ callbackResetEstimator() */
+    1141           0 : bool EstimationManager::callbackResetEstimator(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+    1142             : 
+    1143           0 :   if (!sm_->isInitialized()) {
+    1144           0 :     return false;
+    1145             :   }
+    1146             : 
+    1147           0 :   if (!callbacks_enabled_) {
+    1148           0 :     res.success = false;
+    1149           0 :     res.message = ("Service callbacks are disabled");
+    1150           0 :     ROS_WARN("[%s]: Ignoring service call. Callbacks are disabled.", getName().c_str());
+    1151           0 :     return true;
+    1152             :   }
+    1153             : 
+    1154             : 
+    1155           0 :   bool                                                target_estimator_found = false;
+    1156           0 :   boost::shared_ptr<mrs_uav_managers::StateEstimator> target_estimator;
+    1157           0 :   for (auto estimator : estimator_list_) {
+    1158           0 :     if (estimator->getName() == req.value) {
+    1159           0 :       target_estimator       = estimator;
+    1160           0 :       target_estimator_found = true;
+    1161           0 :       break;
+    1162             :     }
+    1163             :   }
+    1164             : 
+    1165           0 :   if (target_estimator_found) {
+    1166             : 
+    1167             : 
+    1168           0 :     if (target_estimator->getName() == active_estimator_->getName()) {
+    1169           0 :       res.success = false;
+    1170           0 :       res.message = ("Cannot reset active estimator");
+    1171           0 :       ROS_WARN("[%s]: Ignoring service call. Cannot reset active estimator.", getName().c_str());
+    1172           0 :       return true;
+    1173             :     }
+    1174             : 
+    1175           0 :       target_estimator->reset();
+    1176           0 :       ROS_INFO("[EstimationManager]: Estimator %s reset", target_estimator->getName().c_str());
+    1177             : 
+    1178           0 :       double t_wait_left = 5;
+    1179           0 :       while (t_wait_left > 0) {
+    1180           0 :         ROS_INFO("[EstimationManager]: Attempting starting %s estimator", target_estimator->getName().c_str());
+    1181           0 :         target_estimator->start();
+    1182             : 
+    1183           0 :         if (target_estimator->isRunning()) {
+    1184           0 :           ROS_INFO("[EstimationManager]: Reset of %s estimator successful", target_estimator->getName().c_str());
+    1185           0 :           break;
+    1186             :         } 
+    1187             :         
+    1188           0 :         const double start_period = 1.0;
+    1189           0 :         ros::Duration(start_period).sleep();
+    1190           0 :         t_wait_left -= start_period;
+    1191             : 
+    1192             :       }
+    1193             : 
+    1194             :   } else {
+    1195           0 :     ROS_WARN("[%s]: Reset of invalid estimator %s requested", getName().c_str(), req.value.c_str());
+    1196           0 :     res.success = false;
+    1197           0 :     res.message = ("Not a valid estimator type");
+    1198           0 :     return true;
+    1199             :   }
+    1200             : 
+    1201           0 :   res.success = true;
+    1202           0 :   res.message = "Estimator reset successful";
+    1203             : 
+    1204           0 :   return true;
+    1205             : }
+    1206             : /*//}*/
+    1207             : 
+    1208             : /* //{ callbackToggleServiceCallbacks() */
+    1209         144 : bool EstimationManager::callbackToggleServiceCallbacks(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    1210             : 
+    1211         144 :   if (!sm_->isInitialized()) {
+    1212           0 :     ROS_ERROR("[%s]: service for toggling callbacks is not available before initialization.", getName().c_str());
+    1213           0 :     return false;
+    1214             :   }
+    1215             : 
+    1216         144 :   callbacks_disabled_by_service_ = !req.data;
+    1217             : 
+    1218         144 :   res.success = true;
+    1219         144 :   res.message = (callbacks_disabled_by_service_ ? "Service callbacks disabled" : "Service callbacks enabled");
+    1220             : 
+    1221         144 :   if (callbacks_disabled_by_service_) {
+    1222             : 
+    1223          43 :     ROS_INFO("[%s]: Service callbacks disabled.", getName().c_str());
+    1224             : 
+    1225             :   } else {
+    1226             : 
+    1227         101 :     ROS_INFO("[%s]: Service callbacks enabled", getName().c_str());
+    1228             :   }
+    1229             : 
+    1230         144 :   return true;
+    1231             : }
+    1232             : 
+    1233             : //}
+    1234             : 
+    1235             : 
+    1236             : // --------------------------------------------------------------
+    1237             : // |                        other methods                       |
+    1238             : // --------------------------------------------------------------
+    1239             : //
+    1240             : /*//{ switchToHealthyEstimator() */
+    1241           0 : bool EstimationManager::switchToHealthyEstimator() {
+    1242             : 
+    1243             :   // available estimators should be specified in decreasing priority order in config file
+    1244           0 :   for (auto estimator : estimator_list_) {
+    1245           0 :     if (estimator->isRunning()) {
+    1246           0 :       switchToEstimator(estimator);
+    1247           0 :       return true;
+    1248             :     }
+    1249             :   }
+    1250           0 :   return false;  // no other estimator is running
+    1251             : }
+    1252             : /*//}*/
+    1253             : 
+    1254             : /*//{ switchToEstimator() */
+    1255           5 : void EstimationManager::switchToEstimator(const boost::shared_ptr<mrs_uav_managers::StateEstimator>& target_estimator) {
+    1256             : 
+    1257           5 :   std::scoped_lock lock(mutex_active_estimator_);
+    1258           5 :   ROS_INFO("[%s]: switching estimator from %s to %s", getName().c_str(), active_estimator_->getName().c_str(), target_estimator->getName().c_str());
+    1259           5 :   active_estimator_ = target_estimator;
+    1260           5 :   estimator_switch_count_++;
+    1261           5 : }
+    1262             : /*//}*/
+    1263             : 
+    1264             : /*//{ callFailsafeService() */
+    1265           0 : bool EstimationManager::callFailsafeService() {
+    1266           0 :   std_srvs::Trigger srv_out;
+    1267           0 :   return srvch_failsafe_.call(srv_out);
+    1268             : }
+    1269             : /*//}*/
+    1270             : 
+    1271             : /*//{ getName() */
+    1272        3629 : std::string EstimationManager::getName() const {
+    1273        3629 :   return nodelet_name_;
+    1274             : }
+    1275             : /*//}*/
+    1276             : 
+    1277             : /* loadConfigFile() //{ */
+    1278             : 
+    1279           0 : bool EstimationManager::loadConfigFile(const std::string& file_path) {
+    1280             : 
+    1281           0 :   const std::string name_space = nh_.getNamespace() + "/";
+    1282             : 
+    1283           0 :   ROS_INFO("[%s]: loading '%s' under the namespace '%s'", getName().c_str(), file_path.c_str(), name_space.c_str());
+    1284             : 
+    1285             :   // load the user-requested file
+    1286             :   {
+    1287           0 :     std::string command = "rosparam load " + file_path + " " + name_space;
+    1288           0 :     int         result  = std::system(command.c_str());
+    1289             : 
+    1290           0 :     if (result != 0) {
+    1291           0 :       ROS_ERROR("[%s]: failed to load '%s'", getName().c_str(), file_path.c_str());
+    1292           0 :       return false;
+    1293             :     }
+    1294             :   }
+    1295             : 
+    1296             :   // load the platform config
+    1297           0 :   if (_platform_config_ != "") {
+    1298           0 :     std::string command = "rosparam load " + _platform_config_ + " " + name_space;
+    1299           0 :     int         result  = std::system(command.c_str());
+    1300             : 
+    1301           0 :     if (result != 0) {
+    1302           0 :       ROS_ERROR("[%s]: failed to load the platform config file '%s'", getName().c_str(), _platform_config_.c_str());
+    1303           0 :       return false;
+    1304             :     }
+    1305             :   }
+    1306             : 
+    1307             :   // load the custom config
+    1308           0 :   if (_custom_config_ != "") {
+    1309           0 :     std::string command = "rosparam load " + _custom_config_ + " " + name_space;
+    1310           0 :     int         result  = std::system(command.c_str());
+    1311             : 
+    1312           0 :     if (result != 0) {
+    1313           0 :       ROS_ERROR("[%s]: failed to load the custom config file '%s'", getName().c_str(), _custom_config_.c_str());
+    1314           0 :       return false;
+    1315             :     }
+    1316             :   }
+    1317             : 
+    1318           0 :   return true;
+    1319             : }
+    1320             : 
+    1321             : //}
+    1322             : 
+    1323             : }  // namespace estimation_manager
+    1324             : 
+    1325             : }  // namespace mrs_uav_managers
+    1326             : 
+    1327             : #include <pluginlib/class_list_macros.h>
+    1328         109 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::estimation_manager::EstimationManager, nodelet::Nodelet)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.gcov.overview.html b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.gcov.overview.html new file mode 100644 index 0000000000..4161850921 --- /dev/null +++ b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.gcov.overview.html @@ -0,0 +1,352 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/estimation_manager/estimation_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 + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + 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_managers/src/estimation_manager/estimation_manager.cpp.gcov.png b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..7bc931a74d24b1f80677c0bc124e35ade4d2928d GIT binary patch literal 4637 zcmV+&65{QNP)TN+ z`=woLeRt?ulQt6g9sS*%5()r~80|Ff!twG^7wrU9-G`3S!MG&QNK$-#|1x_(D~;xcY0OBgq0zOzG`c=#zKes#Ssvub z0Agl>K;eUD$c^>H{uaO3KX>O^9-M!~^}=?2IoG$~74D8eX`LB7;PH~&D&OLMKE8ji z?(xU)Xa1*s-S6z~sT@6+4K}w@Tu$Q{CRJ?w1k(*b`l6GOB7O1pG^bJOx{KmQl`1ha zWo#_D%q!NJF`Lz_g|uUQKA$hww(!sT{%1X2R`=!JcEG)@ue@zf&^*RB+*5CFz^wq{ z0qxoYltNfJTEvrh-Xw|-@j#Kh{GV-3j;s4_eFeakh)u+363@l9VjQ9B%91?fn7j%w zZOIDev`3MTm(F&>ym8w0I)oB2mIQeKS`^JOBN`ISwaKWo3OtuzN#M~@32&|z_-iE; za{&Rr4FBShQN3niDx?p`n+_xMYXvTgTNXH$_T>WKzcoyS$1j`;&$Jeb>tJLiE}H9x zU(=h{l_RrajMoX=BQyb;{F%0?pe@Cpvpt5XF!Y`ZUNGT}B%Y7Y8FkXw=FA3+{okA^ z3VbcnNCnRP$)$4!WBhFbZ&(!=kzZ`2ov?tv&&btAnJ;qlkW&f>fKG@KJ#+4WR*&MM-#j}B=h=*U6L93bwx7&rrJrl~{?*Q1Pth{w*f^n2tcU<$cHGg{Fg7qs8sK0BL`O|$XdGaC?0ic?ES;UXUdz*=^I=orOf$xNru{$3 zK6W_B2?vlR_Nf5~uUSqK04iZL>J{u)CDR6VtIamC=h$4H=wcC3HI3%%rwfys${-#v z=;LJw`z(dvpj!v@Py?7Vg`xKm>_Ro&K4A@F#6wGBwRgl2)RIsF+BEZYa3t&6X z{?+(0@klDc0AACz+``mQ0Np4hz-zjWb5a8wK*tXe(5ulMe7Y8Jce*Wrb)zM79p702 zYbTP35n-*yXc5El>pkl$%l~fdS|b2={Xl;=G)OV)T1G&-KF>GhTFLpk5w6ei478_I zcoM%Ak12;8$s2HB0Pp22`8pbfePM~l`;{wdiN;1bdiHWa&+|YqOBe?VSiubceI|cd z%w&`d7{Ake3?%hamw_+oH0PsK9`7 zx0+7@|2P5`8L95tjIq3LEjmc8fEF6ftt9Y=(<2+#4~>~22Q-ma$ILzN>`XHjRZ>84 zk~el8tVk^mg0Q+aMaxUA3iujZ=UvtyDv1;UCKGDDF({xGPodr zRe2F;8elC(5TIqTU%)j%c@`sEuVBU)C!s3K3P5YuhffjQhx-s*pxq6)4>73r_9?(v zXY9kzH>05#Z>-Q*8qJfdvA{T6MtT+)-vP?Iw}HU?H=NP#Wf^{ zkKr`MFxuTpcaoY)=Af19tVJ>0K-$F?5-nmmOUk==IY2{3#m!inQj^R{nbArc6OX$z zXa9Cu;DP*ijJ2z4Qid>CPIt728y#yc-#Y@1P`OmDO$dSZfIOEiXw#Oo=&Q6x&?3Oh zx@YNZk@}Qyw>cU=$IMBt^FhT!sH7O#nHi~=dA)6R;{2@U0jID~NQdDLutJVhYa|*w zFcXLE_$MFGvt9d|Cl+vqaLhm+ZFe+}U*3oieG{2oS=!DdxXpbmZq5uNPLUaE4Krq- zWco9MDLY;mj6D^1qD-SM@~-7{JY&~w;+e7mY2q3winuHWrO5P(@}6g~2?DZfkJ%yb z7A#1iAqi0S?Big8dll+O=FhXoVqiUc&cFXE-|Ww`|MTqIwMWpRAK}^mKUc0Z;$bBu z?>@2+GPtIJQKV!@bFO(wVZh^Wd7r&5HGLtg1~2feA0D(a>S{UT$@1|5|7~3(j97*m z*I3vmyWT%VggT9An001kUfRSHzN31^bj<+rG%knU;0+KDI5S;~TL8d&6W3-Zm#ITy zSP`sQ=Aeyz(&w$M)kqx_XTGMuHRah`vnE%;FP|H;ic-J>m1H%LoKQRPYnN}3Wcu2IeIEbjEaDQI=ml#G{SY1 zf1-|)X3GtJ4yyt<7IK9^*O;Bzy-x6>mt*Q#$7o9!cq1guBz4sw2a|$NJfvc5W?>h) z?s9wR#S2XyL7G{fM17=AITX*N)#f+3Tw;Z<$7nz|)(L#iI3HrVm6C9Je}ptFb&%xf zHI}42XYx!y@MARDQ@Ds>aVNqEBbZnGomaF^XQ$|BfeThDYZlo)BzX^ivp&;9y~e#|rMUUqOUh*0oWN z9d2r{A3z|1Z}1}!KH)l?xva@m1ot38gsXIEv|T*;z-+I0XBco*dt^1G<)cyHMCgnS z=L2Y(qe&B3KIdqr1n933PreL)OgxHDk>w!$ey*7t@-ugar*X_30KXj$*%{Lzu$yx! z(gMhwave@q8Kd{tkWT>+ z1)L~UC5`d#cjZ$6`T5TP_S}f8L`pO=(d&*hzO8@~X%lGVj-@-F0>~0l0O?7EjFFsa zDsZzI;{p$8jg7&`pJCTVhU4Rg$|XF;kx}>Hk(vE9u_6RiZvKku$mujmX=G+Vt9XPV zO!hkL3o9_P#{O7up*4UBey@M3lCaD$yp);Q7>pM&)8)DLalO`Tlwp4z zrb0ef7PltT$;DuE3LZ{f-Ak7X7|ca1#;)NcyvE}G8*3J=?gWRhg2rCfOmPW)K;zGv z{co&Uw_riY!;J|aLBHahS^7A`@rrCWy$8nf+QK+4-h=8Dr2OleY8P|@fwvtPFi|-w zF%sgX%wj~t0~!SWJy}iiW8m;4bagPBn~1AFv*~uu)h`pM6w1B6s468F4tjo}%@>|( z&K2@gk{sXrKLE&GsE}GyDOoAWMm%_-fYv!aEi`*lQZZoed}PId{<|JNMT1hXIyon<2{YSq(*E+!Qg{S#7iM}SY5N!) zC@BE}_Naq>cSv&kGtH&0n>75-G`G{(-!%ImJjeB)X=d6Kx&B3_ncb2y8K|E>(lBiS zJjt@X^|^(WfSLuzfU|1q;mMf_IM)Dv$H=HB@uP*8tb$f!hEJ&C1YVC(J>HvpA607c zaC4*UmUMy7w`h;~6hO;%gMh*qrVNb|#^a~XW38r~R%VCoREAf9#_a5q=YGbgDgLiH zF?C5{WeDP~B9O9>!DYT*l+8^W9T{UI>$O}d^4aJ3;OC*C4d2OU$ssnX9fVKOOTIO7BE%q`#|(7 zIM3;v%e^m(r&q1Ldz2{fYr8nEj|AmHXoU zudb_Ijv{$b2iBW>S6lQ5y`vc)8nVS-xB((JeFZO;1%zAnl`bzV;7hsaD*%?n{n=1F zo`u4-bDkL^jpnYiOYf+SS!36)IMTWt;p|E|NA%B#mjY&2xV6Fm_DP@O`NWf<$Tg5# zRCSm@Sz($3*N1+~jG;@D-+;RIa71pAQgD%lh3zV4sG^AmfFp7Z8{R-<1T=MRQHv_2 zcp??ucrrMFvlJ)5IQtZ4ENv(AYBSa1UT-)N5lx2Q*^k9*Ia$j--dO>x|%%d-n;_G~yuNITtlsr>6x&M*xXND-gfbA{S{VQO>AWq1Fa zxzvdd*|QHJPa~6f(WT1w+TF0ZU2RY*T4s5uAxePg&$7FB zhkA@=8gUFj4g!cV0OCzmxC*Hl4;^{LFWh1EqjkF{Z)kF_S%B=Z1+eO4u=VQ}SL>B^ zK0dj+!b4U~=Y-WY%a~}njEJC=0FlKzuFyxxiXcNnd`czl`e+J`pF9z_-e$|sYp&8R z{`OM+=3Cl6>eK5B6t{er3#XZ(lz+_0^w zOcU>R>$WKY;TCguUNAs(e5hNw22fBS50ly0KNE>zo4GpP*VVsyIj-Gg+CP#4Su~w$ zLL_e6u@#<)l2y>Iu)Y?b+S~RiA1)9HLwHx`*%NXo=9`0H0W*YX7{6@@xA-Ydh#xkD z`Urv{R7bEhglQsv;}DV&{24=deFVweuHP39canB^ImYue#tj!}EFkBtGj0A4$ja~7 TmZmdu00000NkvXXu0mjf1AEB> literal 0 HcmV?d00001 diff --git a/mrs_uav_managers/src/estimation_manager/estimator.cpp.func-sort-c.html b/mrs_uav_managers/src/estimation_manager/estimator.cpp.func-sort-c.html new file mode 100644 index 0000000000..09fc108f8d --- /dev/null +++ b/mrs_uav_managers/src/estimation_manager/estimator.cpp.func-sort-c.html @@ -0,0 +1,172 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/estimation_manager/estimator.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/estimation_manager - estimator.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:628870.5 %
Date:2024-12-11 22:27:27Functions:192382.6 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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)2500
mrs_uav_managers::Estimator::setCurrentSmState(mrs_uav_managers::estimation_manager::SMStates_t const&)2500
mrs_uav_managers::Estimator::getCurrentSmStateString[abi:cxx11]() const2500
mrs_uav_managers::Estimator::getPrintName[abi:cxx11]() const3711
mrs_uav_managers::Estimator::getSmStateString[abi:cxx11](mrs_uav_managers::estimation_manager::SMStates_t const&) const5000
mrs_uav_managers::Estimator::getMaxFlightZ() const19461
mrs_uav_managers::Estimator::isStarted() const41414
mrs_uav_managers::Estimator::getAccGlobal(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, double)321314
mrs_uav_managers::Estimator::getAccGlobal(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&, double)321659
mrs_uav_managers::Estimator::isReady() const357409
mrs_uav_managers::Estimator::getName[abi:cxx11]() const672203
mrs_uav_managers::Estimator::getFrameId[abi:cxx11]() const766338
mrs_uav_managers::Estimator::isMitigatingJump()805215
mrs_uav_managers::Estimator::publishDiagnostics() const1068925
mrs_uav_managers::Estimator::isError() const1467012
mrs_uav_managers::Estimator::isRunning() const1811411
mrs_uav_managers::Estimator::isInitialized() const2813719
mrs_uav_managers::Estimator::isInState(mrs_uav_managers::estimation_manager::SMStates_t const&) const8390212
mrs_uav_managers::Estimator::getCurrentSmState() const9196941
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/estimation_manager/estimator.cpp.func.html b/mrs_uav_managers/src/estimation_manager/estimator.cpp.func.html new file mode 100644 index 0000000000..a1452e1dcf --- /dev/null +++ b/mrs_uav_managers/src/estimation_manager/estimator.cpp.func.html @@ -0,0 +1,172 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/estimation_manager/estimator.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/estimation_manager - estimator.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:628870.5 %
Date:2024-12-11 22:27:27Functions:192382.6 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::Estimator::changeState(mrs_uav_managers::estimation_manager::SMStates_t)2500
mrs_uav_managers::Estimator::getAccGlobal(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, double)321314
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)321659
mrs_uav_managers::Estimator::getHeadingRate(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)0
mrs_uav_managers::Estimator::isMitigatingJump()805215
mrs_uav_managers::Estimator::setCurrentSmState(mrs_uav_managers::estimation_manager::SMStates_t const&)2500
mrs_uav_managers::Estimator::getFrameId[abi:cxx11]() const766338
mrs_uav_managers::Estimator::getPrintName[abi:cxx11]() const3711
mrs_uav_managers::Estimator::getMaxFlightZ() const19461
mrs_uav_managers::Estimator::isInitialized() const2813719
mrs_uav_managers::Estimator::getSmStateString[abi:cxx11](mrs_uav_managers::estimation_manager::SMStates_t const&) const5000
mrs_uav_managers::Estimator::getCurrentSmState() const9196941
mrs_uav_managers::Estimator::publishDiagnostics() const1068925
mrs_uav_managers::Estimator::getCurrentSmStateString[abi:cxx11]() const2500
mrs_uav_managers::Estimator::getName[abi:cxx11]() const672203
mrs_uav_managers::Estimator::getType[abi:cxx11]() const0
mrs_uav_managers::Estimator::isError() const1467012
mrs_uav_managers::Estimator::isReady() const357409
mrs_uav_managers::Estimator::isInState(mrs_uav_managers::estimation_manager::SMStates_t const&) const8390212
mrs_uav_managers::Estimator::isRunning() const1811411
mrs_uav_managers::Estimator::isStarted() const41414
mrs_uav_managers::Estimator::isStopped() const0
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Test:MRS UAV System - Test coverage reportLines:628870.5 %
Date:2024-12-11 22:27:27Functions: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        2500 : bool Estimator::changeState(SMStates_t new_state) {
+       9             : 
+      10        2500 :   if (new_state == getCurrentSmState()) {
+      11           0 :     return true;
+      12             :   }
+      13             : 
+      14        2500 :   previous_sm_state_ = getCurrentSmState();
+      15        2500 :   setCurrentSmState(new_state);
+      16             : 
+      17        2500 :   ROS_INFO("[%s]: Switching sm state %s -> %s", getPrintName().c_str(), getSmStateString(previous_sm_state_).c_str(), getCurrentSmStateString().c_str());
+      18        2500 :   return true;
+      19             : }
+      20             : /*//}*/
+      21             : 
+      22             : /*//{ isInState() */
+      23     8390212 : bool Estimator::isInState(const SMStates_t& state_in) const {
+      24     8390212 :   return state_in == getCurrentSmState();
+      25             : }
+      26             : /*//}*/
+      27             : 
+      28             : /*//{ isInitialized() */
+      29     2813719 : bool Estimator::isInitialized() const {
+      30     2813719 :   return !isInState(UNINITIALIZED_STATE);
+      31             : }
+      32             : /*//}*/
+      33             : 
+      34             : /*//{ isReady() */
+      35      357409 : bool Estimator::isReady() const {
+      36      357409 :   return isInState(READY_STATE);
+      37             : }
+      38             : /*//}*/
+      39             : 
+      40             : /*//{ isStarted() */
+      41       41414 : bool Estimator::isStarted() const {
+      42       41414 :   return isInState(STARTED_STATE);
+      43             : }
+      44             : /*//}*/
+      45             : 
+      46             : /*//{ isRunning() */
+      47     1811411 : bool Estimator::isRunning() const {
+      48     1811411 :   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     1467012 : bool Estimator::isError() const {
+      60     1467012 :   return isInState(ERROR_STATE);
+      61             : }
+      62             : /*//}*/
+      63             : 
+      64             : /*//{ getCurrentSmState() */
+      65     9196941 : SMStates_t Estimator::getCurrentSmState() const {
+      66     9196941 :   return current_sm_state_;
+      67             : }
+      68             : /*//}*/
+      69             : 
+      70             : /*//{ setCurrentSmState() */
+      71        2500 : void Estimator::setCurrentSmState(const SMStates_t& new_state) {
+      72        2500 :   std::scoped_lock lock(mutex_current_state_);
+      73        2500 :   current_sm_state_ = new_state;
+      74        2500 : }
+      75             : /*//}*/
+      76             : 
+      77             : /*//{ getSmStateString() */
+      78        5000 : std::string Estimator::getSmStateString(const SMStates_t& state) const {
+      79        5000 :   return sm::state_names[state];
+      80             : }
+      81             : /*//}*/
+      82             : 
+      83             : /*//{ getCurrentSmStateName() */
+      84        2500 : std::string Estimator::getCurrentSmStateString(void) const {
+      85        5000 :   return getSmStateString(getCurrentSmState());
+      86             : }
+      87             : /*//}*/
+      88             : 
+      89             : /*//{ isMitigatingJump() */
+      90      805215 : bool Estimator::isMitigatingJump(void) {
+      91      805215 :   if (is_mitigating_jump_) {
+      92           0 :     is_mitigating_jump_ = false;
+      93           0 :     return true;
+      94             :   } else {
+      95      805201 :     return false;
+      96             :   }
+      97             : }
+      98             : /*//}*/
+      99             : 
+     100             : /*//{ getName() */
+     101      672203 : std::string Estimator::getName(void) const {
+     102      672203 :   return name_;
+     103             : }
+     104             : /*//}*/
+     105             : 
+     106             : /*//{ getPrintName() */
+     107        3711 : std::string Estimator::getPrintName(void) const {
+     108        7422 :   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      766338 : std::string Estimator::getFrameId(void) const {
+     120      766338 :   return ns_frame_id_;
+     121             : }
+     122             : /*//}*/
+     123             : 
+     124             : /*//{ getMaxFlightZ() */
+     125       19461 : double Estimator::getMaxFlightZ(void) const {
+     126       19461 :   return max_flight_z_;
+     127             : }
+     128             : /*//}*/
+     129             : 
+     130             : /*//{ publishDiagnostics() */
+     131     1068925 : void Estimator::publishDiagnostics() const {
+     132             : 
+     133     1068925 :   if (!ch_->debug_topics.diag) {
+     134     1068893 :     return;
+     135             :   }
+     136             : 
+     137           0 :   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      321659 : tf2::Vector3 Estimator::getAccGlobal(const mrs_msgs::EstimatorInput::ConstPtr& input_msg, const double hdg) {
+     158             : 
+     159      636649 :   geometry_msgs::Vector3Stamped acc_stamped;
+     160      321348 :   acc_stamped.vector = input_msg->control_acceleration;
+     161      321375 :   acc_stamped.header = input_msg->header;
+     162      634560 :   return getAccGlobal(acc_stamped, hdg);
+     163             : }
+     164             : 
+     165      321314 : tf2::Vector3 Estimator::getAccGlobal(const geometry_msgs::Vector3Stamped& acc_stamped, const double hdg) {
+     166             : 
+     167             :   // untilt the desired acceleration vector
+     168      638803 :   geometry_msgs::Vector3Stamped des_acc;
+     169      321160 :   geometry_msgs::Vector3        des_acc_untilted;
+     170      321344 :   des_acc.vector.x        = acc_stamped.vector.x;
+     171      321344 :   des_acc.vector.y        = acc_stamped.vector.y;
+     172      321344 :   des_acc.vector.z        = acc_stamped.vector.z;
+     173      321344 :   des_acc.header.frame_id = ch_->frames.ns_fcu;
+     174      321415 :   des_acc.header.stamp    = acc_stamped.header.stamp;
+     175      641751 :   auto response_acc       = ch_->transformer->transformSingle(des_acc, ch_->frames.ns_fcu_untilted);
+     176      321679 :   if (response_acc) {
+     177      321681 :     des_acc_untilted.x = response_acc.value().vector.x;
+     178      321680 :     des_acc_untilted.y = response_acc.value().vector.y;
+     179      321679 :     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      321678 :   const tf2::Vector3 des_acc_global = Support::rotateVecByHdg(des_acc_untilted, hdg);
+     187             : 
+     188      634485 :   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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+ + + diff --git a/mrs_uav_managers/src/estimation_manager/estimator.cpp.gcov.overview.html b/mrs_uav_managers/src/estimation_manager/estimator.cpp.gcov.overview.html new file mode 100644 index 0000000000..c6ae1bd90d --- /dev/null +++ b/mrs_uav_managers/src/estimation_manager/estimator.cpp.gcov.overview.html @@ -0,0 +1,73 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/estimation_manager/estimator.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 + + +
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+ + diff --git a/mrs_uav_managers/src/estimation_manager/estimator.cpp.gcov.png b/mrs_uav_managers/src/estimation_manager/estimator.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..b712ea89700d9e63b4a48bdf7e96d65e91fea43f GIT binary patch literal 826 zcmV-A1I7G_P)5{~5Yn&T*3K@|>5SVR=dYcxSS3oP5{$=f^F&qINNe~uaF+0O0*_yLjpU+QUzffipxyiW-(*d2{|eS;*-GM$4^g00 ztZ+rB$|bCD_W!lYz#(DJaHf2Edoh zGia`3P?)WeVxcvf=}XC8KMNWbL}j zhrmYi@*x)MYuSmNTY$%4-@$+c9-0zxtkEZp+|+X5L8Lk$x&|ne);wg+nj)KV=`82% zCXKhF*UcjcioKcN^FYkD{T%?&(8)a`mYf}$WYMON`?uF6-Qtx5zhOr*FbYJQkM2-G zT#n0g_*?B5Od+?U3NLY%b3ddCk8d~3;HX9j3=b$<7GM~Gmf>##w|otNx*Gy3jV(3+ z*ZdqknqI$`5=UNJC5?3Cn%@SR;kmH@t*z6Ei#cs~;ZyPr%#Xek2UE%~ysN|_{Q9aQ zUFS5CJ%qW@+)Gl)&_m!H-QKtuc14RA%WI)}##hMvA{QC!E4sRZ*@^s3t{vX1Lm&)n zSGI#I!(^UwB$)cf8ZY%6@PjRvSl&PN@`xw)C_h&C2g!y4;EBXa8UO$Q07*qoM6N<$ Eg2`KjIRF3v literal 0 HcmV?d00001 diff --git a/mrs_uav_managers/src/estimation_manager/estimators/agl_estimator.cpp.func-sort-c.html b/mrs_uav_managers/src/estimation_manager/estimators/agl_estimator.cpp.func-sort-c.html new file mode 100644 index 0000000000..75b2da7ad2 --- /dev/null +++ b/mrs_uav_managers/src/estimation_manager/estimators/agl_estimator.cpp.func-sort-c.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/estimation_manager/estimators/agl_estimator.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_managers/src/estimation_manager/estimators - agl_estimator.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:305158.8 %
Date:2024-12-11 22:27:27Functions:33100.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::AglEstimator::isCompatibleWithHwApi(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&) const80
mrs_uav_managers::AglEstimator::publishAglHeight() const129462
mrs_uav_managers::AglEstimator::publishCovariance() const129462
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mrs_uav_managers::AglEstimator::publishAglHeight() const129462
mrs_uav_managers::AglEstimator::publishCovariance() const129462
mrs_uav_managers::AglEstimator::isCompatibleWithHwApi(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&) const80
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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      129462 : void AglEstimator::publishAglHeight() const {
+       8      129462 :   ph_agl_height_.publish(mrs_lib::get_mutexed(mtx_agl_height_, agl_height_));
+       9      129462 : }
+      10             : /*//}*/
+      11             : 
+      12             : /*//{ publishCovariance() */
+      13      129462 : void AglEstimator::publishCovariance() const {
+      14             : 
+      15      129462 :   if (!ch_->debug_topics.covariance) {
+      16      129462 :     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          80 : bool AglEstimator::isCompatibleWithHwApi(const mrs_msgs::HwApiCapabilitiesConstPtr& hw_api_capabilities) const {
+      25             : 
+      26          80 :   ph_->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      27          80 :   ph_->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      28             : 
+      29          80 :   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          80 :   ph_->param_loader->loadParam("requires/gnss", requires_gnss);
+      35          80 :   ph_->param_loader->loadParam("requires/imu", requires_imu);
+      36          80 :   ph_->param_loader->loadParam("requires/distance_sensor", requires_distance_sensor);
+      37          80 :   ph_->param_loader->loadParam("requires/altitude", requires_altitude);
+      38          80 :   ph_->param_loader->loadParam("requires/magnetometer_heading", requires_magnetometer_heading);
+      39          80 :   ph_->param_loader->loadParam("requires/position", requires_position);
+      40          80 :   ph_->param_loader->loadParam("requires/orientation", requires_orientation);
+      41          80 :   ph_->param_loader->loadParam("requires/velocity", requires_velocity);
+      42          80 :   ph_->param_loader->loadParam("requires/angular_velocity", requires_angular_velocity);
+      43             : 
+      44          80 :   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          80 :   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          80 :   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          80 :   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          80 :   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          80 :   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          80 :   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          80 :   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          80 :   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          80 :   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          80 :   return true;
+      95             : }
+      96             : /*//}*/
+      97             : 
+      98             : }  // namespace mrs_uav_managers
+
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+
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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&) const117
mrs_uav_managers::StateEstimator::getInnovation() const175904
mrs_uav_managers::StateEstimator::getPoseCovariance() const175904
mrs_uav_managers::StateEstimator::getTwistCovariance() const175904
mrs_uav_managers::StateEstimator::getUavState()194916
mrs_uav_managers::StateEstimator::publishUavState() const211171
mrs_uav_managers::StateEstimator::publishOdom() const211173
mrs_uav_managers::StateEstimator::publishCovariance() const211173
mrs_uav_managers::StateEstimator::publishInnovation() const211173
mrs_uav_managers::StateEstimator::rotateQuaternionByHeading(geometry_msgs::Quaternion_<std::allocator<void> > const&, double) const427852
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::StateEstimator::getUavState()194916
mrs_uav_managers::StateEstimator::publishOdom() const211173
mrs_uav_managers::StateEstimator::getInnovation() const175904
mrs_uav_managers::StateEstimator::publishUavState() const211171
mrs_uav_managers::StateEstimator::getPoseCovariance() const175904
mrs_uav_managers::StateEstimator::publishCovariance() const211173
mrs_uav_managers::StateEstimator::publishInnovation() const211173
mrs_uav_managers::StateEstimator::getTwistCovariance() const175904
mrs_uav_managers::StateEstimator::isCompatibleWithHwApi(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&) const117
mrs_uav_managers::StateEstimator::rotateQuaternionByHeading(geometry_msgs::Quaternion_<std::allocator<void> > const&, double) const427852
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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      194916 : std::optional<mrs_msgs::UavState> StateEstimator::getUavState() {
+       9             : 
+      10      194916 :   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      389768 :   return mrs_lib::get_mutexed(mtx_uav_state_, uav_state_);
+      16             : }
+      17             : /*//}*/
+      18             : 
+      19             : /*//{ getInnovation() */
+      20      175904 : nav_msgs::Odometry StateEstimator::getInnovation() const {
+      21      175904 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_);
+      22             : }
+      23             : /*//}*/
+      24             : 
+      25             : /*//{ getPoseCovariance() */
+      26      175904 : std::vector<double> StateEstimator::getPoseCovariance() const {
+      27      175904 :   return mrs_lib::get_mutexed(mtx_covariance_, pose_covariance_.values);
+      28             : }
+      29             : /*//}*/
+      30             : 
+      31             : /*//{ getTwistCovariance() */
+      32      175904 : std::vector<double> StateEstimator::getTwistCovariance() const {
+      33      175904 :   return mrs_lib::get_mutexed(mtx_covariance_, twist_covariance_.values);
+      34             : }
+      35             : /*//}*/
+      36             : 
+      37             : /*//{ publishUavState() */
+      38      211171 : void StateEstimator::publishUavState() const {
+      39             : 
+      40      211171 :   if (!ch_->debug_topics.state) {
+      41           0 :     return;
+      42             :   }
+      43             : 
+      44      422333 :   auto uav_state = mrs_lib::get_mutexed(mtx_uav_state_, uav_state_);
+      45      211163 :   ph_uav_state_.publish(uav_state);
+      46             : }
+      47             : /*//}*/
+      48             : 
+      49             : /*//{ publishOdom() */
+      50      211173 : void StateEstimator::publishOdom() const {
+      51             : 
+      52      422346 :   auto odom = mrs_lib::get_mutexed(mtx_odom_, odom_);
+      53      211173 :   ph_odom_.publish(odom);
+      54      211173 : }
+      55             : /*//}*/
+      56             : 
+      57             : /*//{ publishCovariance() */
+      58      211173 : void StateEstimator::publishCovariance() const {
+      59             : 
+      60      211173 :   if (!ch_->debug_topics.covariance) {
+      61      211173 :     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      211173 : void StateEstimator::publishInnovation() const {
+      73             : 
+      74      211173 :   if (!ch_->debug_topics.innovation) {
+      75      211173 :     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      427852 : std::optional<geometry_msgs::Quaternion> StateEstimator::rotateQuaternionByHeading(const geometry_msgs::Quaternion& q, const double hdg) const {
+      85             : 
+      86             :   try {
+      87      427852 :     tf2::Quaternion tf2_q = mrs_lib::AttitudeConverter(q);
+      88             : 
+      89             :     // Obtain heading from quaternion
+      90      427457 :     double q_hdg = 0;
+      91      427457 :     q_hdg        = mrs_lib::AttitudeConverter(q).getHeading();
+      92             : 
+      93             :     // Build rotation matrix from difference between new heading and quaternion heading
+      94      427646 :     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      425660 :     geometry_msgs::Quaternion q_new = mrs_lib::AttitudeConverter(tf2::Transform(rot_mat) * tf2_q);
+      98      424822 :     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         117 : bool StateEstimator::isCompatibleWithHwApi(const mrs_msgs::HwApiCapabilitiesConstPtr& hw_api_capabilities) const {
+     109             : 
+     110         117 :   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         117 :   ph_->param_loader->loadParam("requires/gnss", requires_gnss);
+     116         117 :   ph_->param_loader->loadParam("requires/imu", requires_imu);
+     117         117 :   ph_->param_loader->loadParam("requires/distance_sensor", requires_distance_sensor);
+     118         117 :   ph_->param_loader->loadParam("requires/altitude", requires_altitude);
+     119         117 :   ph_->param_loader->loadParam("requires/magnetometer_heading", requires_magnetometer_heading);
+     120         117 :   ph_->param_loader->loadParam("requires/position", requires_position);
+     121         117 :   ph_->param_loader->loadParam("requires/orientation", requires_orientation);
+     122         117 :   ph_->param_loader->loadParam("requires/velocity", requires_velocity);
+     123         117 :   ph_->param_loader->loadParam("requires/angular_velocity", requires_angular_velocity);
+     124             : 
+     125         117 :   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         117 :   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         117 :   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         117 :   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         117 :   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         117 :   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         117 :   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         117 :   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         117 :   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         117 :   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         117 :   return true;
+     176             : }
+     177             : /*//}*/
+     178             : 
+     179             : }  // namespace mrs_uav_managers
+
+
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70.5%70.5%
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+
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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()109
mrs_uav_managers::gain_manager::GainManager::onInit()109
mrs_uav_managers::gain_manager::GainManager::setGains(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)110
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&)2406
mrs_uav_managers::gain_manager::GainManager::timerDiagnostics(ros::TimerEvent const&)2415
mrs_uav_managers::gain_manager::GainManager::timerGainManagement(ros::TimerEvent const&)24672
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Test:MRS UAV System - Test coverage reportLines:22425886.8 %
Date:2024-12-11 22:27:27Functions:77100.0 %
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()109
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&)2406
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&)2415
mrs_uav_managers::gain_manager::GainManager::timerGainManagement(ros::TimerEvent const&)24672
mrs_uav_managers::gain_manager::GainManager::onInit()109
mrs_uav_managers::gain_manager::GainManager::setGains(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)110
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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/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         109 : void GainManager::onInit() {
+     123             : 
+     124         218 :   ros::NodeHandle nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     125             : 
+     126         109 :   ros::Time::waitForValid();
+     127             : 
+     128         109 :   ROS_INFO("[GainManager]: initializing");
+     129             : 
+     130             :   // | ------------------------- params ------------------------- |
+     131             : 
+     132         218 :   mrs_lib::ParamLoader param_loader(nh_, "GainManager");
+     133             : 
+     134         218 :   std::string custom_config_path;
+     135         218 :   std::string platform_config_path;
+     136             : 
+     137         109 :   param_loader.loadParam("custom_config", custom_config_path);
+     138         109 :   param_loader.loadParam("platform_config", platform_config_path);
+     139             : 
+     140         109 :   if (custom_config_path != "") {
+     141         109 :     param_loader.addYamlFile(custom_config_path);
+     142             :   }
+     143             : 
+     144         109 :   if (platform_config_path != "") {
+     145         109 :     param_loader.addYamlFile(platform_config_path);
+     146             :   }
+     147             : 
+     148         109 :   param_loader.addYamlFileFromParam("private_config");
+     149         109 :   param_loader.addYamlFileFromParam("public_config");
+     150         109 :   param_loader.addYamlFileFromParam("public_gains");
+     151             : 
+     152         218 :   const std::string yaml_prefix = "mrs_uav_managers/gain_manager/";
+     153             : 
+     154             :   // params passed from the launch file are not prefixed
+     155         109 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     156             : 
+     157         109 :   param_loader.loadParam(yaml_prefix + "gains", _gain_names_);
+     158             : 
+     159         109 :   param_loader.loadParam(yaml_prefix + "estimator_types", _current_state_estimators_);
+     160             : 
+     161         109 :   param_loader.loadParam(yaml_prefix + "rate", _gain_management_rate_);
+     162         109 :   param_loader.loadParam(yaml_prefix + "diagnostics_rate", _diagnostics_rate_);
+     163             : 
+     164             :   // | ------------------- scope timer logger ------------------- |
+     165             : 
+     166         109 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     167         327 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     168         109 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     169             : 
+     170         109 :   std::vector<std::string>::iterator it;
+     171             : 
+     172             :   // loading gain_names
+     173         327 :   for (it = _gain_names_.begin(); it != _gain_names_.end(); ++it) {
+     174             : 
+     175         218 :     ROS_INFO_STREAM("[GainManager]: loading gains '" << *it << "'");
+     176             : 
+     177         218 :     Gains_t new_gains;
+     178             : 
+     179         218 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kp", new_gains.kpxy);
+     180         218 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kv", new_gains.kvxy);
+     181         218 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/ka", new_gains.kaxy);
+     182         218 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kib", new_gains.kibxy);
+     183         218 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kiw", new_gains.kiwxy);
+     184         218 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kib_lim", new_gains.kibxy_lim);
+     185         218 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kiw_lim", new_gains.kiwxy_lim);
+     186             : 
+     187         218 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/kp", new_gains.kpz);
+     188         218 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/kv", new_gains.kvz);
+     189         218 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ka", new_gains.kaz);
+     190             : 
+     191         218 :     param_loader.loadParam(yaml_prefix + *it + "/attitude/kq_roll_pitch", new_gains.kqrp);
+     192         218 :     param_loader.loadParam(yaml_prefix + *it + "/attitude/kq_yaw", new_gains.kqy);
+     193             : 
+     194         218 :     param_loader.loadParam(yaml_prefix + *it + "/mass_estimator/km", new_gains.km);
+     195         218 :     param_loader.loadParam(yaml_prefix + *it + "/mass_estimator/km_lim", new_gains.km_lim);
+     196             : 
+     197         218 :     _gains_.insert(std::pair<std::string, Gains_t>(*it, new_gains));
+     198             :   }
+     199             : 
+     200             :   // loading the allowed gains lists
+     201         872 :   for (it = _current_state_estimators_.begin(); it != _current_state_estimators_.end(); ++it) {
+     202             : 
+     203         763 :     std::vector<std::string> temp_vector;
+     204         763 :     param_loader.loadParam(yaml_prefix + "allowed_gains/" + *it, temp_vector);
+     205             : 
+     206         763 :     std::vector<std::string>::iterator it2;
+     207        2289 :     for (it2 = temp_vector.begin(); it2 != temp_vector.end(); ++it2) {
+     208        1526 :       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         763 :     _map_type_allowed_gains_.insert(std::pair<std::string, std::vector<std::string>>(*it, temp_vector));
+     215             :   }
+     216             : 
+     217             :   // loading the default gains
+     218         872 :   for (it = _current_state_estimators_.begin(); it != _current_state_estimators_.end(); ++it) {
+     219             : 
+     220         763 :     std::string temp_str;
+     221         763 :     param_loader.loadParam(yaml_prefix + "default_gains/" + *it, temp_str);
+     222             : 
+     223         763 :     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         763 :     _map_type_default_gains_.insert(std::pair<std::string, std::string>(*it, temp_str));
+     229             :   }
+     230             : 
+     231         109 :   ROS_INFO("[GainManager]: done loading dynamical params");
+     232             : 
+     233         109 :   current_gains_       = "";
+     234         109 :   last_estimator_name_ = "";
+     235             : 
+     236             :   // | ------------------------ services ------------------------ |
+     237             : 
+     238         109 :   service_server_set_gains_ = nh_.advertiseService("set_gains_in", &GainManager::callbackSetGains, this);
+     239             : 
+     240         109 :   service_client_set_gains_ = nh_.serviceClient<dynamic_reconfigure::Reconfigure>("set_gains_out");
+     241             : 
+     242             :   // | ----------------------- subscribers ---------------------- |
+     243             : 
+     244         218 :   mrs_lib::SubscribeHandlerOptions shopts;
+     245         109 :   shopts.nh                 = nh_;
+     246         109 :   shopts.node_name          = "GainManager";
+     247         109 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     248         109 :   shopts.threadsafe         = true;
+     249         109 :   shopts.autostart          = true;
+     250         109 :   shopts.queue_size         = 10;
+     251         109 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     252             : 
+     253         109 :   sh_estimation_diag_      = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "estimation_diagnostics_in");
+     254         109 :   sh_control_manager_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     255             : 
+     256             :   // | ----------------------- publishers ----------------------- |
+     257             : 
+     258         109 :   ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics>(nh_, "diagnostics_out", 10);
+     259             : 
+     260             :   // | ------------------------- timers ------------------------- |
+     261             : 
+     262         109 :   timer_gain_management_ = nh_.createTimer(ros::Rate(_gain_management_rate_), &GainManager::timerGainManagement, this);
+     263         109 :   timer_diagnostics_     = nh_.createTimer(ros::Rate(_diagnostics_rate_), &GainManager::timerDiagnostics, this);
+     264             : 
+     265             :   // | ------------------------ profiler ------------------------ |
+     266             : 
+     267         109 :   profiler_ = mrs_lib::Profiler(nh_, "GainManager", _profiler_enabled_);
+     268             : 
+     269             :   // | ----------------------- finish init ---------------------- |
+     270             : 
+     271         109 :   if (!param_loader.loadedSuccessfully()) {
+     272           0 :     ROS_ERROR("[GainManager]: could not load all parameters!");
+     273           0 :     ros::shutdown();
+     274             :   }
+     275             : 
+     276         109 :   is_initialized_ = true;
+     277             : 
+     278         109 :   ROS_INFO("[GainManager]: initialized");
+     279             : 
+     280         109 :   ROS_DEBUG("[GainManager]: debug output is enabled");
+     281         109 : }
+     282             : 
+     283             : //}
+     284             : 
+     285             : // --------------------------------------------------------------
+     286             : // |                           methods                          |
+     287             : // --------------------------------------------------------------
+     288             : 
+     289             : /* setGains() //{ */
+     290             : 
+     291         110 : bool GainManager::setGains(std::string gains_name) {
+     292             : 
+     293         110 :   std::map<std::string, Gains_t>::iterator it;
+     294         110 :   it = _gains_.find(gains_name);
+     295             : 
+     296         110 :   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         220 :   dynamic_reconfigure::Config          conf;
+     302         220 :   dynamic_reconfigure::DoubleParameter param;
+     303             : 
+     304         110 :   param.name  = "kpxy";
+     305         110 :   param.value = it->second.kpxy;
+     306         110 :   conf.doubles.push_back(param);
+     307             : 
+     308         110 :   param.name  = "kvxy";
+     309         110 :   param.value = it->second.kvxy;
+     310         110 :   conf.doubles.push_back(param);
+     311             : 
+     312         110 :   param.name  = "kaxy";
+     313         110 :   param.value = it->second.kaxy;
+     314         110 :   conf.doubles.push_back(param);
+     315             : 
+     316         110 :   param.name  = "kq_roll_pitch";
+     317         110 :   param.value = it->second.kqrp;
+     318         110 :   conf.doubles.push_back(param);
+     319             : 
+     320         110 :   param.name  = "kibxy";
+     321         110 :   param.value = it->second.kibxy;
+     322         110 :   conf.doubles.push_back(param);
+     323             : 
+     324         110 :   param.name  = "kiwxy";
+     325         110 :   param.value = it->second.kiwxy;
+     326         110 :   conf.doubles.push_back(param);
+     327             : 
+     328         110 :   param.name  = "kibxy_lim";
+     329         110 :   param.value = it->second.kibxy_lim;
+     330         110 :   conf.doubles.push_back(param);
+     331             : 
+     332         110 :   param.name  = "kiwxy_lim";
+     333         110 :   param.value = it->second.kiwxy_lim;
+     334         110 :   conf.doubles.push_back(param);
+     335             : 
+     336         110 :   param.name  = "kpz";
+     337         110 :   param.value = it->second.kpz;
+     338         110 :   conf.doubles.push_back(param);
+     339             : 
+     340         110 :   param.name  = "kvz";
+     341         110 :   param.value = it->second.kvz;
+     342         110 :   conf.doubles.push_back(param);
+     343             : 
+     344         110 :   param.name  = "kaz";
+     345         110 :   param.value = it->second.kaz;
+     346         110 :   conf.doubles.push_back(param);
+     347             : 
+     348         110 :   param.name  = "kq_yaw";
+     349         110 :   param.value = it->second.kqy;
+     350         110 :   conf.doubles.push_back(param);
+     351             : 
+     352         110 :   param.name  = "km";
+     353         110 :   param.value = it->second.km;
+     354         110 :   conf.doubles.push_back(param);
+     355             : 
+     356         110 :   param.name  = "km_lim";
+     357         110 :   param.value = it->second.km_lim;
+     358         110 :   conf.doubles.push_back(param);
+     359             : 
+     360         220 :   dynamic_reconfigure::ReconfigureRequest  srv_req;
+     361         220 :   dynamic_reconfigure::ReconfigureResponse srv_resp;
+     362             : 
+     363         110 :   srv_req.config = conf;
+     364             : 
+     365         220 :   dynamic_reconfigure::Reconfigure reconf;
+     366         110 :   reconf.request = srv_req;
+     367             : 
+     368         110 :   ROS_INFO_THROTTLE(1.0, "[GainManager]: setting up gains for '%s'", gains_name.c_str());
+     369             : 
+     370         110 :   bool res = service_client_set_gains_.call(reconf);
+     371             : 
+     372         110 :   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         110 :     mrs_lib::set_mutexed(mutex_current_gains_, gains_name, current_gains_);
+     380             : 
+     381         110 :     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       24672 : void GainManager::timerGainManagement(const ros::TimerEvent& event) {
+     470             : 
+     471       24672 :   if (!is_initialized_) {
+     472        5701 :     return;
+     473             :   }
+     474             : 
+     475       49344 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("gainManagementTimer", _gain_management_rate_, 0.01, event);
+     476       49344 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("GainManager::gainManagementTimer", scope_timer_logger_, scope_timer_enabled_);
+     477             : 
+     478       24672 :   if (!sh_estimation_diag_.hasMsg()) {
+     479        5701 :     return;
+     480             :   }
+     481             : 
+     482       18971 :   if (!sh_control_manager_diag_.hasMsg()) {
+     483           0 :     return;
+     484             :   }
+     485             : 
+     486       37942 :   auto estimation_diagnostics = sh_estimation_diag_.getMsg();
+     487             : 
+     488       37942 :   auto control_manager_diagnostics = sh_estimation_diag_.getMsg();
+     489             : 
+     490       37942 :   auto current_gains       = mrs_lib::get_mutexed(mutex_current_gains_, current_gains_);
+     491       18971 :   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       18971 :   if (estimation_diagnostics->current_state_estimator != last_estimator_name) {
+     495             : 
+     496         114 :     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         114 :     std::map<std::string, std::string>::iterator it;
+     500         114 :     it = _map_type_default_gains_.find(estimation_diagnostics->current_state_estimator);
+     501             : 
+     502         114 :     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         114 :       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         109 :         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         109 :         if (setGains(it->second)) {
+     521             : 
+     522         109 :           last_estimator_name = estimation_diagnostics->current_state_estimator;
+     523             : 
+     524         109 :           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       18971 :   mrs_lib::set_mutexed(mutex_last_estimator_name_, last_estimator_name, last_estimator_name_);
+     535             : }
+     536             : 
+     537             : //}
+     538             : 
+     539             : /* timerDiagnostics() //{ */
+     540             : 
+     541        2415 : void GainManager::timerDiagnostics(const ros::TimerEvent& event) {
+     542             : 
+     543        2415 :   if (!is_initialized_) {
+     544         557 :     return;
+     545             :   }
+     546             : 
+     547        4830 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerDiagnostics", _diagnostics_rate_, 0.01, event);
+     548        4830 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("GainManager::timerDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+     549             : 
+     550        2415 :   if (!sh_estimation_diag_.hasMsg()) {
+     551         552 :     ROS_WARN_THROTTLE(10.0, "[GainManager]: can not do gain management, missing estimator diagnostics!");
+     552         552 :     return;
+     553             :   }
+     554             : 
+     555        1863 :   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        1863 :   auto current_gains = mrs_lib::get_mutexed(mutex_current_gains_, current_gains_);
+     561             : 
+     562        1863 :   if (current_gains == "") { // this could happend just before timerGainManagement() finishes
+     563           5 :     return;
+     564             :   }
+     565             : 
+     566        1858 :   auto estimation_diagnostics = sh_estimation_diag_.getMsg();
+     567             : 
+     568        1858 :   mrs_msgs::GainManagerDiagnostics diagnostics;
+     569             : 
+     570        1858 :   diagnostics.stamp        = ros::Time::now();
+     571        1858 :   diagnostics.current_name = current_gains;
+     572        1858 :   diagnostics.loaded       = _gain_names_;
+     573             : 
+     574             :   // get the available gains
+     575             :   {
+     576        1858 :     std::map<std::string, std::vector<std::string>>::iterator it;
+     577        1858 :     it = _map_type_allowed_gains_.find(estimation_diagnostics->current_state_estimator);
+     578             : 
+     579        1858 :     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        1858 :       diagnostics.available = it->second;
+     584             :     }
+     585             :   }
+     586             : 
+     587             :   // get the current gain values
+     588             :   {
+     589        1858 :     std::map<std::string, Gains_t>::iterator it;
+     590        1858 :     it = _gains_.find(current_gains);
+     591             : 
+     592        1858 :     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        1858 :     diagnostics.current_values.kpxy = it->second.kpxy;
+     598        1858 :     diagnostics.current_values.kvxy = it->second.kvxy;
+     599        1858 :     diagnostics.current_values.kaxy = it->second.kaxy;
+     600             : 
+     601        1858 :     diagnostics.current_values.kqrp = it->second.kqrp;
+     602             : 
+     603        1858 :     diagnostics.current_values.kibxy     = it->second.kibxy;
+     604        1858 :     diagnostics.current_values.kibxy_lim = it->second.kibxy_lim;
+     605             : 
+     606        1858 :     diagnostics.current_values.kiwxy     = it->second.kiwxy;
+     607        1858 :     diagnostics.current_values.kiwxy_lim = it->second.kiwxy_lim;
+     608             : 
+     609        1858 :     diagnostics.current_values.kpz = it->second.kpz;
+     610        1858 :     diagnostics.current_values.kvz = it->second.kvz;
+     611        1858 :     diagnostics.current_values.kaz = it->second.kaz;
+     612             : 
+     613        1858 :     diagnostics.current_values.kqy = it->second.kqy;
+     614             : 
+     615        1858 :     diagnostics.current_values.km     = it->second.km;
+     616        1858 :     diagnostics.current_values.km_lim = it->second.km_lim;
+     617             :   }
+     618             : 
+     619        1858 :   ph_diagnostics_.publish(diagnostics);
+     620             : }
+     621             : 
+     622             : //}
+     623             : 
+     624             : // --------------------------------------------------------------
+     625             : // |                          routines                          |
+     626             : // --------------------------------------------------------------
+     627             : 
+     628             : /* stringInVector() //{ */
+     629             : 
+     630        2406 : bool GainManager::stringInVector(const std::string& value, const std::vector<std::string>& vector) {
+     631             : 
+     632        2406 :   if (std::find(vector.begin(), vector.end(), value) == vector.end()) {
+     633         110 :     return false;
+     634             :   } else {
+     635        2296 :     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         109 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::gain_manager::GainManager, nodelet::Nodelet)
+
+
+
+ + + + +
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gain_manager.cpp +
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constraint_manager.cpp +
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uav_manager.cpp +
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null_tracker.cpp +
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+ 		69.5 %41 / 5955.0 %11 / 20
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+ 		86.8 %224 / 258100.0 %7 / 7
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null_tracker.cpp +
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86.8%86.8%
+ 		86.8 %224 / 258100.0 %7 / 7
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67.1%67.1%
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69.5%69.5%
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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%
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Test:MRS UAV System - Test coverage reportLines:1252172972.4 %
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Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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constraint_manager.cpp +
84.1%84.1%
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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 +
67.1%67.1%
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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:2024-12-11 22:27:27Functions: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()109
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>)109
mrs_uav_managers::NullTracker::~NullTracker()109
mrs_uav_managers::NullTracker::~NullTracker().2109
mrs_uav_managers::NullTracker::deactivate()241
mrs_uav_managers::NullTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)245
mrs_uav_managers::NullTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)309
mrs_uav_managers::NullTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)377
mrs_uav_managers::NullTracker::getStatus()7429
mrs_uav_managers::NullTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)140010
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/null_tracker.cpp.func.html b/mrs_uav_managers/src/null_tracker.cpp.func.html new file mode 100644 index 0000000000..52b1a9291e --- /dev/null +++ b/mrs_uav_managers/src/null_tracker.cpp.func.html @@ -0,0 +1,160 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/null_tracker.cpp - functions + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions:112055.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()109
mrs_uav_managers::NullTracker::deactivate()241
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>)109
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&)377
mrs_uav_managers::NullTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)309
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&)140010
mrs_uav_managers::NullTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)245
mrs_uav_managers::NullTracker::getStatus()7429
mrs_uav_managers::NullTracker::~NullTracker()109
mrs_uav_managers::NullTracker::~NullTracker().2109
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/null_tracker.cpp.gcov.frameset.html b/mrs_uav_managers/src/null_tracker.cpp.gcov.frameset.html new file mode 100644 index 0000000000..a33b57e8c3 --- /dev/null +++ b/mrs_uav_managers/src/null_tracker.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/null_tracker.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/src/null_tracker.cpp.gcov.html b/mrs_uav_managers/src/null_tracker.cpp.gcov.html new file mode 100644 index 0000000000..3784a12e5f --- /dev/null +++ b/mrs_uav_managers/src/null_tracker.cpp.gcov.html @@ -0,0 +1,332 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/null_tracker.cpp + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions: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         218 :   ~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         109 : 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         218 :   ros::NodeHandle nh_(parent_nh, "null_tracker");
+      59             : 
+      60         109 :   ros::Time::waitForValid();
+      61             : 
+      62         109 :   is_initialized = true;
+      63             : 
+      64         109 :   this->common_handlers = common_handlers;
+      65             : 
+      66         109 :   ROS_INFO("[NullTracker]: initialized");
+      67             : 
+      68         218 :   return true;
+      69             : }
+      70             : 
+      71             : //}
+      72             : 
+      73             : /* //{ activate() */
+      74             : 
+      75         245 : std::tuple<bool, std::string> NullTracker::activate([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd) {
+      76             : 
+      77         245 :   std::stringstream ss;
+      78         245 :   ss << "activated";
+      79             : 
+      80         245 :   ROS_INFO_STREAM("[NullTracker]: " << ss.str());
+      81         245 :   is_active = true;
+      82             : 
+      83         490 :   return std::tuple(true, ss.str());
+      84             : }
+      85             : 
+      86             : //}
+      87             : 
+      88             : /* //{ deactivate() */
+      89             : 
+      90         241 : void NullTracker::deactivate(void) {
+      91             : 
+      92         241 :   ROS_INFO("[NullTracker]: deactivated");
+      93         241 :   is_active = false;
+      94         241 : }
+      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      140010 : 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      140010 :   return {};
+     120             : }
+     121             : 
+     122             : //}
+     123             : 
+     124             : /* //{ getStatus() */
+     125             : 
+     126        7429 : const mrs_msgs::TrackerStatus NullTracker::getStatus() {
+     127             : 
+     128        7429 :   mrs_msgs::TrackerStatus tracker_status;
+     129             : 
+     130        7429 :   tracker_status.active            = is_active;
+     131        7429 :   tracker_status.callbacks_enabled = callbacks_enabled;
+     132             : 
+     133        7429 :   return tracker_status;
+     134             : }
+     135             : 
+     136             : //}
+     137             : 
+     138             : /* //{ enableCallbacks() */
+     139             : 
+     140         309 : const std_srvs::SetBoolResponse::ConstPtr NullTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     141             : 
+     142         618 :   std_srvs::SetBoolResponse res;
+     143             : 
+     144         309 :   std::stringstream ss;
+     145             : 
+     146         309 :   if (cmd->data != callbacks_enabled) {
+     147             : 
+     148          12 :     callbacks_enabled = cmd->data;
+     149             : 
+     150          12 :     ss << "callbacks " << (callbacks_enabled ? "enabled" : "disabled");
+     151             : 
+     152          12 :     ROS_DEBUG_STREAM("[NullTracker]: " << ss.str());
+     153             : 
+     154             :   } else {
+     155             : 
+     156         297 :     ss << "callbacks were already " << (callbacks_enabled ? "enabled" : "disabled");
+     157             :   }
+     158             : 
+     159         309 :   res.message = ss.str();
+     160         309 :   res.success = true;
+     161             : 
+     162         927 :   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         377 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr NullTracker::setConstraints([
+     238             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     239             : 
+     240         377 :   return mrs_msgs::DynamicsConstraintsSrvResponse::Ptr();
+     241             : }
+     242             : 
+     243             : //}
+     244             : 
+     245             : }  // namespace mrs_uav_managers
+     246             : 
+     247             : #include <pluginlib/class_list_macros.h>
+     248         109 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::NullTracker, mrs_uav_managers::Tracker)
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Test:MRS UAV System - Test coverage reportLines:35143181.4 %
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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&) const5
(anonymous namespace)::ProxyExec0::ProxyExec0()109
mrs_uav_managers::transform_manager::TransformManager::publishLocalTf()109
mrs_uav_managers::transform_manager::TransformManager::onInit()109
mrs_uav_managers::transform_manager::TransformManager::TransformManager()109
mrs_uav_managers::transform_manager::TransformManager::getPrintName[abi:cxx11]() const1756
mrs_uav_managers::transform_manager::TransformManager::callbackRtkGps(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)2695
mrs_uav_managers::transform_manager::TransformManager::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)81866
mrs_uav_managers::transform_manager::TransformManager::callbackAltitudeAmsl(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>)106413
mrs_uav_managers::transform_manager::TransformManager::callbackHeightAgl(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>)131338
mrs_uav_managers::transform_manager::TransformManager::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)175843
mrs_uav_managers::transform_manager::TransformManager::publishFcuUntiltedTf(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)235464
mrs_uav_managers::transform_manager::TransformManager::callbackHwApiOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)235464
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()109
mrs_uav_managers::transform_manager::TransformManager::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)81866
mrs_uav_managers::transform_manager::TransformManager::callbackRtkGps(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)2695
mrs_uav_managers::transform_manager::TransformManager::publishLocalTf()109
mrs_uav_managers::transform_manager::TransformManager::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)175843
mrs_uav_managers::transform_manager::TransformManager::callbackHeightAgl(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>)131338
mrs_uav_managers::transform_manager::TransformManager::callbackAltitudeAmsl(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>)106413
mrs_uav_managers::transform_manager::TransformManager::publishFcuUntiltedTf(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)235464
mrs_uav_managers::transform_manager::TransformManager::callbackHwApiOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)235464
mrs_uav_managers::transform_manager::TransformManager::onInit()109
mrs_uav_managers::transform_manager::TransformManager::TransformManager()109
mrs_uav_managers::transform_manager::TransformManager::getPrintName[abi:cxx11]() const1756
mrs_uav_managers::transform_manager::TransformManager::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const5
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
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Date:2024-12-11 22:27:27Functions:131492.9 %
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/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         109 :   TransformManager() {
+      50         109 :     ch_ = std::make_shared<estimation_manager::CommonHandlers_t>();
+      51             : 
+      52         109 :     ch_->nodelet_name = nodelet_name_;
+      53         109 :     ch_->package_name = package_name_;
+      54         109 :   }
+      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         109 : void TransformManager::onInit() {
+     150             : 
+     151         109 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     152             : 
+     153         109 :   ros::Time::waitForValid();
+     154             : 
+     155         109 :   ROS_INFO("[%s]: initializing", getPrintName().c_str());
+     156             : 
+     157         109 :   broadcaster_ = std::make_shared<mrs_lib::TransformBroadcaster>();
+     158             : 
+     159         109 :   ch_->transformer = std::make_shared<mrs_lib::Transformer>(nh_, getPrintName());
+     160         109 :   ch_->transformer->retryLookupNewest(true);
+     161             : 
+     162         218 :   mrs_lib::ParamLoader param_loader(nh_, getPrintName());
+     163             : 
+     164         109 :   param_loader.loadParam("custom_config", _custom_config_);
+     165         109 :   param_loader.loadParam("platform_config", _platform_config_);
+     166         109 :   param_loader.loadParam("world_config", _world_config_);
+     167             : 
+     168         109 :   if (_custom_config_ != "") {
+     169         109 :     param_loader.addYamlFile(_custom_config_);
+     170             :   }
+     171             : 
+     172         109 :   if (_platform_config_ != "") {
+     173         109 :     param_loader.addYamlFile(_platform_config_);
+     174             :   }
+     175             : 
+     176         109 :   if (_world_config_ != "") {
+     177         109 :     param_loader.addYamlFile(_world_config_);
+     178             :   }
+     179             : 
+     180         109 :   param_loader.addYamlFileFromParam("private_config");
+     181         109 :   param_loader.addYamlFileFromParam("public_config");
+     182         109 :   param_loader.addYamlFileFromParam("estimators_config");
+     183             : 
+     184         218 :   const std::string yaml_prefix = "mrs_uav_managers/transform_manager/";
+     185             : 
+     186         109 :   param_loader.loadParam("uav_name", ch_->uav_name);
+     187             : 
+     188             :   /*//{ initialize scope timer */
+     189         109 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", ch_->scope_timer.enabled);
+     190         218 :   std::string       filepath;
+     191         218 :   const std::string time_logger_filepath = ros::package::getPath(package_name_) + "/scope_timer/transform_manager_scope_timer.txt";
+     192         109 :   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         109 :   bool   is_origin_param_ok = true;
+     198         109 :   double world_origin_x     = 0;
+     199         109 :   double world_origin_y     = 0;
+     200             : 
+     201         109 :   param_loader.loadParam("world_origin/units", world_origin_units_);
+     202             : 
+     203         109 :   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         109 :   } else if (Support::toLowercase(world_origin_units_) == "latlon") {
+     211             : 
+     212         109 :     ROS_INFO("[%s]: Loading world origin in LatLon units.", getPrintName().c_str());
+     213             : 
+     214             :     double lat, lon;
+     215         109 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_x", lat);
+     216         109 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_y", lon);
+     217             : 
+     218         109 :     mrs_lib::UTM(lat, lon, &world_origin_x, &world_origin_y);
+     219             : 
+     220         109 :     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         109 :   world_origin_.x = world_origin_x;
+     228         109 :   world_origin_.y = world_origin_y;
+     229         109 :   world_origin_.z = 0;
+     230             : 
+     231         109 :   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         218 :   std::string local_origin_parent_frame_id;
+     240         109 :   param_loader.loadParam(yaml_prefix + "local_origin_tf/parent", local_origin_parent_frame_id);
+     241         109 :   ns_local_origin_parent_frame_id_ = ch_->uav_name + "/" + local_origin_parent_frame_id;
+     242             : 
+     243         218 :   std::string local_origin_child_frame_id;
+     244         109 :   param_loader.loadParam(yaml_prefix + "local_origin_tf/child", local_origin_child_frame_id);
+     245         109 :   ns_local_origin_child_frame_id_ = ch_->uav_name + "/" + local_origin_child_frame_id;
+     246             : 
+     247         109 :   param_loader.loadParam(yaml_prefix + "local_origin_tf/enabled", publish_local_origin_tf_);
+     248             :   /*//}*/
+     249             : 
+     250             :   /*//{ load stable_origin parameters */
+     251         218 :   std::string stable_origin_parent_frame_id;
+     252         109 :   param_loader.loadParam(yaml_prefix + "stable_origin_tf/parent", stable_origin_parent_frame_id);
+     253         109 :   ns_stable_origin_parent_frame_id_ = ch_->uav_name + "/" + stable_origin_parent_frame_id;
+     254             : 
+     255         218 :   std::string stable_origin_child_frame_id;
+     256         109 :   param_loader.loadParam(yaml_prefix + "stable_origin_tf/child", stable_origin_child_frame_id);
+     257         109 :   ns_stable_origin_child_frame_id_ = ch_->uav_name + "/" + stable_origin_child_frame_id;
+     258             : 
+     259         109 :   param_loader.loadParam(yaml_prefix + "stable_origin_tf/enabled", publish_stable_origin_tf_);
+     260             :   /*//}*/
+     261             : 
+     262             :   /*//{ load fixed_origin parameters */
+     263         218 :   std::string fixed_origin_parent_frame_id;
+     264         109 :   param_loader.loadParam(yaml_prefix + "fixed_origin_tf/parent", fixed_origin_parent_frame_id);
+     265         109 :   ns_fixed_origin_parent_frame_id_ = ch_->uav_name + "/" + fixed_origin_parent_frame_id;
+     266             : 
+     267         218 :   std::string fixed_origin_child_frame_id;
+     268         109 :   param_loader.loadParam(yaml_prefix + "fixed_origin_tf/child", fixed_origin_child_frame_id);
+     269         109 :   ns_fixed_origin_child_frame_id_ = ch_->uav_name + "/" + fixed_origin_child_frame_id;
+     270             : 
+     271         109 :   param_loader.loadParam(yaml_prefix + "fixed_origin_tf/enabled", publish_fixed_origin_tf_);
+     272             :   /*//}*/
+     273             : 
+     274             :   /*//{ load fcu_untilted parameters */
+     275         218 :   std::string fcu_frame_id;
+     276         109 :   param_loader.loadParam(yaml_prefix + "fcu_untilted_tf/parent", fcu_frame_id);
+     277         109 :   ch_->frames.fcu    = fcu_frame_id;
+     278         109 :   ch_->frames.ns_fcu = ch_->uav_name + "/" + fcu_frame_id;
+     279             : 
+     280         218 :   std::string fcu_untilted_frame_id;
+     281         109 :   param_loader.loadParam(yaml_prefix + "fcu_untilted_tf/child", fcu_untilted_frame_id);
+     282         109 :   ch_->frames.fcu_untilted    = fcu_untilted_frame_id;
+     283         109 :   ch_->frames.ns_fcu_untilted = ch_->uav_name + "/" + fcu_untilted_frame_id;
+     284             : 
+     285         109 :   param_loader.loadParam(yaml_prefix + "fcu_untilted_tf/enabled", publish_fcu_untilted_tf_);
+     286             :   /*//}*/
+     287             : 
+     288             :   /*//{ load amsl_origin parameters*/
+     289         218 :   std::string amsl_parent_frame_id, amsl_child_frame_id;
+     290         109 :   param_loader.loadParam(yaml_prefix + "altitude_amsl_tf/enabled", publish_amsl_origin_tf_);
+     291         109 :   param_loader.loadParam(yaml_prefix + "altitude_amsl_tf/parent", amsl_parent_frame_id);
+     292         109 :   param_loader.loadParam(yaml_prefix + "altitude_amsl_tf/child", amsl_child_frame_id);
+     293         109 :   ch_->frames.amsl                = amsl_child_frame_id;
+     294         109 :   ch_->frames.ns_amsl             = ch_->uav_name + "/" + amsl_child_frame_id;
+     295         109 :   ns_amsl_origin_parent_frame_id_ = ch_->uav_name + "/" + amsl_parent_frame_id;
+     296         109 :   ns_amsl_origin_child_frame_id_  = ch_->uav_name + "/" + amsl_child_frame_id;
+     297             : 
+     298             :   /*//}*/
+     299             : 
+     300         109 :   param_loader.loadParam(yaml_prefix + "rtk_antenna/frame_id", ch_->frames.rtk_antenna);
+     301         109 :   ch_->frames.ns_rtk_antenna = ch_->uav_name + "/" + ch_->frames.rtk_antenna;
+     302             : 
+     303         109 :   param_loader.loadParam("mrs_uav_managers/estimation_manager/state_estimators", estimator_names_);
+     304         109 :   param_loader.loadParam(yaml_prefix + "tf_sources", tf_source_names_);
+     305             : 
+     306         109 :   param_loader.loadParam(yaml_prefix + "utm_source_priority", utm_source_priority_list_);
+     307         348 :   for (auto utm_source : utm_source_priority_list_) {
+     308         347 :     if (Support::isStringInVector(utm_source, estimator_names_)) {
+     309         108 :       ROS_INFO("[%s]: the source for utm_origin and world origin is: %s", getPrintName().c_str(), utm_source.c_str());
+     310         108 :       utm_source_name_ = utm_source;
+     311         108 :       break;
+     312             :     }
+     313             :   }
+     314             : 
+     315             :   /*//{ initialize tf sources */
+     316         109 :   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         226 :   for (int i = 0; i < int(estimator_names_.size()); i++) {
+     346             : 
+     347         234 :     const std::string estimator_name = estimator_names_[i];
+     348         117 :     const bool        is_utm_source  = estimator_name == utm_source_name_;
+     349         117 :     ROS_INFO("[%s]: loading tf source of estimator: %s", getPrintName().c_str(), estimator_name.c_str());
+     350             : 
+     351         117 :     auto estimator_param_loader = std::make_shared<mrs_lib::ParamLoader>(nh_, "TransformManager/" + estimator_name);
+     352             : 
+     353         117 :     if (_custom_config_ != "") {
+     354         117 :       estimator_param_loader->addYamlFile(_custom_config_);
+     355             :     }
+     356             : 
+     357         117 :     if (_platform_config_ != "") {
+     358         117 :       estimator_param_loader->addYamlFile(_platform_config_);
+     359             :     }
+     360             : 
+     361         117 :     if (_world_config_ != "") {
+     362         117 :       estimator_param_loader->addYamlFile(_world_config_);
+     363             :     }
+     364             : 
+     365         117 :     estimator_param_loader->addYamlFileFromParam("private_config");
+     366         117 :     estimator_param_loader->addYamlFileFromParam("public_config");
+     367         117 :     estimator_param_loader->addYamlFileFromParam("estimators_config");
+     368             : 
+     369         117 :     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         109 :   param_loader.loadParam(yaml_prefix + "mapping_origin_tf/enabled", mapping_origin_tf_enabled, false);
+     375             : 
+     376         109 :   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         218 :   mrs_lib::SubscribeHandlerOptions shopts;
+     403         109 :   shopts.nh                 = nh_;
+     404         109 :   shopts.node_name          = getPrintName();
+     405         109 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     406         109 :   shopts.threadsafe         = true;
+     407         109 :   shopts.autostart          = true;
+     408         109 :   shopts.queue_size         = 10;
+     409         109 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     410             : 
+     411         109 :   sh_uav_state_ = mrs_lib::SubscribeHandler<mrs_msgs::UavState>(shopts, "uav_state_in", &TransformManager::callbackUavState, this);
+     412             : 
+     413         109 :   sh_height_agl_ = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "height_agl_in", &TransformManager::callbackHeightAgl, this);
+     414             : 
+     415         109 :   sh_altitude_amsl_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude>(shopts, "altitude_amsl_in", &TransformManager::callbackAltitudeAmsl, this);
+     416             : 
+     417             :   sh_hw_api_orientation_ =
+     418         109 :       mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, "orientation_in", &TransformManager::callbackHwApiOrientation, this);
+     419             : 
+     420         109 :   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         106 :     sh_gnss_ = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, "gnss_in", &TransformManager::callbackGnss, this);
+     424             :   }
+     425             :   /*//}*/
+     426             : 
+     427         109 :   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         109 :   is_initialized_ = true;
+     433         109 :   ROS_INFO("[%s]: initialized", getPrintName().c_str());
+     434         109 : }
+     435             : /*//}*/
+     436             : 
+     437             : /*//{ callbackUavState() */
+     438             : 
+     439      175843 : void TransformManager::callbackUavState(const mrs_msgs::UavState::ConstPtr msg) {
+     440             : 
+     441      175843 :   if (!is_initialized_) {
+     442           0 :     return;
+     443             :   }
+     444             : 
+     445      351686 :   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      175843 :   if (!is_first_frame_id_set_) {
+     449         109 :     first_frame_id_                = msg->header.frame_id;
+     450         109 :     last_frame_id_                 = msg->header.frame_id;
+     451         109 :     pose_fixed_                    = msg->pose;
+     452         109 :     pose_first_.pose               = msg->pose;
+     453         109 :     pose_first_.header             = msg->header;
+     454         109 :     pose_fixed_diff_.orientation.w = 1;
+     455             : 
+     456             :     // we don't want vins_kickoff to be our first estimator
+     457         109 :     if (msg->header.frame_id != ch_->uav_name + "/vins_kickoff_origin") {
+     458         109 :       is_first_frame_id_set_ = true;
+     459             :     }
+     460             :   }
+     461             : 
+     462             :   // publish static tf from fixed_origin to local_origin based on the first message
+     463      175843 :   if (publish_local_origin_tf_ && !is_local_static_tf_published_) {
+     464         109 :     publishLocalTf();
+     465             :   }
+     466             : 
+     467      175843 :   if (publish_stable_origin_tf_) {
+     468             :     /*//{ publish stable_origin tf*/
+     469      175843 :     geometry_msgs::TransformStamped tf_msg;
+     470      175843 :     tf_msg.header.stamp    = msg->header.stamp;
+     471      175843 :     tf_msg.header.frame_id = ns_stable_origin_parent_frame_id_;
+     472      175843 :     tf_msg.child_frame_id  = ns_stable_origin_child_frame_id_;
+     473             : 
+     474             :     // transform pose to first frame_id
+     475      175843 :     geometry_msgs::PoseStamped pose;
+     476      175843 :     pose.header = msg->header;
+     477      175843 :     pose.pose   = msg->pose;
+     478      175843 :     if (pose.pose.orientation.w == 0 && pose.pose.orientation.z == 0 && pose.pose.orientation.y == 0 && pose.pose.orientation.x == 0) {
+     479           0 :       ROS_WARN_ONCE("[%s]: Uninitialized quaternion detected during publishing stable_origin tf of %s. Setting w=1", getPrintName().c_str(),
+     480             :                     pose.header.frame_id.c_str());
+     481           0 :       pose.pose.orientation.w = 1.0;
+     482             :     }
+     483             : 
+     484      175843 :     auto res = ch_->transformer->transformSingle(pose, first_frame_id_);
+     485             : 
+     486      175843 :     if (res) {
+     487      175843 :       const tf2::Transform      tf       = Support::tf2FromPose(res->pose);
+     488      175843 :       const tf2::Transform      tf_inv   = tf.inverse();
+     489      175843 :       const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     490      175843 :       tf_msg.transform.translation       = Support::pointToVector3(pose_inv.position);
+     491      175843 :       tf_msg.transform.rotation          = pose_inv.orientation;
+     492             : 
+     493      175843 :       if (Support::noNans(tf_msg)) {
+     494             :         try {
+     495      175843 :           broadcaster_->sendTransform(tf_msg);
+     496             :         }
+     497           0 :         catch (...) {
+     498           0 :           ROS_ERROR("exception caught ");
+     499             :         }
+     500             :       } else {
+     501           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(),
+     502             :                           tf_msg.child_frame_id.c_str());
+     503             :       }
+     504      175843 :       ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     505             :                     tf_msg.child_frame_id.c_str());
+     506             :     } else {
+     507           0 :       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());
+     508           0 :       return;
+     509             :     }
+     510             :     /*//}*/
+     511             :   }
+     512             : 
+     513      175843 :   if (publish_fixed_origin_tf_) {
+     514             :     /*//{ publish fixed_origin tf*/
+     515      175843 :     if (msg->header.frame_id != last_frame_id_) {
+     516           5 :       ROS_WARN("[%s]: Detected estimator change from %s to %s. Updating offset for fixed origin.", getPrintName().c_str(), last_frame_id_.c_str(),
+     517             :                msg->header.frame_id.c_str());
+     518             : 
+     519           5 :       pose_fixed_diff_ = Support::getPoseDiff(msg->pose, pose_fixed_);
+     520             :     }
+     521             : 
+     522             : 
+     523      175843 :     pose_fixed_ = Support::applyPoseDiff(msg->pose, pose_fixed_diff_);
+     524             : 
+     525      351686 :     geometry_msgs::TransformStamped tf_msg;
+     526      175843 :     tf_msg.header.stamp    = msg->header.stamp;
+     527      175843 :     tf_msg.header.frame_id = ns_fixed_origin_parent_frame_id_;
+     528      175843 :     tf_msg.child_frame_id  = ns_fixed_origin_child_frame_id_;
+     529             : 
+     530      175843 :     const tf2::Transform      tf       = Support::tf2FromPose(pose_fixed_);
+     531      175843 :     const tf2::Transform      tf_inv   = tf.inverse();
+     532      175843 :     const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     533      175843 :     tf_msg.transform.translation       = Support::pointToVector3(pose_inv.position);
+     534      175843 :     tf_msg.transform.rotation          = pose_inv.orientation;
+     535             : 
+     536      175843 :     if (Support::noNans(tf_msg)) {
+     537             :       try {
+     538      175843 :         broadcaster_->sendTransform(tf_msg);
+     539             :       }
+     540           0 :       catch (...) {
+     541           0 :         ROS_ERROR("exception caught ");
+     542             :       }
+     543             :     } else {
+     544           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(),
+     545             :                         tf_msg.child_frame_id.c_str());
+     546             :     }
+     547      175843 :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     548             :                   tf_msg.child_frame_id.c_str());
+     549             :     /*//}*/
+     550             :   }
+     551             : 
+     552             :   /*//{ choose another source of utm and world tfs after estimator switch */
+     553      175843 :   if (msg->header.frame_id != last_frame_id_) {
+     554             : 
+     555          10 :     const std::string last_estimator_name    = Support::frameIdToEstimatorName(last_frame_id_);
+     556          10 :     const std::string current_estimator_name = Support::frameIdToEstimatorName(msg->header.frame_id);
+     557             : 
+     558           5 :     ROS_INFO("[%s]: Detected estimator switch: %s -> %s", getPrintName().c_str(), last_estimator_name.c_str(), current_estimator_name.c_str());
+     559             : 
+     560           5 :     bool   valid_utm_source_found = false;
+     561             :     size_t potential_utm_source_index;
+     562             : 
+     563          12 :     for (size_t i = 0; i < tf_sources_.size(); i++) {
+     564             : 
+     565             :       // first check if tf source can publish utm origin and is not the switched-from estimator
+     566          12 :       if (tf_sources_.at(i)->getIsUtmBased() && tf_sources_.at(i)->getName() != last_estimator_name) {
+     567             : 
+     568           8 :         valid_utm_source_found     = true;
+     569           8 :         potential_utm_source_index = i;
+     570             : 
+     571             :         // check if switched-to estimator is utm_based, if so, use it
+     572           8 :         if (tf_sources_.at(i)->getIsUtmBased() && tf_sources_.at(i)->getName() == current_estimator_name) {
+     573           5 :           potential_utm_source_index = i;
+     574           5 :           break;
+     575             :         }
+     576             :       }
+     577             :     }
+     578             : 
+     579             : 
+     580             :     // if we found a valid utm source, use it, otherwise stay with the switched-from estimator
+     581           5 :     if (valid_utm_source_found) {
+     582             : 
+     583             :       // stop all estimators from publishing utm source
+     584          23 :       for (size_t i = 0; i < tf_sources_.size(); i++) {
+     585          18 :         if (tf_sources_.at(i)->getIsUtmSource()) {
+     586           5 :           tf_sources_.at(i)->setIsUtmSource(false);
+     587           5 :           ROS_INFO("[%s]: setting is_utm_source of estimator %s to false", getPrintName().c_str(), last_estimator_name.c_str());
+     588             :         }
+     589             :       }
+     590             : 
+     591           5 :       tf_sources_.at(potential_utm_source_index)->setIsUtmSource(true);
+     592           5 :       ROS_INFO("[%s]: setting is_utm_source of estimator %s to true", getPrintName().c_str(), current_estimator_name.c_str());
+     593             :     }
+     594             :   }
+     595             :   /*//}*/
+     596             : 
+     597      175843 :   last_frame_id_ = msg->header.frame_id;
+     598             : }
+     599             : /*//}*/
+     600             : 
+     601             : /*//{ callbackHeightAgl() */
+     602             : 
+     603      131338 : void TransformManager::callbackHeightAgl(const mrs_msgs::Float64Stamped::ConstPtr msg) {
+     604             : 
+     605      131338 :   if (!is_initialized_) {
+     606           0 :     return;
+     607             :   }
+     608             : 
+     609      394014 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackHeightAgl", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     610             : 
+     611      262676 :   geometry_msgs::TransformStamped tf_msg;
+     612      131338 :   tf_msg.header.stamp    = msg->header.stamp;
+     613      131338 :   tf_msg.header.frame_id = ch_->frames.ns_fcu_untilted;
+     614      131338 :   tf_msg.child_frame_id  = msg->header.frame_id;
+     615             : 
+     616      131338 :   tf_msg.transform.translation.x = 0;
+     617      131338 :   tf_msg.transform.translation.y = 0;
+     618      131338 :   tf_msg.transform.translation.z = -msg->value;
+     619      131338 :   tf_msg.transform.rotation.x    = 0;
+     620      131338 :   tf_msg.transform.rotation.y    = 0;
+     621      131338 :   tf_msg.transform.rotation.z    = 0;
+     622      131338 :   tf_msg.transform.rotation.w    = 1;
+     623             : 
+     624      131338 :   if (Support::noNans(tf_msg)) {
+     625             :     try {
+     626      131338 :       broadcaster_->sendTransform(tf_msg);
+     627             :     }
+     628           0 :     catch (...) {
+     629           0 :       ROS_ERROR("exception caught ");
+     630             :     }
+     631             :   } else {
+     632           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(),
+     633             :                       tf_msg.child_frame_id.c_str());
+     634             :   }
+     635      131338 :   ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     636             :                 tf_msg.child_frame_id.c_str());
+     637             : }
+     638             : /*//}*/
+     639             : 
+     640             : /*//{ callbackAltitudeAmsl() */
+     641             : 
+     642      106413 : void TransformManager::callbackAltitudeAmsl(const mrs_msgs::HwApiAltitude::ConstPtr msg) {
+     643             : 
+     644      106413 :   if (!is_initialized_) {
+     645           0 :     return;
+     646             :   }
+     647             : 
+     648      319239 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackAltitudeAmsl", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     649             : 
+     650      212826 :   geometry_msgs::TransformStamped tf_msg;
+     651      106413 :   tf_msg.header.stamp    = msg->stamp;
+     652      106413 :   tf_msg.header.frame_id = ch_->frames.ns_fcu_untilted;
+     653      106413 :   tf_msg.child_frame_id  = ch_->frames.ns_amsl;
+     654             : 
+     655      106413 :   tf_msg.transform.translation.x = 0;
+     656      106413 :   tf_msg.transform.translation.y = 0;
+     657      106413 :   tf_msg.transform.translation.z = -msg->amsl;
+     658      106413 :   tf_msg.transform.rotation.x    = 0;
+     659      106413 :   tf_msg.transform.rotation.y    = 0;
+     660      106413 :   tf_msg.transform.rotation.z    = 0;
+     661      106413 :   tf_msg.transform.rotation.w    = 1;
+     662             : 
+     663      106413 :   if (Support::noNans(tf_msg)) {
+     664             :     try {
+     665      106371 :       broadcaster_->sendTransform(tf_msg);
+     666             :     }
+     667           0 :     catch (...) {
+     668           0 :       ROS_ERROR("exception caught ");
+     669             :     }
+     670             :   } else {
+     671          42 :     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(),
+     672             :                       tf_msg.child_frame_id.c_str());
+     673             :   }
+     674      106413 :   ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     675             :                 tf_msg.child_frame_id.c_str());
+     676             : }
+     677             : /*//}*/
+     678             : 
+     679             : /*//{ callbackHwApiOrientation() */
+     680      235464 : void TransformManager::callbackHwApiOrientation(const geometry_msgs::QuaternionStamped::ConstPtr msg) {
+     681             : 
+     682      235464 :   if (!is_initialized_) {
+     683           0 :     return;
+     684             :   }
+     685             : 
+     686      706392 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::publishFcuUntilted", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     687             : 
+     688      235464 :   if (publish_fcu_untilted_tf_) {
+     689      235464 :     publishFcuUntiltedTf(msg);
+     690             :   }
+     691             : }
+     692             : /*//}*/
+     693             : 
+     694             : /*//{ callbackGnss() */
+     695       81866 : void TransformManager::callbackGnss(const sensor_msgs::NavSatFix::ConstPtr msg) {
+     696             : 
+     697       81866 :   if (!is_initialized_) {
+     698       81760 :     return;
+     699             :   }
+     700             : 
+     701       81866 :   if (got_utm_offset_) {
+     702       81760 :     return;
+     703             :   }
+     704             : 
+     705         212 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackGnss", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     706             : 
+     707             :   double out_x;
+     708             :   double out_y;
+     709             : 
+     710         106 :   mrs_lib::UTM(msg->latitude, msg->longitude, &out_x, &out_y);
+     711             : 
+     712         106 :   if (!std::isfinite(out_x)) {
+     713           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_x\"!!!", getPrintName().c_str());
+     714           0 :     return;
+     715             :   }
+     716             : 
+     717         106 :   if (!std::isfinite(out_y)) {
+     718           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_y\"!!!", getPrintName().c_str());
+     719           0 :     return;
+     720             :   }
+     721             : 
+     722         106 :   geometry_msgs::Point utm_origin;
+     723         106 :   utm_origin.x = out_x;
+     724         106 :   utm_origin.y = out_y;
+     725         106 :   utm_origin.z = msg->altitude;
+     726             : 
+     727         106 :   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);
+     728             : 
+     729         217 :   for (size_t i = 0; i < tf_sources_.size(); i++) {
+     730         111 :     tf_sources_[i]->setUtmOrigin(utm_origin);
+     731         111 :     tf_sources_[i]->setWorldOrigin(world_origin_);
+     732             :   }
+     733         106 :   got_utm_offset_ = true;
+     734             : }
+     735             : /*//}*/
+     736             : 
+     737             : /*//{ callbackRtkGps() */
+     738        2695 : void TransformManager::callbackRtkGps(const mrs_msgs::RtkGps::ConstPtr msg) {
+     739             : 
+     740        2695 :   if (!is_initialized_) {
+     741        2692 :     return;
+     742             :   }
+     743             : 
+     744        2695 :   if (got_utm_offset_) {
+     745        2690 :     return;
+     746             :   }
+     747             : 
+     748          10 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackRtkGps", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     749             : 
+     750             :   double out_x;
+     751             :   double out_y;
+     752             : 
+     753           5 :   geometry_msgs::PoseStamped rtk_pos;
+     754             : 
+     755           5 :   if (!std::isfinite(msg->gps.latitude)) {
+     756           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->latitude\"!!!", getPrintName().c_str());
+     757           0 :     return;
+     758             :   }
+     759             : 
+     760           5 :   if (!std::isfinite(msg->gps.longitude)) {
+     761           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->longitude\"!!!", getPrintName().c_str());
+     762           0 :     return;
+     763             :   }
+     764             : 
+     765           5 :   if (!std::isfinite(msg->gps.altitude)) {
+     766           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->altitude\"!!!", getPrintName().c_str());
+     767           0 :     return;
+     768             :   }
+     769             : 
+     770           5 :   if (msg->fix_type.fix_type != mrs_msgs::RtkFixType::RTK_FIX) {
+     771           0 :     ROS_INFO_THROTTLE(1.0, "[%s] %s RTK FIX", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     772           0 :     return;
+     773             :   }
+     774             : 
+     775           5 :   rtk_pos.header = msg->header;
+     776           5 :   mrs_lib::UTM(msg->gps.latitude, msg->gps.longitude, &rtk_pos.pose.position.x, &rtk_pos.pose.position.y);
+     777           5 :   rtk_pos.pose.position.z  = msg->gps.altitude;
+     778           5 :   rtk_pos.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+     779             : 
+     780           5 :   rtk_pos.pose.position.x -= ch_->world_origin.x;
+     781           5 :   rtk_pos.pose.position.y -= ch_->world_origin.y;
+     782             : 
+     783             : 
+     784             :   // transform the RTK position from antenna to FCU
+     785           5 :   auto res = transformRtkToFcu(rtk_pos);
+     786           5 :   if (res) {
+     787           3 :     rtk_pos.pose = res.value();
+     788             :   } else {
+     789           2 :     ROS_ERROR_THROTTLE(1.0, "[%s]: transform to fcu failed", getPrintName().c_str());
+     790           2 :     return;
+     791             :   }
+     792             : 
+     793           3 :   mrs_lib::UTM(msg->gps.latitude, msg->gps.longitude, &out_x, &out_y);
+     794             : 
+     795           3 :   if (!std::isfinite(out_x)) {
+     796           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_x\"!!!", getPrintName().c_str());
+     797           0 :     return;
+     798             :   }
+     799             : 
+     800           3 :   if (!std::isfinite(out_y)) {
+     801           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_y\"!!!", getPrintName().c_str());
+     802           0 :     return;
+     803             :   }
+     804             : 
+     805           3 :   geometry_msgs::Point utm_origin;
+     806           3 :   utm_origin.x = out_x;
+     807           3 :   utm_origin.y = out_y;
+     808           3 :   utm_origin.z = msg->gps.altitude;
+     809             : 
+     810           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);
+     811             : 
+     812           9 :   for (size_t i = 0; i < tf_sources_.size(); i++) {
+     813           6 :     tf_sources_[i]->setUtmOrigin(utm_origin);
+     814           6 :     tf_sources_[i]->setWorldOrigin(world_origin_);
+     815             :   }
+     816           3 :   got_utm_offset_ = true;
+     817             : }
+     818             : /*//}*/
+     819             : 
+     820             : /*//{ publishFcuUntiltedTf() */
+     821      235464 : void TransformManager::publishFcuUntiltedTf(const geometry_msgs::QuaternionStampedConstPtr& msg) {
+     822             : 
+     823      470928 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::publishFcuUntilted", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     824             : 
+     825             :   double heading;
+     826             : 
+     827             :   try {
+     828      235464 :     heading = mrs_lib::AttitudeConverter(msg->quaternion).getHeading();
+     829             :   }
+     830           0 :   catch (...) {
+     831           0 :     ROS_ERROR("[%s]: Exception caught during getting heading", getPrintName().c_str());
+     832           0 :     return;
+     833             :   }
+     834      235464 :   scope_timer.checkpoint("heading");
+     835             : 
+     836      235464 :   const Eigen::Matrix3d odom_pixhawk_R = mrs_lib::AttitudeConverter(msg->quaternion);
+     837      235464 :   const Eigen::Matrix3d undo_heading_R = mrs_lib::AttitudeConverter(Eigen::AngleAxis(-heading, Eigen::Vector3d(0, 0, 1)));
+     838             : 
+     839      235464 :   const tf2::Quaternion q     = mrs_lib::AttitudeConverter(undo_heading_R * odom_pixhawk_R);
+     840      235464 :   const tf2::Quaternion q_inv = q.inverse();
+     841             : 
+     842      235464 :   scope_timer.checkpoint("q inverse");
+     843             : 
+     844      235464 :   geometry_msgs::TransformStamped tf;
+     845      235464 :   tf.header.stamp            = msg->header.stamp;  // TODO(petrlmat) ros::Time::now()?
+     846      235464 :   tf.header.frame_id         = ch_->frames.ns_fcu;
+     847      235464 :   tf.child_frame_id          = ch_->frames.ns_fcu_untilted;
+     848      235464 :   tf.transform.translation.x = 0.0;
+     849      235464 :   tf.transform.translation.y = 0.0;
+     850      235464 :   tf.transform.translation.z = 0.0;
+     851      235464 :   tf.transform.rotation      = mrs_lib::AttitudeConverter(q_inv);
+     852             : 
+     853      235464 :   scope_timer.checkpoint("tf fill");
+     854      235464 :   if (Support::noNans(tf)) {
+     855      235464 :     broadcaster_->sendTransform(tf);
+     856             :   } else {
+     857           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN encountered in fcu_untilted tf", getPrintName().c_str());
+     858             :   }
+     859      235464 :   scope_timer.checkpoint("tf pub");
+     860             : }
+     861             : /*//}*/
+     862             : 
+     863             : /* publishLocalTf() //{*/
+     864         109 : void TransformManager::publishLocalTf() {
+     865             : 
+     866         327 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishLocalTf", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     867             : 
+     868         109 :   geometry_msgs::TransformStamped tf_msg;
+     869         109 :   tf_msg.header.stamp = pose_first_.header.stamp;
+     870             : 
+     871         109 :   tf_msg.header.frame_id       = ns_fixed_origin_child_frame_id_;
+     872         109 :   tf_msg.child_frame_id        = ns_local_origin_child_frame_id_;
+     873         109 :   tf_msg.transform.translation = Support::pointToVector3(pose_first_.pose.position);
+     874         109 :   tf_msg.transform.rotation    = pose_first_.pose.orientation;
+     875             : 
+     876         109 :   if (Support::noNans(tf_msg)) {
+     877             : 
+     878             :     try {
+     879         109 :       static_broadcaster_.sendTransform(tf_msg);
+     880             :     }
+     881           0 :     catch (...) {
+     882           0 :       ROS_ERROR("[%s]: exception caught while publishing tf from %s to %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     883             :                 tf_msg.child_frame_id.c_str());
+     884             :     }
+     885             : 
+     886             :   } else {
+     887           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(),
+     888             :                       tf_msg.child_frame_id.c_str());
+     889             :   }
+     890         109 :   ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     891             :                 tf_msg.child_frame_id.c_str());
+     892         109 :   is_local_static_tf_published_ = true;
+     893         109 : }
+     894             : /*//}*/
+     895             : 
+     896             : /*//{ transformRtkToFcu() */
+     897           5 : std::optional<geometry_msgs::Pose> TransformManager::transformRtkToFcu(const geometry_msgs::PoseStamped& pose_in) const {
+     898             : 
+     899          10 :   geometry_msgs::PoseStamped pose_tmp = pose_in;
+     900             : 
+     901             :   // inject current orientation into rtk pose
+     902          10 :   auto res1 = ch_->transformer->getTransform(ch_->frames.ns_fcu_untilted, ch_->frames.ns_fcu, ros::Time::now());
+     903           5 :   if (res1) {
+     904           3 :     pose_tmp.pose.orientation = res1.value().transform.rotation;
+     905             :   } else {
+     906           2 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Could not obtain transform from %s to %s.", getPrintName().c_str(), ch_->frames.ns_fcu_untilted.c_str(),
+     907             :                        ch_->frames.ns_fcu.c_str());
+     908           2 :     return {};
+     909             :   }
+     910             : 
+     911             :   // invert tf
+     912           3 :   tf2::Transform             tf_utm_to_antenna = Support::tf2FromPose(pose_tmp.pose);
+     913           6 :   geometry_msgs::PoseStamped utm_in_antenna;
+     914           3 :   utm_in_antenna.pose            = Support::poseFromTf2(tf_utm_to_antenna.inverse());
+     915           3 :   utm_in_antenna.header.stamp    = pose_in.header.stamp;
+     916           3 :   utm_in_antenna.header.frame_id = ch_->frames.ns_rtk_antenna;
+     917             : 
+     918             :   // transform to fcu
+     919           6 :   geometry_msgs::PoseStamped utm_in_fcu;
+     920           3 :   utm_in_fcu.header.frame_id = ch_->frames.ns_fcu;
+     921           3 :   utm_in_fcu.header.stamp    = pose_in.header.stamp;
+     922           6 :   auto res2                  = ch_->transformer->transformSingle(utm_in_antenna, ch_->frames.ns_fcu);
+     923             : 
+     924           3 :   if (res2) {
+     925           3 :     utm_in_fcu = res2.value();
+     926             :   } else {
+     927           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(),
+     928             :                        ch_->frames.ns_fcu.c_str());
+     929           0 :     return {};
+     930             :   }
+     931             : 
+     932             :   // invert tf
+     933           3 :   tf2::Transform      tf_fcu_to_utm = Support::tf2FromPose(utm_in_fcu.pose);
+     934           3 :   geometry_msgs::Pose fcu_in_utm    = Support::poseFromTf2(tf_fcu_to_utm.inverse());
+     935             : 
+     936           3 :   return fcu_in_utm;
+     937             : }
+     938             : /*//}*/
+     939             : 
+     940             : /*//{ getName() */
+     941           0 : std::string TransformManager::getName() const {
+     942           0 :   return name_;
+     943             : }
+     944             : /*//}*/
+     945             : 
+     946             : /*//{ getPrintName() */
+     947        1756 : std::string TransformManager::getPrintName() const {
+     948        1756 :   return nodelet_name_;
+     949             : }
+     950             : /*//}*/
+     951             : 
+     952             : }  // namespace transform_manager
+     953             : 
+     954             : }  // namespace mrs_uav_managers
+     955             : 
+     956             : #include <pluginlib/class_list_macros.h>
+     957         109 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::transform_manager::TransformManager, nodelet::Nodelet)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + 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..40fab38fd5 --- /dev/null +++ b/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.overview.html @@ -0,0 +1,260 @@ + + + + + + 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 + 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..a3013f0669b7f34fdc7955abbd3b2af2ab72a5fc GIT binary patch literal 3411 zcmV-Z4XpBsP)pV3_N8yNaP|>FdfI^K>rso!FTg` zu3xVdE-RD=vJ^A?q~YPaX8P_BhVpn+m!+ph_cD;>kpiWWNo`OxUWhbArogL)&H2sKjmB?Cdf8qL>2)V@QQ5V6TAz=bJV95r=sIwOziD;7y&WyU zjd0I6^6CK^8Z*#9qAQ~(cAZUNY;2cAlp8QI?hh;?CgxWMTIDtjM!eWKMLffD7quGmvRM; z0__xG(}2Ac6Qi@hW;ewdY4cc$Bz;n#nSM*uBdckb!e{#8kb1C27>)D76nkH3+vmz=AiaRVJ$ei-+Xb_Q20i!aaWtMb7BgFcRY8k;QhRJ!_|s^QJ*!#Jj;nM` z^tc1q8X2R)(b}UNlwyUium9q5@{GTG#)amc3csXcz~o3Qg+Pawo;8{|BP^ck$SC9jvnEVRjMzohz~!&>gQ_U z_B#GC0bOxG3783nyn6C9$W!(42)(3G6wpV}bV3V#A=4uQT3wvAO~w;iokyH&zK}=t zgjVMf125oFZ>6510i3MB2;FmBAhonNJN^9n1`8(}H9kQQh%rIdopz2Au_XD&lZ2lcINaj4itx|i&UNP zU6k}}UQC@B#*#FSd}xTfc0#fT0bQinI)ThxH-V9&Tza`cw(5P9%RpmG6tzp8{!jfW z61e~}{CP*xMZbF5b94^;pn8Np8TJaUt83s3X9qXm`PCeOQ%hzSrKTwkv1?CJAD4OQ z+NE5OR%8mdxHBZ_j6LlO)}N}#rnTZ;TGXJalvW|5AxA*tz)ZKrmfP>xXu`_+qqS?H zEnMc4p3Ti&Wji3`QWfrv!Z6+!8byxVg$drXnhoW#1$x)`s6*CcIgASpE*dOwvH{DW z1Yk8tAe1r#7t}RH*1_34v$oMy!8VNOq%`Dwsw+M?xu0s&(1?3GC4Od;MCkghsrVu6 z;KoqBm$UM*=r^gLGBax6u8!Dsp{^~T4@`<(Pr3AQS#k#_TUFwdGHRAS~J`@_Jk(^=;H2H;gOu2Z3jP&dygZ{75qpwzOgP31ZP5= zm%Rc)JfG6u;)2*UBvaW<98BZ(C9h`74l*oK;MptN{}m&S18$}2Oi>30##fYL0g~VH zmHQaz=LqMMdemcco1UV+?SNg^yz@X)g+?&ht)^5rw;M5TZ~NRwJkVmgn@QU0ka5qk zYyT?M#;!i6g;OLn?LoUX&KaQYxtLlw(TEl8Gum>Iv7t8>&BfPPgl7p?e!_Xw8s9`< zTjf1ViZwbreXBrbjCPk4dDmG^k+3_dnldVrNTVGF*^hC$wUE;fWD#K!Lw2dF!V7A3 z`CQ@bLy`_2qu%K1Q+|>4XyftM_dPtY-uLXirP1LuGS;l_2L()N=i2B z+I5`jn|f4f@Nm%=R*eVR@)Qr7hkFn|BYHRwG_9n!or}Hb;qa-H;^BPPUGq8&Uokc6 z;Xu}vj7_zWzR`W$@mgFaVfWu+Z)0IJcqaj z4J8|rURUXd%a#BQCe({*5;S2xJaFC6vifq zQi(-k1x}Q7#CCqx^|FF|Ap>7{G@l`z<QPI_Jv)_%o#Xm)|p_megc|EcKR<0M#H4 zQ=|oC63}VJyI&Z=3m*dVV$=Ivlab=@0*$TfywDOB3U#DB(756n!@@^(3Lu1qJqfn{ z2Qa8%AxeE}Vd2B>XN+NCSt-ca)E53e4~N{xIYkJ9`=~Cgf89q*>RNwR_tB=f$9){h z0T5v>b000>*L~DoFID4#f5?5{eE1UYf2IdI<%11WQAu<}k}hBOp*j%BD^S1i^$KRG zRmthuheFX>2=ozV*4UwNW>)F^n)*ktaMMA~m6ca&&B=RtJbNnK?$+f*clzFC?@tK>77k@8O~7pvd z&57+r*G&@Bp%hcpAjl*DYsGhbD_QESb!p%;^0>N>V|P+`G42tN*Sg8H$o{rn!4hs64N*> z1UOSi)^9ruUO|08L@fHUT95H$2tKMMUh7HseDeFtHk$R6k;d9Ogy6bD`YBvPFa!5= z?YPIA#1ST4%U4Qw9{DOaPmi34H_lzdpTU}+qk%aqd?}IwU5i~;cS9Dm4%Uz6Z9bsp z3ZN72*hHYQF*yJc2rmt26sy@K0j+ynVc%1}j3qwhb?*Wo?=0Tx;?i^H#s+D|#j!cQ zQ(c_5y=yC7a8!GOF#PQ>#{iubm{q|wvOZQ6cL`%I4lz!SK;oAA`X#-2&W6o%`|12wJyOdjPFI+yP_VNJ_tPtj7U-p~5NT pDaGSF-tXl3>Jn9HDaOq${{fuRRw=}!=*<8C002ovPDHLkV1j7MmF)lk literal 0 HcmV?d00001 diff --git a/mrs_uav_managers/src/uav_manager.cpp.func-sort-c.html b/mrs_uav_managers/src/uav_manager.cpp.func-sort-c.html new file mode 100644 index 0000000000..226aba5cae --- /dev/null +++ b/mrs_uav_managers/src/uav_manager.cpp.func-sort-c.html @@ -0,0 +1,232 @@ + + + + + + + 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:792118067.1 %
Date:2024-12-11 22:27:27Functions: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()21
mrs_uav_managers::uav_manager::UavManager::callbackTakeoff(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)23
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&)100
mrs_uav_managers::uav_manager::UavManager::setControlCallbacksSrv(bool const&)101
(anonymous namespace)::ProxyExec0::ProxyExec0()109
mrs_uav_managers::uav_manager::UavManager::initialize()109
mrs_uav_managers::uav_manager::UavManager::preinitialize()109
mrs_uav_managers::uav_manager::UavManager::onInit()109
mrs_uav_managers::uav_manager::UavManager::setOdometryCallbacksSrv(bool const&)129
mrs_uav_managers::uav_manager::UavManager::timerHwApiCapabilities(ros::TimerEvent const&)159
mrs_uav_managers::uav_manager::UavManager::switchControllerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)213
mrs_uav_managers::uav_manager::UavManager::switchTrackerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)214
mrs_uav_managers::uav_manager::UavManager::timerFlightTime(ros::TimerEvent const&)294
mrs_uav_managers::uav_manager::UavManager::timerLanding(ros::TimerEvent const&)774
mrs_uav_managers::uav_manager::UavManager::timerTakeoff(ros::TimerEvent const&)1037
mrs_uav_managers::uav_manager::UavManager::timerDiagnostics(ros::TimerEvent const&)2250
mrs_uav_managers::uav_manager::UavManager::timerMinHeight(ros::TimerEvent const&)22666
mrs_uav_managers::uav_manager::UavManager::timerMaxHeight(ros::TimerEvent const&)22735
mrs_uav_managers::uav_manager::UavManager::timerMaxthrottle(ros::TimerEvent const&)57996
mrs_uav_managers::uav_manager::UavManager::callbackHwApiGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)80144
mrs_uav_managers::uav_manager::UavManager::callbackOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)175760
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+
+ + + +
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..b055cf7371 --- /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:792118067.1 %
Date:2024-12-11 22:27:27Functions:3838100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()109
mrs_uav_managers::uav_manager::UavManager::initialize()109
mrs_uav_managers::uav_manager::UavManager::takeoffSrv()21
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&)774
mrs_uav_managers::uav_manager::UavManager::timerTakeoff(ros::TimerEvent const&)1037
mrs_uav_managers::uav_manager::UavManager::preinitialize()109
mrs_uav_managers::uav_manager::UavManager::timerMaxHeight(ros::TimerEvent const&)22735
mrs_uav_managers::uav_manager::UavManager::timerMinHeight(ros::TimerEvent const&)22666
mrs_uav_managers::uav_manager::UavManager::callbackTakeoff(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)23
mrs_uav_managers::uav_manager::UavManager::timerFlightTime(ros::TimerEvent const&)294
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>)175760
mrs_uav_managers::uav_manager::UavManager::switchTrackerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)214
mrs_uav_managers::uav_manager::UavManager::timerDiagnostics(ros::TimerEvent const&)2250
mrs_uav_managers::uav_manager::UavManager::timerMaxthrottle(ros::TimerEvent const&)57996
mrs_uav_managers::uav_manager::UavManager::callbackHwApiGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)80144
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&)213
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&)100
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&)101
mrs_uav_managers::uav_manager::UavManager::timerHwApiCapabilities(ros::TimerEvent const&)159
mrs_uav_managers::uav_manager::UavManager::setOdometryCallbacksSrv(bool const&)129
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()109
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
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+
+ + + +
Generated by: LCOV version 1.14
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+ + + 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..c33ee65fd9 --- /dev/null +++ b/mrs_uav_managers/src/uav_manager.cpp.gcov.html @@ -0,0 +1,2786 @@ + + + + + + + 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:792118067.1 %
Date:2024-12-11 22:27:27Functions: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         109 : void UavManager::onInit() {
+     317         109 :   preinitialize();
+     318         109 : }
+     319             : 
+     320             : //}
+     321             : 
+     322             : /* preinitialize() //{ */
+     323             : 
+     324         109 : void UavManager::preinitialize(void) {
+     325             : 
+     326         109 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     327             : 
+     328         109 :   ros::Time::waitForValid();
+     329             : 
+     330         109 :   mrs_lib::SubscribeHandlerOptions shopts;
+     331         109 :   shopts.nh                 = nh_;
+     332         109 :   shopts.node_name          = "UavManager";
+     333         109 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     334         109 :   shopts.threadsafe         = true;
+     335         109 :   shopts.autostart          = true;
+     336         109 :   shopts.queue_size         = 10;
+     337         109 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     338             : 
+     339         109 :   sh_hw_api_capabilities_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>(shopts, "hw_api_capabilities_in");
+     340             : 
+     341         109 :   timer_hw_api_capabilities_ = nh_.createTimer(ros::Rate(1.0), &UavManager::timerHwApiCapabilities, this);
+     342         109 : }
+     343             : 
+     344             : //}
+     345             : 
+     346             : /* initialize() //{ */
+     347             : 
+     348         109 : void UavManager::initialize() {
+     349             : 
+     350         109 :   ROS_INFO("[UavManager]: initializing");
+     351             : 
+     352         218 :   mrs_lib::ParamLoader param_loader(nh_, "UavManager");
+     353             : 
+     354         218 :   std::string custom_config_path;
+     355         218 :   std::string platform_config_path;
+     356         218 :   std::string world_config_path;
+     357             : 
+     358         109 :   param_loader.loadParam("custom_config", custom_config_path);
+     359         109 :   param_loader.loadParam("platform_config", platform_config_path);
+     360         109 :   param_loader.loadParam("world_config", world_config_path);
+     361             : 
+     362         109 :   if (custom_config_path != "") {
+     363         109 :     param_loader.addYamlFile(custom_config_path);
+     364             :   }
+     365             : 
+     366         109 :   if (platform_config_path != "") {
+     367         109 :     param_loader.addYamlFile(platform_config_path);
+     368             :   }
+     369             : 
+     370         109 :   if (world_config_path != "") {
+     371         109 :     param_loader.addYamlFile(world_config_path);
+     372             :   }
+     373             : 
+     374         109 :   param_loader.addYamlFileFromParam("private_config");
+     375         109 :   param_loader.addYamlFileFromParam("public_config");
+     376             : 
+     377         218 :   const std::string yaml_prefix = "mrs_uav_managers/uav_manager/";
+     378             : 
+     379             :   // params passed from the launch file are not prefixed
+     380         109 :   param_loader.loadParam("uav_name", _uav_name_);
+     381         109 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     382         109 :   param_loader.loadParam("uav_mass", _uav_mass_);
+     383         109 :   param_loader.loadParam("g", _g_);
+     384             : 
+     385             :   // motor params are also not prefixed, since they are common to more nodes
+     386         109 :   param_loader.loadParam("motor_params/n_motors", _throttle_model_.n_motors);
+     387         109 :   param_loader.loadParam("motor_params/a", _throttle_model_.A);
+     388         109 :   param_loader.loadParam("motor_params/b", _throttle_model_.B);
+     389             : 
+     390         109 :   param_loader.loadParam(yaml_prefix + "null_tracker", _null_tracker_name_);
+     391             : 
+     392         109 :   param_loader.loadParam(yaml_prefix + "takeoff/rate", _takeoff_timer_rate_);
+     393         109 :   param_loader.loadParam(yaml_prefix + "takeoff/after_takeoff/tracker", _after_takeoff_tracker_name_);
+     394         109 :   param_loader.loadParam(yaml_prefix + "takeoff/after_takeoff/controller", _after_takeoff_controller_name_);
+     395         109 :   param_loader.loadParam(yaml_prefix + "takeoff/during_takeoff/controller", _takeoff_controller_name_);
+     396         109 :   param_loader.loadParam(yaml_prefix + "takeoff/during_takeoff/tracker", _takeoff_tracker_name_);
+     397         109 :   param_loader.loadParam(yaml_prefix + "takeoff/takeoff_height", _takeoff_height_);
+     398             : 
+     399         109 :   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         109 :   param_loader.loadParam(yaml_prefix + "landing/rate", _landing_timer_rate_);
+     405         109 :   param_loader.loadParam(yaml_prefix + "landing/landing_tracker", _landing_tracker_name_);
+     406         109 :   param_loader.loadParam(yaml_prefix + "landing/landing_controller", _landing_controller_name_);
+     407         109 :   param_loader.loadParam(yaml_prefix + "landing/landing_cutoff_mass_factor", _landing_cutoff_mass_factor_);
+     408         109 :   param_loader.loadParam(yaml_prefix + "landing/landing_cutoff_timeout", _landing_cutoff_mass_timeout_);
+     409         109 :   param_loader.loadParam(yaml_prefix + "landing/disarm", _landing_disarm_);
+     410         109 :   param_loader.loadParam(yaml_prefix + "landing/descend_height", _landing_descend_height_);
+     411         109 :   param_loader.loadParam(yaml_prefix + "landing/tracking_tolerance/translation", _landing_tracking_tolerance_translation_);
+     412         109 :   param_loader.loadParam(yaml_prefix + "landing/tracking_tolerance/heading", _landing_tracking_tolerance_heading_);
+     413             : 
+     414         109 :   param_loader.loadParam(yaml_prefix + "midair_activation/rate", _midair_activation_timer_rate_);
+     415         109 :   param_loader.loadParam(yaml_prefix + "midair_activation/during_activation/controller", _midair_activation_during_controller_);
+     416         109 :   param_loader.loadParam(yaml_prefix + "midair_activation/during_activation/tracker", _midair_activation_during_tracker_);
+     417         109 :   param_loader.loadParam(yaml_prefix + "midair_activation/after_activation/controller", _midair_activation_after_controller_);
+     418         109 :   param_loader.loadParam(yaml_prefix + "midair_activation/after_activation/tracker", _midair_activation_after_tracker_);
+     419             : 
+     420         109 :   param_loader.loadParam(yaml_prefix + "max_height_checking/enabled", _max_height_enabled_);
+     421         109 :   param_loader.loadParam(yaml_prefix + "max_height_checking/rate", _max_height_checking_rate_);
+     422         109 :   param_loader.loadParam(yaml_prefix + "max_height_checking/safety_height_offset", _max_height_offset_);
+     423             : 
+     424             :   {
+     425             :     bool tmp;
+     426             : 
+     427         109 :     param_loader.loadParam(yaml_prefix + "min_height_checking/enabled", tmp);
+     428             : 
+     429         109 :     min_height_check_ = tmp;
+     430             :   }
+     431             : 
+     432         109 :   param_loader.loadParam(yaml_prefix + "min_height_checking/rate", _min_height_checking_rate_);
+     433         109 :   param_loader.loadParam(yaml_prefix + "min_height_checking/safety_height_offset", _min_height_offset_);
+     434         109 :   param_loader.loadParam(yaml_prefix + "min_height_checking/min_height", _min_height_);
+     435             : 
+     436         109 :   param_loader.loadParam(yaml_prefix + "require_gain_manager", _gain_manager_required_);
+     437         109 :   param_loader.loadParam(yaml_prefix + "require_constraint_manager", _constraint_manager_required_);
+     438             : 
+     439         109 :   param_loader.loadParam(yaml_prefix + "flight_timer/enabled", _flighttime_timer_enabled_);
+     440         109 :   param_loader.loadParam(yaml_prefix + "flight_timer/rate", _flighttime_timer_rate_);
+     441         109 :   param_loader.loadParam(yaml_prefix + "flight_timer/max_time", _flighttime_max_time_);
+     442             : 
+     443         109 :   param_loader.loadParam(yaml_prefix + "max_throttle/enabled", _maxthrottle_timer_enabled_);
+     444         109 :   param_loader.loadParam(yaml_prefix + "max_throttle/rate", _maxthrottle_timer_rate_);
+     445         109 :   param_loader.loadParam(yaml_prefix + "max_throttle/max_throttle", _maxthrottle_max_throttle_);
+     446         109 :   param_loader.loadParam(yaml_prefix + "max_throttle/eland_timeout", _maxthrottle_eland_timeout_);
+     447         109 :   param_loader.loadParam(yaml_prefix + "max_throttle/ungrip_timeout", _maxthrottle_ungrip_timeout_);
+     448             : 
+     449         109 :   param_loader.loadParam(yaml_prefix + "diagnostics/rate", _diagnostics_timer_rate_);
+     450             : 
+     451             :   // | ------------------- scope timer logger ------------------- |
+     452             : 
+     453         109 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     454         327 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     455         109 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     456             : 
+     457         109 :   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         109 :   transformer_ = std::make_shared<mrs_lib::Transformer>(nh_, "ControlManager");
+     465         109 :   transformer_->setDefaultPrefix(_uav_name_);
+     466         109 :   transformer_->retryLookupNewest(true);
+     467             : 
+     468             :   // | ----------------------- subscribers ---------------------- |
+     469             : 
+     470         218 :   mrs_lib::SubscribeHandlerOptions shopts;
+     471         109 :   shopts.nh                 = nh_;
+     472         109 :   shopts.node_name          = "UavManager";
+     473         109 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     474         109 :   shopts.threadsafe         = true;
+     475         109 :   shopts.autostart          = true;
+     476         109 :   shopts.queue_size         = 10;
+     477         109 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     478             : 
+     479         109 :   sh_controller_diagnostics_ = mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics>(shopts, "controller_diagnostics_in");
+     480         109 :   sh_odometry_               = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "odometry_in", &UavManager::callbackOdometry, this);
+     481         109 :   sh_estimation_diagnostics_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "odometry_diagnostics_in");
+     482         109 :   sh_control_manager_diag_   = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     483         109 :   sh_mass_estimate_          = mrs_lib::SubscribeHandler<std_msgs::Float64>(shopts, "mass_estimate_in");
+     484         109 :   sh_throttle_               = mrs_lib::SubscribeHandler<std_msgs::Float64>(shopts, "throttle_in");
+     485         109 :   sh_height_                 = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "height_in");
+     486         109 :   sh_hw_api_status_          = mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>(shopts, "hw_api_status_in");
+     487         109 :   sh_gains_diag_             = mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics>(shopts, "gain_manager_diagnostics_in");
+     488         109 :   sh_constraints_diag_       = mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics>(shopts, "constraint_manager_diagnostics_in");
+     489         109 :   sh_hw_api_gnss_            = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, "hw_api_gnss_in", &UavManager::callbackHwApiGNSS, this);
+     490         109 :   sh_max_height_             = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "max_height_in");
+     491         109 :   sh_tracker_cmd_            = mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand>(shopts, "tracker_cmd_in");
+     492             : 
+     493             :   // | ----------------------- publishers ----------------------- |
+     494             : 
+     495         109 :   ph_diag_ = mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics>(nh_, "diagnostics_out", 1);
+     496             : 
+     497             :   // | --------------------- service servers -------------------- |
+     498             : 
+     499         109 :   service_server_takeoff_           = nh_.advertiseService("takeoff_in", &UavManager::callbackTakeoff, this);
+     500         109 :   service_server_land_              = nh_.advertiseService("land_in", &UavManager::callbackLand, this);
+     501         109 :   service_server_land_home_         = nh_.advertiseService("land_home_in", &UavManager::callbackLandHome, this);
+     502         109 :   service_server_land_there_        = nh_.advertiseService("land_there_in", &UavManager::callbackLandThere, this);
+     503         109 :   service_server_midair_activation_ = nh_.advertiseService("midair_activation_in", &UavManager::callbackMidairActivation, this);
+     504         109 :   service_server_min_height_check_  = nh_.advertiseService("enable_min_height_check_in", &UavManager::callbackMinHeightCheck, this);
+     505             : 
+     506             :   // | --------------------- service clients -------------------- |
+     507             : 
+     508         109 :   sch_takeoff_               = mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>(nh_, "takeoff_out");
+     509         109 :   sch_land_                  = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "land_out");
+     510         109 :   sch_eland_                 = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "eland_out");
+     511         109 :   sch_ehover_                = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "ehover_out");
+     512         109 :   sch_switch_tracker_        = mrs_lib::ServiceClientHandler<mrs_msgs::String>(nh_, "switch_tracker_out");
+     513         109 :   sch_switch_controller_     = mrs_lib::ServiceClientHandler<mrs_msgs::String>(nh_, "switch_controller_out");
+     514         109 :   sch_emergency_reference_   = mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>(nh_, "emergency_reference_out");
+     515         109 :   sch_control_callbacks_     = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "enable_callbacks_out");
+     516         109 :   sch_arm_                   = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "arm_out");
+     517         109 :   sch_odometry_callbacks_    = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "set_odometry_callbacks_out");
+     518         109 :   sch_ungrip_                = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "ungrip_out");
+     519         109 :   sch_toggle_control_output_ = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "toggle_control_output_out");
+     520         109 :   sch_offboard_              = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "offboard_out");
+     521             : 
+     522             :   // | ---------------------- state machine --------------------- |
+     523             : 
+     524         109 :   current_state_landing_ = IDLE_STATE;
+     525             : 
+     526             :   // | ------------------------ profiler ------------------------ |
+     527             : 
+     528         109 :   profiler_ = mrs_lib::Profiler(nh_, "UavManager", _profiler_enabled_);
+     529             : 
+     530             :   // | ------------------------- timers ------------------------- |
+     531             : 
+     532         109 :   timer_landing_           = nh_.createTimer(ros::Rate(_landing_timer_rate_), &UavManager::timerLanding, this, false, false);
+     533         109 :   timer_takeoff_           = nh_.createTimer(ros::Rate(_takeoff_timer_rate_), &UavManager::timerTakeoff, this, false, false);
+     534         109 :   timer_flighttime_        = nh_.createTimer(ros::Rate(_flighttime_timer_rate_), &UavManager::timerFlightTime, this, false, false);
+     535         109 :   timer_diagnostics_       = nh_.createTimer(ros::Rate(_diagnostics_timer_rate_), &UavManager::timerDiagnostics, this);
+     536         109 :   timer_midair_activation_ = nh_.createTimer(ros::Rate(_midair_activation_timer_rate_), &UavManager::timerMidairActivation, this, false, false);
+     537         218 :   timer_max_height_        = nh_.createTimer(ros::Rate(_max_height_checking_rate_), &UavManager::timerMaxHeight, this, false,
+     538         218 :                                       _max_height_enabled_ && hw_api_capabilities_.produces_distance_sensor);
+     539         218 :   timer_min_height_        = nh_.createTimer(ros::Rate(_min_height_checking_rate_), &UavManager::timerMinHeight, this, false,
+     540         218 :                                       min_height_check_ && hw_api_capabilities_.produces_distance_sensor);
+     541             : 
+     542         106 :   bool should_check_throttle = hw_api_capabilities_.accepts_actuator_cmd || hw_api_capabilities_.accepts_control_group_cmd ||
+     543         215 :                                hw_api_capabilities_.accepts_attitude_rate_cmd || hw_api_capabilities_.accepts_attitude_cmd;
+     544             : 
+     545             :   timer_maxthrottle_ =
+     546         109 :       nh_.createTimer(ros::Rate(_maxthrottle_timer_rate_), &UavManager::timerMaxthrottle, this, false, _maxthrottle_timer_enabled_ && should_check_throttle);
+     547             : 
+     548             :   // | ----------------------- finish init ---------------------- |
+     549             : 
+     550         109 :   is_initialized_ = true;
+     551             : 
+     552         109 :   ROS_INFO("[UavManager]: initialized");
+     553             : 
+     554         109 :   ROS_DEBUG("[UavManager]: debug output is enabled");
+     555         109 : }
+     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         159 : void UavManager::timerHwApiCapabilities(const ros::TimerEvent& event) {
+     603             : 
+     604         318 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerHwApiCapabilities", 1.0, 1.0, event);
+     605         318 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerHwApiCapabilities", scope_timer_logger_, scope_timer_enabled_);
+     606             : 
+     607         159 :   if (!sh_hw_api_capabilities_.hasMsg()) {
+     608          50 :     ROS_INFO_THROTTLE(1.0, "[UavManager]: waiting for HW API capabilities");
+     609          50 :     return;
+     610             :   }
+     611             : 
+     612         109 :   hw_api_capabilities_ = *sh_hw_api_capabilities_.getMsg();
+     613             : 
+     614         109 :   ROS_INFO("[UavManager]: got HW API capabilities, initializing");
+     615             : 
+     616         109 :   initialize();
+     617             : 
+     618         109 :   timer_hw_api_capabilities_.stop();
+     619             : }
+     620             : 
+     621             : //}
+     622             : 
+     623             : /* //{ timerLanding() */
+     624             : 
+     625         774 : void UavManager::timerLanding(const ros::TimerEvent& event) {
+     626             : 
+     627         774 :   if (!is_initialized_)
+     628           0 :     return;
+     629             : 
+     630        1548 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerLanding", _landing_timer_rate_, 0.1, event);
+     631        1548 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerLanding", scope_timer_logger_, scope_timer_enabled_);
+     632             : 
+     633         774 :   auto land_there_reference = mrs_lib::get_mutexed(mutex_land_there_reference_, land_there_reference_);
+     634             : 
+     635             :   // copy member variables
+     636         774 :   auto control_manager_diagnostics = sh_control_manager_diag_.getMsg();
+     637         774 :   auto odometry                    = sh_odometry_.getMsg();
+     638         774 :   auto tracker_cmd                 = sh_tracker_cmd_.getMsg();
+     639             : 
+     640         774 :   std::optional<double> desired_throttle;
+     641             : 
+     642         774 :   if (sh_throttle_.hasMsg() && (ros::Time::now() - sh_throttle_.lastMsgTime()).toSec() < 1.0) {
+     643         774 :     desired_throttle = sh_throttle_.getMsg()->data;
+     644             :   }
+     645             : 
+     646         774 :   auto res = transformer_->transformSingle(land_there_reference, odometry->header.frame_id);
+     647             : 
+     648         774 :   mrs_msgs::ReferenceStamped land_there_current_frame;
+     649             : 
+     650         774 :   if (res) {
+     651         774 :     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         774 :   if (current_state_landing_ == IDLE_STATE) {
+     659             : 
+     660           0 :     return;
+     661             : 
+     662         774 :   } else if (current_state_landing_ == GOTO_STATE) {
+     663             : 
+     664         345 :     auto [pos_x, pos_y, pos_z] = mrs_lib::getPosition(*tracker_cmd);
+     665         345 :     auto [ref_x, ref_y, ref_z] = mrs_lib::getPosition(land_there_current_frame);
+     666             : 
+     667         345 :     double pos_heading = tracker_cmd->heading;
+     668             : 
+     669         345 :     double ref_heading = 0;
+     670             :     try {
+     671         345 :       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         352 :     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         338 :     } 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         429 :   } else if (current_state_landing_ == LANDING_STATE) {
+     729             : 
+     730             :     // we should not attempt to finish the landing if some other tracked was activated
+     731         429 :     if (_landing_tracker_name_ == sh_control_manager_diag_.getMsg()->active_tracker) {
+     732             : 
+     733         429 :       if (desired_throttle) {
+     734             : 
+     735             :         // recalculate the mass based on the throttle
+     736         429 :         throttle_mass_estimate_ = mrs_lib::quadratic_throttle_model::throttleToForce(_throttle_model_, desired_throttle.value()) / _g_;
+     737         429 :         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         429 :         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         319 :           throttle_under_threshold_ = false;
+     753             :         }
+     754             : 
+     755         429 :         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           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: incorrect tracker detected during landing!");
+     823             :     }
+     824             :   }
+     825             : }
+     826             : 
+     827             : //}
+     828             : 
+     829             : /* //{ timerTakeoff() */
+     830             : 
+     831        1037 : void UavManager::timerTakeoff(const ros::TimerEvent& event) {
+     832             : 
+     833        1037 :   if (!is_initialized_)
+     834           0 :     return;
+     835             : 
+     836        2074 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerTakeoff", _takeoff_timer_rate_, 0.1, event);
+     837        2074 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerTakeoff", scope_timer_logger_, scope_timer_enabled_);
+     838             : 
+     839        1037 :   auto control_manager_diagnostics = sh_control_manager_diag_.getMsg();
+     840             : 
+     841        1037 :   if (waiting_for_takeoff_) {
+     842             : 
+     843          21 :     if (control_manager_diagnostics->active_tracker == _takeoff_tracker_name_ && control_manager_diagnostics->tracker_status.have_goal) {
+     844             : 
+     845          21 :       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        1037 :   if (takingoff_) {
+     854             : 
+     855        1037 :     if (control_manager_diagnostics->active_tracker != _takeoff_tracker_name_ || !control_manager_diagnostics->tracker_status.have_goal) {
+     856             : 
+     857          21 :       auto [odom_x, odom_y, odom_z] = mrs_lib::getPosition(sh_odometry_.getMsg());
+     858             : 
+     859             :       double odom_heading;
+     860             :       try {
+     861          21 :         odom_heading = mrs_lib::getHeading(sh_odometry_.getMsg());
+     862             :       }
+     863           0 :       catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+     864           0 :         ROS_ERROR_THROTTLE(1.0, "[UavManager]: exception caught: '%s'", e.what());
+     865           0 :         return;
+     866             :       }
+     867             :       // this is needed for land_home to work with vins_kickoff estimator
+     868             :       // if there are any problems with this, it shoud be sufficient to only overwrite the frame_id, without the position and heading here
+     869             :       {
+     870          21 :         std::scoped_lock lock(mutex_land_there_reference_);
+     871          21 :         land_there_reference_.header               = sh_odometry_.getMsg()->header;
+     872          21 :         land_there_reference_.reference.position.x = odom_x;
+     873          21 :         land_there_reference_.reference.position.y = odom_y;
+     874          21 :         land_there_reference_.reference.position.z = odom_z;
+     875          21 :         land_there_reference_.reference.heading    = odom_heading;
+     876             :       }
+     877             : 
+     878          21 :       ROS_INFO("[UavManager]: take off finished, switching to %s", _after_takeoff_tracker_name_.c_str());
+     879             : 
+     880          21 :       switchTrackerSrv(_after_takeoff_tracker_name_);
+     881             : 
+     882          21 :       switchControllerSrv(_after_takeoff_controller_name_);
+     883             : 
+     884          21 :       setOdometryCallbacksSrv(true);
+     885             : 
+     886          21 :       timer_takeoff_.stop();
+     887             :     }
+     888             :   }
+     889             : }
+     890             : 
+     891             : //}
+     892             : 
+     893             : /* //{ timerMaxHeight() */
+     894             : 
+     895       22735 : void UavManager::timerMaxHeight(const ros::TimerEvent& event) {
+     896             : 
+     897       22735 :   if (!is_initialized_)
+     898       15360 :     return;
+     899             : 
+     900       45470 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerMaxHeight", _max_height_checking_rate_, 0.1, event);
+     901       45470 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerMaxHeight", scope_timer_logger_, scope_timer_enabled_);
+     902             : 
+     903       22735 :   if (!sh_max_height_.hasMsg() || !sh_height_.hasMsg() || !sh_odometry_.hasMsg()) {
+     904       10649 :     ROS_WARN_THROTTLE(10.0, "[UavManager]: maxHeightTimer() not spinning, missing data");
+     905       10649 :     return;
+     906             :   }
+     907             : 
+     908       12086 :   auto control_manager_diag = sh_control_manager_diag_.getMsg();
+     909             : 
+     910       12086 :   if (!fixing_max_height_ && !control_manager_diag->flying_normally) {
+     911        4711 :     return;
+     912             :   }
+     913             : 
+     914        7375 :   auto   odometry = sh_odometry_.getMsg();
+     915        7375 :   double height   = sh_height_.getMsg()->value;
+     916             : 
+     917             :   // transform max z to the height frame
+     918        7375 :   geometry_msgs::PointStamped point;
+     919        7375 :   point.header  = sh_max_height_.getMsg()->header;
+     920        7375 :   point.point.z = sh_max_height_.getMsg()->value;
+     921             : 
+     922        7375 :   auto res = transformer_->transformSingle(point, sh_height_.getMsg()->header.frame_id);
+     923             : 
+     924             :   double max_z_in_height;
+     925             : 
+     926        7375 :   if (res) {
+     927        7375 :     max_z_in_height = res->point.z;
+     928             :   } else {
+     929           0 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: timerMaxHeight() not working, cannot transform max z to the height frame");
+     930           0 :     return;
+     931             :   }
+     932             : 
+     933        7375 :   auto [odometry_x, odometry_y, odometry_z] = mrs_lib::getPosition(odometry);
+     934             : 
+     935        7375 :   double odometry_heading = 0;
+     936             :   try {
+     937        7375 :     odometry_heading = mrs_lib::getHeading(odometry);
+     938             :   }
+     939           0 :   catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+     940           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: exception caught: '%s'", e.what());
+     941           0 :     return;
+     942             :   }
+     943             : 
+     944        7375 :   if (height > max_z_in_height) {
+     945             : 
+     946          53 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: max height exceeded: %.2f >  %.2f, triggering safety goto", height, max_z_in_height);
+     947             : 
+     948         106 :     mrs_msgs::ReferenceStamped reference_out;
+     949          53 :     reference_out.header.frame_id = odometry->header.frame_id;
+     950          53 :     reference_out.header.stamp    = ros::Time::now();
+     951             : 
+     952          53 :     reference_out.reference.position.x = odometry_x;
+     953          53 :     reference_out.reference.position.y = odometry_y;
+     954          53 :     reference_out.reference.position.z = odometry_z + ((max_z_in_height - _max_height_offset_) - height);
+     955             : 
+     956          53 :     reference_out.reference.heading = odometry_heading;
+     957             : 
+     958          53 :     setControlCallbacksSrv(false);
+     959             : 
+     960          53 :     bool success = emergencyReferenceSrv(reference_out);
+     961             : 
+     962          53 :     if (success) {
+     963             : 
+     964          53 :       ROS_INFO("[UavManager]: descending");
+     965             : 
+     966          53 :       fixing_max_height_ = true;
+     967             : 
+     968             :     } else {
+     969             : 
+     970           0 :       ROS_ERROR_THROTTLE(1.0, "[UavManager]: could not descend");
+     971             : 
+     972           0 :       setControlCallbacksSrv(true);
+     973             :     }
+     974             :   }
+     975             : 
+     976        7375 :   if (fixing_max_height_ && height < max_z_in_height) {
+     977             : 
+     978           1 :     setControlCallbacksSrv(true);
+     979             : 
+     980           1 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: safe height reached");
+     981             : 
+     982           1 :     fixing_max_height_ = false;
+     983             :   }
+     984             : }
+     985             : 
+     986             : //}
+     987             : 
+     988             : /* //{ timerMinHeight() */
+     989             : 
+     990       22666 : void UavManager::timerMinHeight(const ros::TimerEvent& event) {
+     991             : 
+     992       22666 :   if (!is_initialized_)
+     993       15374 :     return;
+     994             : 
+     995       22666 :   ROS_INFO_ONCE("[UavManager]: min height timer spinning");
+     996             : 
+     997       45332 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerMinHeight", _min_height_checking_rate_, 0.1, event);
+     998       45332 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerMinHeight", scope_timer_logger_, scope_timer_enabled_);
+     999             : 
+    1000       22666 :   if (!sh_odometry_.hasMsg() || !sh_height_.hasMsg() || !sh_control_manager_diag_.hasMsg()) {
+    1001       10635 :     ROS_WARN_THROTTLE(10.0, "[UavManager]: minHeightTimer() not spinning, missing data");
+    1002       10635 :     return;
+    1003             :   }
+    1004             : 
+    1005       12031 :   auto control_manager_diag = sh_control_manager_diag_.getMsg();
+    1006             : 
+    1007       12031 :   if (!fixing_min_height_ && !control_manager_diag->flying_normally) {
+    1008        4739 :     return;
+    1009             :   }
+    1010             : 
+    1011        7292 :   auto   odometry = sh_odometry_.getMsg();
+    1012        7292 :   double height   = sh_height_.getMsg()->value;
+    1013             : 
+    1014        7292 :   auto [odometry_x, odometry_y, odometry_z] = mrs_lib::getPosition(odometry);
+    1015             : 
+    1016        7292 :   double odometry_heading = 0;
+    1017             : 
+    1018             :   try {
+    1019        7292 :     odometry_heading = mrs_lib::getHeading(odometry);
+    1020             :   }
+    1021           0 :   catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+    1022           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: exception caught: '%s'", e.what());
+    1023           0 :     return;
+    1024             :   }
+    1025             : 
+    1026        7292 :   if (height < _min_height_) {
+    1027             : 
+    1028          40 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: min height breached: %.2f < %.2f, triggering safety goto", height, _min_height_);
+    1029             : 
+    1030          80 :     mrs_msgs::ReferenceStamped reference_out;
+    1031          40 :     reference_out.header.frame_id = odometry->header.frame_id;
+    1032          40 :     reference_out.header.stamp    = ros::Time::now();
+    1033             : 
+    1034          40 :     reference_out.reference.position.x = odometry_x;
+    1035          40 :     reference_out.reference.position.y = odometry_y;
+    1036          40 :     reference_out.reference.position.z = odometry_z + ((_min_height_ + _min_height_offset_) - height);
+    1037             : 
+    1038          40 :     reference_out.reference.heading = odometry_heading;
+    1039             : 
+    1040          40 :     setControlCallbacksSrv(false);
+    1041             : 
+    1042          40 :     bool success = emergencyReferenceSrv(reference_out);
+    1043             : 
+    1044          40 :     if (success) {
+    1045             : 
+    1046          40 :       ROS_INFO("[UavManager]: ascending");
+    1047             : 
+    1048          40 :       fixing_min_height_ = true;
+    1049             : 
+    1050             :     } else {
+    1051             : 
+    1052           0 :       ROS_ERROR_THROTTLE(1.0, "[UavManager]: could not ascend");
+    1053             : 
+    1054           0 :       setControlCallbacksSrv(true);
+    1055             :     }
+    1056             :   }
+    1057             : 
+    1058        7292 :   if (fixing_min_height_ && height > _min_height_) {
+    1059             : 
+    1060           2 :     setControlCallbacksSrv(true);
+    1061             : 
+    1062           2 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: safe height reached");
+    1063             : 
+    1064           2 :     fixing_min_height_ = false;
+    1065             :   }
+    1066             : }
+    1067             : 
+    1068             : //}
+    1069             : 
+    1070             : /* //{ timerFlightTime() */
+    1071             : 
+    1072         294 : void UavManager::timerFlightTime(const ros::TimerEvent& event) {
+    1073             : 
+    1074         294 :   if (!is_initialized_)
+    1075           0 :     return;
+    1076             : 
+    1077         882 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerFlightTime", _flighttime_timer_rate_, 0.1, event);
+    1078         882 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerFlightTime", scope_timer_logger_, scope_timer_enabled_);
+    1079             : 
+    1080         294 :   auto flighttime = mrs_lib::get_mutexed(mutex_flighttime_, flighttime_);
+    1081             : 
+    1082         294 :   flighttime += 1.0 / _flighttime_timer_rate_;
+    1083             : 
+    1084         294 :   mrs_msgs::Float64 flight_time;
+    1085         294 :   flight_time.value = flighttime;
+    1086             : 
+    1087             :   // if enabled, start the timer for measuring the flight time
+    1088         294 :   if (_flighttime_timer_enabled_) {
+    1089             : 
+    1090           0 :     if (flighttime > _flighttime_max_time_) {
+    1091             : 
+    1092           0 :       flighttime = 0;
+    1093           0 :       timer_flighttime_.stop();
+    1094             : 
+    1095           0 :       ROS_INFO("[UavManager]: max flight time reached, landing");
+    1096             : 
+    1097           0 :       landImpl();
+    1098             :     }
+    1099             :   }
+    1100             : 
+    1101         294 :   mrs_lib::set_mutexed(mutex_flighttime_, flighttime, flighttime_);
+    1102             : }
+    1103             : 
+    1104             : //}
+    1105             : 
+    1106             : /* //{ timerMaxthrottle() */
+    1107             : 
+    1108       57996 : void UavManager::timerMaxthrottle(const ros::TimerEvent& event) {
+    1109             : 
+    1110       57996 :   if (!is_initialized_)
+    1111       17852 :     return;
+    1112             : 
+    1113       57996 :   if (!sh_throttle_.hasMsg() || (ros::Time::now() - sh_throttle_.lastMsgTime()).toSec() > 1.0) {
+    1114       17852 :     return;
+    1115             :   }
+    1116             : 
+    1117       40144 :   ROS_INFO_ONCE("[UavManager]: max throttle timer spinning");
+    1118             : 
+    1119      120432 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerMaxthrottle", _maxthrottle_timer_rate_, 0.03, event);
+    1120      120432 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerMaxthrottle", scope_timer_logger_, scope_timer_enabled_);
+    1121             : 
+    1122       40144 :   auto desired_throttle = sh_throttle_.getMsg()->data;
+    1123             : 
+    1124       40144 :   if (desired_throttle >= _maxthrottle_max_throttle_) {
+    1125             : 
+    1126          32 :     if (!maxthrottle_above_threshold_) {
+    1127             : 
+    1128           1 :       maxthrottle_first_time_      = ros::Time::now();
+    1129           1 :       maxthrottle_above_threshold_ = true;
+    1130           1 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: max throttle exceeded threshold (%.2f/%.2f)", desired_throttle, _maxthrottle_max_throttle_);
+    1131             : 
+    1132             :     } else {
+    1133             : 
+    1134          31 :       ROS_WARN_THROTTLE(0.1, "[UavManager]: throttle over threshold (%.2f/%.2f) for %.2f s", desired_throttle, _maxthrottle_max_throttle_,
+    1135             :                         (ros::Time::now() - maxthrottle_first_time_).toSec());
+    1136             :     }
+    1137             : 
+    1138             :   } else {
+    1139             : 
+    1140       40112 :     maxthrottle_above_threshold_ = false;
+    1141             :   }
+    1142             : 
+    1143       40144 :   if (maxthrottle_above_threshold_ && (ros::Time::now() - maxthrottle_first_time_).toSec() > _maxthrottle_ungrip_timeout_) {
+    1144             : 
+    1145          16 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: throttle over threshold (%.2f/%.2f) for more than %.2f s, ungripping payload", desired_throttle,
+    1146             :                       _maxthrottle_max_throttle_, _maxthrottle_ungrip_timeout_);
+    1147             : 
+    1148          16 :     ungripSrv();
+    1149             :   }
+    1150             : 
+    1151       40144 :   if (maxthrottle_above_threshold_ && (ros::Time::now() - maxthrottle_first_time_).toSec() > _maxthrottle_eland_timeout_) {
+    1152             : 
+    1153           1 :     timer_maxthrottle_.stop();
+    1154             : 
+    1155           1 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: throttle over threshold (%.2f/%.2f) for more than %.2f s, calling for emergency landing", desired_throttle,
+    1156             :                        _maxthrottle_max_throttle_, _maxthrottle_eland_timeout_);
+    1157             : 
+    1158           1 :     elandSrv();
+    1159             :   }
+    1160             : }
+    1161             : 
+    1162             : //}
+    1163             : 
+    1164             : /* //{ timerDiagnostics() */
+    1165             : 
+    1166        2250 : void UavManager::timerDiagnostics(const ros::TimerEvent& event) {
+    1167             : 
+    1168        2250 :   if (!is_initialized_)
+    1169           0 :     return;
+    1170             : 
+    1171        6750 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerDiagnostics", _maxthrottle_timer_rate_, 0.03, event);
+    1172        6750 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+    1173             : 
+    1174        2250 :   bool got_gps_est = false;
+    1175        2250 :   bool got_rtk_est = false;
+    1176             : 
+    1177        2250 :   if (sh_estimation_diagnostics_.hasMsg()) {  // get current position in lat-lon
+    1178             : 
+    1179        3742 :     auto                     estimation_diag  = sh_estimation_diagnostics_.getMsg();
+    1180        1871 :     std::vector<std::string> state_estimators = estimation_diag.get()->switchable_state_estimators;
+    1181             : 
+    1182        2538 :     got_gps_est = std::find(state_estimators.begin(), state_estimators.end(), "gps_garmin") != state_estimators.end() ||
+    1183         667 :                   std::find(state_estimators.begin(), state_estimators.end(), "gps_baro") != state_estimators.end();
+    1184        1871 :     got_rtk_est = std::find(state_estimators.begin(), state_estimators.end(), "rtk") != state_estimators.end();
+    1185             :   }
+    1186             : 
+    1187        4500 :   mrs_msgs::UavManagerDiagnostics diag;
+    1188             : 
+    1189        2250 :   diag.stamp    = ros::Time::now();
+    1190        2250 :   diag.uav_name = _uav_name_;
+    1191             : 
+    1192        2250 :   auto flighttime = mrs_lib::get_mutexed(mutex_flighttime_, flighttime_);
+    1193             : 
+    1194             :   // fill in the acumulated flight time
+    1195        2250 :   diag.flight_time = flighttime;
+    1196             : 
+    1197        2250 :   if (sh_odometry_.hasMsg()) {  // get current position in lat-lon
+    1198             : 
+    1199        1879 :     if (got_gps_est || got_rtk_est) {
+    1200             : 
+    1201        3688 :       nav_msgs::Odometry odom = *sh_odometry_.getMsg();
+    1202             : 
+    1203        3688 :       geometry_msgs::PoseStamped uav_pose;
+    1204        1844 :       uav_pose.pose = mrs_lib::getPose(odom);
+    1205             : 
+    1206        5532 :       auto res = transformer_->transformSingle(uav_pose, "latlon_origin");
+    1207             : 
+    1208        1844 :       if (res) {
+    1209        1844 :         diag.cur_latitude  = res.value().pose.position.x;
+    1210        1844 :         diag.cur_longitude = res.value().pose.position.y;
+    1211             :       }
+    1212             :     }
+    1213             :   }
+    1214             : 
+    1215        2250 :   if (takeoff_successful_) {
+    1216             : 
+    1217         337 :     if (got_gps_est || got_rtk_est) {
+    1218             : 
+    1219         674 :       auto land_there_reference = mrs_lib::get_mutexed(mutex_land_there_reference_, land_there_reference_);
+    1220             : 
+    1221        1011 :       auto res = transformer_->transformSingle(land_there_reference, "latlon_origin");
+    1222             : 
+    1223         337 :       if (res) {
+    1224         337 :         diag.home_latitude  = res.value().reference.position.x;
+    1225         337 :         diag.home_longitude = res.value().reference.position.y;
+    1226             :       }
+    1227             :     }
+    1228             :   }
+    1229             : 
+    1230        2250 :   ph_diag_.publish(diag);
+    1231             : }
+    1232             : 
+    1233             : //}
+    1234             : 
+    1235             : /* //{ timerMidairActivation() */
+    1236             : 
+    1237          80 : void UavManager::timerMidairActivation([[maybe_unused]] const ros::TimerEvent& event) {
+    1238             : 
+    1239          80 :   if (!is_initialized_)
+    1240           0 :     return;
+    1241             : 
+    1242          80 :   ROS_INFO_THROTTLE(0.1, "[UavManager]: waiting for OFFBOARD");
+    1243             : 
+    1244          80 :   if (sh_hw_api_status_.getMsg()->offboard) {
+    1245             : 
+    1246          80 :     ROS_INFO("[UavManager]: OFFBOARD detected");
+    1247             : 
+    1248          80 :     setOdometryCallbacksSrv(true);
+    1249             : 
+    1250             :     {
+    1251          80 :       bool controller_switched = switchControllerSrv(_midair_activation_after_controller_);
+    1252             : 
+    1253          80 :       if (!controller_switched) {
+    1254             : 
+    1255           1 :         ROS_ERROR("[UavManager]: could not activate '%s'", _midair_activation_after_controller_.c_str());
+    1256             : 
+    1257           1 :         ehoverSrv();
+    1258             : 
+    1259           1 :         timer_midair_activation_.stop();
+    1260             : 
+    1261           1 :         return;
+    1262             :       }
+    1263             :     }
+    1264             : 
+    1265             :     {
+    1266          79 :       bool tracker_switched = switchTrackerSrv(_midair_activation_after_tracker_);
+    1267             : 
+    1268          79 :       if (!tracker_switched) {
+    1269             : 
+    1270           1 :         ROS_ERROR("[UavManager]: could not activate '%s'", _midair_activation_after_tracker_.c_str());
+    1271             : 
+    1272           1 :         ehoverSrv();
+    1273             : 
+    1274           1 :         timer_midair_activation_.stop();
+    1275             : 
+    1276           1 :         return;
+    1277             :       }
+    1278             :     }
+    1279             : 
+    1280          78 :     timer_midair_activation_.stop();
+    1281             : 
+    1282          78 :     return;
+    1283             :   }
+    1284             : 
+    1285           0 :   if ((ros::Time::now() - midair_activation_started_).toSec() > 0.5) {
+    1286             : 
+    1287           0 :     ROS_ERROR("[UavManager]: waiting for OFFBOARD timeouted, reverting");
+    1288             : 
+    1289           0 :     toggleControlOutput(false);
+    1290             : 
+    1291           0 :     timer_midair_activation_.stop();
+    1292             : 
+    1293           0 :     return;
+    1294             :   }
+    1295             : }
+    1296             : 
+    1297             : //}
+    1298             : 
+    1299             : // --------------------------------------------------------------
+    1300             : // |                          callbacks                         |
+    1301             : // --------------------------------------------------------------
+    1302             : 
+    1303             : // | --------------------- topic callbacks -------------------- |
+    1304             : 
+    1305             : /* //{ callbackHwApiGNSS() */
+    1306             : 
+    1307       80144 : void UavManager::callbackHwApiGNSS(const sensor_msgs::NavSatFix::ConstPtr msg) {
+    1308             : 
+    1309       80144 :   if (!is_initialized_)
+    1310          22 :     return;
+    1311             : 
+    1312      240366 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackHwApiGNSS");
+    1313      240366 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::callbackHwApiGNSS", scope_timer_logger_, scope_timer_enabled_);
+    1314             : 
+    1315       80122 :   transformer_->setLatLon(msg->latitude, msg->longitude);
+    1316             : }
+    1317             : 
+    1318             : //}
+    1319             : 
+    1320             : /* //{ callbackOdometry() */
+    1321             : 
+    1322      175760 : void UavManager::callbackOdometry(const nav_msgs::Odometry::ConstPtr msg) {
+    1323             : 
+    1324      175760 :   if (!is_initialized_)
+    1325           0 :     return;
+    1326             : 
+    1327      175760 :   transformer_->setDefaultFrame(msg->header.frame_id);
+    1328             : }
+    1329             : 
+    1330             : //}
+    1331             : 
+    1332             : // | -------------------- service callbacks ------------------- |
+    1333             : 
+    1334             : /* //{ callbackTakeoff() */
+    1335             : 
+    1336          23 : bool UavManager::callbackTakeoff([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1337             : 
+    1338          23 :   if (!is_initialized_)
+    1339           0 :     return false;
+    1340             : 
+    1341          23 :   ROS_INFO("[UavManager]: takeoff called by service");
+    1342             : 
+    1343             :   /* preconditions //{ */
+    1344             : 
+    1345             :   {
+    1346          23 :     std::stringstream ss;
+    1347             : 
+    1348          23 :     if (!sh_odometry_.hasMsg()) {
+    1349           0 :       ss << "can not takeoff, missing odometry!";
+    1350           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1351           0 :       res.message = ss.str();
+    1352           0 :       res.success = false;
+    1353           0 :       return true;
+    1354             :     }
+    1355             : 
+    1356          23 :     if (!sh_hw_api_status_.hasMsg() || (ros::Time::now() - sh_hw_api_status_.lastMsgTime()).toSec() > 5.0) {
+    1357           0 :       ss << "can not takeoff, missing HW API status!";
+    1358           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1359           0 :       res.message = ss.str();
+    1360           0 :       res.success = false;
+    1361           0 :       return true;
+    1362             :     }
+    1363             : 
+    1364          23 :     if (!sh_hw_api_status_.getMsg()->armed) {
+    1365           0 :       ss << "can not takeoff, UAV not armed!";
+    1366           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1367           0 :       res.message = ss.str();
+    1368           0 :       res.success = false;
+    1369           0 :       return true;
+    1370             :     }
+    1371             : 
+    1372          23 :     if (!sh_hw_api_status_.getMsg()->offboard) {
+    1373           0 :       ss << "can not takeoff, UAV not in offboard mode!";
+    1374           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1375           0 :       res.message = ss.str();
+    1376           0 :       res.success = false;
+    1377           0 :       return true;
+    1378             :     }
+    1379             : 
+    1380             :     {
+    1381          23 :       if (!sh_control_manager_diag_.hasMsg() && (ros::Time::now() - sh_control_manager_diag_.lastMsgTime()).toSec() > 5.0) {
+    1382           0 :         ss << "can not takeoff, missing control manager diagnostics!";
+    1383           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1384           0 :         res.message = ss.str();
+    1385           0 :         res.success = false;
+    1386           0 :         return true;
+    1387             :       }
+    1388             : 
+    1389          23 :       if (_null_tracker_name_ != sh_control_manager_diag_.getMsg()->active_tracker) {
+    1390           0 :         ss << "can not takeoff, need '" << _null_tracker_name_ << "' to be active!";
+    1391           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1392           0 :         res.message = ss.str();
+    1393           0 :         res.success = false;
+    1394           0 :         return true;
+    1395             :       }
+    1396             :     }
+    1397             : 
+    1398          23 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1399           0 :       ss << "can not takeoff, missing controller diagnostics!";
+    1400           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1401           0 :       res.message = ss.str();
+    1402           0 :       res.success = false;
+    1403           0 :       return true;
+    1404             :     }
+    1405             : 
+    1406          23 :     if (_gain_manager_required_ && (ros::Time::now() - sh_gains_diag_.lastMsgTime()).toSec() > 5.0) {
+    1407           0 :       ss << "can not takeoff, GainManager is not running!";
+    1408           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1409           0 :       res.message = ss.str();
+    1410           0 :       res.success = false;
+    1411           0 :       return true;
+    1412             :     }
+    1413             : 
+    1414          23 :     if (_constraint_manager_required_ && (ros::Time::now() - sh_constraints_diag_.lastMsgTime()).toSec() > 5.0) {
+    1415           0 :       ss << "can not takeoff, ConstraintManager is not running!";
+    1416           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1417           0 :       res.message = ss.str();
+    1418           0 :       res.success = false;
+    1419           0 :       return true;
+    1420             :     }
+    1421             : 
+    1422          23 :     if (!sh_control_manager_diag_.getMsg()->output_enabled) {
+    1423             : 
+    1424           0 :       ss << "can not takeoff, Control Manager's output is disabled!";
+    1425           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1426           0 :       res.message = ss.str();
+    1427           0 :       res.success = false;
+    1428           0 :       return true;
+    1429             :     }
+    1430             : 
+    1431          23 :     if (number_of_takeoffs_ > 0) {
+    1432             : 
+    1433           0 :       auto last_mass_difference = mrs_lib::get_mutexed(mutex_last_mass_difference_, last_mass_difference_);
+    1434             : 
+    1435           0 :       if (last_mass_difference > 1.0) {
+    1436             : 
+    1437           0 :         ss << std::setprecision(2);
+    1438           0 :         ss << "can not takeoff, estimated mass difference is too large: " << _null_tracker_name_ << "!";
+    1439           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1440           0 :         res.message = ss.str();
+    1441           0 :         res.success = false;
+    1442           0 :         return true;
+    1443             :       }
+    1444             :     }
+    1445             :   }
+    1446             : 
+    1447             :   //}
+    1448             : 
+    1449          46 :   auto control_manager_diagnostics = sh_control_manager_diag_.getMsg();
+    1450          46 :   auto odometry                    = sh_odometry_.getMsg();
+    1451          23 :   auto [odom_x, odom_y, odom_z]    = mrs_lib::getPosition(sh_odometry_.getMsg());
+    1452             : 
+    1453             :   double odom_heading;
+    1454             :   try {
+    1455          23 :     odom_heading = mrs_lib::getHeading(sh_odometry_.getMsg());
+    1456             :   }
+    1457           0 :   catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+    1458           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: exception caught: '%s'", e.what());
+    1459             : 
+    1460           0 :     std::stringstream ss;
+    1461           0 :     ss << "could not calculate current heading";
+    1462           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1463           0 :     res.message = ss.str();
+    1464           0 :     res.success = false;
+    1465           0 :     return true;
+    1466             :   }
+    1467             : 
+    1468          23 :   ROS_INFO("[UavManager]: taking off");
+    1469             : 
+    1470          23 :   setOdometryCallbacksSrv(false);
+    1471             : 
+    1472             :   // activating the takeoff controller
+    1473             :   {
+    1474          23 :     std::string old_controller      = sh_control_manager_diag_.getMsg()->active_controller;
+    1475          23 :     bool        controller_switched = switchControllerSrv(_takeoff_controller_name_);
+    1476             : 
+    1477             :     // if it fails, activate back the old controller
+    1478             :     // this is no big deal since the control outputs are not used
+    1479             :     // until NullTracker is active
+    1480          23 :     if (!controller_switched) {
+    1481             : 
+    1482           1 :       std::stringstream ss;
+    1483           1 :       ss << "could not activate '" << _takeoff_controller_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             :   // activate the takeoff tracker
+    1496             :   {
+    1497          22 :     std::string old_tracker      = sh_control_manager_diag_.getMsg()->active_tracker;
+    1498          22 :     bool        tracker_switched = switchTrackerSrv(_takeoff_tracker_name_);
+    1499             : 
+    1500             :     // if it fails, activate back the old tracker
+    1501          22 :     if (!tracker_switched) {
+    1502             : 
+    1503           1 :       std::stringstream ss;
+    1504           1 :       ss << "could not activate '" << _takeoff_tracker_name_ << "' for takeoff";
+    1505           1 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1506           1 :       res.success = false;
+    1507           1 :       res.message = ss.str();
+    1508             : 
+    1509           1 :       toggleControlOutput(false);
+    1510           1 :       disarmSrv();
+    1511             : 
+    1512           1 :       return true;
+    1513             :     }
+    1514             :   }
+    1515             : 
+    1516             :   // let's sleep before calling take off.. the motors are rumping-up anyway
+    1517             :   // this solves on-time-happening race condition in the landoff tracker
+    1518          21 :   ros::Duration(0.3).sleep();
+    1519             : 
+    1520             :   // now the takeoff tracker and controller are active
+    1521             :   // the UAV is basically hovering on the ground
+    1522             :   // (the controller is probably rumping up the throttle now)
+    1523             : 
+    1524             :   // call the takeoff service at the takeoff tracker
+    1525             :   {
+    1526          21 :     bool takeoff_successful = takeoffSrv();
+    1527             : 
+    1528             :     // if the takeoff was not successful, switch to NullTracker
+    1529          21 :     if (takeoff_successful) {
+    1530             : 
+    1531             :       // save the current spot for later landing
+    1532             :       {
+    1533          21 :         std::scoped_lock lock(mutex_land_there_reference_);
+    1534             : 
+    1535          21 :         land_there_reference_.header               = odometry->header;
+    1536          21 :         land_there_reference_.reference.position.x = odom_x;
+    1537          21 :         land_there_reference_.reference.position.y = odom_y;
+    1538          21 :         land_there_reference_.reference.position.z = odom_z;
+    1539          21 :         land_there_reference_.reference.heading    = odom_heading;
+    1540             :       }
+    1541             : 
+    1542          21 :       timer_flighttime_.start();
+    1543             : 
+    1544          42 :       std::stringstream ss;
+    1545          21 :       ss << "taking off";
+    1546          21 :       res.success = true;
+    1547          21 :       res.message = ss.str();
+    1548          21 :       ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1549             : 
+    1550          21 :       takingoff_ = true;
+    1551          21 :       number_of_takeoffs_++;
+    1552          21 :       waiting_for_takeoff_ = true;
+    1553             : 
+    1554             :       // start the takeoff timer
+    1555          21 :       timer_takeoff_.start();
+    1556             : 
+    1557          21 :       takeoff_successful_ = takeoff_successful;
+    1558             : 
+    1559             :     } else {
+    1560             : 
+    1561           0 :       std::stringstream ss;
+    1562           0 :       ss << "takeoff was not successful";
+    1563           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1564           0 :       res.success = false;
+    1565           0 :       res.message = ss.str();
+    1566             : 
+    1567             :       // if the call for takeoff fails, call for emergency landing
+    1568           0 :       elandSrv();
+    1569             :     }
+    1570             :   }
+    1571             : 
+    1572          21 :   return true;
+    1573             : }
+    1574             : 
+    1575             : //}
+    1576             : 
+    1577             : /* //{ callbackLand() */
+    1578             : 
+    1579           2 : bool UavManager::callbackLand([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1580             : 
+    1581           2 :   if (!is_initialized_)
+    1582           0 :     return false;
+    1583             : 
+    1584           2 :   ROS_INFO("[UavManager]: land called by service");
+    1585             : 
+    1586             :   /* preconditions //{ */
+    1587             : 
+    1588             :   {
+    1589           2 :     std::stringstream ss;
+    1590             : 
+    1591           2 :     if (!sh_odometry_.hasMsg()) {
+    1592           0 :       ss << "can not land, missing odometry!";
+    1593           0 :       res.message = ss.str();
+    1594           0 :       res.success = false;
+    1595           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1596           0 :       return true;
+    1597             :     }
+    1598             : 
+    1599             :     {
+    1600           2 :       if (!sh_control_manager_diag_.hasMsg()) {
+    1601           0 :         ss << "can not land, missing control manager diagnostics!";
+    1602           0 :         res.message = ss.str();
+    1603           0 :         res.success = false;
+    1604           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1605           0 :         return true;
+    1606             :       }
+    1607             : 
+    1608           2 :       if (_null_tracker_name_ == sh_control_manager_diag_.getMsg()->active_tracker) {
+    1609           0 :         ss << "can not land, '" << _null_tracker_name_ << "' is active!";
+    1610           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1611           0 :         res.message = ss.str();
+    1612           0 :         res.success = false;
+    1613           0 :         return true;
+    1614             :       }
+    1615             :     }
+    1616             : 
+    1617           2 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1618           0 :       ss << "can not land, missing controller diagnostics!";
+    1619           0 :       res.message = ss.str();
+    1620           0 :       res.success = false;
+    1621           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1622           0 :       return true;
+    1623             :     }
+    1624             : 
+    1625           2 :     if (!sh_tracker_cmd_.hasMsg()) {
+    1626           0 :       ss << "can not land, missing position cmd!";
+    1627           0 :       res.message = ss.str();
+    1628           0 :       res.success = false;
+    1629           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1630           0 :       return true;
+    1631             :     }
+    1632             :   }
+    1633             : 
+    1634             :   //}
+    1635             : 
+    1636           2 :   auto [success, message] = landWithDescendImpl();
+    1637             : 
+    1638           2 :   res.message = message;
+    1639           2 :   res.success = success;
+    1640             : 
+    1641           2 :   return true;
+    1642             : }
+    1643             : 
+    1644             : //}
+    1645             : 
+    1646             : /* //{ callbackLandHome() */
+    1647             : 
+    1648           2 : bool UavManager::callbackLandHome([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1649             : 
+    1650           2 :   if (!is_initialized_)
+    1651           0 :     return false;
+    1652             : 
+    1653           2 :   ROS_INFO("[UavManager]: land home called by service");
+    1654             : 
+    1655             :   /* preconditions //{ */
+    1656             : 
+    1657             :   {
+    1658           2 :     std::stringstream ss;
+    1659             : 
+    1660           2 :     if (number_of_takeoffs_ == 0) {
+    1661           0 :       ss << "can not land home, did not takeoff before!";
+    1662           0 :       res.message = ss.str();
+    1663           0 :       res.success = false;
+    1664           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1665           0 :       return true;
+    1666             :     }
+    1667             : 
+    1668           2 :     if (!sh_odometry_.hasMsg()) {
+    1669           0 :       ss << "can not land, missing odometry!";
+    1670           0 :       res.message = ss.str();
+    1671           0 :       res.success = false;
+    1672           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1673           0 :       return true;
+    1674             :     }
+    1675             : 
+    1676             :     {
+    1677           2 :       if (!sh_control_manager_diag_.hasMsg()) {
+    1678           0 :         ss << "can not land, missing tracker status!";
+    1679           0 :         res.message = ss.str();
+    1680           0 :         res.success = false;
+    1681           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1682           0 :         return true;
+    1683             :       }
+    1684             : 
+    1685           2 :       if (_null_tracker_name_ == sh_control_manager_diag_.getMsg()->active_tracker) {
+    1686           0 :         ss << "can not land, '" << _null_tracker_name_ << "' is active!";
+    1687           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1688           0 :         res.message = ss.str();
+    1689           0 :         res.success = false;
+    1690           0 :         return true;
+    1691             :       }
+    1692             :     }
+    1693             : 
+    1694           2 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1695           0 :       ss << "can not land, missing controller diagnostics command!";
+    1696           0 :       res.message = ss.str();
+    1697           0 :       res.success = false;
+    1698           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1699           0 :       return true;
+    1700             :     }
+    1701             : 
+    1702           2 :     if (!sh_tracker_cmd_.hasMsg()) {
+    1703           0 :       ss << "can not land, missing position cmd!";
+    1704           0 :       res.message = ss.str();
+    1705           0 :       res.success = false;
+    1706           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1707           0 :       return true;
+    1708             :     }
+    1709             : 
+    1710           2 :     if (fixing_max_height_) {
+    1711           0 :       ss << "can not land, descedning to safe height!";
+    1712           0 :       res.message = ss.str();
+    1713           0 :       res.success = false;
+    1714           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1715           0 :       return true;
+    1716             :     }
+    1717             : 
+    1718           2 :     if (current_state_landing_ != IDLE_STATE) {
+    1719           0 :       ss << "can not land, already landing!";
+    1720           0 :       res.message = ss.str();
+    1721           0 :       res.success = false;
+    1722           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1723           0 :       return true;
+    1724             :     }
+    1725             :   }
+    1726             : 
+    1727             :   //}
+    1728             : 
+    1729           2 :   ungripSrv();
+    1730             : 
+    1731           4 :   mrs_msgs::ReferenceStamped reference_out;
+    1732             : 
+    1733             :   {
+    1734           2 :     std::scoped_lock lock(mutex_land_there_reference_);
+    1735             : 
+    1736             :     // get the current altitude in land_there_reference_.header.frame_id;
+    1737           2 :     geometry_msgs::PoseStamped current_pose;
+    1738           2 :     current_pose.header.stamp     = ros::Time::now();
+    1739           2 :     current_pose.header.frame_id  = _uav_name_ + "/fcu";
+    1740           2 :     current_pose.pose.position.x  = 0;
+    1741           2 :     current_pose.pose.position.y  = 0;
+    1742           2 :     current_pose.pose.position.z  = 0;
+    1743           2 :     current_pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1744             : 
+    1745           2 :     auto response = transformer_->transformSingle(current_pose, land_there_reference_.header.frame_id);
+    1746             : 
+    1747           2 :     if (response) {
+    1748             : 
+    1749           2 :       land_there_reference_.reference.position.z = response.value().pose.position.z;
+    1750           2 :       ROS_DEBUG("[UavManager]: current altitude is %.2f m", land_there_reference_.reference.position.z);
+    1751             : 
+    1752             :     } else {
+    1753             : 
+    1754           0 :       std::stringstream ss;
+    1755           0 :       ss << "could not transform current height to " << land_there_reference_.header.frame_id;
+    1756           0 :       ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+    1757             : 
+    1758           0 :       res.success = false;
+    1759           0 :       res.message = ss.str();
+    1760           0 :       return true;
+    1761             :     }
+    1762             : 
+    1763           2 :     reference_out.header.frame_id = land_there_reference_.header.frame_id;
+    1764           2 :     reference_out.header.stamp    = ros::Time::now();
+    1765           2 :     reference_out.reference       = land_there_reference_.reference;
+    1766             : 
+    1767           2 :     land_there_reference_ = reference_out;
+    1768             :   }
+    1769             : 
+    1770           2 :   bool service_success = emergencyReferenceSrv(reference_out);
+    1771             : 
+    1772           2 :   if (service_success) {
+    1773             : 
+    1774           4 :     std::stringstream ss;
+    1775           2 :     ss << "flying home for landing";
+    1776           2 :     ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1777             : 
+    1778           2 :     res.success = true;
+    1779           2 :     res.message = ss.str();
+    1780             : 
+    1781             :     // stop the eventual takeoff
+    1782           2 :     waiting_for_takeoff_ = false;
+    1783           2 :     takingoff_           = false;
+    1784           2 :     timer_takeoff_.stop();
+    1785             : 
+    1786           2 :     throttle_under_threshold_          = false;
+    1787           2 :     throttle_mass_estimate_first_time_ = ros::Time(0);
+    1788             : 
+    1789           2 :     changeLandingState(GOTO_STATE);
+    1790             : 
+    1791           2 :     timer_landing_.start();
+    1792             : 
+    1793             :   } else {
+    1794             : 
+    1795           0 :     std::stringstream ss;
+    1796           0 :     ss << "can not fly home for landing";
+    1797           0 :     ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+    1798             : 
+    1799           0 :     res.success = false;
+    1800           0 :     res.message = ss.str();
+    1801             :   }
+    1802             : 
+    1803           2 :   return true;
+    1804             : }
+    1805             : 
+    1806             : //}
+    1807             : 
+    1808             : /* //{ callbackLandThere() */
+    1809             : 
+    1810           1 : bool UavManager::callbackLandThere(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res) {
+    1811             : 
+    1812           1 :   if (!is_initialized_)
+    1813           0 :     return false;
+    1814             : 
+    1815           1 :   ROS_INFO("[UavManager]: land there called by service");
+    1816             : 
+    1817             :   /* preconditions //{ */
+    1818             : 
+    1819             :   {
+    1820           1 :     std::stringstream ss;
+    1821             : 
+    1822           1 :     if (!sh_odometry_.hasMsg()) {
+    1823           0 :       ss << "can not land, missing odometry!";
+    1824           0 :       res.message = ss.str();
+    1825           0 :       res.success = false;
+    1826           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1827           0 :       return true;
+    1828             :     }
+    1829             : 
+    1830             :     {
+    1831           1 :       if (!sh_control_manager_diag_.hasMsg()) {
+    1832           0 :         ss << "can not land, missing tracker status!";
+    1833           0 :         res.message = ss.str();
+    1834           0 :         res.success = false;
+    1835           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1836           0 :         return true;
+    1837             :       }
+    1838             : 
+    1839           1 :       if (_null_tracker_name_ == sh_control_manager_diag_.getMsg()->active_tracker) {
+    1840           0 :         ss << "can not land, '" << _null_tracker_name_ << "' is active!";
+    1841           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1842           0 :         res.message = ss.str();
+    1843           0 :         res.success = false;
+    1844           0 :         return true;
+    1845             :       }
+    1846             :     }
+    1847             : 
+    1848           1 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1849           0 :       ss << "can not land, missing controller diagnostics!";
+    1850           0 :       res.message = ss.str();
+    1851           0 :       res.success = false;
+    1852           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1853           0 :       return true;
+    1854             :     }
+    1855             : 
+    1856           1 :     if (!sh_tracker_cmd_.hasMsg()) {
+    1857           0 :       ss << "can not land, missing position cmd!";
+    1858           0 :       res.message = ss.str();
+    1859           0 :       res.success = false;
+    1860           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1861           0 :       return true;
+    1862             :     }
+    1863             : 
+    1864           1 :     if (fixing_max_height_) {
+    1865           0 :       ss << "can not land, descedning to safe height!";
+    1866           0 :       res.message = ss.str();
+    1867           0 :       res.success = false;
+    1868           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1869           0 :       return true;
+    1870             :     }
+    1871             :   }
+    1872             : 
+    1873             :   //}
+    1874             : 
+    1875           1 :   ungripSrv();
+    1876             : 
+    1877           2 :   auto odometry = sh_odometry_.getMsg();
+    1878             : 
+    1879             :   // | ------ transform the reference to the current frame ------ |
+    1880             : 
+    1881           2 :   mrs_msgs::ReferenceStamped reference_in;
+    1882           1 :   reference_in.header    = req.header;
+    1883           1 :   reference_in.reference = req.reference;
+    1884             : 
+    1885           2 :   auto result = transformer_->transformSingle(reference_in, odometry->header.frame_id);
+    1886             : 
+    1887           1 :   if (!result) {
+    1888           0 :     std::stringstream ss;
+    1889           0 :     ss << "can not transform the reference to the current control frame!";
+    1890           0 :     res.message = ss.str();
+    1891           0 :     res.success = false;
+    1892           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1893           0 :     return true;
+    1894             :   }
+    1895             : 
+    1896             :   {
+    1897           1 :     std::scoped_lock lock(mutex_land_there_reference_);
+    1898             : 
+    1899           1 :     land_there_reference_.header               = odometry->header;
+    1900           1 :     land_there_reference_.reference            = reference_in.reference;
+    1901           1 :     land_there_reference_.reference.position.z = odometry->pose.pose.position.z;
+    1902             :   }
+    1903             : 
+    1904           1 :   bool service_success = emergencyReferenceSrv(land_there_reference_);
+    1905             : 
+    1906           1 :   if (service_success) {
+    1907             : 
+    1908           2 :     std::stringstream ss;
+    1909           1 :     ss << "flying there for landing";
+    1910           1 :     ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1911             : 
+    1912           1 :     res.success = true;
+    1913           1 :     res.message = ss.str();
+    1914             : 
+    1915             :     // stop the eventual takeoff
+    1916           1 :     waiting_for_takeoff_ = false;
+    1917           1 :     takingoff_           = false;
+    1918           1 :     timer_takeoff_.stop();
+    1919             : 
+    1920           1 :     throttle_under_threshold_          = false;
+    1921           1 :     throttle_mass_estimate_first_time_ = ros::Time(0);
+    1922             : 
+    1923           1 :     changeLandingState(GOTO_STATE);
+    1924             : 
+    1925           1 :     timer_landing_.start();
+    1926             : 
+    1927             :   } else {
+    1928             : 
+    1929           0 :     std::stringstream ss;
+    1930           0 :     ss << "can not fly there for landing";
+    1931           0 :     ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+    1932             : 
+    1933           0 :     res.success = false;
+    1934           0 :     res.message = ss.str();
+    1935             :   }
+    1936             : 
+    1937           1 :   return true;
+    1938             : }
+    1939             : 
+    1940             : //}
+    1941             : 
+    1942             : /* //{ callbackMidairActivation() */
+    1943             : 
+    1944          82 : bool UavManager::callbackMidairActivation([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1945             : 
+    1946          82 :   if (!is_initialized_)
+    1947           0 :     return false;
+    1948             : 
+    1949          82 :   ROS_INFO("[UavManager]: midair activation called by service");
+    1950             : 
+    1951             :   /* preconditions //{ */
+    1952             : 
+    1953             :   {
+    1954          82 :     std::stringstream ss;
+    1955             : 
+    1956          82 :     if (!sh_odometry_.hasMsg()) {
+    1957           0 :       ss << "can not activate, missing odometry!";
+    1958           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1959           0 :       res.message = ss.str();
+    1960           0 :       res.success = false;
+    1961           0 :       return true;
+    1962             :     }
+    1963             : 
+    1964          82 :     if (!sh_hw_api_status_.hasMsg() || (ros::Time::now() - sh_hw_api_status_.lastMsgTime()).toSec() > 5.0) {
+    1965           0 :       ss << "can not activate, missing HW API status!";
+    1966           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1967           0 :       res.message = ss.str();
+    1968           0 :       res.success = false;
+    1969           0 :       return true;
+    1970             :     }
+    1971             : 
+    1972          82 :     if (!sh_hw_api_status_.getMsg()->armed) {
+    1973           0 :       ss << "can not activate, UAV not armed!";
+    1974           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1975           0 :       res.message = ss.str();
+    1976           0 :       res.success = false;
+    1977           0 :       return true;
+    1978             :     }
+    1979             : 
+    1980          82 :     if (sh_hw_api_status_.getMsg()->offboard) {
+    1981           0 :       ss << "can not activate, UAV already in offboard mode!";
+    1982           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1983           0 :       res.message = ss.str();
+    1984           0 :       res.success = false;
+    1985           0 :       return true;
+    1986             :     }
+    1987             : 
+    1988             :     {
+    1989          82 :       if (!sh_control_manager_diag_.hasMsg()) {
+    1990           0 :         ss << "can not activate, missing control manager diagnostics!";
+    1991           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1992           0 :         res.message = ss.str();
+    1993           0 :         res.success = false;
+    1994           0 :         return true;
+    1995             :       }
+    1996             : 
+    1997          82 :       if (_null_tracker_name_ != sh_control_manager_diag_.getMsg()->active_tracker) {
+    1998           0 :         ss << "can not activate, need '" << _null_tracker_name_ << "' to be active!";
+    1999           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2000           0 :         res.message = ss.str();
+    2001           0 :         res.success = false;
+    2002           0 :         return true;
+    2003             :       }
+    2004             :     }
+    2005             : 
+    2006          82 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    2007           0 :       ss << "can not activate, missing controller diagnostics!";
+    2008           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2009           0 :       res.message = ss.str();
+    2010           0 :       res.success = false;
+    2011           0 :       return true;
+    2012             :     }
+    2013             : 
+    2014          82 :     if (_gain_manager_required_ && (ros::Time::now() - sh_gains_diag_.lastMsgTime()).toSec() > 5.0) {
+    2015           0 :       ss << "can not activate, GainManager is not running!";
+    2016           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2017           0 :       res.message = ss.str();
+    2018           0 :       res.success = false;
+    2019           0 :       return true;
+    2020             :     }
+    2021             : 
+    2022          82 :     if (_constraint_manager_required_ && (ros::Time::now() - sh_constraints_diag_.lastMsgTime()).toSec() > 5.0) {
+    2023           0 :       ss << "can not activate, ConstraintManager is not running!";
+    2024           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2025           0 :       res.message = ss.str();
+    2026           0 :       res.success = false;
+    2027           0 :       return true;
+    2028             :     }
+    2029             : 
+    2030          82 :     if (number_of_takeoffs_ > 0) {
+    2031           0 :       ss << "can not activate, we flew already!";
+    2032           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2033           0 :       res.message = ss.str();
+    2034           0 :       res.success = false;
+    2035           0 :       return true;
+    2036             :     }
+    2037             :   }
+    2038             : 
+    2039             :   //}
+    2040             : 
+    2041          82 :   auto [success, message] = midairActivationImpl();
+    2042             : 
+    2043          82 :   res.message = message;
+    2044          82 :   res.success = success;
+    2045             : 
+    2046          82 :   return true;
+    2047             : }
+    2048             : 
+    2049             : //}
+    2050             : 
+    2051             : /* //{ callbackMinHeightCheck() */
+    2052             : 
+    2053           2 : bool UavManager::callbackMinHeightCheck([[maybe_unused]] std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    2054             : 
+    2055           2 :   if (!is_initialized_)
+    2056           0 :     return false;
+    2057             : 
+    2058           2 :   min_height_check_ = req.data;
+    2059             : 
+    2060           2 :   std::stringstream ss;
+    2061             : 
+    2062           2 :   ss << "min height check " << (min_height_check_ ? "enabled" : "disabled");
+    2063             : 
+    2064           2 :   if (min_height_check_) {
+    2065           1 :     timer_min_height_.start();
+    2066             :   } else {
+    2067           1 :     timer_min_height_.stop();
+    2068             :   }
+    2069             : 
+    2070           2 :   ROS_INFO_STREAM("[UavManager]: " << ss.str());
+    2071             : 
+    2072           2 :   res.message = ss.str();
+    2073           2 :   res.success = true;
+    2074             : 
+    2075           2 :   return true;
+    2076             : }
+    2077             : 
+    2078             : //}
+    2079             : 
+    2080             : // | ------------------------ routines ------------------------ |
+    2081             : 
+    2082             : /* landImpl() //{ */
+    2083             : 
+    2084           5 : std::tuple<bool, std::string> UavManager::landImpl(void) {
+    2085             : 
+    2086             :   // activating the landing controller
+    2087             :   {
+    2088           5 :     std::string old_controller      = sh_control_manager_diag_.getMsg()->active_controller;
+    2089           5 :     bool        controller_switched = switchControllerSrv(_landing_controller_name_);
+    2090             : 
+    2091             :     // if it fails, activate eland
+    2092             :     // Tomas: I pressume that its more important to get the UAV to the ground rather than
+    2093             :     // just throw out error.
+    2094           5 :     if (!controller_switched) {
+    2095             : 
+    2096           0 :       std::stringstream ss;
+    2097           0 :       ss << "could not activate '" << _takeoff_controller_name_ << "' for landing";
+    2098           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2099             : 
+    2100           0 :       elandSrv();
+    2101             : 
+    2102           0 :       return std::tuple(false, ss.str());
+    2103             :     }
+    2104             :   }
+    2105             : 
+    2106             :   // activate the landing tracker
+    2107             :   {
+    2108           5 :     std::string old_tracker      = sh_control_manager_diag_.getMsg()->active_tracker;
+    2109           5 :     bool        tracker_switched = switchTrackerSrv(_landing_tracker_name_);
+    2110             : 
+    2111             :     // if it fails, activate eland
+    2112             :     // Tomas: I pressume that its more important to get the UAV to the ground rather than
+    2113             :     // just throw out error.
+    2114           5 :     if (!tracker_switched) {
+    2115             : 
+    2116           0 :       std::stringstream ss;
+    2117           0 :       ss << "could not activate '" << _takeoff_tracker_name_ << "' for landing";
+    2118           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2119             : 
+    2120           0 :       elandSrv();
+    2121             : 
+    2122           0 :       return std::tuple(false, ss.str());
+    2123             :     }
+    2124             :   }
+    2125             : 
+    2126             :   // call the landing service
+    2127             :   {
+    2128           5 :     bool land_successful = landSrv();
+    2129             : 
+    2130           5 :     if (land_successful) {
+    2131             : 
+    2132             :       // stop the eventual takeoff
+    2133           5 :       waiting_for_takeoff_ = false;
+    2134           5 :       takingoff_           = false;
+    2135           5 :       timer_takeoff_.stop();
+    2136             : 
+    2137             :       // stop counting the flight time
+    2138           5 :       timer_flighttime_.stop();
+    2139             : 
+    2140          10 :       auto controller_diagnostics = sh_controller_diagnostics_.getMsg();
+    2141             : 
+    2142             :       // remember the last valid mass estimated
+    2143             :       // used during subsequent takeoff
+    2144           5 :       if (controller_diagnostics->mass_estimator) {
+    2145           5 :         last_mass_difference_ = controller_diagnostics->mass_difference;
+    2146             :       }
+    2147             : 
+    2148           5 :       setOdometryCallbacksSrv(false);
+    2149             : 
+    2150           5 :       changeLandingState(LANDING_STATE);
+    2151             : 
+    2152           5 :       throttle_under_threshold_          = false;
+    2153           5 :       throttle_mass_estimate_first_time_ = ros::Time(0);
+    2154             : 
+    2155           5 :       timer_landing_.start();
+    2156             : 
+    2157           5 :       std::stringstream ss;
+    2158           5 :       ss << "landing initiated";
+    2159           5 :       ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2160             : 
+    2161           5 :       return std::tuple(true, ss.str());
+    2162             : 
+    2163             :     } else {
+    2164             : 
+    2165           0 :       std::stringstream ss;
+    2166           0 :       ss << "could not land";
+    2167           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2168             : 
+    2169           0 :       elandSrv();
+    2170             : 
+    2171           0 :       return std::tuple(false, ss.str());
+    2172             :     }
+    2173             :   }
+    2174             : }
+    2175             : 
+    2176             : //}
+    2177             : 
+    2178             : /* landWithDescendImpl() //{ */
+    2179             : 
+    2180           9 : std::tuple<bool, std::string> UavManager::landWithDescendImpl(void) {
+    2181             : 
+    2182             :   // if the height information is available
+    2183           9 :   if (sh_height_.hasMsg()) {
+    2184             : 
+    2185           9 :     double height = sh_height_.getMsg()->value;
+    2186             : 
+    2187           9 :     if (height > 0 && height >= _landing_descend_height_ + 1.0) {
+    2188             : 
+    2189           4 :       auto odometry = sh_odometry_.getMsg();
+    2190             : 
+    2191           4 :       ungripSrv();
+    2192             : 
+    2193             :       {
+    2194           4 :         std::scoped_lock lock(mutex_land_there_reference_);
+    2195             : 
+    2196             :         // FOR FUTURE ME: Do not change this, we need it to be filled for the final check later
+    2197           4 :         land_there_reference_.header.frame_id      = "";
+    2198           4 :         land_there_reference_.header.stamp         = ros::Time::now();
+    2199           4 :         land_there_reference_.reference.position.x = odometry->pose.pose.position.x;
+    2200           4 :         land_there_reference_.reference.position.y = odometry->pose.pose.position.y;
+    2201           4 :         land_there_reference_.reference.position.z = odometry->pose.pose.position.z - (height - _landing_descend_height_);
+    2202           4 :         land_there_reference_.reference.heading    = mrs_lib::AttitudeConverter(odometry->pose.pose.orientation).getHeading();
+    2203             :       }
+    2204             : 
+    2205           4 :       bool service_success = emergencyReferenceSrv(land_there_reference_);
+    2206             : 
+    2207           4 :       if (service_success) {
+    2208             : 
+    2209           4 :         std::stringstream ss;
+    2210           4 :         ss << "flying down for landing";
+    2211           4 :         ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2212             : 
+    2213             :         // stop the eventual takeoff
+    2214           4 :         waiting_for_takeoff_ = false;
+    2215           4 :         takingoff_           = false;
+    2216           4 :         timer_takeoff_.stop();
+    2217             : 
+    2218           4 :         changeLandingState(GOTO_STATE);
+    2219             : 
+    2220           4 :         throttle_under_threshold_          = false;
+    2221           4 :         throttle_mass_estimate_first_time_ = ros::Time(0);
+    2222             : 
+    2223           4 :         timer_landing_.start();
+    2224             : 
+    2225           4 :         return std::tuple(true, ss.str());
+    2226             : 
+    2227             :       } else {
+    2228             : 
+    2229           0 :         std::stringstream ss;
+    2230           0 :         ss << "can not fly down for landing";
+    2231           0 :         ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+    2232             :       }
+    2233             :     }
+    2234             :   }
+    2235             : 
+    2236          10 :   auto [success, message] = landImpl();
+    2237             : 
+    2238           5 :   return std::tuple(success, message);
+    2239             : }
+    2240             : 
+    2241             : //}
+    2242             : 
+    2243             : /* midairActivationImpl() //{ */
+    2244             : 
+    2245          82 : std::tuple<bool, std::string> UavManager::midairActivationImpl(void) {
+    2246             : 
+    2247             :   // 1. activate the mid-air activation controller
+    2248             :   // the controller will output hover-like control output
+    2249         164 :   std::string old_controller;
+    2250             :   {
+    2251          82 :     old_controller           = sh_control_manager_diag_.getMsg()->active_controller;
+    2252          82 :     bool controller_switched = switchControllerSrv(_midair_activation_during_controller_);
+    2253             : 
+    2254          82 :     if (!controller_switched) {
+    2255             : 
+    2256           0 :       std::stringstream ss;
+    2257           0 :       ss << "could not activate '" << _midair_activation_during_controller_ << "' for midair activation";
+    2258           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2259             : 
+    2260           0 :       return std::tuple(false, ss.str());
+    2261             :     }
+    2262             :   }
+    2263             : 
+    2264             :   // 2. turn Control Manager's output ON
+    2265             :   {
+    2266          82 :     bool output_enabled = toggleControlOutput(true);
+    2267             : 
+    2268          82 :     if (!output_enabled) {
+    2269             : 
+    2270           1 :       switchControllerSrv(old_controller);
+    2271             : 
+    2272           1 :       std::stringstream ss;
+    2273           1 :       ss << "could not enable Control Manager's output";
+    2274           1 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2275             : 
+    2276           1 :       return std::tuple(false, ss.str());
+    2277             :     }
+    2278             :   }
+    2279             : 
+    2280             :   // 3. activate the mid-air activation tracker
+    2281             :   // this will cause the Control Manager to output something else than min-throttle
+    2282         162 :   std::string old_tracker;
+    2283             :   {
+    2284          81 :     old_tracker = sh_control_manager_diag_.getMsg()->active_tracker;
+    2285             : 
+    2286          81 :     bool tracker_switched = switchTrackerSrv(_midair_activation_during_tracker_);
+    2287             : 
+    2288          81 :     if (!tracker_switched) {
+    2289             : 
+    2290           0 :       switchControllerSrv(old_controller);
+    2291           0 :       toggleControlOutput(false);
+    2292             : 
+    2293           0 :       std::stringstream ss;
+    2294           0 :       ss << "could not activate '" << _midair_activation_during_tracker_ << "' for midair activation";
+    2295           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2296             : 
+    2297           0 :       return std::tuple(false, ss.str());
+    2298             :     }
+    2299             :   }
+    2300             : 
+    2301             :   // 4. wait for 50 ms, that should be enough for the Pixhawk to start getting data
+    2302          81 :   ros::Duration(0.05).sleep();
+    2303             : 
+    2304             :   // 5. turn on the OFFBOARD MODE
+    2305             :   // since now, the UAV should be under our control
+    2306             :   {
+    2307          81 :     bool offboard_set = offboardSrv(true);
+    2308             : 
+    2309          81 :     if (!offboard_set) {
+    2310             : 
+    2311           1 :       switchTrackerSrv(old_tracker);
+    2312           1 :       switchControllerSrv(old_controller);
+    2313           1 :       toggleControlOutput(false);
+    2314             : 
+    2315           1 :       std::stringstream ss;
+    2316           1 :       ss << "could not activate offboard mode";
+    2317           1 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2318             : 
+    2319           1 :       return std::tuple(false, ss.str());
+    2320             :     }
+    2321             :   }
+    2322             : 
+    2323             :   // remember this time, later check for timeout
+    2324          80 :   midair_activation_started_ = ros::Time::now();
+    2325             : 
+    2326             :   // start the timer which should check if the offboard is on, activate proper controller and tracker or timeout
+    2327          80 :   timer_midair_activation_.start();
+    2328             : 
+    2329          80 :   std::stringstream ss;
+    2330          80 :   ss << "midair activation initiated, starting the timer";
+    2331          80 :   ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2332             : 
+    2333          80 :   return std::tuple(true, ss.str());
+    2334             : }
+    2335             : 
+    2336             : //}
+    2337             : 
+    2338             : // | ----------------- service client wrappers ---------------- |
+    2339             : 
+    2340             : /* setOdometryCallbacksSrv() //{ */
+    2341             : 
+    2342         129 : void UavManager::setOdometryCallbacksSrv(const bool& input) {
+    2343             : 
+    2344         129 :   ROS_INFO("[UavManager]: switching odometry callbacks to %s", input ? "ON" : "OFF");
+    2345             : 
+    2346         258 :   std_srvs::SetBool srv;
+    2347             : 
+    2348         129 :   srv.request.data = input;
+    2349             : 
+    2350         129 :   bool res = sch_odometry_callbacks_.call(srv);
+    2351             : 
+    2352         129 :   if (res) {
+    2353             : 
+    2354         129 :     if (!srv.response.success) {
+    2355           0 :       ROS_WARN("[UavManager]: service call for toggle odometry callbacks returned: %s.", srv.response.message.c_str());
+    2356             :     }
+    2357             : 
+    2358             :   } else {
+    2359           0 :     ROS_ERROR("[UavManager]: service call for toggle odometry callbacks failed!");
+    2360             :   }
+    2361         129 : }
+    2362             : 
+    2363             : //}
+    2364             : 
+    2365             : /* setControlCallbacksSrv() //{ */
+    2366             : 
+    2367         101 : void UavManager::setControlCallbacksSrv(const bool& input) {
+    2368             : 
+    2369         101 :   ROS_INFO("[UavManager]: switching control callbacks to %s", input ? "ON" : "OFF");
+    2370             : 
+    2371         202 :   std_srvs::SetBool srv;
+    2372             : 
+    2373         101 :   srv.request.data = input;
+    2374             : 
+    2375         101 :   bool res = sch_control_callbacks_.call(srv);
+    2376             : 
+    2377         101 :   if (res) {
+    2378             : 
+    2379         101 :     if (!srv.response.success) {
+    2380           0 :       ROS_WARN("[UavManager]: service call for setting control callbacks returned: %s.", srv.response.message.c_str());
+    2381             :     }
+    2382             : 
+    2383             :   } else {
+    2384           0 :     ROS_ERROR("[UavManager]: service call for setting control callbacks failed!");
+    2385             :   }
+    2386         101 : }
+    2387             : 
+    2388             : //}
+    2389             : 
+    2390             : /* ungripSrv() //{ */
+    2391             : 
+    2392          23 : void UavManager::ungripSrv(void) {
+    2393             : 
+    2394          23 :   ROS_DEBUG_THROTTLE(1.0, "[UavManager]: ungripping payload");
+    2395             : 
+    2396          46 :   std_srvs::Trigger srv;
+    2397             : 
+    2398          23 :   bool res = sch_ungrip_.call(srv);
+    2399             : 
+    2400          23 :   if (res) {
+    2401             : 
+    2402           0 :     if (!srv.response.success) {
+    2403           0 :       ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for ungripping payload returned: %s.", srv.response.message.c_str());
+    2404             :     }
+    2405             : 
+    2406             :   } else {
+    2407          23 :     ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for ungripping payload failed!");
+    2408             :   }
+    2409          23 : }
+    2410             : 
+    2411             : //}
+    2412             : 
+    2413             : /* toggleControlOutput() //{ */
+    2414             : 
+    2415          85 : bool UavManager::toggleControlOutput(const bool& input) {
+    2416             : 
+    2417          85 :   ROS_DEBUG_THROTTLE(1.0, "[UavManager]: toggling control output %s", input ? "ON" : "OFF");
+    2418             : 
+    2419         170 :   std_srvs::SetBool srv;
+    2420             : 
+    2421          85 :   srv.request.data = input;
+    2422             : 
+    2423          85 :   bool res = sch_toggle_control_output_.call(srv);
+    2424             : 
+    2425          85 :   if (res) {
+    2426             : 
+    2427          84 :     if (!srv.response.success) {
+    2428           0 :       ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for control output returned: %s.", srv.response.message.c_str());
+    2429           0 :       return false;
+    2430             :     } else {
+    2431          84 :       return true;
+    2432             :     }
+    2433             : 
+    2434             :   } else {
+    2435           1 :     ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for control output failed!");
+    2436           1 :     return false;
+    2437             :   }
+    2438             : }
+    2439             : 
+    2440             : //}
+    2441             : 
+    2442             : /* offboardSrv() //{ */
+    2443             : 
+    2444          81 : bool UavManager::offboardSrv(const bool in) {
+    2445             : 
+    2446          81 :   ROS_DEBUG_THROTTLE(1.0, "[UavManager]: setting offboard to %d", in);
+    2447             : 
+    2448         162 :   std_srvs::Trigger srv;
+    2449             : 
+    2450          81 :   bool res = sch_offboard_.call(srv);
+    2451             : 
+    2452          81 :   if (!res) {
+    2453             : 
+    2454           1 :     ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for offboard failed!");
+    2455           1 :     return false;
+    2456             : 
+    2457             :   } else {
+    2458             : 
+    2459          80 :     if (!srv.response.success) {
+    2460           0 :       ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for offboard failed, returned: %s", srv.response.message.c_str());
+    2461           0 :       return false;
+    2462             :     } else {
+    2463          80 :       return true;
+    2464             :     }
+    2465             :   }
+    2466             : }
+    2467             : 
+    2468             : //}
+    2469             : 
+    2470             : /* disarmSrv() //{ */
+    2471             : 
+    2472           7 : void UavManager::disarmSrv(void) {
+    2473             : 
+    2474          14 :   std_srvs::SetBool srv;
+    2475             : 
+    2476           7 :   srv.request.data = false;
+    2477             : 
+    2478           7 :   bool res = sch_arm_.call(srv);
+    2479             : 
+    2480           7 :   if (res) {
+    2481             : 
+    2482           7 :     if (!srv.response.success) {
+    2483           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: service call disarming returned: %s.", srv.response.message.c_str());
+    2484             :     }
+    2485             : 
+    2486             :   } else {
+    2487           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: service call for disarming failed!");
+    2488             :   }
+    2489           7 : }
+    2490             : 
+    2491             : //}
+    2492             : 
+    2493             : /* switchControllerSrv() //{ */
+    2494             : 
+    2495         213 : bool UavManager::switchControllerSrv(const std::string& controller) {
+    2496             : 
+    2497         213 :   ROS_INFO_STREAM("[UavManager]: activating controller '" << controller << "'");
+    2498             : 
+    2499         426 :   mrs_msgs::String srv;
+    2500         213 :   srv.request.value = controller;
+    2501             : 
+    2502         213 :   bool res = sch_switch_controller_.call(srv);
+    2503             : 
+    2504         213 :   if (res) {
+    2505             : 
+    2506         213 :     if (!srv.response.success) {
+    2507           2 :       ROS_WARN("[UavManager]: service call for switching controller returned: '%s'", srv.response.message.c_str());
+    2508             :     }
+    2509             : 
+    2510         213 :     return srv.response.success;
+    2511             : 
+    2512             :   } else {
+    2513             : 
+    2514           0 :     ROS_ERROR("[UavManager]: service call for switching controller failed!");
+    2515             : 
+    2516           0 :     return false;
+    2517             :   }
+    2518             : }
+    2519             : 
+    2520             : //}
+    2521             : 
+    2522             : /* switchTrackerSrv() //{ */
+    2523             : 
+    2524         214 : bool UavManager::switchTrackerSrv(const std::string& tracker) {
+    2525             : 
+    2526         214 :   ROS_INFO_STREAM("[UavManager]: activating tracker '" << tracker << "'");
+    2527             : 
+    2528             : 
+    2529         428 :   mrs_msgs::String srv;
+    2530         214 :   srv.request.value = tracker;
+    2531             : 
+    2532         214 :   bool res = sch_switch_tracker_.call(srv);
+    2533             : 
+    2534         214 :   if (res) {
+    2535             : 
+    2536         214 :     if (!srv.response.success) {
+    2537           2 :       ROS_WARN("[UavManager]: service call for switching tracker returned: '%s'", srv.response.message.c_str());
+    2538             :     }
+    2539             : 
+    2540         214 :     return srv.response.success;
+    2541             : 
+    2542             :   } else {
+    2543             : 
+    2544           0 :     ROS_ERROR("[UavManager]: service call for switching tracker failed!");
+    2545             : 
+    2546           0 :     return false;
+    2547             :   }
+    2548             : }
+    2549             : 
+    2550             : //}
+    2551             : 
+    2552             : /* landSrv() //{ */
+    2553             : 
+    2554           5 : bool UavManager::landSrv(void) {
+    2555             : 
+    2556           5 :   ROS_INFO("[UavManager]: calling for landing");
+    2557             : 
+    2558          10 :   std_srvs::Trigger srv;
+    2559             : 
+    2560           5 :   bool res = sch_land_.call(srv);
+    2561             : 
+    2562           5 :   if (res) {
+    2563             : 
+    2564           5 :     if (!srv.response.success) {
+    2565           0 :       ROS_WARN("[UavManager]: service call for landing returned: '%s'", srv.response.message.c_str());
+    2566             :     }
+    2567             : 
+    2568           5 :     return srv.response.success;
+    2569             : 
+    2570             :   } else {
+    2571             : 
+    2572           0 :     ROS_ERROR("[UavManager]: service call for landing failed!");
+    2573             : 
+    2574           0 :     return false;
+    2575             :   }
+    2576             : }
+    2577             : 
+    2578             : //}
+    2579             : 
+    2580             : /* elandSrv() //{ */
+    2581             : 
+    2582           1 : bool UavManager::elandSrv(void) {
+    2583             : 
+    2584           1 :   ROS_INFO("[UavManager]: calling for eland");
+    2585             : 
+    2586           2 :   std_srvs::Trigger srv;
+    2587             : 
+    2588           1 :   bool res = sch_eland_.call(srv);
+    2589             : 
+    2590           1 :   if (res) {
+    2591             : 
+    2592           1 :     if (!srv.response.success) {
+    2593           0 :       ROS_WARN("[UavManager]: service call for eland returned: '%s'", srv.response.message.c_str());
+    2594             :     }
+    2595             : 
+    2596           1 :     return srv.response.success;
+    2597             : 
+    2598             :   } else {
+    2599             : 
+    2600           0 :     ROS_ERROR("[UavManager]: service call for eland failed!");
+    2601             : 
+    2602           0 :     return false;
+    2603             :   }
+    2604             : }
+    2605             : 
+    2606             : //}
+    2607             : 
+    2608             : /* ehoverSrv() //{ */
+    2609             : 
+    2610           2 : bool UavManager::ehoverSrv(void) {
+    2611             : 
+    2612           2 :   ROS_INFO("[UavManager]: calling for ehover");
+    2613             : 
+    2614           4 :   std_srvs::Trigger srv;
+    2615             : 
+    2616           2 :   bool res = sch_ehover_.call(srv);
+    2617             : 
+    2618           2 :   if (res) {
+    2619             : 
+    2620           2 :     if (!srv.response.success) {
+    2621           0 :       ROS_WARN("[UavManager]: service call for ehover returned: '%s'", srv.response.message.c_str());
+    2622             :     }
+    2623             : 
+    2624           2 :     return srv.response.success;
+    2625             : 
+    2626             :   } else {
+    2627             : 
+    2628           0 :     ROS_ERROR("[UavManager]: service call for ehover failed!");
+    2629             : 
+    2630           0 :     return false;
+    2631             :   }
+    2632             : }
+    2633             : 
+    2634             : //}
+    2635             : 
+    2636             : /* takeoffSrv() //{ */
+    2637             : 
+    2638          21 : bool UavManager::takeoffSrv(void) {
+    2639             : 
+    2640          21 :   ROS_INFO("[UavManager]: calling for takeoff to height '%.2f m'", _takeoff_height_);
+    2641             : 
+    2642          42 :   mrs_msgs::Vec1 srv;
+    2643             : 
+    2644          21 :   srv.request.goal = _takeoff_height_;
+    2645             : 
+    2646          21 :   bool res = sch_takeoff_.call(srv);
+    2647             : 
+    2648          21 :   if (res) {
+    2649             : 
+    2650          21 :     if (!srv.response.success) {
+    2651           0 :       ROS_WARN("[UavManager]: service call for takeoff returned: '%s'", srv.response.message.c_str());
+    2652             :     }
+    2653             : 
+    2654          21 :     return srv.response.success;
+    2655             : 
+    2656             :   } else {
+    2657             : 
+    2658           0 :     ROS_ERROR("[UavManager]: service call for takeoff failed!");
+    2659             : 
+    2660           0 :     return false;
+    2661             :   }
+    2662             : }
+    2663             : 
+    2664             : //}
+    2665             : 
+    2666             : /* emergencyReferenceSrv() //{ */
+    2667             : 
+    2668         100 : bool UavManager::emergencyReferenceSrv(const mrs_msgs::ReferenceStamped& goal) {
+    2669             : 
+    2670         100 :   ROS_INFO_THROTTLE(1.0, "[UavManager]: calling for emergency reference");
+    2671             : 
+    2672         200 :   mrs_msgs::ReferenceStampedSrv srv;
+    2673             : 
+    2674         100 :   srv.request.header    = goal.header;
+    2675         100 :   srv.request.reference = goal.reference;
+    2676             : 
+    2677         100 :   bool res = sch_emergency_reference_.call(srv);
+    2678             : 
+    2679         100 :   if (res) {
+    2680             : 
+    2681         100 :     if (!srv.response.success) {
+    2682           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: service call for emergency reference returned: '%s'", srv.response.message.c_str());
+    2683             :     }
+    2684             : 
+    2685         100 :     return srv.response.success;
+    2686             : 
+    2687             :   } else {
+    2688             : 
+    2689           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: service call for emergency reference failed!");
+    2690             : 
+    2691           0 :     return false;
+    2692             :   }
+    2693             : }
+    2694             : 
+    2695             : //}
+    2696             : 
+    2697             : }  // namespace uav_manager
+    2698             : 
+    2699             : }  // namespace mrs_uav_managers
+    2700             : 
+    2701             : #include <pluginlib/class_list_macros.h>
+    2702         109 : 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..be368f81e6 --- /dev/null +++ b/mrs_uav_managers/src/uav_manager.cpp.gcov.overview.html @@ -0,0 +1,696 @@ + + + + + + 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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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:2024-12-11 22:27:27Functions: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()80
mrs_uav_state_estimators::garmin_agl::GarminAgl::~GarminAgl()80
mrs_uav_state_estimators::garmin_agl::GarminAgl::~GarminAgl().280
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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/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..f0fe661ad0 --- /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 + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions: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()80
mrs_uav_state_estimators::garmin_agl::GarminAgl::~GarminAgl()80
mrs_uav_state_estimators::garmin_agl::GarminAgl::~GarminAgl().280
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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/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..f839d1bc98 --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions:33100.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          Line data    Source code
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+       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          80 :   GarminAgl() : AglEstimator(garmin_agl::name, garmin_agl::frame_id, garmin_agl::package_name), is_core_plugin_(is_core_plugin) {
+      57          80 :   }
+      58             : 
+      59         160 :   ~GarminAgl(void) {
+      60         160 :   }
+      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
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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)196
mrs_uav_state_estimators::AltGeneric::~AltGeneric()196
mrs_uav_state_estimators::AltGeneric::~AltGeneric().2196
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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)196
mrs_uav_state_estimators::AltGeneric::~AltGeneric()196
mrs_uav_state_estimators::AltGeneric::~AltGeneric().2196
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+
          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         196 :   AltGeneric(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name, const bool is_core_plugin)
+     115         196 :       : AltitudeEstimator<alt_generic::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name), is_core_plugin_(is_core_plugin) {
+     116         196 :   }
+     117             : 
+     118         392 :   ~AltGeneric(void) {
+     119         392 :   }
+     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
+
+ + + 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 + + +
+ Top

+ Overview +
+ + 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 + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:2024-12-11 22:27:27Functions:2366.7 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

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&)196
mrs_uav_state_estimators::AltitudeEstimator<3>::~AltitudeEstimator().2196
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..14a32ee9d1 --- /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 + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions:2366.7 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

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&)196
mrs_uav_state_estimators::AltitudeEstimator<3>::~AltitudeEstimator()0
mrs_uav_state_estimators::AltitudeEstimator<3>::~AltitudeEstimator().2196
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..6625c9a655 --- /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 + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions: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         196 :   AltitudeEstimator(const std::string& name, const std::string& frame_id) : PartialEstimator<n_states, 1>(altitude::type, name, frame_id) {
+      31         196 :   }
+      32             : 
+      33         196 :   virtual ~AltitudeEstimator(void) {
+      34         196 :   }
+      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
+
+ + + 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 + + +
+ Top

+ Overview +
+ + 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..b914f921e4 --- /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 + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions: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
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..4f33975d67 --- /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:2024-12-11 22:27:27Functions: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
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..4706a1ef02 --- /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:2024-12-11 22:27:27Functions: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
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..b9264ad102 --- /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:2024-12-11 22:27:27Functions: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..617a4cc633 --- /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:2024-12-11 22:27:27Functions: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..9c3f1567bc --- /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:2024-12-11 22:27:27Functions: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..889d160755 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.func-sort-c.html @@ -0,0 +1,428 @@ + + + + + + + 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:381108935.0 %
Date:2024-12-11 22:27:27Functions:488755.2 %
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>::getInFrame(geometry_msgs::Point_<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>::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>::callbackMagField(boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const>)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>::callbackNavSatFix(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::callbackMagHeading(boost::shared_ptr<mrs_msgs::Float64Stamped_<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>::transformVecToFrame(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>::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>::getCorrectionFromMagField(boost::shared_ptr<sensor_msgs::MagneticField_<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>::getCorrectionFromNavSatFix(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromMagHeading(boost::shared_ptr<mrs_msgs::Float64Stamped_<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>::getInFrame(geometry_msgs::Point_<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<2>::callbackImu(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getAvgInitZ(double)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>::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>::callbackMagField(boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const>)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>::callbackNavSatFix(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::callbackMagHeading(boost::shared_ptr<mrs_msgs::Float64Stamped_<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>::getCorrectionFromMagField(boost::shared_ptr<sensor_msgs::MagneticField_<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>::getCorrectionFromNavSatFix(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getCorrectionFromMagHeading(boost::shared_ptr<mrs_msgs::Float64Stamped_<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>::getAvgInitZ(double)22
mrs_uav_state_estimators::Correction<2>::createProcessorFromName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::NodeHandle&)116
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)>)120
mrs_uav_state_estimators::Correction<2>::getName[abi:cxx11]() const240
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&)254
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)>)282
mrs_uav_state_estimators::Correction<2>::getNamespacedName[abi:cxx11]() const515
mrs_uav_state_estimators::Correction<1>::getName[abi:cxx11]() const564
mrs_uav_state_estimators::Correction<1>::getPrintName[abi:cxx11]() const616
mrs_uav_state_estimators::Correction<1>::getNamespacedName[abi:cxx11]() const1101
mrs_uav_state_estimators::Correction<1>::callbackRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)1782
mrs_uav_state_estimators::Correction<1>::getCorrectionFromRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)1806
mrs_uav_state_estimators::Correction<1>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const1806
mrs_uav_state_estimators::Correction<2>::callbackRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)3770
mrs_uav_state_estimators::Correction<2>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const3842
mrs_uav_state_estimators::Correction<2>::getCorrectionFromRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)3844
mrs_uav_state_estimators::Correction<2>::getRawCorrection()7617
mrs_uav_state_estimators::Correction<2>::getProcessedCorrection()7617
mrs_uav_state_estimators::Correction<1>::getRawCorrection()8558
mrs_uav_state_estimators::Correction<1>::getProcessedCorrection()8564
mrs_uav_state_estimators::Correction<2>::callbackVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)10949
mrs_uav_state_estimators::Correction<2>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)10980
mrs_uav_state_estimators::Correction<2>::transformVecToFrame(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> >)10983
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> >)10985
mrs_uav_state_estimators::Correction<2>::callbackPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)218310
mrs_uav_state_estimators::Correction<2>::getCorrectionFromPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)222579
mrs_uav_state_estimators::Correction<2>::isMsgComing()224976
mrs_uav_state_estimators::Correction<2>::isHealthy()224980
mrs_uav_state_estimators::Correction<1>::callbackVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)228264
mrs_uav_state_estimators::Correction<1>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)228349
mrs_uav_state_estimators::Correction<1>::getZVelUntilted(geometry_msgs::Vector3_<std::allocator<void> > const&, std_msgs::Header_<std::allocator<void> > const&)228398
mrs_uav_state_estimators::Correction<2>::setR(double)228969
mrs_uav_state_estimators::Correction<2>::getStateId() const229482
mrs_uav_state_estimators::Correction<2>::applyCorrection(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, ros::Time const&)233093
mrs_uav_state_estimators::Correction<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)237397
mrs_uav_state_estimators::Correction<1>::callbackRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)266858
mrs_uav_state_estimators::Correction<1>::getCorrectionFromRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)269287
mrs_uav_state_estimators::Correction<2>::publishCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)466293
mrs_uav_state_estimators::Correction<1>::isMsgComing()483209
mrs_uav_state_estimators::Correction<1>::isHealthy()483314
mrs_uav_state_estimators::Correction<1>::setR(double)493244
mrs_uav_state_estimators::Correction<1>::getStateId() const493287
mrs_uav_state_estimators::Correction<1>::applyCorrection(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&)497313
mrs_uav_state_estimators::Correction<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)501586
mrs_uav_state_estimators::Correction<1>::publishCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)994782
mrs_uav_state_estimators::Correction<2>::getR()1161601
mrs_uav_state_estimators::Correction<1>::getR()1487637
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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..6b17803f4b --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.func.html @@ -0,0 +1,428 @@ + + + + + + + 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:381108935.0 %
Date:2024-12-11 22:27:27Functions:488755.2 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::Correction<1>::getInFrame(geometry_msgs::Point_<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>::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>)1782
mrs_uav_state_estimators::Correction<1>::getAvgInitZ(double)22
mrs_uav_state_estimators::Correction<1>::isMsgComing()483209
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>)266858
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>)228264
mrs_uav_state_estimators::Correction<1>::applyCorrection(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&)497313
mrs_uav_state_estimators::Correction<1>::getZVelUntilted(geometry_msgs::Vector3_<std::allocator<void> > const&, std_msgs::Header_<std::allocator<void> > const&)228398
mrs_uav_state_estimators::Correction<1>::callbackMagField(boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const>)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>::getRawCorrection()8558
mrs_uav_state_estimators::Correction<1>::callbackNavSatFix(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::publishCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)994782
mrs_uav_state_estimators::Correction<1>::callbackMagHeading(boost::shared_ptr<mrs_msgs::Float64Stamped_<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>::transformVecToFrame(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>::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>)1806
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>)269287
mrs_uav_state_estimators::Correction<1>::getProcessedCorrection()8564
mrs_uav_state_estimators::Correction<1>::createProcessorFromName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::NodeHandle&)254
mrs_uav_state_estimators::Correction<1>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)228349
mrs_uav_state_estimators::Correction<1>::getCorrectionFromMagField(boost::shared_ptr<sensor_msgs::MagneticField_<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>::getCorrectionFromNavSatFix(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromMagHeading(boost::shared_ptr<mrs_msgs::Float64Stamped_<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()1487637
mrs_uav_state_estimators::Correction<1>::setR(double)493244
mrs_uav_state_estimators::Correction<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)501586
mrs_uav_state_estimators::Correction<1>::isHealthy()483314
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)>)282
mrs_uav_state_estimators::Correction<2>::getInFrame(geometry_msgs::Point_<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<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>)3770
mrs_uav_state_estimators::Correction<2>::getAvgInitZ(double)0
mrs_uav_state_estimators::Correction<2>::isMsgComing()224976
mrs_uav_state_estimators::Correction<2>::callbackPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)218310
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> >)10985
mrs_uav_state_estimators::Correction<2>::callbackVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)10949
mrs_uav_state_estimators::Correction<2>::applyCorrection(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, ros::Time const&)233093
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>::callbackMagField(boost::shared_ptr<sensor_msgs::MagneticField_<std::allocator<void> > const>)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()7617
mrs_uav_state_estimators::Correction<2>::callbackNavSatFix(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::publishCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)466293
mrs_uav_state_estimators::Correction<2>::callbackMagHeading(boost::shared_ptr<mrs_msgs::Float64Stamped_<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>::transformVecToFrame(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> >)10983
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>)3844
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>)222579
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()7617
mrs_uav_state_estimators::Correction<2>::createProcessorFromName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::NodeHandle&)116
mrs_uav_state_estimators::Correction<2>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)10980
mrs_uav_state_estimators::Correction<2>::getCorrectionFromMagField(boost::shared_ptr<sensor_msgs::MagneticField_<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>::getCorrectionFromNavSatFix(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getCorrectionFromMagHeading(boost::shared_ptr<mrs_msgs::Float64Stamped_<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()1161601
mrs_uav_state_estimators::Correction<2>::setR(double)228969
mrs_uav_state_estimators::Correction<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)237397
mrs_uav_state_estimators::Correction<2>::isHealthy()224980
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)>)120
mrs_uav_state_estimators::Correction<1>::getStateId() const493287
mrs_uav_state_estimators::Correction<1>::getPrintName[abi:cxx11]() const616
mrs_uav_state_estimators::Correction<1>::getNamespacedName[abi:cxx11]() const1101
mrs_uav_state_estimators::Correction<1>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const1806
mrs_uav_state_estimators::Correction<1>::getName[abi:cxx11]() const564
mrs_uav_state_estimators::Correction<2>::getStateId() const229482
mrs_uav_state_estimators::Correction<2>::getPrintName[abi:cxx11]() const244
mrs_uav_state_estimators::Correction<2>::getNamespacedName[abi:cxx11]() const515
mrs_uav_state_estimators::Correction<2>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const3842
mrs_uav_state_estimators::Correction<2>::getName[abi:cxx11]() const240
+
+
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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/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..550aa5bc65 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.html @@ -0,0 +1,2719 @@ + + + + + + + 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:381108935.0 %
Date:2024-12-11 22:27:27Functions:488755.2 %
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 <sensor_msgs/MagneticField.h>
+      23             : #include <sensor_msgs/NavSatFix.h>
+      24             : #include <nav_msgs/Odometry.h>
+      25             : 
+      26             : #include <std_srvs/SetBool.h>
+      27             : 
+      28             : #include <functional>
+      29             : 
+      30             : #include <mrs_uav_managers/estimation_manager/types.h>
+      31             : #include <mrs_uav_managers/estimation_manager/support.h>
+      32             : #include <mrs_uav_managers/estimation_manager/common_handlers.h>
+      33             : #include <mrs_uav_managers/estimation_manager/private_handlers.h>
+      34             : 
+      35             : #include <mrs_uav_state_estimators/processors/processor.h>
+      36             : #include <mrs_uav_state_estimators/processors/proc_median_filter.h>
+      37             : #include <mrs_uav_state_estimators/processors/proc_saturate.h>
+      38             : #include <mrs_uav_state_estimators/processors/proc_excessive_tilt.h>
+      39             : #include <mrs_uav_state_estimators/processors/proc_tf_to_world.h>
+      40             : #include <mrs_uav_state_estimators/processors/proc_mag_declination.h>
+      41             : 
+      42             : #include <mrs_uav_state_estimators/CorrectionConfig.h>
+      43             : 
+      44             : 
+      45             : namespace mrs_uav_state_estimators
+      46             : {
+      47             : 
+      48             : typedef enum
+      49             : {
+      50             :   LATERAL,
+      51             :   ALTITUDE,
+      52             :   HEADING,
+      53             :   LATALT,
+      54             : } EstimatorType_t;
+      55             : const int n_EstimatorType_t = 4;
+      56             : 
+      57             : typedef enum
+      58             : {
+      59             :   UNKNOWN,
+      60             :   ODOMETRY,
+      61             :   POSE,
+      62             :   POSECOV,
+      63             :   RANGE,
+      64             :   IMU,
+      65             :   RTK_GPS,
+      66             :   NAVSATFIX,
+      67             :   MAG_HDG,
+      68             :   MAG_FIELD,
+      69             :   POINT,
+      70             :   VECTOR,
+      71             :   QUAT,
+      72             : } MessageType_t;
+      73             : const int n_MessageType_t = 10;
+      74             : 
+      75             : const std::map<std::string, MessageType_t> map_msg_type{{"nav_msgs/Odometry", MessageType_t::ODOMETRY},
+      76             :                                                         {"geometry_msgs/PoseStamped", MessageType_t::POSE},
+      77             :                                                         {"geometry_msgs/PoseWithCovarianceStamped", MessageType_t::POSECOV},
+      78             :                                                         {"sensor_msgs/Range", MessageType_t::RANGE},
+      79             :                                                         {"sensor_msgs/Imu", MessageType_t::IMU},
+      80             :                                                         {"mrs_msgs/RtkGps", MessageType_t::RTK_GPS},
+      81             :                                                         {"sensor_msgs/NavSatFix", MessageType_t::NAVSATFIX},
+      82             :                                                         {"mrs_msgs/Float64Stamped", MessageType_t::MAG_HDG},
+      83             :                                                         {"sensor_msgs/MagneticField", MessageType_t::MAG_FIELD},
+      84             :                                                         {"geometry_msgs/PointStamped", MessageType_t::POINT},
+      85             :                                                         {"geometry_msgs/Vector3Stamped", MessageType_t::VECTOR},
+      86             :                                                         {"geometry_msgs/QuaternionStamped", MessageType_t::QUAT}};
+      87             : 
+      88             : template <int n_measurements>
+      89             : class Correction {
+      90             : 
+      91             :   using CommonHandlers_t  = mrs_uav_managers::estimation_manager::CommonHandlers_t;
+      92             :   using PrivateHandlers_t = mrs_uav_managers::estimation_manager::PrivateHandlers_t;
+      93             :   using StateId_t         = mrs_uav_managers::estimation_manager::StateId_t;
+      94             : 
+      95             : public:
+      96             :   typedef Eigen::Matrix<double, n_measurements, 1>         measurement_t;
+      97             :   typedef mrs_lib::DynamicReconfigureMgr<CorrectionConfig> drmgr_t;
+      98             : 
+      99             :   struct MeasurementStamped
+     100             :   {
+     101             :     ros::Time     stamp;
+     102             :     measurement_t value;
+     103             :   };
+     104             : 
+     105             : public:
+     106             :   Correction(ros::NodeHandle& nh, const std::string& est_name, const std::string& name, const std::string& frame_id, const EstimatorType_t& est_type,
+     107             :              const std::shared_ptr<CommonHandlers_t>& ch, const std::shared_ptr<PrivateHandlers_t>& ph, std::function<double(int, int)> fun_get_state,
+     108             :              std::function<void(MeasurementStamped, double, StateId_t)> fun_apply_correction);
+     109             : 
+     110             :   std::string getName() const;
+     111             :   std::string getNamespacedName() const;
+     112             :   std::string getPrintName() const;
+     113             : 
+     114             :   double    getR();
+     115             :   void      setR(const double R);
+     116             :   StateId_t getStateId() const;
+     117             : 
+     118             :   bool             isHealthy();
+     119             :   ros::Time        healthy_time_;
+     120             :   std::atomic_bool is_healthy_    = true;
+     121             :   std::atomic_bool is_delay_ok_   = true;
+     122             :   std::atomic_bool is_dt_ok_      = true;
+     123             :   std::atomic_bool is_nan_free_   = true;
+     124             :   std::atomic_bool got_first_msg_ = false;
+     125             : 
+     126             :   int counter_nan_ = 0;
+     127             : 
+     128             :   std::optional<MeasurementStamped> getRawCorrection();
+     129             :   std::optional<MeasurementStamped> getProcessedCorrection();
+     130             : 
+     131             :   void resetProcessors();
+     132             : 
+     133             : private:
+     134             :   std::atomic_bool is_initialized_ = false;
+     135             : 
+     136             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_odom_;
+     137             :   void                                          callbackOdometry(const nav_msgs::Odometry::ConstPtr msg);
+     138             :   std::optional<measurement_t>                  getCorrectionFromOdometry(const nav_msgs::OdometryConstPtr msg);
+     139             : 
+     140             :   mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped> sh_pose_s_;
+     141             :   void                                                  callbackPoseStamped(const geometry_msgs::PoseStamped::ConstPtr msg);
+     142             :   std::optional<measurement_t>                          getCorrectionFromPoseStamped(const geometry_msgs::PoseStampedConstPtr msg);
+     143             : 
+     144             :   mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped> sh_pose_wcs_;
+     145             : 
+     146             :   mrs_lib::SubscribeHandler<mrs_msgs::RtkGps> sh_rtk_;
+     147             :   void                                        callbackRtk(const mrs_msgs::RtkGps::ConstPtr msg);
+     148             :   std::optional<measurement_t>                getCorrectionFromRtk(const mrs_msgs::RtkGpsConstPtr msg);
+     149             : 
+     150             :   mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix> sh_navsatfix_;
+     151             :   void                                              callbackNavSatFix(const sensor_msgs::NavSatFix::ConstPtr msg);
+     152             :   std::optional<measurement_t>                      getCorrectionFromNavSatFix(const sensor_msgs::NavSatFixConstPtr msg);
+     153             : 
+     154             :   void   getAvgInitZ(const double z);
+     155             :   bool   got_avg_init_z_ = false;
+     156             :   double init_z_avg_     = 0.0;
+     157             :   int    got_z_counter_  = 0;
+     158             : 
+     159             :   mrs_lib::SubscribeHandler<geometry_msgs::PointStamped> sh_point_;
+     160             :   void                                                   callbackPoint(const geometry_msgs::PointStamped::ConstPtr msg);
+     161             :   std::optional<measurement_t>                           getCorrectionFromPoint(const geometry_msgs::PointStampedConstPtr msg);
+     162             : 
+     163             :   mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped> sh_vector_;
+     164             :   std::optional<measurement_t>                             getCorrectionFromVector(const geometry_msgs::Vector3StampedConstPtr msg);
+     165             :   void                                                     callbackVector(const geometry_msgs::Vector3Stamped::ConstPtr msg);
+     166             : 
+     167             :   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_orientation_;  // for obtaining heading rate
+     168             :   std::string                                                 orientation_topic_;
+     169             : 
+     170             :   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_quat_;
+     171             :   measurement_t                                               prev_hdg_measurement_;
+     172             :   bool                                                        got_first_hdg_measurement_ = false;
+     173             :   bool                                                        init_hdg_in_zero_          = false;
+     174             :   double                                                      first_hdg_measurement_     = 0.0;
+     175             : 
+     176             :   mrs_lib::SubscribeHandler<sensor_msgs::Imu> sh_imu_;
+     177             :   std::optional<measurement_t>                getCorrectionFromImu(const sensor_msgs::ImuConstPtr msg);
+     178             :   void                                        callbackImu(const sensor_msgs::Imu::ConstPtr msg);
+     179             : 
+     180             :   mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped> sh_mag_hdg_;
+     181             :   std::optional<measurement_t>                        getCorrectionFromMagHeading(const mrs_msgs::Float64StampedConstPtr msg);
+     182             :   void                                                callbackMagHeading(const mrs_msgs::Float64Stamped::ConstPtr msg);
+     183             :   double                                              mag_hdg_previous_;
+     184             :   bool                                                got_first_mag_hdg_;
+     185             : 
+     186             :   mrs_lib::SubscribeHandler<sensor_msgs::MagneticField> sh_mag_field_;
+     187             :   std::optional<measurement_t>                          getCorrectionFromMagField(const sensor_msgs::MagneticFieldConstPtr msg);
+     188             :   void                                                  callbackMagField(const sensor_msgs::MagneticField::ConstPtr msg);
+     189             : 
+     190             :   mrs_lib::SubscribeHandler<sensor_msgs::Range> sh_range_;
+     191             :   std::optional<measurement_t>                  getCorrectionFromRange(const sensor_msgs::RangeConstPtr msg);
+     192             :   void                                          callbackRange(const sensor_msgs::Range::ConstPtr msg);
+     193             :   ros::ServiceServer                            ser_toggle_range_;
+     194             :   bool                                          callbackToggleRange(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     195             :   bool                                          range_enabled_ = true;
+     196             : 
+     197             :   void applyCorrection(const measurement_t& meas, const ros::Time& stamp);
+     198             : 
+     199             :   mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection> ph_correction_raw_;
+     200             :   mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection> ph_correction_proc_;
+     201             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>      ph_delay_;
+     202             :   mrs_lib::PublisherHandler<geometry_msgs::PointStamped>   ph_mag_field_untilted_;
+     203             : 
+     204             :   const std::string                  est_name_;
+     205             :   const std::string                  name_;
+     206             :   const std::string                  ns_frame_id_;
+     207             :   const EstimatorType_t              est_type_;
+     208             :   std::shared_ptr<CommonHandlers_t>  ch_;
+     209             :   std::shared_ptr<PrivateHandlers_t> ph_;
+     210             : 
+     211             :   MessageType_t msg_type_;
+     212             :   std::string   msg_topic_;
+     213             :   double        msg_timeout_;
+     214             : 
+     215             :   double     R_;
+     216             :   double     default_R_;
+     217             :   double     R_coeff_;
+     218             :   std::mutex mtx_R_;
+     219             :   StateId_t  state_id_;
+     220             :   bool       is_in_body_frame_ = true;
+     221             :   double     gravity_norm_     = 9.8066;
+     222             : 
+     223             :   bool        transform_to_frame_enabled_ = false;
+     224             :   std::string transform_to_frame_;
+     225             :   std::string transform_from_frame_;
+     226             : 
+     227             :   std::unique_ptr<drmgr_t> drmgr_;
+     228             : 
+     229             :   std::optional<measurement_t> getCorrectionFromQuat(const geometry_msgs::QuaternionStampedConstPtr msg);
+     230             :   std::optional<measurement_t> getZVelUntilted(const geometry_msgs::Vector3& msg, const std_msgs::Header& header);
+     231             :   std::optional<measurement_t> getVecInFrame(const geometry_msgs::Vector3& vec_in, const std_msgs::Header& source_header, const std::string target_frame);
+     232             :   std::optional<geometry_msgs::Vector3> transformVecToFrame(const geometry_msgs::Vector3& vec_in, const std_msgs::Header& source_header,
+     233             :                                                             const std::string target_frame);
+     234             :   std::optional<geometry_msgs::Point>   getInFrame(const geometry_msgs::Point& vec_in, const std_msgs::Header& source_header, const std::string target_frame);
+     235             : 
+     236             :   std::optional<geometry_msgs::Pose> transformRtkToFcu(const geometry_msgs::PoseStamped& pose_in) const;
+     237             : 
+     238             :   void   checkMsgDelay(const ros::Time& msg_time);
+     239             :   double msg_delay_limit_;
+     240             :   double msg_delay_warn_limit_;
+     241             : 
+     242             :   double time_since_last_msg_limit_;
+     243             : 
+     244             :   std::shared_ptr<Processor<n_measurements>> createProcessorFromName(const std::string& name, ros::NodeHandle& nh);
+     245             :   bool                                       process(measurement_t& measurement);
+     246             : 
+     247             :   bool             isTimestampOk();
+     248             :   bool             isMsgComing();
+     249             :   std::atomic_bool first_timestamp_ = true;
+     250             :   ros::Time        msg_time_;
+     251             :   ros::Time        prev_msg_time_;
+     252             :   std::mutex       mtx_msg_time_;
+     253             : 
+     254             :   std::vector<std::string>                                                    processor_names_;
+     255             :   std::unordered_map<std::string, std::shared_ptr<Processor<n_measurements>>> processors_;
+     256             : 
+     257             :   std::function<double(int, int)>                            fun_get_state_;
+     258             :   std::function<void(MeasurementStamped, double, StateId_t)> fun_apply_correction_;
+     259             : 
+     260             :   void publishCorrection(const MeasurementStamped& measurement_stamped, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection>& ph_corr);
+     261             :   void publishDelay(const double delay);
+     262             : };
+     263             : 
+     264             : /*//{ constructor */
+     265             : template <int n_measurements>
+     266         402 : Correction<n_measurements>::Correction(ros::NodeHandle& nh, const std::string& est_name, const std::string& name, const std::string& ns_frame_id,
+     267             :                                        const EstimatorType_t& est_type, const std::shared_ptr<CommonHandlers_t>& ch,
+     268             :                                        const std::shared_ptr<PrivateHandlers_t>& ph, std::function<double(int, int)> fun_get_state,
+     269             :                                        std::function<void(MeasurementStamped, double, StateId_t)> fun_apply_correction)
+     270             :     : est_name_(est_name),
+     271             :       name_(name),
+     272             :       ns_frame_id_(ns_frame_id),
+     273             :       est_type_(est_type),
+     274             :       ch_(ch),
+     275             :       ph_(ph),
+     276             :       fun_get_state_(fun_get_state),
+     277         402 :       fun_apply_correction_(fun_apply_correction) {
+     278             : 
+     279             :   // | --------------------- load parameters -------------------- |
+     280             : 
+     281         804 :   std::string msg_type_string;
+     282             : 
+     283         402 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + getNamespacedName() + "/");
+     284             : 
+     285         402 :   ph->param_loader->loadParam("message/type", msg_type_string);
+     286         402 :   if (map_msg_type.find(msg_type_string) == map_msg_type.end()) {
+     287           0 :     ROS_ERROR("[%s]: wrong message type: %s of correction %s", getPrintName().c_str(), msg_type_string.c_str(), getName().c_str());
+     288           0 :     ros::shutdown();
+     289             :   }
+     290         402 :   msg_type_ = map_msg_type.at(msg_type_string);
+     291             : 
+     292         402 :   ph->param_loader->loadParam("message/topic", msg_topic_);
+     293         402 :   msg_topic_ = "/" + ch_->uav_name + "/" + msg_topic_;
+     294         402 :   ph->param_loader->loadParam("message/limit/delay", msg_delay_limit_);
+     295         402 :   msg_delay_warn_limit_ = msg_delay_limit_ / 2;  // maybe specify this as a param?
+     296         402 :   ph->param_loader->loadParam("message/limit/time_since_last", time_since_last_msg_limit_);
+     297             : 
+     298             :   int state_id_tmp;
+     299         402 :   ph->param_loader->loadParam("state_id", state_id_tmp);
+     300         402 :   if (state_id_tmp < n_StateId_t) {
+     301         402 :     state_id_ = static_cast<StateId_t>(state_id_tmp);
+     302             :   } else {
+     303           0 :     ROS_ERROR("[%s]: wrong state id: %d of correction %s", getPrintName().c_str(), state_id_tmp, getName().c_str());
+     304           0 :     ros::shutdown();
+     305             :   }
+     306             : 
+     307         402 :   ph->param_loader->loadParam("transform/enabled", transform_to_frame_enabled_, false);
+     308         402 :   if (transform_to_frame_enabled_) {
+     309           0 :     ph->param_loader->loadParam("transform/from_frame", transform_from_frame_);
+     310           0 :     transform_from_frame_ = ch_->uav_name + "/" + transform_from_frame_;
+     311           0 :     ph->param_loader->loadParam("transform/to_frame", transform_to_frame_);
+     312           0 :     transform_to_frame_ = ch_->uav_name + "/" + transform_to_frame_;
+     313             :   }
+     314             : 
+     315             : 
+     316         402 :   if (state_id_ == StateId_t::VELOCITY) {
+     317         120 :     ph->param_loader->loadParam("body_frame", is_in_body_frame_, true);
+     318             :   }
+     319             : 
+     320         402 :   if (state_id_ == StateId_t::ACCELERATION) {
+     321           0 :     ph->param_loader->loadParam("body_frame", is_in_body_frame_, true);
+     322           0 :     ph->param_loader->loadParam("gravity_norm", gravity_norm_, 9.8066);
+     323             :   }
+     324             : 
+     325         402 :   ph->param_loader->loadParam("noise", R_);
+     326         402 :   ph->param_loader->loadParam("noise_unhealthy_coeff", R_coeff_);
+     327         402 :   default_R_ = R_;
+     328             : 
+     329             :   // | --------------- processors initialization --------------- |
+     330         402 :   ph->param_loader->loadParam("processors", processor_names_);
+     331             : 
+     332         772 :   for (auto proc_name : processor_names_) {
+     333         370 :     processors_[proc_name] = createProcessorFromName(proc_name, nh);
+     334             :   }
+     335             : 
+     336             :   // | ------------- initialize dynamic reconfigure ------------- |
+     337         402 :   drmgr_               = std::make_unique<drmgr_t>(ros::NodeHandle("~/" + getNamespacedName()), getPrintName());
+     338         402 :   drmgr_->config.noise = R_;
+     339         402 :   drmgr_->update_config(drmgr_->config);
+     340             : 
+     341             :   // | -------------- initialize subscribe handlers ------------- |
+     342         804 :   mrs_lib::SubscribeHandlerOptions shopts;
+     343         402 :   shopts.nh                 = nh;
+     344         402 :   shopts.node_name          = getPrintName();
+     345         402 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     346         402 :   shopts.threadsafe         = true;
+     347         402 :   shopts.autostart          = true;
+     348         402 :   shopts.queue_size         = 10;
+     349         402 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     350             : 
+     351         402 :   switch (msg_type_) {
+     352           0 :     case MessageType_t::ODOMETRY: {
+     353           0 :       sh_odom_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, msg_topic_, &Correction::callbackOdometry, this);
+     354           0 :       break;
+     355             :     }
+     356           0 :     case MessageType_t::POSE: {
+     357           0 :       sh_pose_s_ = mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped>(shopts, msg_topic_, &Correction::callbackPoseStamped, this);
+     358           0 :       break;
+     359             :     }
+     360           0 :     case MessageType_t::POSECOV: {
+     361             :       // TODO implement
+     362             :       /* sh_pose_wcs_ = mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped>(shopts, msg_topic_); */
+     363           0 :       break;
+     364             :     }
+     365         164 :     case MessageType_t::RANGE: {
+     366         164 :       sh_range_                   = mrs_lib::SubscribeHandler<sensor_msgs::Range>(shopts, msg_topic_, &Correction::callbackRange, this);
+     367         164 :       const std::size_t found     = ros::this_node::getName().find_last_of("/");
+     368         328 :       std::string       node_name = ros::this_node::getName().substr(found + 1);
+     369         328 :       ser_toggle_range_ =
+     370         164 :           nh.advertiseService(ros::this_node::getName() + "/" + getNamespacedName() + "/toggle_range_in", &Correction::callbackToggleRange, this);
+     371         164 :       break;
+     372             :     }
+     373           0 :     case MessageType_t::IMU: {
+     374           0 :       sh_imu_ = mrs_lib::SubscribeHandler<sensor_msgs::Imu>(shopts, msg_topic_, &Correction::callbackImu, this);
+     375           0 :       break;
+     376             :     }
+     377           6 :     case MessageType_t::RTK_GPS: {
+     378           6 :       sh_rtk_ = mrs_lib::SubscribeHandler<mrs_msgs::RtkGps>(shopts, msg_topic_, &Correction::callbackRtk, this);
+     379           6 :       break;
+     380             :     }
+     381           0 :     case MessageType_t::NAVSATFIX: {
+     382           0 :       sh_navsatfix_ = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, msg_topic_, &Correction::callbackNavSatFix, this);
+     383           0 :       break;
+     384             :     }
+     385           0 :     case MessageType_t::MAG_HDG: {
+     386           0 :       sh_mag_hdg_ = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, msg_topic_, &Correction::callbackMagHeading, this);
+     387           0 :       break;
+     388             :     }
+     389           0 :     case MessageType_t::MAG_FIELD: {
+     390           0 :       sh_mag_field_ = mrs_lib::SubscribeHandler<sensor_msgs::MagneticField>(shopts, msg_topic_, &Correction::callbackMagField, this);
+     391           0 :       ph_mag_field_untilted_ = mrs_lib::PublisherHandler<geometry_msgs::PointStamped>(nh, est_name_ + "/correction/" + getName() + "/fcu_untilted", 10);
+     392             : 
+     393           0 :       break;
+     394             :     }
+     395         112 :     case MessageType_t::POINT: {
+     396         112 :       sh_point_ = mrs_lib::SubscribeHandler<geometry_msgs::PointStamped>(shopts, msg_topic_, &Correction::callbackPoint, this);
+     397         112 :       break;
+     398             :     }
+     399         120 :     case MessageType_t::VECTOR: {
+     400         120 :       sh_vector_ = mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped>(shopts, msg_topic_, &Correction::callbackVector, this);
+     401         120 :       break;
+     402             :     }
+     403           0 :     case MessageType_t::QUAT: {
+     404           0 :       sh_quat_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, msg_topic_);
+     405           0 :       break;
+     406             :     }
+     407           0 :     case MessageType_t::UNKNOWN: {
+     408           0 :       ROS_ERROR("[%s]: UNKNOWN message type of correction", getPrintName().c_str());
+     409           0 :       break;
+     410             :     }
+     411           0 :     default: {
+     412           0 :       ROS_ERROR("[%s]: unhandled message type", getPrintName().c_str());
+     413             :     }
+     414             :   }
+     415             : 
+     416             :   // | ------ subscribe orientation for obtaingin hdg rate ------ |
+     417             :   /* if (est_type_ == EstimatorType_t::HEADING && state_id_ == StateId_t::VELOCITY) { */
+     418             :   /*   ph->param_loader->loadParam("message/orientation_topic", orientation_topic_); */
+     419             :   /*   orientation_topic_ = "/" + ch_->uav_name + "/" + orientation_topic_; */
+     420             :   /*   sh_orientation_    = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, orientation_topic_); */
+     421             :   /* } */
+     422             : 
+     423         402 :   if (est_type_ == EstimatorType_t::HEADING) {
+     424           0 :     ph->param_loader->loadParam("init_hdg_in_zero", init_hdg_in_zero_, false);
+     425             :   }
+     426             : 
+     427             : 
+     428             :   // | --------------- initialize publish handlers -------------- |
+     429         402 :   if (ch_->debug_topics.correction) {
+     430         402 :     ph_correction_raw_  = mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection>(nh, est_name_ + "/correction/" + getName() + "/raw", 10);
+     431         402 :     ph_correction_proc_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection>(nh, est_name_ + "/correction/" + getName() + "/proc", 10);
+     432             :   }
+     433         402 :   if (ch_->debug_topics.corr_delay) {
+     434           0 :     ph_delay_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh, est_name_ + "/correction/" + getName() + "/delay", 10);
+     435             :   }
+     436             : 
+     437             :   // | --- check whether all parameters were loaded correctly --- |
+     438         402 :   if (!ph->param_loader->loadedSuccessfully()) {
+     439           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+     440           0 :     ros::shutdown();
+     441             :   }
+     442             : 
+     443         402 :   healthy_time_ = ros::Time(0);
+     444             : 
+     445         402 :   is_initialized_ = true;
+     446         402 : }
+     447             : /*//}*/
+     448             : 
+     449             : /*//{ getName() */
+     450             : template <int n_measurements>
+     451         804 : std::string Correction<n_measurements>::getName() const {
+     452         804 :   return name_;
+     453             : }
+     454             : /*//}*/
+     455             : 
+     456             : /*//{ getNamespacedName() */
+     457             : template <int n_measurements>
+     458        1616 : std::string Correction<n_measurements>::getNamespacedName() const {
+     459        1616 :   return est_name_ + "/" + name_;
+     460             : }
+     461             : /*//}*/
+     462             : 
+     463             : /*//{ getPrintName() */
+     464             : template <int n_measurements>
+     465         860 : std::string Correction<n_measurements>::getPrintName() const {
+     466         860 :   return ch_->nodelet_name + "/" + est_name_ + "/" + name_;
+     467             : }
+     468             : /*//}*/
+     469             : 
+     470             : /*//{ getR() */
+     471             : template <int n_measurements>
+     472     2649238 : double Correction<n_measurements>::getR() {
+     473     2649238 :   std::scoped_lock lock(mtx_R_);
+     474     2648707 :   default_R_ = drmgr_->config.noise;
+     475     5296811 :   return R_;
+     476             : }
+     477             : /*//}*/
+     478             : 
+     479             : /*//{ setR() */
+     480             : template <int n_measurements>
+     481      722213 : void Correction<n_measurements>::setR(const double R) {
+     482      722213 :   std::scoped_lock lock(mtx_R_);
+     483      722230 :   R_ = R;
+     484      722281 : }
+     485             : /*//}*/
+     486             : 
+     487             : /*//{ getStateId() */
+     488             : template <int n_measurements>
+     489      722769 : StateId_t Correction<n_measurements>::getStateId() const {
+     490      722769 :   return state_id_;
+     491             : }
+     492             : /*//}*/
+     493             : 
+     494             : /*//{ isHealthy() */
+     495             : template <int n_measurements>
+     496      708294 : bool Correction<n_measurements>::isHealthy() {
+     497             : 
+     498      708294 :   if (!is_initialized_) {
+     499           0 :     return false;
+     500             :   }
+     501             : 
+     502      708258 :   is_dt_ok_ = isMsgComing();
+     503             : 
+     504      708318 :   if (!is_delay_ok_) {
+     505           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: delay not ok", getPrintName().c_str());
+     506             :   }
+     507             : 
+     508      708254 :   if (!is_healthy_) {
+     509           0 :     if (is_dt_ok_ && is_delay_ok_) {
+     510           0 :       if (healthy_time_ > ros::Time(10)) {
+     511           0 :         is_healthy_ = true;
+     512             :       }
+     513             :     } else {
+     514           0 :       healthy_time_ = ros::Time(0);
+     515             :     }
+     516             :   }
+     517             : 
+     518      708226 :   is_healthy_ = is_healthy_ && is_dt_ok_ && is_delay_ok_;
+     519             : 
+     520      708351 :   return is_healthy_;
+     521             : }
+     522             : /*//}*/
+     523             : 
+     524             : /*//{ getRawCorrection() */
+     525             : template <int n_measurements>
+     526       16175 : std::optional<typename Correction<n_measurements>::MeasurementStamped> Correction<n_measurements>::getRawCorrection() {
+     527             : 
+     528       16175 :   if (!is_initialized_) {
+     529           0 :     return {};
+     530             :   }
+     531             : 
+     532       16166 :   MeasurementStamped measurement_stamped;
+     533             : 
+     534       16158 :   switch (msg_type_) {
+     535             : 
+     536           0 :     case MessageType_t::ODOMETRY: {
+     537             : 
+     538           0 :       if (!sh_odom_.hasMsg()) {
+     539           0 :         return {};
+     540             :       }
+     541             : 
+     542           0 :       auto msg                  = sh_odom_.getMsg();
+     543           0 :       measurement_stamped.stamp = msg->header.stamp;
+     544             :       /* if (!isTimestampOk(measurement_stamped.stamp)) { */
+     545             :       /*   return {}; */
+     546             :       /* } */
+     547             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     548             : 
+     549             :       /* if (!is_delay_ok_) { */
+     550             :       /*   return {}; */
+     551             :       /* } */
+     552           0 :       auto res = getCorrectionFromOdometry(msg);
+     553           0 :       if (res) {
+     554           0 :         measurement_stamped.value = res.value();
+     555             :       } else {
+     556           0 :         return {};
+     557             :       }
+     558           0 :       break;
+     559             :     }
+     560             : 
+     561           0 :     case MessageType_t::POSE: {
+     562             : 
+     563           0 :       if (!sh_pose_s_.hasMsg()) {
+     564           0 :         return {};
+     565             :       }
+     566             : 
+     567           0 :       auto msg                  = sh_pose_s_.getMsg();
+     568           0 :       measurement_stamped.stamp = msg->header.stamp;
+     569             :       /* if (!isTimestampOk(measurement_stamped.stamp)) { */
+     570             :       /*   return {}; */
+     571             :       /* } */
+     572             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     573             : 
+     574             :       /* if (!is_delay_ok_) { */
+     575             :       /*   return {}; */
+     576             :       /* } */
+     577           0 :       auto res = getCorrectionFromPoseStamped(msg);
+     578           0 :       if (res) {
+     579           0 :         measurement_stamped.value = res.value();
+     580             :       } else {
+     581           0 :         return {};
+     582             :       }
+     583           0 :       break;
+     584             :     }
+     585             : 
+     586           0 :     case MessageType_t::POSECOV: {
+     587             :       // TODO implement
+     588             :       /* return getCorrectionFromPoseWCS(msg); */
+     589           0 :       is_healthy_ = false;
+     590           0 :       return {};
+     591             :       break;
+     592             :     }
+     593             : 
+     594        6767 :     case MessageType_t::RANGE: {
+     595             : 
+     596        6767 :       if (!range_enabled_) {
+     597           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: fusing range corrections is disabled", getPrintName().c_str());
+     598        2624 :         return {};
+     599             :       }
+     600             : 
+     601        6767 :       if (!sh_range_.hasMsg()) {
+     602        2449 :         return {};
+     603             :       }
+     604             : 
+     605        4308 :       auto msg                  = sh_range_.getMsg();
+     606        4309 :       measurement_stamped.stamp = msg->header.stamp;
+     607             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     608             : 
+     609             :       /* if (!is_delay_ok_) { */
+     610             :       /*   return {}; */
+     611             :       /* } */
+     612             : 
+     613        4310 :       auto res = getCorrectionFromRange(msg);
+     614        4310 :       if (res) {
+     615        4146 :         measurement_stamped.value = res.value();
+     616             :       } else {
+     617         164 :         return {};
+     618             :       }
+     619        4146 :       break;
+     620             :     }
+     621             : 
+     622           0 :     case MessageType_t::IMU: {
+     623             : 
+     624           0 :       if (!sh_imu_.hasMsg()) {
+     625           0 :         ROS_ERROR_THROTTLE(1.0, " no imu msgs so far");
+     626           0 :         return {};
+     627             :       }
+     628             : 
+     629           0 :       auto msg                  = sh_imu_.getMsg();
+     630           0 :       measurement_stamped.stamp = msg->header.stamp;
+     631             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     632             : 
+     633             :       /* if (!is_delay_ok_) { */
+     634             :       /*   ROS_ERROR("[%s]: rtk msg delay not ok", ros::this_node::getName().c_str()); */
+     635             :       /*   return {}; */
+     636             :       /* } */
+     637             : 
+     638           0 :       auto res = getCorrectionFromImu(msg);
+     639           0 :       if (res) {
+     640           0 :         measurement_stamped.value = res.value();
+     641             :       } else {
+     642           0 :         ROS_ERROR_THROTTLE(1.0, "[%s]: could not get imu correction", ros::this_node::getName().c_str());
+     643           0 :         return {};
+     644             :       }
+     645             : 
+     646           0 :       break;
+     647             :     }
+     648             : 
+     649          95 :     case MessageType_t::RTK_GPS: {
+     650             : 
+     651          95 :       if (!sh_rtk_.hasMsg()) {
+     652           0 :         ROS_ERROR_THROTTLE(1.0, " no rtk msgs so far");
+     653          14 :         return {};
+     654             :       }
+     655             : 
+     656          95 :       auto msg                  = sh_rtk_.getMsg();
+     657          95 :       measurement_stamped.stamp = msg->header.stamp;
+     658             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     659             : 
+     660             :       /* if (!is_delay_ok_) { */
+     661             :       /*   ROS_ERROR("[%s]: rtk msg delay not ok", ros::this_node::getName().c_str()); */
+     662             :       /*   return {}; */
+     663             :       /* } */
+     664             : 
+     665          95 :       auto res = getCorrectionFromRtk(msg);
+     666          95 :       if (res) {
+     667          81 :         measurement_stamped.value = res.value();
+     668             :       } else {
+     669          14 :         ROS_ERROR_THROTTLE(1.0, "[%s]: could not get rtk correction", ros::this_node::getName().c_str());
+     670          14 :         return {};
+     671             :       }
+     672             : 
+     673          81 :       break;
+     674             :     }
+     675             : 
+     676           0 :     case MessageType_t::NAVSATFIX: {
+     677             : 
+     678           0 :       if (!sh_navsatfix_.hasMsg()) {
+     679           0 :         ROS_ERROR_THROTTLE(1.0, " no navsatfix msgs so far");
+     680           0 :         return {};
+     681             :       }
+     682             : 
+     683           0 :       auto msg                  = sh_navsatfix_.getMsg();
+     684           0 :       measurement_stamped.stamp = msg->header.stamp;
+     685             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     686             : 
+     687             :       /* if (!is_delay_ok_) { */
+     688             :       /*   ROS_ERROR("[%s]: rtk msg delay not ok", ros::this_node::getName().c_str()); */
+     689             :       /*   return {}; */
+     690             :       /* } */
+     691             : 
+     692           0 :       auto res = getCorrectionFromNavSatFix(msg);
+     693           0 :       if (res) {
+     694           0 :         measurement_stamped.value = res.value();
+     695             :       } else {
+     696           0 :         ROS_ERROR_THROTTLE(1.0, "[%s]: could not get navsatfix correction", ros::this_node::getName().c_str());
+     697           0 :         return {};
+     698             :       }
+     699             : 
+     700           0 :       break;
+     701             :     }
+     702             : 
+     703           0 :     case MessageType_t::MAG_HDG: {
+     704             : 
+     705           0 :       if (!sh_mag_hdg_.hasMsg()) {
+     706           0 :         return {};
+     707             :       }
+     708             : 
+     709           0 :       auto msg                  = sh_mag_hdg_.getMsg();
+     710           0 :       measurement_stamped.stamp = msg->header.stamp;
+     711             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     712             : 
+     713             :       /* if (!is_delay_ok_) { */
+     714             :       /*   return {}; */
+     715             :       /* } */
+     716           0 :       auto res = getCorrectionFromMagHeading(msg);
+     717           0 :       if (res) {
+     718           0 :         measurement_stamped.value = res.value();
+     719             :       } else {
+     720           0 :         return {};
+     721             :       }
+     722           0 :       break;
+     723             :     }
+     724             : 
+     725           0 :     case MessageType_t::MAG_FIELD: {
+     726             : 
+     727           0 :       if (!sh_mag_field_.hasMsg()) {
+     728           0 :         return {};
+     729             :       }
+     730             : 
+     731           0 :       auto msg                  = sh_mag_field_.getMsg();
+     732           0 :       measurement_stamped.stamp = msg->header.stamp;
+     733             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     734             : 
+     735             :       /* if (!is_delay_ok_) { */
+     736             :       /*   return {}; */
+     737             :       /* } */
+     738           0 :       auto res = getCorrectionFromMagField(msg);
+     739           0 :       if (res) {
+     740           0 :         measurement_stamped.value = res.value();
+     741             :       } else {
+     742           0 :         return {};
+     743             :       }
+     744           0 :       break;
+     745             :     }
+     746             : 
+     747        7475 :     case MessageType_t::POINT: {
+     748             : 
+     749        7475 :       if (!sh_point_.hasMsg()) {
+     750        3313 :         return {};
+     751             :       }
+     752             : 
+     753        4162 :       auto msg                  = sh_point_.getMsg();
+     754        4162 :       measurement_stamped.stamp = msg->header.stamp;
+     755             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     756             : 
+     757             :       /* if (!is_delay_ok_) { */
+     758             :       /*   return {}; */
+     759             :       /* } */
+     760        4162 :       auto res = getCorrectionFromPoint(msg);
+     761        4162 :       if (res) {
+     762        4162 :         measurement_stamped.value = res.value();
+     763             :       } else {
+     764           0 :         return {};
+     765             :       }
+     766        4162 :       break;
+     767             :     }
+     768             : 
+     769        1842 :     case MessageType_t::VECTOR: {
+     770             : 
+     771        1842 :       if (!sh_vector_.hasMsg()) {
+     772        1722 :         return {};
+     773             :       }
+     774             : 
+     775         150 :       auto msg                  = sh_vector_.getMsg();
+     776         150 :       measurement_stamped.stamp = msg->header.stamp;
+     777             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     778             : 
+     779             :       /* if (!is_delay_ok_) { */
+     780             :       /*   return {}; */
+     781             :       /* } */
+     782         150 :       auto res = getCorrectionFromVector(msg);
+     783         150 :       if (res) {
+     784         120 :         measurement_stamped.value = res.value();
+     785             :       } else {
+     786          30 :         return {};
+     787             :       }
+     788         120 :       break;
+     789             :     }
+     790             : 
+     791           0 :     case MessageType_t::QUAT: {
+     792             : 
+     793           0 :       if (!sh_quat_.newMsg()) {
+     794           0 :         return {};
+     795             :       }
+     796             : 
+     797           0 :       auto msg                  = sh_quat_.getMsg();
+     798           0 :       measurement_stamped.stamp = msg->header.stamp;
+     799             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     800             : 
+     801             :       /* if (!is_delay_ok_) { */
+     802             :       /*   return {}; */
+     803             :       /* } */
+     804           0 :       auto res = getCorrectionFromQuat(msg);
+     805           0 :       if (res) {
+     806           0 :         measurement_stamped.value = res.value();
+     807             :       } else {
+     808           0 :         return {};
+     809             :       }
+     810           0 :       break;
+     811             :     }
+     812             : 
+     813           0 :     default: {
+     814           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: this type of correction is not implemented in getCorrectionFromMessage()", getPrintName().c_str());
+     815           0 :       is_healthy_ = false;
+     816           0 :       return {};
+     817             :     }
+     818             :   }
+     819             : 
+     820             :   // check for nans
+     821        8509 :   is_nan_free_ = true;
+     822       21255 :   for (int i = 0; i < measurement_stamped.value.rows(); i++) {
+     823       12746 :     if (!std::isfinite(measurement_stamped.value(i))) {
+     824           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in correction. Total NaNs: %d", getPrintName().c_str(), ++counter_nan_);
+     825           0 :       is_nan_free_ = false;
+     826           0 :       return {};
+     827             :     }
+     828             :   }
+     829             : 
+     830        8509 :   got_first_msg_ = true;
+     831        8509 :   publishCorrection(measurement_stamped, ph_correction_raw_);
+     832             : 
+     833        8509 :   return measurement_stamped;
+     834             : }
+     835             : /*//}*/
+     836             : 
+     837             : /*//{ getProcessedCorrection() */
+     838             : template <int n_measurements>
+     839       16181 : std::optional<typename Correction<n_measurements>::MeasurementStamped> Correction<n_measurements>::getProcessedCorrection() {
+     840             : 
+     841       16181 :   MeasurementStamped measurement_stamped;
+     842       16168 :   auto               res = getRawCorrection();
+     843       16165 :   if (res) {
+     844        8509 :     MeasurementStamped measurement_stamped = res.value();
+     845        8508 :     if (process(measurement_stamped.value)) {
+     846         477 :       publishCorrection(measurement_stamped, ph_correction_proc_);
+     847         477 :       return measurement_stamped;
+     848             :     } else {
+     849        8032 :       return {};  // invalid correction
+     850             :     }
+     851             :   } else {
+     852        7653 :     return {};  // invalid correction
+     853             :   }
+     854             : }  // namespace mrs_uav_state_estimation
+     855             : /*//}*/
+     856             : 
+     857             : /*//{ callbackOdometry() */
+     858             : template <int n_measurements>
+     859           0 : void Correction<n_measurements>::callbackOdometry(const nav_msgs::Odometry::ConstPtr msg) {
+     860             : 
+     861           0 :   if (!is_initialized_) {
+     862           0 :     return;
+     863             :   }
+     864             : 
+     865           0 :   auto res = getCorrectionFromOdometry(msg);
+     866           0 :   if (res) {
+     867           0 :     applyCorrection(res.value(), msg->header.stamp);
+     868             :   }
+     869             : }
+     870             : /*//}*/
+     871             : 
+     872             : /*//{ getCorrectionFromOdometry() */
+     873             : template <int n_measurements>
+     874           0 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromOdometry(const nav_msgs::OdometryConstPtr msg) {
+     875             : 
+     876           0 :   switch (est_type_) {
+     877             : 
+     878             :     // handle lateral estimators
+     879           0 :     case EstimatorType_t::LATERAL: {
+     880             : 
+     881           0 :       switch (state_id_) {
+     882             : 
+     883           0 :         case StateId_t::POSITION: {
+     884           0 :           measurement_t measurement;
+     885           0 :           if (transform_to_frame_enabled_) {
+     886           0 :             std_msgs::Header header = msg->header;
+     887           0 :             header.frame_id         = transform_from_frame_;
+     888           0 :             auto res                = getInFrame(msg->pose.pose.position, header, transform_to_frame_);
+     889           0 :             if (res) {
+     890           0 :               measurement_t measurement;
+     891           0 :               measurement(0) = res.value().x;
+     892           0 :               measurement(1) = res.value().y;
+     893           0 :               return measurement;
+     894             :             } else {
+     895           0 :               ROS_WARN_THROTTLE(1.0, "[%s]: could not transform vel from odom", ros::this_node::getName().c_str());
+     896           0 :               return {};
+     897             :             }
+     898             : 
+     899             :           } else {
+     900           0 :             measurement(0) = msg->pose.pose.position.x;
+     901           0 :             measurement(1) = msg->pose.pose.position.y;
+     902             :           }
+     903           0 :           return measurement;
+     904             :           break;
+     905             :         }
+     906             : 
+     907           0 :         case StateId_t::VELOCITY: {
+     908           0 :           if (is_in_body_frame_) {
+     909           0 :             std_msgs::Header header = msg->header;
+     910           0 :             header.frame_id         = ch_->frames.ns_fcu;  // message in odometry is published in body frame
+     911           0 :             auto res                = getVecInFrame(msg->twist.twist.linear, header, ns_frame_id_ + "_att_only");
+     912           0 :             if (res) {
+     913           0 :               measurement_t measurement;
+     914           0 :               measurement = res.value();
+     915           0 :               return measurement;
+     916             :             } else {
+     917           0 :               ROS_WARN_THROTTLE(1.0, "[%s]: could not transform vel from odom", ros::this_node::getName().c_str());
+     918           0 :               return {};
+     919             :             }
+     920             :           } else {
+     921           0 :             measurement_t measurement;
+     922           0 :             measurement(0) = msg->twist.twist.linear.x;
+     923           0 :             measurement(1) = msg->twist.twist.linear.y;
+     924           0 :             return measurement;
+     925             :           }
+     926             :           break;
+     927             :         }
+     928             : 
+     929           0 :         default: {
+     930           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+     931           0 :           return {};
+     932             :         }
+     933             :       }
+     934             :       break;
+     935             :     }
+     936             : 
+     937             :     // handle altitude estimators
+     938           0 :     case EstimatorType_t::ALTITUDE: {
+     939             : 
+     940           0 :       switch (state_id_) {
+     941             : 
+     942           0 :         case StateId_t::POSITION: {
+     943           0 :           measurement_t measurement;
+     944           0 :           if (transform_to_frame_enabled_) {
+     945           0 :             std_msgs::Header header = msg->header;
+     946           0 :             header.frame_id         = transform_from_frame_;
+     947           0 :             auto res                = getInFrame(msg->pose.pose.position, header, transform_to_frame_);
+     948           0 :             if (res) {
+     949           0 :               measurement_t measurement;
+     950           0 :               measurement(0) = res.value().z;
+     951           0 :               return measurement;
+     952             :             } else {
+     953           0 :               ROS_WARN_THROTTLE(1.0, "[%s]: could not transform vel from odom", ros::this_node::getName().c_str());
+     954           0 :               return {};
+     955             :             }
+     956             : 
+     957             :           } else {
+     958           0 :             measurement(0) = msg->pose.pose.position.z;
+     959             :           }
+     960           0 :           return measurement;
+     961             :           break;
+     962             :         }
+     963             : 
+     964           0 :         case StateId_t::VELOCITY: {
+     965           0 :           if (is_in_body_frame_) {
+     966           0 :             std_msgs::Header header = msg->header;
+     967           0 :             header.frame_id         = ch_->frames.ns_fcu;
+     968           0 :             auto res                = getZVelUntilted(msg->twist.twist.linear, header);
+     969           0 :             if (res) {
+     970           0 :               measurement_t measurement;
+     971           0 :               measurement = res.value();
+     972           0 :               return measurement;
+     973             :             } else {
+     974           0 :               return {};
+     975             :             }
+     976             :           } else {
+     977           0 :             measurement_t measurement;
+     978           0 :             measurement(0) = msg->twist.twist.linear.z;
+     979           0 :             return measurement;
+     980             :           }
+     981             :           break;
+     982             :         }
+     983             : 
+     984           0 :         default: {
+     985           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+     986           0 :           return {};
+     987             :         }
+     988             :       }
+     989             :       break;
+     990             :     }
+     991             : 
+     992             :     // handle heading estimators
+     993           0 :     case EstimatorType_t::HEADING: {
+     994             : 
+     995           0 :       switch (state_id_) {
+     996             : 
+     997           0 :         case StateId_t::POSITION: {
+     998           0 :           measurement_t                               measurement;
+     999           0 :           std::unique_ptr<mrs_lib::AttitudeConverter> attitude;
+    1000             : 
+    1001           0 :           if (transform_to_frame_enabled_) {
+    1002             : 
+    1003           0 :             auto res = ch_->transformer->getTransform(transform_from_frame_, transform_to_frame_, msg->header.stamp);
+    1004           0 :             if (!res) {
+    1005           0 :               ROS_WARN_THROTTLE(1.0, "[%s]: could not find transform from '%s' to '%s'", ros::this_node::getName().c_str(), transform_from_frame_.c_str(),
+    1006             :                                 transform_to_frame_.c_str());
+    1007           0 :               return {};
+    1008             :             }
+    1009             : 
+    1010             :             // R_to_from = R^to_from
+    1011           0 :             Eigen::Matrix3d R_to_from = mrs_lib::AttitudeConverter(res.value().transform.rotation);
+    1012             : 
+    1013           0 :             Eigen::Matrix3d R_odom = mrs_lib::AttitudeConverter(msg->pose.pose.orientation);
+    1014             : 
+    1015             :             // obtain heading from orientation
+    1016           0 :             attitude = std::make_unique<mrs_lib::AttitudeConverter>(R_to_from * R_odom);
+    1017             : 
+    1018             :           } else {
+    1019           0 :             attitude = std::make_unique<mrs_lib::AttitudeConverter>(msg->pose.pose.orientation);
+    1020             :           }
+    1021             : 
+    1022             :           try {
+    1023             :             // obtain heading from orientation
+    1024           0 :             measurement(StateId_t::POSITION) = attitude->getHeading();
+    1025             : 
+    1026             :             // subtract initial heading to start with zero heading
+    1027           0 :             if (init_hdg_in_zero_ && got_first_hdg_measurement_) {
+    1028           0 :               measurement(StateId_t::POSITION) = measurement(StateId_t::POSITION) - first_hdg_measurement_;
+    1029             :             }
+    1030             : 
+    1031             :             // unwrap heading wrt previous measurement
+    1032           0 :             if (got_first_hdg_measurement_) {
+    1033           0 :               measurement(StateId_t::POSITION) =
+    1034           0 :                   mrs_lib::geometry::radians::unwrap(measurement(StateId_t::POSITION), prev_hdg_measurement_(StateId_t::POSITION));
+    1035             :             } else {
+    1036           0 :               first_hdg_measurement_     = measurement(StateId_t::POSITION);
+    1037           0 :               got_first_hdg_measurement_ = true;
+    1038             :             }
+    1039           0 :             prev_hdg_measurement_ = measurement;
+    1040           0 :             return measurement;
+    1041             :           }
+    1042           0 :           catch (...) {
+    1043           0 :             ROS_ERROR_THROTTLE(1.0, "[%s]: failed to obtain heading", getPrintName().c_str());
+    1044           0 :             return {};
+    1045             :           }
+    1046             :           break;
+    1047             :         }
+    1048             : 
+    1049             :           /* case StateId_t::VELOCITY: { */
+    1050             :           /*   try { */
+    1051             :           /*     measurement_t measurement; */
+    1052             :           /*     measurement(0) = mrs_lib::AttitudeConverter(msg->pose.pose.orientation).getHeadingRate(msg->twist.twist.angular); */
+    1053             :           /*     return measurement; */
+    1054             :           /*   } */
+    1055             :           /*   catch (...) { */
+    1056             :           /*     ROS_ERROR_THROTTLE(1.0, "[%s]: Exception caught during getting heading rate (getCorrectionFromOdometry())", getPrintName().c_str()); */
+    1057             :           /*     return {}; */
+    1058             :           /*   } */
+    1059             :           /*   break; */
+    1060             :           /* } */
+    1061             : 
+    1062           0 :         default: {
+    1063           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+    1064           0 :           return {};
+    1065             :         }
+    1066             :       }
+    1067           0 :       break;
+    1068             :     }
+    1069             : 
+    1070             :     // handle latalt estimators
+    1071           0 :     case EstimatorType_t::LATALT: {
+    1072             : 
+    1073           0 :       switch (state_id_) {
+    1074             : 
+    1075           0 :         case StateId_t::POSITION: {
+    1076           0 :           measurement_t measurement;
+    1077           0 :           if (transform_to_frame_enabled_) {
+    1078           0 :             std_msgs::Header header = msg->header;
+    1079           0 :             header.frame_id         = transform_from_frame_;
+    1080           0 :             auto res                = getInFrame(msg->pose.pose.position, header, transform_to_frame_);
+    1081           0 :             if (res) {
+    1082           0 :               measurement_t measurement;
+    1083           0 :               measurement(0) = res.value().x;
+    1084           0 :               measurement(1) = res.value().y;
+    1085           0 :               measurement(2) = res.value().z;
+    1086           0 :               return measurement;
+    1087             :             } else {
+    1088           0 :               ROS_WARN_THROTTLE(1.0, "[%s]: could not transform vel from odom", ros::this_node::getName().c_str());
+    1089           0 :               return {};
+    1090             :             }
+    1091             : 
+    1092             :           } else {
+    1093           0 :             measurement(0) = msg->pose.pose.position.x;
+    1094           0 :             measurement(1) = msg->pose.pose.position.y;
+    1095           0 :             measurement(2) = msg->pose.pose.position.z;
+    1096             :           }
+    1097           0 :           return measurement;
+    1098             :           break;
+    1099             :         }
+    1100             : 
+    1101           0 :         case StateId_t::VELOCITY: {
+    1102           0 :           if (is_in_body_frame_) {
+    1103           0 :             std_msgs::Header header = msg->header;
+    1104           0 :             header.frame_id         = ch_->frames.ns_fcu;  // message in odometry is published in body frame
+    1105           0 :             auto res                = getVecInFrame(msg->twist.twist.linear, header, ns_frame_id_ + "_att_only");
+    1106           0 :             if (res) {
+    1107           0 :               measurement_t measurement;
+    1108           0 :               measurement = res.value();
+    1109           0 :               return measurement;
+    1110             :             } else {
+    1111           0 :               ROS_WARN_THROTTLE(1.0, "[%s]: could not transform vel from odom", ros::this_node::getName().c_str());
+    1112           0 :               return {};
+    1113             :             }
+    1114             :           } else {
+    1115           0 :             measurement_t measurement;
+    1116           0 :             measurement(0) = msg->twist.twist.linear.x;
+    1117           0 :             measurement(1) = msg->twist.twist.linear.y;
+    1118           0 :             measurement(2) = msg->twist.twist.linear.z;
+    1119           0 :             return measurement;
+    1120             :           }
+    1121             :           break;
+    1122             :         }
+    1123             : 
+    1124           0 :         default: {
+    1125           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+    1126           0 :           return {};
+    1127             :         }
+    1128             :       }
+    1129             :       break;
+    1130             :     }
+    1131             :   }
+    1132             : 
+    1133           0 :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1134           0 :   return {};
+    1135             : }
+    1136             : /*//}*/
+    1137             : 
+    1138             : /*//{ callbackPoseStamped() */
+    1139             : template <int n_measurements>
+    1140           0 : void Correction<n_measurements>::callbackPoseStamped(const geometry_msgs::PoseStamped::ConstPtr msg) {
+    1141             : 
+    1142           0 :   if (!is_initialized_) {
+    1143           0 :     return;
+    1144             :   }
+    1145             : 
+    1146           0 :   auto res = getCorrectionFromPoseStamped(msg);
+    1147           0 :   if (res) {
+    1148           0 :     applyCorrection(res.value(), msg->header.stamp);
+    1149             :   }
+    1150             : }
+    1151             : /*//}*/
+    1152             : 
+    1153             : /*//{ getCorrectionFromPoseStamped() */
+    1154             : template <int n_measurements>
+    1155           0 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromPoseStamped(
+    1156             :     const geometry_msgs::PoseStampedConstPtr msg) {
+    1157             : 
+    1158           0 :   switch (est_type_) {
+    1159             : 
+    1160             :     // handle lateral estimators
+    1161           0 :     case EstimatorType_t::LATERAL: {
+    1162             : 
+    1163           0 :       switch (state_id_) {
+    1164             : 
+    1165           0 :         case StateId_t::POSITION: {
+    1166           0 :           measurement_t measurement;
+    1167           0 :           measurement(0) = msg->pose.position.x;
+    1168           0 :           measurement(1) = msg->pose.position.y;
+    1169           0 :           return measurement;
+    1170             :           break;
+    1171             :         }
+    1172             : 
+    1173           0 :         default: {
+    1174           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromPoseStamped() switch", getPrintName().c_str());
+    1175           0 :           return {};
+    1176             :         }
+    1177             :       }
+    1178             :       break;
+    1179             :     }
+    1180             : 
+    1181             :     // handle altitude estimators
+    1182           0 :     case EstimatorType_t::ALTITUDE: {
+    1183             : 
+    1184           0 :       switch (state_id_) {
+    1185             : 
+    1186           0 :         case StateId_t::POSITION: {
+    1187           0 :           measurement_t measurement;
+    1188           0 :           measurement(0) = msg->pose.position.z;
+    1189           0 :           return measurement;
+    1190             :           break;
+    1191             :         }
+    1192             : 
+    1193           0 :         default: {
+    1194           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromPoseStamped() switch", getPrintName().c_str());
+    1195           0 :           return {};
+    1196             :         }
+    1197             :       }
+    1198             :       break;
+    1199             :     }
+    1200             : 
+    1201             :     // handle heading estimators
+    1202           0 :     case EstimatorType_t::HEADING: {
+    1203             : 
+    1204           0 :       switch (state_id_) {
+    1205             : 
+    1206           0 :         case StateId_t::POSITION: {
+    1207           0 :           measurement_t measurement;
+    1208             :           try {
+    1209             :             // obtain heading from orientation
+    1210           0 :             measurement(StateId_t::POSITION) = mrs_lib::AttitudeConverter(msg->pose.orientation).getHeading();
+    1211             :             // unwrap heading wrt previous measurement
+    1212           0 :             if (got_first_hdg_measurement_) {
+    1213           0 :               measurement(StateId_t::POSITION) = mrs_lib::geometry::radians::unwrap(measurement(POSITION), prev_hdg_measurement_(POSITION));
+    1214             :             } else {
+    1215           0 :               got_first_hdg_measurement_ = true;
+    1216             :             }
+    1217           0 :             prev_hdg_measurement_ = measurement;
+    1218           0 :             return measurement;
+    1219             :           }
+    1220           0 :           catch (...) {
+    1221           0 :             ROS_ERROR_THROTTLE(1.0, "[%s]: failed to obtain heading", getPrintName().c_str());
+    1222           0 :             return {};
+    1223             :           }
+    1224             :           break;
+    1225             :         }
+    1226             : 
+    1227           0 :         default: {
+    1228           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromPoseStamped() switch", getPrintName().c_str());
+    1229           0 :           return {};
+    1230             :         }
+    1231             :       }
+    1232             :       break;
+    1233             :     }
+    1234             : 
+    1235             :     // handle latalt estimators
+    1236           0 :     case EstimatorType_t::LATALT: {
+    1237             : 
+    1238           0 :       switch (state_id_) {
+    1239             : 
+    1240           0 :         case StateId_t::POSITION: {
+    1241           0 :           measurement_t measurement;
+    1242           0 :           measurement(0) = msg->pose.position.x;
+    1243           0 :           measurement(1) = msg->pose.position.y;
+    1244           0 :           measurement(2) = msg->pose.position.z;
+    1245           0 :           return measurement;
+    1246             :           break;
+    1247             :         }
+    1248             : 
+    1249           0 :         default: {
+    1250           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromPoseStamped() switch", getPrintName().c_str());
+    1251           0 :           return {};
+    1252             :         }
+    1253             :       }
+    1254             :       break;
+    1255             :     }
+    1256             :   }
+    1257             : 
+    1258           0 :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1259           0 :   return {};
+    1260             : }
+    1261             : /*//}*/
+    1262             : 
+    1263             : /*//{ callbackRange() */
+    1264             : template <int n_measurements>
+    1265      266858 : void Correction<n_measurements>::callbackRange(const sensor_msgs::Range::ConstPtr msg) {
+    1266             : 
+    1267      266858 :   if (!is_initialized_) {
+    1268           0 :     return;
+    1269             :   }
+    1270             : 
+    1271      265515 :   auto res = getCorrectionFromRange(msg);
+    1272      267352 :   if (res) {
+    1273      267214 :     applyCorrection(res.value(), msg->header.stamp);
+    1274             :   }
+    1275             : }
+    1276             : /*//}*/
+    1277             : 
+    1278             : /*//{ getCorrectionFromRange() */
+    1279             : template <int n_measurements>
+    1280      269287 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromRange(const sensor_msgs::RangeConstPtr msg) {
+    1281             : 
+    1282      269287 :   if (!range_enabled_) {
+    1283           0 :     ROS_INFO_THROTTLE(1.0, "[%s]: fusing range corrections is disabled", getPrintName().c_str());
+    1284           0 :     return {};
+    1285             :   }
+    1286             : 
+    1287      269287 :   if (!std::isfinite(msg->range)) {
+    1288           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: received value: %f. Not using this correction.", getPrintName().c_str(), msg->range);
+    1289           0 :     return {};
+    1290             :   }
+    1291             : 
+    1292      266480 :   const double eps = 1e-3;
+    1293      266480 :   if (msg->range <= msg->min_range + eps || msg->range >= msg->max_range - eps) {
+    1294           6 :     ROS_WARN_THROTTLE(1.0, "[%s]: range measurement %.2f outside of its valid range (%.2f, %.2f)", ros::this_node::getName().c_str(), msg->range,
+    1295             :                       msg->min_range, msg->max_range);
+    1296           6 :     return {};
+    1297             :   }
+    1298             : 
+    1299      538960 :   geometry_msgs::PoseStamped range_point;
+    1300             : 
+    1301      267657 :   range_point.header           = msg->header;
+    1302      270965 :   range_point.pose.position.x  = msg->range;
+    1303      267870 :   range_point.pose.position.y  = 0;
+    1304      267870 :   range_point.pose.position.z  = 0;
+    1305      267870 :   range_point.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1306             : 
+    1307      540735 :   auto res = ch_->transformer->transformSingle(range_point, ch_->frames.ns_fcu_untilted);
+    1308             : 
+    1309      271663 :   Correction::measurement_t measurement;
+    1310             : 
+    1311      271661 :   if (res) {
+    1312      271360 :     measurement(0) = -res.value().pose.position.z;
+    1313      271349 :     return measurement;
+    1314             :   } else {
+    1315         302 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Could not transform range measurement to %s. Not using this correction.", getPrintName().c_str(),
+    1316             :                        ch_->frames.ns_fcu_untilted.c_str());
+    1317         302 :     return {};
+    1318             :   }
+    1319             : }
+    1320             : /*//}*/
+    1321             : 
+    1322             : /*//{ callbackImu() */
+    1323             : template <int n_measurements>
+    1324           0 : void Correction<n_measurements>::callbackImu(const sensor_msgs::Imu::ConstPtr msg) {
+    1325             : 
+    1326           0 :   if (!is_initialized_) {
+    1327           0 :     return;
+    1328             :   }
+    1329             : 
+    1330           0 :   auto res = getCorrectionFromImu(msg);
+    1331           0 :   if (res) {
+    1332           0 :     applyCorrection(res.value(), msg->header.stamp);
+    1333             :   } else {
+    1334           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: Could not obtain correction from Imu msg", getPrintName().c_str());
+    1335             :   }
+    1336             : }
+    1337             : /*//}*/
+    1338             : 
+    1339             : /*//{ getCorrectionFromImu() */
+    1340             : template <int n_measurements>
+    1341           0 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromImu(const sensor_msgs::ImuConstPtr msg) {
+    1342             : 
+    1343           0 :   switch (est_type_) {
+    1344             : 
+    1345             :     // handle lateral estimators
+    1346           0 :     case EstimatorType_t::LATERAL: {
+    1347             : 
+    1348           0 :       switch (state_id_) {
+    1349             : 
+    1350           0 :         case StateId_t::ACCELERATION: {
+    1351           0 :           if (is_in_body_frame_) {
+    1352           0 :             auto res = getVecInFrame(msg->linear_acceleration, msg->header, ns_frame_id_ + "_att_only");
+    1353           0 :             if (res) {
+    1354           0 :               measurement_t measurement;
+    1355           0 :               measurement = res.value();
+    1356           0 :               return measurement;
+    1357             :             } else {
+    1358           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());
+    1359           0 :               return {};
+    1360             :             }
+    1361             :           } else {
+    1362           0 :             measurement_t measurement;
+    1363           0 :             measurement(0) = msg->linear_acceleration.x;
+    1364           0 :             measurement(1) = msg->linear_acceleration.y;
+    1365           0 :             return measurement;
+    1366             :           }
+    1367             :           break;
+    1368             :         }
+    1369             : 
+    1370           0 :         default: {
+    1371           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromImu() switch", getPrintName().c_str());
+    1372           0 :           return {};
+    1373             :         }
+    1374             :       }
+    1375             :       break;
+    1376             :     }
+    1377             : 
+    1378             :     // handle altitude estimators
+    1379           0 :     case EstimatorType_t::ALTITUDE: {
+    1380             : 
+    1381           0 :       switch (state_id_) {
+    1382             : 
+    1383           0 :         case StateId_t::ACCELERATION: {
+    1384           0 :           if (is_in_body_frame_) {
+    1385           0 :             auto res = getZVelUntilted(msg->linear_acceleration, msg->header);
+    1386           0 :             if (res) {
+    1387           0 :               measurement_t measurement;
+    1388           0 :               measurement = res.value();
+    1389           0 :               measurement(0) -= gravity_norm_;
+    1390           0 :               return measurement;
+    1391             :             } else {
+    1392           0 :               ROS_WARN_THROTTLE(1.0, "[%s]: Could not obtain IMU Z acceleration", getPrintName().c_str());
+    1393           0 :               return {};
+    1394             :             }
+    1395             :           } else {
+    1396           0 :             measurement_t measurement;
+    1397           0 :             measurement(0) = msg->linear_acceleration.z - gravity_norm_;
+    1398           0 :             return measurement;
+    1399             :           }
+    1400             :           break;
+    1401             :         }
+    1402             : 
+    1403           0 :         default: {
+    1404           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromImu() switch", getPrintName().c_str());
+    1405           0 :           return {};
+    1406             :         }
+    1407             :       }
+    1408             :       break;
+    1409             :     }
+    1410             : 
+    1411             :     // handle heading estimators
+    1412           0 :     case EstimatorType_t::HEADING: {
+    1413             : 
+    1414           0 :       switch (state_id_) {
+    1415             : 
+    1416           0 :         case StateId_t::VELOCITY: {
+    1417           0 :           geometry_msgs::Quaternion orientation;
+    1418           0 :           auto                      res = ch_->transformer->getTransform(ch_->frames.ns_fcu_untilted, ch_->frames.ns_fcu, ros::Time::now());
+    1419           0 :           if (res) {
+    1420           0 :             orientation = res.value().transform.rotation;
+    1421             :           } else {
+    1422           0 :             ROS_ERROR_THROTTLE(1.0, "[%s]: Could not obtain transform from %s to %s. Not using this correction.", getPrintName().c_str(),
+    1423             :                                ch_->frames.ns_fcu_untilted.c_str(), ch_->frames.ns_fcu.c_str());
+    1424           0 :             return {};
+    1425             :           }
+    1426             : 
+    1427           0 :           measurement_t measurement;
+    1428           0 :           measurement(0) = mrs_lib::AttitudeConverter(orientation).getHeadingRate(msg->angular_velocity);
+    1429           0 :           return measurement;
+    1430             :           break;
+    1431             :         }
+    1432             : 
+    1433           0 :         default: {
+    1434           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromImu() switch", getPrintName().c_str());
+    1435           0 :           return {};
+    1436             :         }
+    1437             :       }
+    1438             :       break;
+    1439             :     }
+    1440             : 
+    1441             :     // handle latalt estimators
+    1442           0 :     case EstimatorType_t::LATALT: {
+    1443             : 
+    1444           0 :       switch (state_id_) {
+    1445             : 
+    1446           0 :         case StateId_t::ACCELERATION: {
+    1447           0 :           if (is_in_body_frame_) {
+    1448           0 :             auto res = getVecInFrame(msg->linear_acceleration, msg->header, ns_frame_id_ + "_att_only");
+    1449           0 :             if (res) {
+    1450           0 :               measurement_t measurement;
+    1451           0 :               measurement = res.value();
+    1452           0 :               return measurement;
+    1453             :             } else {
+    1454           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());
+    1455           0 :               return {};
+    1456             :             }
+    1457             :           } else {
+    1458           0 :             measurement_t measurement;
+    1459           0 :             measurement(0) = msg->linear_acceleration.x;
+    1460           0 :             measurement(1) = msg->linear_acceleration.y;
+    1461           0 :             measurement(2) = msg->linear_acceleration.z;
+    1462           0 :             return measurement;
+    1463             :           }
+    1464             :           break;
+    1465             :         }
+    1466             : 
+    1467           0 :         default: {
+    1468           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromImu() switch", getPrintName().c_str());
+    1469           0 :           return {};
+    1470             :         }
+    1471             :       }
+    1472             :       break;
+    1473             :     }
+    1474             :   }
+    1475           0 :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1476           0 :   return {};
+    1477             : }
+    1478             : /*//}*/
+    1479             : 
+    1480             : /*//{ callbackRtk() */
+    1481             : template <int n_measurements>
+    1482        5552 : void Correction<n_measurements>::callbackRtk(const mrs_msgs::RtkGps::ConstPtr msg) {
+    1483             : 
+    1484        5552 :   if (!is_initialized_) {
+    1485           0 :     return;
+    1486             :   }
+    1487             : 
+    1488        5546 :   auto res = getCorrectionFromRtk(msg);
+    1489        5560 :   if (res) {
+    1490        5552 :     applyCorrection(res.value(), msg->header.stamp);
+    1491             :   }
+    1492             : }
+    1493             : /*//}*/
+    1494             : 
+    1495             : /*//{ getCorrectionFromRtk() */
+    1496             : template <int n_measurements>
+    1497        5650 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromRtk(const mrs_msgs::RtkGpsConstPtr msg) {
+    1498             : 
+    1499       11305 :   geometry_msgs::PoseStamped rtk_pos;
+    1500             : 
+    1501        5641 :   if (!std::isfinite(msg->gps.latitude)) {
+    1502           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->latitude\"!!!", getPrintName().c_str());
+    1503           0 :     return {};
+    1504             :   }
+    1505             : 
+    1506        5630 :   if (!std::isfinite(msg->gps.longitude)) {
+    1507           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->longitude\"!!!", getPrintName().c_str());
+    1508           0 :     return {};
+    1509             :   }
+    1510             : 
+    1511        5634 :   if (!std::isfinite(msg->gps.altitude)) {
+    1512           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->altitude\"!!!", getPrintName().c_str());
+    1513           0 :     return {};
+    1514             :   }
+    1515             : 
+    1516        5626 :   if (msg->fix_type.fix_type != mrs_msgs::RtkFixType::RTK_FIX) {
+    1517           0 :     ROS_INFO_THROTTLE(1.0, "[%s] %s RTK FIX", getPrintName().c_str(), Support::waiting_for_string.c_str());
+    1518           0 :     return {};
+    1519             :   }
+    1520             : 
+    1521        5626 :   rtk_pos.header = msg->header;
+    1522        5644 :   mrs_lib::UTM(msg->gps.latitude, msg->gps.longitude, &rtk_pos.pose.position.x, &rtk_pos.pose.position.y);
+    1523        5614 :   rtk_pos.pose.position.z  = msg->gps.altitude;
+    1524        5615 :   rtk_pos.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1525             : 
+    1526        5640 :   rtk_pos.pose.position.x -= ch_->world_origin.x;
+    1527        5636 :   rtk_pos.pose.position.y -= ch_->world_origin.y;
+    1528             : 
+    1529        5635 :   Correction::measurement_t measurement;
+    1530             : 
+    1531             :   // transform the RTK position from antenna to FCU
+    1532        5636 :   auto res = transformRtkToFcu(rtk_pos);
+    1533        5655 :   if (res) {
+    1534        5655 :     rtk_pos.pose = res.value();
+    1535             :   } else {
+    1536           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: transform to fcu failed", getPrintName().c_str());
+    1537           0 :     return {};
+    1538             :   }
+    1539             : 
+    1540        5655 :   switch (est_type_) {
+    1541             : 
+    1542             :     // handle lateral estimators
+    1543        3849 :     case EstimatorType_t::LATERAL: {
+    1544             : 
+    1545        3849 :       switch (state_id_) {
+    1546             : 
+    1547        3849 :         case StateId_t::POSITION: {
+    1548        3849 :           measurement(0) = rtk_pos.pose.position.x;
+    1549        3849 :           measurement(1) = rtk_pos.pose.position.y;
+    1550        3849 :           return measurement;
+    1551             :           break;
+    1552             :         }
+    1553             : 
+    1554           0 :         default: {
+    1555           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromRtk() switch", getPrintName().c_str());
+    1556           0 :           return {};
+    1557             :         }
+    1558             :       }
+    1559             :       break;
+    1560             :     }
+    1561             : 
+    1562             :     // handle altitude estimators
+    1563        1806 :     case EstimatorType_t::ALTITUDE: {
+    1564             : 
+    1565        1806 :       switch (state_id_) {
+    1566             : 
+    1567        1806 :         case StateId_t::POSITION: {
+    1568        1806 :           measurement(0) = rtk_pos.pose.position.z;
+    1569        1806 :           if (!got_avg_init_z_) {
+    1570          22 :             getAvgInitZ(measurement(0));
+    1571          22 :             return {};
+    1572             :           }
+    1573        1784 :           measurement(0) -= init_z_avg_;
+    1574        1784 :           return measurement;
+    1575             :           break;
+    1576             :         }
+    1577             : 
+    1578           0 :         default: {
+    1579           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromRtk() switch", getPrintName().c_str());
+    1580           0 :           return {};
+    1581             :         }
+    1582             :       }
+    1583             :       break;
+    1584             :     }
+    1585             : 
+    1586           0 :     case EstimatorType_t::HEADING: {
+    1587           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: should not be possible to get into this branch of getCorrectionFromRtk() switch", getPrintName().c_str());
+    1588           0 :       return {};
+    1589             :       break;
+    1590             :     }
+    1591             : 
+    1592             :     // handle latalt estimators
+    1593           0 :     case EstimatorType_t::LATALT: {
+    1594             : 
+    1595           0 :       switch (state_id_) {
+    1596             : 
+    1597           0 :         case StateId_t::POSITION: {
+    1598           0 :           measurement(0) = rtk_pos.pose.position.x;
+    1599           0 :           measurement(1) = rtk_pos.pose.position.y;
+    1600           0 :           measurement(2) = rtk_pos.pose.position.z;
+    1601           0 :           return measurement;
+    1602             :           break;
+    1603             :         }
+    1604             : 
+    1605           0 :         default: {
+    1606           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromRtk() switch", getPrintName().c_str());
+    1607           0 :           return {};
+    1608             :         }
+    1609             :       }
+    1610             :       break;
+    1611             :     }
+    1612             :   }
+    1613             : 
+    1614           0 :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1615           0 :   return {};
+    1616             : }
+    1617             : /*//}*/
+    1618             : 
+    1619             : /*//{ callbackNavSatFix() */
+    1620             : template <int n_measurements>
+    1621           0 : void Correction<n_measurements>::callbackNavSatFix(const sensor_msgs::NavSatFix::ConstPtr msg) {
+    1622             : 
+    1623           0 :   if (!is_initialized_) {
+    1624           0 :     return;
+    1625             :   }
+    1626             : 
+    1627           0 :   auto res = getCorrectionFromNavSatFix(msg);
+    1628           0 :   if (res) {
+    1629           0 :     applyCorrection(res.value(), msg->header.stamp);
+    1630             :   }
+    1631             : }
+    1632             : /*//}*/
+    1633             : 
+    1634             : /*//{ getCorrectionFromNavSatFix() */
+    1635             : template <int n_measurements>
+    1636           0 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromNavSatFix(
+    1637             :     const sensor_msgs::NavSatFixConstPtr msg) {
+    1638             : 
+    1639           0 :   geometry_msgs::PointStamped navsatfix_pos;
+    1640             : 
+    1641           0 :   if (!std::isfinite(msg->latitude)) {
+    1642           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in NavSatFix variable \"msg->latitude\"!!!", getPrintName().c_str());
+    1643           0 :     return {};
+    1644             :   }
+    1645             : 
+    1646           0 :   if (!std::isfinite(msg->longitude)) {
+    1647           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in NavSatFix variable \"msg->longitude\"!!!", getPrintName().c_str());
+    1648           0 :     return {};
+    1649             :   }
+    1650             : 
+    1651           0 :   if (!std::isfinite(msg->altitude)) {
+    1652           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in NavSatFix variable \"msg->altitude\"!!!", getPrintName().c_str());
+    1653           0 :     return {};
+    1654             :   }
+    1655             : 
+    1656           0 :   if (msg->status.status == sensor_msgs::NavSatStatus::STATUS_NO_FIX) {
+    1657           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NavSatFix has no GNSS fix!!!", getPrintName().c_str());
+    1658           0 :     return {};
+    1659             :   }
+    1660             : 
+    1661           0 :   navsatfix_pos.header = msg->header;
+    1662           0 :   mrs_lib::UTM(msg->latitude, msg->longitude, &navsatfix_pos.point.x, &navsatfix_pos.point.y);
+    1663           0 :   navsatfix_pos.point.x -= ch_->world_origin.x;
+    1664           0 :   navsatfix_pos.point.y -= ch_->world_origin.y;
+    1665           0 :   navsatfix_pos.point.z = msg->altitude;
+    1666             : 
+    1667           0 :   Correction::measurement_t measurement;
+    1668             : 
+    1669             :   // TODO transform position from GNSS antenna to FCU
+    1670             : 
+    1671           0 :   switch (est_type_) {
+    1672             : 
+    1673             :     // handle lateral estimators
+    1674           0 :     case EstimatorType_t::LATERAL: {
+    1675             : 
+    1676           0 :       switch (state_id_) {
+    1677             : 
+    1678           0 :         case StateId_t::POSITION: {
+    1679           0 :           measurement(0) = navsatfix_pos.point.x;
+    1680           0 :           measurement(1) = navsatfix_pos.point.y;
+    1681           0 :           return measurement;
+    1682             :           break;
+    1683             :         }
+    1684             : 
+    1685           0 :         default: {
+    1686           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromNavSatFix() switch", getPrintName().c_str());
+    1687           0 :           return {};
+    1688             :         }
+    1689             :       }
+    1690             :       break;
+    1691             :     }
+    1692             : 
+    1693             :     // handle altitude estimators
+    1694           0 :     case EstimatorType_t::ALTITUDE: {
+    1695             : 
+    1696           0 :       switch (state_id_) {
+    1697             : 
+    1698           0 :         case StateId_t::POSITION: {
+    1699           0 :           measurement(0) = navsatfix_pos.point.z;
+    1700           0 :           if (!got_avg_init_z_) {
+    1701           0 :             getAvgInitZ(measurement(0));
+    1702           0 :             return {};
+    1703             :           }
+    1704           0 :           measurement(0) -= init_z_avg_;
+    1705           0 :           return measurement;
+    1706             :           break;
+    1707             :         }
+    1708             : 
+    1709           0 :         default: {
+    1710           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromNavSatFix() switch", getPrintName().c_str());
+    1711           0 :           return {};
+    1712             :         }
+    1713             :       }
+    1714             :       break;
+    1715             :     }
+    1716             : 
+    1717           0 :     case EstimatorType_t::HEADING: {
+    1718           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: should not be possible to get into this branch of getCorrectionFromNavSatFix() switch", getPrintName().c_str());
+    1719           0 :       return {};
+    1720             :       break;
+    1721             :     }
+    1722             : 
+    1723             :     // handle latalt estimators
+    1724           0 :     case EstimatorType_t::LATALT: {
+    1725             : 
+    1726           0 :       switch (state_id_) {
+    1727             : 
+    1728           0 :         case StateId_t::POSITION: {
+    1729           0 :           measurement(0) = navsatfix_pos.point.x;
+    1730           0 :           measurement(1) = navsatfix_pos.point.y;
+    1731           0 :           measurement(2) = navsatfix_pos.point.z;
+    1732           0 :           return measurement;
+    1733             :           break;
+    1734             :         }
+    1735             : 
+    1736           0 :         default: {
+    1737           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromNavSatFix() switch", getPrintName().c_str());
+    1738           0 :           return {};
+    1739             :         }
+    1740             :       }
+    1741             :       break;
+    1742             :     }
+    1743             :   }
+    1744             : 
+    1745           0 :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1746           0 :   return {};
+    1747             : }
+    1748             : /*//}*/
+    1749             : 
+    1750             : /*//{ callbackMagHeading() */
+    1751             : template <int n_measurements>
+    1752           0 : void Correction<n_measurements>::callbackMagHeading(const mrs_msgs::Float64Stamped::ConstPtr msg) {
+    1753             : 
+    1754           0 :   if (!is_initialized_) {
+    1755           0 :     return;
+    1756             :   }
+    1757             : 
+    1758           0 :   auto res = getCorrectionFromMagHeading(msg);
+    1759           0 :   if (res) {
+    1760           0 :     applyCorrection(res.value(), msg->header.stamp);
+    1761             :   } else {
+    1762           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: Could not obtain correction from Float64Stamped msg", getPrintName().c_str());
+    1763             :   }
+    1764             : }
+    1765             : /*//}*/
+    1766             : 
+    1767             : /*//{ getCorrectionFromMagHeading() */
+    1768             : template <int n_measurements>
+    1769           0 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromMagHeading(
+    1770             :     const mrs_msgs::Float64StampedConstPtr msg) {
+    1771             : 
+    1772           0 :   switch (est_type_) {
+    1773             : 
+    1774             :     // handle lateral estimators
+    1775           0 :     case EstimatorType_t::LATERAL: {
+    1776             : 
+    1777           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: EstimatorType_t::LATERAL in getCorrectionFromMagHeading() not implemented", getPrintName().c_str());
+    1778           0 :       return {};
+    1779             :       break;
+    1780             :     }
+    1781             : 
+    1782             :     // handle altitude estimators
+    1783           0 :     case EstimatorType_t::ALTITUDE: {
+    1784             : 
+    1785           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: EstimatorType_t::ALTITUDE in getCorrectionFromMagHeading() not implemented", getPrintName().c_str());
+    1786           0 :       return {};
+    1787             :       break;
+    1788             :     }
+    1789             : 
+    1790             :     // handle heading estimators
+    1791           0 :     case EstimatorType_t::HEADING: {
+    1792             : 
+    1793           0 :       measurement_t measurement;
+    1794             : 
+    1795           0 :       const double mag_hdg = msg->value / 180 * M_PI;
+    1796             : 
+    1797           0 :       if (!got_first_mag_hdg_) {
+    1798           0 :         mag_hdg_previous_  = mag_hdg;
+    1799           0 :         got_first_mag_hdg_ = true;
+    1800             :       }
+    1801             : 
+    1802           0 :       measurement(0) = -mrs_lib::geometry::radians::unwrap(mag_hdg, mag_hdg_previous_) + M_PI / 2;  // may be weirdness of px4 heading (NED vs ENU or something)
+    1803           0 :       mag_hdg_previous_ = mag_hdg;
+    1804           0 :       return measurement;
+    1805             :     }
+    1806             : 
+    1807             :     // handle latalt estimators
+    1808           0 :     case EstimatorType_t::LATALT: {
+    1809             : 
+    1810           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: EstimatorType_t::LATALT in getCorrectionFromMagHeading() not implemented", getPrintName().c_str());
+    1811           0 :       return {};
+    1812             :       break;
+    1813             :     }
+    1814             :   }
+    1815             : 
+    1816           0 :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1817           0 :   return {};
+    1818             : }
+    1819             : /*//}*/
+    1820             : 
+    1821             : /*//{ callbackMagField() */
+    1822             : template <int n_measurements>
+    1823           0 : void Correction<n_measurements>::callbackMagField(const sensor_msgs::MagneticField::ConstPtr msg) {
+    1824             : 
+    1825           0 :   if (!is_initialized_) {
+    1826           0 :     return;
+    1827             :   }
+    1828             : 
+    1829           0 :   auto res = getCorrectionFromMagField(msg);
+    1830           0 :   if (res) {
+    1831           0 :     applyCorrection(res.value(), msg->header.stamp);
+    1832             :   } else {
+    1833           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: Could not obtain correction from sensor_msgs::MagneticField msg", getPrintName().c_str());
+    1834             :   }
+    1835             : }
+    1836             : /*//}*/
+    1837             : 
+    1838             : /*//{ getCorrectionFromMagField() */
+    1839             : template <int n_measurements>
+    1840           0 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromMagField(
+    1841             :     const sensor_msgs::MagneticFieldConstPtr msg) {
+    1842             : 
+    1843           0 :   switch (est_type_) {
+    1844             : 
+    1845             :     // handle lateral estimators
+    1846           0 :     case EstimatorType_t::LATERAL: {
+    1847             : 
+    1848           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: EstimatorType_t::LATERAL in getCorrectionFromMagField() not implemented", getPrintName().c_str());
+    1849           0 :       return {};
+    1850             :       break;
+    1851             :     }
+    1852             : 
+    1853             :     // handle altitude estimators
+    1854           0 :     case EstimatorType_t::ALTITUDE: {
+    1855             : 
+    1856           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: EstimatorType_t::ALTITUDE in getCorrectionFromMagField() not implemented", getPrintName().c_str());
+    1857           0 :       return {};
+    1858             :       break;
+    1859             :     }
+    1860             : 
+    1861             :     // handle heading estimators
+    1862           0 :     case EstimatorType_t::HEADING: {
+    1863             : 
+    1864             :       /* Eigen::Matrix3d rot; */
+    1865             : 
+    1866             :       /* auto res = ch_->transformer->getTransform(ch_->frames.ns_fcu, ch_->frames.ns_fcu_untilted, msg->header.stamp); */
+    1867             :       /* if (res) { */
+    1868             :       /*   rot = Eigen::Matrix3d(mrs_lib::AttitudeConverter(res.value().transform.rotation)); */
+    1869             :       /* } else { */
+    1870             :       /*   ROS_ERROR_THROTTLE(1.0, "[%s]: Could not obtain transform from %s to %s. Not using this correction.", getPrintName().c_str(), */
+    1871             :       /*                      ch_->frames.ns_fcu_untilted.c_str(), ch_->frames.ns_fcu.c_str()); */
+    1872             :       /*   return {}; */
+    1873             :       /* } */
+    1874             : 
+    1875           0 :       geometry_msgs::Vector3 mag_vec;
+    1876           0 :       mag_vec.x = msg->magnetic_field.x;
+    1877           0 :       mag_vec.y = msg->magnetic_field.y;
+    1878           0 :       mag_vec.z = msg->magnetic_field.z;
+    1879             : 
+    1880           0 :       if (transform_to_frame_enabled_) {
+    1881           0 :         std_msgs::Header header = msg->header;
+    1882           0 :         header.frame_id         = transform_from_frame_;
+    1883           0 :         auto res                = transformVecToFrame(mag_vec, header, transform_to_frame_);
+    1884           0 :         if (res) {
+    1885           0 :           mag_vec.x = res.value().x;
+    1886           0 :           mag_vec.y = res.value().y;
+    1887           0 :           mag_vec.z = res.value().z;
+    1888             :         } else {
+    1889           0 :           ROS_WARN_THROTTLE(1.0, "[%s]: could not transform mag field vector", getPrintName().c_str());
+    1890             :         }
+    1891             :       }
+    1892             :       
+    1893           0 :       geometry_msgs::PointStamped mag_vec_msg;
+    1894           0 :       mag_vec_msg.header.stamp = msg->header.stamp;
+    1895           0 :       mag_vec_msg.header.frame_id = transform_to_frame_;
+    1896           0 :       mag_vec_msg.point.x = mag_vec.x;
+    1897           0 :       mag_vec_msg.point.y = mag_vec.y;
+    1898           0 :       mag_vec_msg.point.z = mag_vec.z;
+    1899           0 :       ph_mag_field_untilted_.publish(mag_vec_msg);
+    1900           0 :       const double mag_hdg = atan2(mag_vec.y, mag_vec.x);
+    1901             :       /* const Eigen::Vector3d mag_vec(mag_vec_pt.x, mag_vec_pt.y, mag_vec_pt.z); */
+    1902             :       /* const Eigen::Vector3d proj_mag_field = rot * mag_vec; */
+    1903             :       /* mrs_msgs::Float64Stamped hdg_stamped; */
+    1904             :       /* hdg_stamped.header = msg->header; */
+    1905             :       /* hdg_stamped.value = atan2(proj_mag_field.y(), proj_mag_field.x()); */
+    1906             :       /* const double mag_hdg = atan2(proj_mag_field.y(), proj_mag_field.x()); */
+    1907             : 
+    1908           0 :       measurement_t measurement;
+    1909             : 
+    1910             :       /* const double mag_hdg = msg->value / 180 * M_PI; */
+    1911             : 
+    1912           0 :       if (!got_first_mag_hdg_) {
+    1913           0 :         mag_hdg_previous_  = mag_hdg;
+    1914           0 :         got_first_mag_hdg_ = true;
+    1915             :       }
+    1916             : 
+    1917           0 :       measurement(0) = -mrs_lib::geometry::radians::unwrap(mag_hdg, mag_hdg_previous_);  // may be weirdness of px4 heading (NED vs ENU or something)
+    1918           0 :       mag_hdg_previous_ = mag_hdg;
+    1919           0 :       return measurement;
+    1920             :     }
+    1921             : 
+    1922             :     // handle latalt estimators
+    1923           0 :     case EstimatorType_t::LATALT: {
+    1924             : 
+    1925           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: EstimatorType_t::LATALT in getCorrectionFromMagField() not implemented", getPrintName().c_str());
+    1926           0 :       return {};
+    1927             :       break;
+    1928             :     }
+    1929             :   }
+    1930             : 
+    1931           0 :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1932           0 :   return {};
+    1933             : }
+    1934             : /*//}*/
+    1935             : 
+    1936             : /*//{ callbackPoint() */
+    1937             : template <int n_measurements>
+    1938      218310 : void Correction<n_measurements>::callbackPoint(const geometry_msgs::PointStamped::ConstPtr msg) {
+    1939             : 
+    1940      218310 :   if (!is_initialized_) {
+    1941           0 :     return;
+    1942             :   }
+    1943             : 
+    1944      218269 :   auto res = getCorrectionFromPoint(msg);
+    1945      218026 :   if (res) {
+    1946      218054 :     applyCorrection(res.value(), msg->header.stamp);
+    1947             :   }
+    1948             : }
+    1949             : /*//}*/
+    1950             : 
+    1951             : /*//{ getCorrectionFromPoint() */
+    1952             : template <int n_measurements>
+    1953      222579 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromPoint(
+    1954             :     const geometry_msgs::PointStampedConstPtr msg) {
+    1955             : 
+    1956      222579 :   switch (est_type_) {
+    1957             : 
+    1958             :     // handle lateral estimators
+    1959      222572 :     case EstimatorType_t::LATERAL: {
+    1960             : 
+    1961      222572 :       switch (state_id_) {
+    1962             : 
+    1963      222415 :         case StateId_t::POSITION: {
+    1964      222415 :           measurement_t measurement;
+    1965      222221 :           measurement(0) = msg->point.x;
+    1966      221989 :           measurement(1) = msg->point.y;
+    1967      222338 :           return measurement;
+    1968             :           break;
+    1969             :         }
+    1970             : 
+    1971         157 :         default: {
+    1972         157 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromPoint() switch", getPrintName().c_str());
+    1973           0 :           return {};
+    1974             :         }
+    1975             :       }
+    1976             :       break;
+    1977             :     }
+    1978             : 
+    1979             :     // handle altitude estimators
+    1980           0 :     case EstimatorType_t::ALTITUDE: {
+    1981             : 
+    1982           0 :       switch (state_id_) {
+    1983             : 
+    1984           0 :         case StateId_t::POSITION: {
+    1985           0 :           measurement_t measurement;
+    1986           0 :           measurement(0) = msg->point.z;
+    1987           0 :           return measurement;
+    1988             :           break;
+    1989             :         }
+    1990             : 
+    1991           0 :         default: {
+    1992           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromPoint() switch", getPrintName().c_str());
+    1993           0 :           return {};
+    1994             :         }
+    1995             :       }
+    1996             :       break;
+    1997             :     }
+    1998             : 
+    1999             :     // handle heading estimators
+    2000           0 :     case EstimatorType_t::HEADING: {
+    2001             : 
+    2002           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: EstimatorType_t::Heading in getCorrectionFromPoint() not implemented", getPrintName().c_str());
+    2003           0 :       return {};
+    2004             :       break;
+    2005             :     }
+    2006             : 
+    2007             :     // handle latalt estimators
+    2008           0 :     case EstimatorType_t::LATALT: {
+    2009             : 
+    2010           0 :       switch (state_id_) {
+    2011             : 
+    2012           0 :         case StateId_t::POSITION: {
+    2013           0 :           measurement_t measurement;
+    2014           0 :           measurement(0) = msg->point.x;
+    2015           0 :           measurement(1) = msg->point.y;
+    2016           0 :           measurement(2) = msg->point.z;
+    2017           0 :           return measurement;
+    2018             :           break;
+    2019             :         }
+    2020             : 
+    2021           0 :         default: {
+    2022           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromPoint() switch", getPrintName().c_str());
+    2023           0 :           return {};
+    2024             :         }
+    2025             :       }
+    2026             :       break;
+    2027             :     }
+    2028             : 
+    2029           8 :     default: {
+    2030           8 :       ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromPoint() switch", getPrintName().c_str());
+    2031           0 :       return {};
+    2032             :     }
+    2033             :   }
+    2034             : 
+    2035             : 
+    2036             :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    2037             :   return {};
+    2038             : }
+    2039             : /*//}*/
+    2040             : 
+    2041             : /*//{ callbackVector() */
+    2042             : template <int n_measurements>
+    2043      239213 : void Correction<n_measurements>::callbackVector(const geometry_msgs::Vector3Stamped::ConstPtr msg) {
+    2044             : 
+    2045      239213 :   if (!is_initialized_) {
+    2046           0 :     return;
+    2047             :   }
+    2048             : 
+    2049      239006 :   auto res = getCorrectionFromVector(msg);
+    2050      239300 :   if (res) {
+    2051      239264 :     applyCorrection(res.value(), msg->header.stamp);
+    2052             :   } else {
+    2053          35 :     ROS_WARN_THROTTLE(1.0, "[%s]: Could not obtain correction from Vector3Stamped msg", getPrintName().c_str());
+    2054             :   }
+    2055             : }
+    2056             : /*//}*/
+    2057             : 
+    2058             : /*//{ getCorrectionFromVector() */
+    2059             : template <int n_measurements>
+    2060      239329 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromVector(
+    2061             :     const geometry_msgs::Vector3StampedConstPtr msg) {
+    2062             : 
+    2063      239329 :   switch (est_type_) {
+    2064             : 
+    2065             :     // handle lateral estimators
+    2066       10982 :     case EstimatorType_t::LATERAL: {
+    2067             : 
+    2068       10982 :       switch (state_id_) {
+    2069             : 
+    2070       10982 :         case StateId_t::VELOCITY: {
+    2071       10982 :           auto res = getVecInFrame(msg->vector, msg->header, ns_frame_id_ + "_att_only");
+    2072       10985 :           if (res) {
+    2073       10928 :             measurement_t measurement;
+    2074       10927 :             measurement = res.value();
+    2075       10927 :             return measurement;
+    2076             :           } else {
+    2077          57 :             return {};
+    2078             :           }
+    2079             :           break;
+    2080             :         }
+    2081             : 
+    2082           0 :         default: {
+    2083           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromVector() switch", getPrintName().c_str());
+    2084           0 :           return {};
+    2085             :         }
+    2086             :       }
+    2087             :       break;
+    2088             :     }
+    2089             : 
+    2090             :     // handle altitude estimators
+    2091      228405 :     case EstimatorType_t::ALTITUDE: {
+    2092             : 
+    2093      228405 :       switch (state_id_) {
+    2094             : 
+    2095      228372 :         case StateId_t::VELOCITY: {
+    2096      228372 :           auto res = getZVelUntilted(msg->vector, msg->header);
+    2097      228467 :           if (res) {
+    2098      228462 :             measurement_t measurement;
+    2099      228459 :             measurement = res.value();
+    2100      228459 :             return measurement;
+    2101             :           } else {
+    2102           8 :             ROS_WARN_THROTTLE(1.0, "[%s]: Could not obtain untilted Z velocity", getPrintName().c_str());
+    2103           8 :             return {};
+    2104             :           }
+    2105             :           break;
+    2106             :         }
+    2107             : 
+    2108          33 :         default: {
+    2109          33 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromVector() switch", getPrintName().c_str());
+    2110           0 :           return {};
+    2111             :         }
+    2112             :       }
+    2113             :       break;
+    2114             :     }
+    2115             : 
+    2116             :     // handle heading estimators
+    2117           0 :     case EstimatorType_t::HEADING: {
+    2118             : 
+    2119           0 :       switch (state_id_) {
+    2120             : 
+    2121           0 :         case StateId_t::VELOCITY: {
+    2122             :           try {
+    2123           0 :             if (!sh_orientation_.hasMsg()) {
+    2124           0 :               ROS_INFO_THROTTLE(1.0, "[%s]: %s orientation on topic: %s", getPrintName().c_str(), Support::waiting_for_string.c_str(),
+    2125             :                                 orientation_topic_.c_str());
+    2126           0 :               return {};
+    2127             :             }
+    2128           0 :             measurement_t measurement;
+    2129           0 :             measurement(0) = mrs_lib::AttitudeConverter(sh_orientation_.getMsg()->quaternion).getHeadingRate(msg->vector);
+    2130           0 :             return measurement;
+    2131             :           }
+    2132           0 :           catch (...) {
+    2133           0 :             ROS_ERROR_THROTTLE(1.0, "[%s]: Exception caught during getting heading rate (getCorrectionFromVector())", getPrintName().c_str());
+    2134           0 :             return {};
+    2135             :           }
+    2136             :           break;
+    2137             :         }
+    2138             : 
+    2139           0 :         default: {
+    2140           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromVector() switch", getPrintName().c_str());
+    2141           0 :           return {};
+    2142             :         }
+    2143             :       }
+    2144             :       break;
+    2145             :     }
+    2146             : 
+    2147             :     // handle lateral estimators
+    2148           0 :     case EstimatorType_t::LATALT: {
+    2149             : 
+    2150           0 :       switch (state_id_) {
+    2151             : 
+    2152           0 :         case StateId_t::VELOCITY: {
+    2153           0 :           auto res = getVecInFrame(msg->vector, msg->header, ns_frame_id_ + "_att_only");
+    2154           0 :           if (res) {
+    2155           0 :             measurement_t measurement;
+    2156           0 :             measurement = res.value();
+    2157           0 :             return measurement;
+    2158             :           } else {
+    2159           0 :             return {};
+    2160             :           }
+    2161             :           break;
+    2162             :         }
+    2163             : 
+    2164           0 :         default: {
+    2165           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromVector() switch", getPrintName().c_str());
+    2166           0 :           return {};
+    2167             :         }
+    2168             :       }
+    2169             :       break;
+    2170             :     }
+    2171             :   }
+    2172             : 
+    2173           0 :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    2174           0 :   return {};
+    2175             : }
+    2176             : /*//}*/
+    2177             : 
+    2178             : /*//{ getCorrectionFromQuat() */
+    2179             : template <int n_measurements>
+    2180           0 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromQuat([
+    2181             :     [maybe_unused]] const geometry_msgs::QuaternionStampedConstPtr msg) {
+    2182             : 
+    2183           0 :   switch (est_type_) {
+    2184             : 
+    2185             :       // handle lateral estimators
+    2186             :       /* case EstimatorType_t::LATERAL: { */
+    2187             : 
+    2188             :       /*   default: { */
+    2189             :       /*     ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str()); */
+    2190             :       /*     return {}; */
+    2191             :       /*   } break; */
+    2192             :       /* } */
+    2193             : 
+    2194             :       /* // handle altitude estimators */
+    2195             :       /* case EstimatorType_t::ALTITUDE: { */
+    2196             : 
+    2197             :       /* default: { */
+    2198             :       /*     ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str()); */
+    2199             :       /*     return {}; */
+    2200             :       /*   } break; */
+    2201             :       /* } */
+    2202             : 
+    2203             :       /* // handle heading estimators */
+    2204             :       /* case EstimatorType_t::HEADING: { */
+    2205             : 
+    2206             :       /*   switch (state_id_) { */
+    2207             : 
+    2208             :       /*     /1* default: { *1/ */
+    2209             :       /*       ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str()); */
+    2210             :       /*       return {}; */
+    2211             :       /*     } */
+    2212             :       /*   } */
+    2213             :     default: {
+    2214           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+    2215           0 :       return {};
+    2216             :     }
+    2217             :   }
+    2218             : 
+    2219             :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    2220             :   return {};
+    2221             : }
+    2222             : /*//}*/
+    2223             : 
+    2224             : /*//{ applyCorrection() */
+    2225             : template <int n_measurements>
+    2226      730406 : void Correction<n_measurements>::applyCorrection(const measurement_t& meas, const ros::Time& stamp) {
+    2227             : 
+    2228             :   {
+    2229      730406 :     std::scoped_lock lock(mtx_msg_time_);
+    2230      730161 :     if (first_timestamp_) {
+    2231         397 :       prev_msg_time_   = stamp - ros::Duration(0.01);
+    2232         398 :       msg_time_        = stamp;
+    2233         398 :       healthy_time_    = ros::Time(0);
+    2234         400 :       first_timestamp_ = false;
+    2235             :     }
+    2236             : 
+    2237      730007 :     prev_msg_time_ = msg_time_;
+    2238      730007 :     msg_time_      = stamp;
+    2239      730007 :     healthy_time_ += msg_time_ - prev_msg_time_;
+    2240             :   }
+    2241             : 
+    2242      730054 :   MeasurementStamped meas_stamped;
+    2243      729967 :   meas_stamped.value = meas;
+    2244      730227 :   meas_stamped.stamp = stamp;
+    2245      730227 :   publishCorrection(meas_stamped, ph_correction_raw_);
+    2246      730479 :   if (process(meas_stamped.value)) {
+    2247      721824 :     publishCorrection(meas_stamped, ph_correction_proc_);
+    2248      722097 :     fun_apply_correction_(meas_stamped, getR(), getStateId());
+    2249             :   }
+    2250      729778 : }
+    2251             : /*//}*/
+    2252             : 
+    2253             : /* //{ callbackToggleRange() */
+    2254             : template <int n_measurements>
+    2255           0 : bool Correction<n_measurements>::callbackToggleRange(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    2256             : 
+    2257           0 :   if (!is_initialized_) {
+    2258           0 :     return false;
+    2259             :   }
+    2260             : 
+    2261           0 :   if (!range_enabled_ && req.data) {
+    2262           0 :     processors_["saturate"]->toggle(true);
+    2263             :   }
+    2264             : 
+    2265           0 :   range_enabled_ = req.data;
+    2266             : 
+    2267             :   // after enabling range we want to start correcting the altitude slowly
+    2268             : 
+    2269           0 :   res.success = true;
+    2270           0 :   res.message = (range_enabled_ ? "Range enabled" : "Range disabled");
+    2271             : 
+    2272           0 :   if (range_enabled_) {
+    2273             : 
+    2274           0 :     ROS_INFO("[%s]: Range enabled.", getPrintName().c_str());
+    2275             : 
+    2276             :   } else {
+    2277             : 
+    2278           0 :     ROS_INFO("[%s]: Range disabled", getPrintName().c_str());
+    2279             :   }
+    2280             : 
+    2281           0 :   return true;
+    2282             : }
+    2283             : 
+    2284             : //}
+    2285             : 
+    2286             : /*//{ getZVelUntilted() */
+    2287             : template <int n_measurements>
+    2288      228398 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getZVelUntilted(const geometry_msgs::Vector3& msg,
+    2289             :                                                                                                               const std_msgs::Header&       header) {
+    2290             : 
+    2291             :   // untilt the desired vector
+    2292      456866 :   geometry_msgs::PointStamped vel;
+    2293      228294 :   vel.point.x = msg.x;
+    2294      228294 :   vel.point.y = msg.y;
+    2295      228294 :   vel.point.z = msg.z;
+    2296      228294 :   vel.header  = header;
+    2297             :   /* vel.header.frame_id = ch_->frames.ns_fcu; */
+    2298      228348 :   vel.header.stamp = header.stamp;
+    2299             : 
+    2300      456817 :   auto res = ch_->transformer->transformSingle(vel, ch_->frames.ns_fcu_untilted);
+    2301      228470 :   if (res) {
+    2302      228462 :     measurement_t measurement;
+    2303      228462 :     measurement(0) = res.value().point.z;
+    2304      228461 :     return measurement;
+    2305             :   } else {
+    2306           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());
+    2307           8 :     return {};
+    2308             :   }
+    2309             : }
+    2310             : /*//}*/
+    2311             : 
+    2312             : /*//{ transformVecToFrame() */
+    2313             : template <int n_measurements>
+    2314       10983 : std::optional<geometry_msgs::Vector3> Correction<n_measurements>::transformVecToFrame(const geometry_msgs::Vector3& vec_in,
+    2315             :                                                                                       const std_msgs::Header& source_header, const std::string target_frame) {
+    2316             : 
+    2317       21968 :   geometry_msgs::Vector3Stamped vec;
+    2318       10978 :   vec.header = source_header;
+    2319       10980 :   vec.vector = vec_in;
+    2320             : 
+    2321       21965 :   auto res = ch_->transformer->transformSingle(vec, target_frame);
+    2322       10985 :   if (res) {
+    2323       10928 :     return res.value().vector;
+    2324             :   } else {
+    2325          57 :     ROS_WARN_THROTTLE(1.0, "[%s]: Transform of vector from %s to %s failed.", getPrintName().c_str(), vec.header.frame_id.c_str(), target_frame.c_str());
+    2326          57 :     return {};
+    2327             :   }
+    2328             : }
+    2329             : 
+    2330             : template <int n_measurements>
+    2331       10985 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getVecInFrame(const geometry_msgs::Vector3& vec_in,
+    2332             :                                                                                                             const std_msgs::Header&       source_header,
+    2333             :                                                                                                             const std::string             target_frame) {
+    2334             : 
+    2335       10985 :   measurement_t measurement;
+    2336             : 
+    2337       10978 :   auto res = transformVecToFrame(vec_in, source_header, target_frame);
+    2338       10985 :   if (res) {
+    2339       10927 :     measurement(0) = res.value().x;
+    2340       10927 :     measurement(1) = res.value().y;
+    2341             :     if (n_measurements == 3) {
+    2342             :       measurement(2) = res.value().z;
+    2343             :     }
+    2344       10928 :     return measurement;
+    2345             :   } else {
+    2346          57 :     return {};
+    2347             :   }
+    2348             : }
+    2349             : /*//}*/
+    2350             : 
+    2351             : /*//{ getInFrame() */
+    2352             : template <int n_measurements>
+    2353           0 : std::optional<geometry_msgs::Point> Correction<n_measurements>::getInFrame(const geometry_msgs::Point& pt_in, const std_msgs::Header& source_header,
+    2354             :                                                                            const std::string target_frame) {
+    2355             : 
+    2356           0 :   geometry_msgs::PointStamped pt;
+    2357           0 :   pt.header = source_header;
+    2358           0 :   pt.point  = pt_in;
+    2359             : 
+    2360           0 :   geometry_msgs::PointStamped transformed_pt;
+    2361           0 :   auto                        res = ch_->transformer->transformSingle(pt, target_frame);
+    2362           0 :   if (res) {
+    2363           0 :     transformed_pt = res.value();
+    2364           0 :     geometry_msgs::Point pt_out;
+    2365           0 :     pt_out = transformed_pt.point;
+    2366           0 :     return pt_out;
+    2367             :   } else {
+    2368           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: Transform of point from %s to %s failed.", getPrintName().c_str(), pt.header.frame_id.c_str(), target_frame.c_str());
+    2369           0 :     return {};
+    2370             :   }
+    2371             : }
+    2372             : /*//}*/
+    2373             : 
+    2374             : /*//{ transformRtkToFcu() */
+    2375             : template <int n_measurements>
+    2376        5648 : std::optional<geometry_msgs::Pose> Correction<n_measurements>::transformRtkToFcu(const geometry_msgs::PoseStamped& pose_in) const {
+    2377             : 
+    2378       11303 :   geometry_msgs::PoseStamped pose_tmp = pose_in;
+    2379             : 
+    2380             :   // inject current orientation into rtk pose
+    2381       11295 :   auto res1 = ch_->transformer->getTransform(ch_->frames.ns_fcu_untilted, ch_->frames.ns_fcu, ros::Time::now());
+    2382        5655 :   if (res1) {
+    2383        5655 :     pose_tmp.pose.orientation = res1.value().transform.rotation;
+    2384             :   } else {
+    2385           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Could not obtain transform from %s to %s. Not using this correction.", getPrintName().c_str(),
+    2386             :                        ch_->frames.ns_fcu_untilted.c_str(), ch_->frames.ns_fcu.c_str());
+    2387           0 :     return {};
+    2388             :   }
+    2389             : 
+    2390             :   // invert tf
+    2391        5655 :   tf2::Transform             tf_utm_to_antenna = Support::tf2FromPose(pose_tmp.pose);
+    2392       11310 :   geometry_msgs::PoseStamped utm_in_antenna;
+    2393        5655 :   utm_in_antenna.pose            = Support::poseFromTf2(tf_utm_to_antenna.inverse());
+    2394        5655 :   utm_in_antenna.header.stamp    = pose_in.header.stamp;
+    2395        5655 :   utm_in_antenna.header.frame_id = ch_->frames.ns_rtk_antenna;
+    2396             : 
+    2397             :   // transform to fcu
+    2398       11310 :   geometry_msgs::PoseStamped utm_in_fcu;
+    2399        5655 :   utm_in_fcu.header.frame_id = ch_->frames.ns_fcu;
+    2400        5655 :   utm_in_fcu.header.stamp    = pose_in.header.stamp;
+    2401       11310 :   auto res2                  = ch_->transformer->transformSingle(utm_in_antenna, ch_->frames.ns_fcu);
+    2402             : 
+    2403        5655 :   if (res2) {
+    2404        5655 :     utm_in_fcu = res2.value();
+    2405             :   } else {
+    2406           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());
+    2407           0 :     return {};
+    2408             :   }
+    2409             : 
+    2410             :   // invert tf
+    2411        5655 :   tf2::Transform      tf_fcu_to_utm = Support::tf2FromPose(utm_in_fcu.pose);
+    2412        5655 :   geometry_msgs::Pose fcu_in_utm    = Support::poseFromTf2(tf_fcu_to_utm.inverse());
+    2413             : 
+    2414        5655 :   return fcu_in_utm;
+    2415             : }
+    2416             : /*//}*/
+    2417             : 
+    2418             : /*//{ getAvgInitZ() */
+    2419             : template <int n_measurements>
+    2420          22 : void Correction<n_measurements>::getAvgInitZ(const double z) {
+    2421             : 
+    2422          22 :   if (!got_avg_init_z_) {
+    2423             : 
+    2424          22 :     double z_avg = init_z_avg_ / got_z_counter_;
+    2425             : 
+    2426          22 :     if (got_z_counter_ < 10 || (got_z_counter_ < 300 && std::fabs(z - z_avg) > 0.1)) {
+    2427             : 
+    2428          20 :       init_z_avg_ += z;
+    2429          20 :       got_z_counter_++;
+    2430          20 :       z_avg = init_z_avg_ / got_z_counter_;
+    2431          20 :       ROS_INFO("[%s]: AMSL altitude sample #%d: %.2f; avg: %.2f", getPrintName().c_str(), got_z_counter_, z, z_avg);
+    2432          20 :       return;
+    2433             : 
+    2434             :     } else {
+    2435             : 
+    2436           2 :       init_z_avg_     = z_avg;
+    2437           2 :       got_avg_init_z_ = true;
+    2438           2 :       ROS_INFO("[%s]: AMSL altitude avg: %f", getPrintName().c_str(), z_avg);
+    2439             :     }
+    2440             :   }
+    2441             : }
+    2442             : /*//}*/
+    2443             : 
+    2444             : /*//{ checkMsgDelay() */
+    2445             : template <int n_measurements>
+    2446             : void Correction<n_measurements>::checkMsgDelay(const ros::Time& msg_time) {
+    2447             : 
+    2448             :   const double delay = (ros::Time::now() - msg_time).toSec();
+    2449             :   if (delay > msg_delay_warn_limit_) {
+    2450             :     if (delay > msg_delay_limit_) {
+    2451             :       ROS_ERROR_THROTTLE(1.0, "[%s]: message too delayed (%.4f s)", getPrintName().c_str(), delay);
+    2452             :       is_delay_ok_ = false;
+    2453             :     } else {
+    2454             :       ROS_WARN_THROTTLE(5.0, "[%s]: message delayed (%.4f s)", getPrintName().c_str(), delay);
+    2455             :       is_delay_ok_ = true;
+    2456             :     }
+    2457             :   } else {
+    2458             :     is_delay_ok_ = true;
+    2459             :   }
+    2460             :   publishDelay(delay);
+    2461             : }
+    2462             : /*//}*/
+    2463             : 
+    2464             : /*//{ isTimestampOk() */
+    2465             : template <int n_measurements>
+    2466             : bool Correction<n_measurements>::isTimestampOk() {
+    2467             : 
+    2468             :   if (first_timestamp_) {
+    2469             :     return true;
+    2470             :   }
+    2471             : 
+    2472             :   ros::Time msg_time, prev_msg_time;
+    2473             :   {
+    2474             :     std::scoped_lock lock(mtx_msg_time_);
+    2475             :     msg_time      = msg_time_;
+    2476             :     prev_msg_time = prev_msg_time_;
+    2477             :   }
+    2478             :   const double delta = msg_time.toSec() - prev_msg_time.toSec();
+    2479             : 
+    2480             :   if (msg_time.toSec() <= 0.0) {
+    2481             :     ROS_ERROR_THROTTLE(1.0, "[%s]: current timestamp non-positive: %f", getPrintName().c_str(), msg_time.toSec());
+    2482             :     return false;
+    2483             :   }
+    2484             : 
+    2485             :   if (delta <= 0.0) {
+    2486             :     ROS_WARN_THROTTLE(1.0, "[%s]: time delta non-positive: %f", getPrintName().c_str(), delta);
+    2487             :     return true;
+    2488             :   }
+    2489             : 
+    2490             :   if (delta < 0.001) {
+    2491             :     ROS_WARN_THROTTLE(1.0, "[%s]: time delta too small: %f", getPrintName().c_str(), delta);
+    2492             :     return true;
+    2493             :   }
+    2494             : 
+    2495             :   if (delta > time_since_last_msg_limit_) {
+    2496             :     ROS_ERROR_THROTTLE(1.0, "[%s]: time since last msg too long %f > %f", getPrintName().c_str(), delta, time_since_last_msg_limit_);
+    2497             :     return false;
+    2498             :   }
+    2499             : 
+    2500             :   return true;
+    2501             : }  // namespace mrs_uav_state_estimators
+    2502             : /*//}*/
+    2503             : 
+    2504             : /*//{ isMsgComing() */
+    2505             : template <int n_measurements>
+    2506      708185 : bool Correction<n_measurements>::isMsgComing() {
+    2507             : 
+    2508      708185 :   if (first_timestamp_) {
+    2509           0 :     return true;
+    2510             :   }
+    2511             : 
+    2512      708163 :   const ros::Time msg_time = mrs_lib::get_mutexed(mtx_msg_time_, msg_time_);
+    2513      708259 :   const double    delta    = ros::Time::now().toSec() - msg_time.toSec();
+    2514             : 
+    2515      708246 :   if (msg_time.toSec() <= 0.0) {
+    2516           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: current timestamp non-positive: %f", getPrintName().c_str(), msg_time.toSec());
+    2517           0 :     return false;
+    2518             :   }
+    2519             : 
+    2520      708290 :   if (delta > time_since_last_msg_limit_) {
+    2521           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: time since last msg too long %f > %f", getPrintName().c_str(), delta, time_since_last_msg_limit_);
+    2522           0 :     return false;
+    2523             :   }
+    2524             : 
+    2525      708290 :   return true;
+    2526             : }  // namespace mrs_uav_state_estimators
+    2527             : /*//}*/
+    2528             : 
+    2529             : /*//{ createProcessorFromName() */
+    2530             : template <int n_measurements>
+    2531         370 : std::shared_ptr<Processor<n_measurements>> Correction<n_measurements>::createProcessorFromName(const std::string& name, ros::NodeHandle& nh) {
+    2532             : 
+    2533         370 :   if (name == "median_filter") {
+    2534          84 :     return std::make_shared<ProcMedianFilter<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_);
+    2535         286 :   } else if (name == "saturate") {
+    2536          90 :     return std::make_shared<ProcSaturate<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_, state_id_, fun_get_state_);
+    2537         196 :   } else if (name == "excessive_tilt") {
+    2538          84 :     return std::make_shared<ProcExcessiveTilt<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_);
+    2539         112 :   } else if (name == "tf_to_world") {
+    2540         112 :     return std::make_shared<ProcTfToWorld<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_);
+    2541           0 :   } else if (name == "mag_declination") {
+    2542           0 :     return std::make_shared<ProcMagDeclination<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_);
+    2543             :   } else {
+    2544           0 :     ROS_ERROR("[%s]: requested invalid processor %s", getPrintName().c_str(), name.c_str());
+    2545           0 :     ros::shutdown();
+    2546             :   }
+    2547           0 :   return std::shared_ptr<Processor<n_measurements>>(nullptr);
+    2548             : }
+    2549             : /*//}*/
+    2550             : 
+    2551             : /*//{ process() */
+    2552             : template <int n_measurements>
+    2553      738983 : bool Correction<n_measurements>::process(Correction<n_measurements>::measurement_t& measurement) {
+    2554             : 
+    2555      738983 :   bool ok_flag   = true;
+    2556      738983 :   bool fuse_flag = true;
+    2557             : 
+    2558     1389610 :   for (auto proc_name :
+    2559             :        processor_names_) {  // need to access the processors in the specific order from the config (e.g. median filter should go before saturation etc.)
+    2560             :     /* bool is_ok, should_fuse; */
+    2561      651066 :     auto [is_ok, should_fuse] = processors_[proc_name]->process(measurement);
+    2562      650472 :     ok_flag &= is_ok;
+    2563      650472 :     fuse_flag &= should_fuse;
+    2564             :   }
+    2565      738625 :   if (fuse_flag) {
+    2566      722205 :     if (!ok_flag) {
+    2567         292 :       setR(default_R_ * R_coeff_);
+    2568         292 :       ROS_INFO_THROTTLE(1.0, "[%s]: set R to %.4f", getPrintName().c_str(), default_R_ * R_coeff_);
+    2569         292 :       return true;
+    2570             :     } else {
+    2571      721913 :       setR(default_R_);
+    2572      721896 :       return true;
+    2573             :     }
+    2574             :   }
+    2575       16420 :   return false;
+    2576             : }
+    2577             : /*//}*/
+    2578             : 
+    2579             : /*//{ resetProcessors() */
+    2580             : template <int n_measurements>
+    2581           0 : void Correction<n_measurements>::resetProcessors() {
+    2582             : 
+    2583           0 :   for (auto proc_name :
+    2584             :        processor_names_) {  // need to access the processors in the specific order from the config (e.g. median filter should go before saturation etc.)
+    2585             :     /* bool is_ok, should_fuse; */
+    2586           0 :     processors_[proc_name]->reset();
+    2587             :   }
+    2588           0 : }
+    2589             : /*//}*/
+    2590             : 
+    2591             : /*//{ publishCorrection() */
+    2592             : template <int n_measurements>
+    2593     1461075 : void Correction<n_measurements>::publishCorrection(const MeasurementStamped&                                 measurement_stamped,
+    2594             :                                                    mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection>& ph_corr) {
+    2595             : 
+    2596     1461075 :   if (!ch_->debug_topics.correction) {
+    2597           0 :     return;
+    2598             :   }
+    2599             : 
+    2600     2921846 :   mrs_msgs::EstimatorCorrection msg;
+    2601     1460260 :   msg.header.stamp    = measurement_stamped.stamp;
+    2602     1460260 :   msg.header.frame_id = ns_frame_id_;
+    2603     1461141 :   msg.name            = name_;
+    2604     1461170 :   msg.estimator_name  = est_name_;
+    2605     1461219 :   msg.state_id        = state_id_;
+    2606     1461219 :   msg.covariance.resize(n_measurements * n_measurements);
+    2607     3386317 :   for (int i = 0; i < measurement_stamped.value.rows(); i++) {
+    2608     1925749 :     msg.state.push_back(measurement_stamped.value(i));
+    2609     1927114 :     msg.covariance[n_measurements * i + i] = getR();
+    2610             :   }
+    2611             : 
+    2612     1460305 :   ph_corr.publish(msg);
+    2613             : }
+    2614             : /*//}*/
+    2615             : 
+    2616             : /*//{ publishDelay() */
+    2617             : template <int n_measurements>
+    2618             : void Correction<n_measurements>::publishDelay(const double delay) {
+    2619             : 
+    2620             :   if (!ch_->debug_topics.corr_delay) {
+    2621             :     return;
+    2622             :   }
+    2623             : 
+    2624             :   mrs_msgs::Float64Stamped msg;
+    2625             :   msg.header.stamp    = ros::Time::now();
+    2626             :   msg.header.frame_id = ns_frame_id_;
+    2627             :   msg.value           = delay;
+    2628             : 
+    2629             :   ph_delay_.publish(msg);
+    2630             : }
+    2631             : /*//}*/
+    2632             : 
+    2633             : }  // namespace mrs_uav_state_estimators
+    2634             : 
+    2635             : #endif  // ESTIMATORS_CORRECTION_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.overview.html new file mode 100644 index 0000000000..3598933e0b --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.overview.html @@ -0,0 +1,679 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.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 + 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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..9d5c5323f38dcb41d19a770d8fa5754fe7b38ed0 GIT binary patch literal 6953 zcmV+^8`k8BP)tS&lKZ_JB0!IUp+^0wdjf324E{bz6ne+%U$ft{D*>O{0Kr4>Lx< z-87mT#@N7G0mc^CFvg;p0q zj76KJru$P}ZiXKt)8qi7vfNj!^lmn#MGkAX{L8xhuFVQCeGGBK*jXCeE zvQvGSNY?iNK&Gk^f`KI#C*&M@d6P}h(IsAIHQkRLXk z`ywrH-#NQ>xx!H!fG%k8)rK&z4Lx-7xq98izqWm{nA#KPY zE^`=RM)NK>-R8S4$gwGa#*M`vzKy^CEdMTTxIM}?{C*!{-T%fPsuOBghvb0V)w!YF zL<8fdQCDdx0Sy=p9ajSCRQ`?xJ$@q|E@}wL_SPO=JnHScHgWG06xWbd(JXI1bld5klEfWxr-n|(B4{7G)b;e~*SrC}Hc@1Vv-{^K&%EJlpB#uR$hhXM`Hr0xIAxK3hm z9B~3?#xNhn+hgJ1!c4A@6RC}d=wqd)kOt3*ptM3p1b~^M&G0hjuQCpL8bh+$`PeUw6CeH@A@c?`WDppQvBQ97XV z2n0xvB!iN|z}pX=xx{fK1x^DR8(;>+c^$({p@l4sQRpM3+!-?-&`U(&8cvBU;OH^3 zvuob93OHJsS&^30b~0CETQNGVk*D|7n@!M-F;43jaP@oBRCqq8kJ08J zGa5Mx6OAH~e?sH$XNkti%@!hR=PSG!-Gz1lGmC!&K8IDIuz*a8O@y3FbAaxL&R|49 zk21H|M9}a9*REU~3~Yw(4K4XRMvHM7r-e)@IF*Qsi^4@Jx|ok2Yj&``c*ybi2?P7H zhSvwnkr!oj0Fo#Vl4F$v&`JCg8u!Zal>i+&*6-d-1g5TAa$W7scojd)Q)D!<9xb{( zE++glZ>CSf+AMtfG#p^!e?FxF*Ww4!D9r{Oje$^Pl674lao}|=;Y@3QKK!M3RiLR* zvh#}s6wP!V8f;G9sbqd^Jqfs+wCjtHcfSd62m3$rIiz-V^RAKU2f_vMi6NAMc%7Q> zp_cZ2{2N;CW!{PLXK*3TMTEhd0bC-Wb;WL`(T$8a5zfw2v>%y8;9c0B3^Gsl#tWR$ zvpkQxxV#y77?-_zy+s~3j59l+^&1c)zgTyGM&)_jB)SlweW=5r>VP#HwA3Czrt2YD zpfY3^k4)H>h7KNSHPgGqlglXOQv7Zd8=Jj_c$5jOg?I+&SwN~OiHMTb`QkCm?KR>l z^TuK--h;DTmvOxSs3z>cP~gNAx9I19#a<)uVX%nk4Q2&hlvQ?3n)QI=g=E(XOXsUu z+o~oik|F|jBhx6*loOR}$TcZx;R8di7+6cp)N^gvfIxwC3{3GV_YkfJ!?-vaeXWDf zEl7DY4-yv)6zrM~i(mp{3!sVb+q$x~6eBwzsBV#-** zfj3kAeO(ZTW<$#D*Oj`}c{5#mjx3V^g()O6cCL-vsb-8d`>rTx)xsZ3!c9*h1zgwt4 z99jODP~n|j%7cn2=tEU!#}pCakK4`k|Aeo6n)^(}eTOK84=XmOnq-W*OL@IYuX4Jx zr*l%s?_E(!qxNJ{P5HRKYn1YOr9kC$#eM(em96V%W-}tj_wy9Rn(Jdc#UG@QiIKTd z$ULCAoj3WgqFpR{#sraxYGr8vB1vxVAaCSVXz5bg3C;8~mM~qCE zS~ZE2ciB#4l9r7dO%%&ZpNrEVRWSO2Qe#xIO74ao3ZDL>oNOq%}cfeMJevvAF6uMky-H5 zu~o#l2_qliI@kQt&xfvn%@0-Cl8S*DJ@yFqAf+}jSnbT1Rp)Tm%*W0ZYDP$g(6t&h zi)NDw8nz>>P>&4Z>>7m*iv~jjzQ=&k5<*rneU22@p2HbG`60L>`1)$B^q=e7L!_kEE^uNn~bsfJ6bx0n%&w)&S|7;+`vW`JrEzM08(jMb*DC8e0>%C75XF8KwD%6Y~<)aFNStKo+BXTh)E*c5X%e)$hhZ{>n%&E=aV{2L(;ea zG8hd4&k;%mRnN9ToJTktX9YNXFF!F%!Cyjwztm9bBLYp=bqBW>g`&Hqa?ezgcaKk| zcglWc1Z1C~gMfzXs()#;9Vfl}=igQEJAVHiK1dTh1Ex{GFS?3Gy->388QNe7U$Odl zo>wTDrVcrmTC6_WT-W*rs}I`EBfu+}8j1Zoz$-mVS|Q-2?G~E}@JjfK%v?L-a@QYV zuAj0aZU($^%}$BlCfd8Tmtyk;7jk6lAMQlVawo?`#u+?*%TnM zvHgJWABSHP`~G&-#I-c8%Vt=NUuZMegv0{MJ5noPA*xj-MEVeR2p{!>Zp{yj}@ zgLX@v;@W{sO7&ekkb&pRra{swd&CQ`>r^p z{r&r{WFLp@yP6O_sZe1~3$OVV=GYJ1$rY-WkJ!mIis#y()i9cJNc9DN%pt!ijN|`Q zj+fr6{Pc3X*G|Bz%FgM=Hz(Na?Ta_#4|k*i#q&KJ=}J+Uo+ZFP^SBc+$;wSeR#Jt^$@Odmo%)!Hv_UZQN~Mk#f)T*fEx*QA1x;k%Z!ORHXhoyNbm0w$tY_ z^CcrQAFqrOt@=v{U;vD>H5M;Q-webjg@nut`ycH8z#Wb&H8jx@Z~<5cx>%vPJL#tezO$R zz4~oorwSvYlC9BvILOkh$Gw1B-B$!unOWMk+>_e*2{t9eR@e-qkl$!C`U1_ zCORUA&^R*1ebS7E2pP>l$&|Q0Df3Y>!`1O+YDY*W`3#XV`w#W{eqcX6r%xWa3x!6-$1 z<+(+8jbf7jA-v|8xx(w+Ef25xSK$99ye8snJ2O{!ZNO;a`UW0jssfYC7X1RKW4v|uu4572?+IgPLbzf?6fKmbNO9r7P5BTP!;0_v);Scq zc*J0$wmtKyOITDm+XLW#2WZpB=d&nRB6S?CkS5`R69~A=9bj)_a77gc90Xbj_If<%xj1der3+RDZIUWdz8VQIK z8c|63{bsA)rlEe}k0HjrxmlsZPOcA59l5VN^rPPAlm0CM_7WHb#4bPm#rs%KV-HXw zGS*+(pk~cdO(cz-o65G$0naPdBn-`!YIAFHL@7L&}OckiZ*imPiwCm`=0iImp5ZEevLP?#ZfUB*5at2vBvjU^F8fdkGX+F zr*l=EPq(@gt^M77u>y9MA$*UOrkv?)kkG)(%I{BTP^+Lr5*k}xj1A8*N2?uU7oV6S z;nQ({l_Du~Bz9)56p4nhDn(LUu?|Od9E0yMSR%TPP|CVMz|jV%UQ)X>gKZyh6JjtN zlk#3coYc-=lKzMHk(PT4KiJs5)B!{vo=xtapzrb&f#)mXySM$nSKf%V_^|7&+KnJK z&RHU*K(c-uP^**`-MD96oDZiq#Y@2k?J5fUAN{YB+BuRI!=! 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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:2024-12-11 22:27:27Functions:030.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

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
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..ee69315056 --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions: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
+
+
+ + + +
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..08d0d3d5d6 --- /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:2024-12-11 22:27:27Functions: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
+
+
+
+ + + + +
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 + + +
+ Top

+ 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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions:33100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

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)116
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough()116
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough().2116
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..372faf380b --- /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:2024-12-11 22:27:27Functions:33100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

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)116
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough()116
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough().2116
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..2033fe27fb --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions: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         116 :   HdgPassthrough(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name, const bool is_core_plugin)
+      70         116 :       : HeadingEstimator<hdg_passthrough::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name), is_core_plugin_(is_core_plugin) {
+      71         116 :   }
+      72             : 
+      73         232 :   ~HdgPassthrough(void) {
+      74         232 :   }
+      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..94d1af4007 --- /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:2024-12-11 22:27:27Functions: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&)116
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..c41cd8d937 --- /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:2024-12-11 22:27:27Functions: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&)116
+
+
+ + + +
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..b51830966c --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions: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         116 :   HeadingEstimator(const std::string& name, const std::string& frame_id) : PartialEstimator<n_states, 1>(heading::type, name, frame_id) {
+      23         116 :   }
+      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
+
+ + + 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 + + +
+ Top

+ 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..b8848cc87f --- /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:2024-12-11 22:27:27Functions: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..e69f9d9919 --- /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:2024-12-11 22:27:27Functions: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..2476fd27de --- /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:2024-12-11 22:27:27Functions: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..8d6689ba83 --- /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:2024-12-11 22:27:27Functions: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..ef494f4c72 --- /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:2024-12-11 22:27:27Functions: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..5cbad2d75e --- /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:2024-12-11 22:27:27Functions: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..06780ea815 --- /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:415112536.9 %
Date:2024-12-11 22:27:27Functions:6711160.4 %
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 +
35.0%35.0%
+ 		35.0 %381 / 108955.2 %48 / 87
<unnamed>35.0 %381 / 108955.2 %48 / 87
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..7fe1f83555 --- /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:415112536.9 %
Date:2024-12-11 22:27:27Functions:6711160.4 %
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 +
35.0%35.0%
+ 		35.0 %381 / 108955.2 %48 / 87
<unnamed>35.0 %381 / 108955.2 %48 / 87
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..91047ca315 --- /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:415112536.9 %
Date:2024-12-11 22:27:27Functions:6711160.4 %
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 +
35.0%35.0%
+ 		35.0 %381 / 108955.2 %48 / 87
<unnamed>35.0 %381 / 108955.2 %48 / 87
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..aee4d0425a --- /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:415112536.9 %
Date:2024-12-11 22:27:27Functions:6711160.4 %
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 +
35.0%35.0%
+ 		35.0 %381 / 108955.2 %48 / 87
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..2b3de53dae --- /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:415112536.9 %
Date:2024-12-11 22:27:27Functions:6711160.4 %
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 +
35.0%35.0%
+ 		35.0 %381 / 108955.2 %48 / 87
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..020b5dac6a --- /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:415112536.9 %
Date:2024-12-11 22:27:27Functions:6711160.4 %
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 +
35.0%35.0%
+ 		35.0 %381 / 108955.2 %48 / 87
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..037cc6be53 --- /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:2024-12-11 22:27:27Functions: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
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-detail-sort-l.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-detail-sort-l.html new file mode 100644 index 0000000000..d8c2b46f48 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/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/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:2024-12-11 22:27:27Functions: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
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-detail.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-detail.html new file mode 100644 index 0000000000..da31a95216 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-detail.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:2024-12-11 22:27:27Functions: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
lat_generic.h +
100.0%
+ 		100.0 %6 / 6100.0 %3 / 3
<unnamed>100.0 %6 / 6100.0 %3 / 3
lateral_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/lateral/index-sort-f.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-sort-f.html new file mode 100644 index 0000000000..e2f97aba11 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/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/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:2024-12-11 22:27:27Functions: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
lateral_estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
lat_generic.h +
100.0%
+ 		100.0 %6 / 6100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-sort-l.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-sort-l.html new file mode 100644 index 0000000000..5f8f48d3e5 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/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/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:2024-12-11 22:27:27Functions: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
lateral_estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
lat_generic.h +
100.0%
+ 		100.0 %6 / 6100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index.html new file mode 100644 index 0000000000..f77acbbd7d --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index.html @@ -0,0 +1,112 @@ + + + + + + + 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:2024-12-11 22:27:27Functions: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
lat_generic.h +
100.0%
+ 		100.0 %6 / 6100.0 %3 / 3
lateral_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/lateral/lat_generic.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.func-sort-c.html new file mode 100644 index 0000000000..9e06ba0a87 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_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/lateral/lat_generic.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions:33100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
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> ()>)116
mrs_uav_state_estimators::LatGeneric::~LatGeneric()116
mrs_uav_state_estimators::LatGeneric::~LatGeneric().2116
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..c05268fd51 --- /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 + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions:33100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
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> ()>)116
mrs_uav_state_estimators::LatGeneric::~LatGeneric()116
mrs_uav_state_estimators::LatGeneric::~LatGeneric().2116
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..0b12e591ec --- /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:2024-12-11 22:27:27Functions:33100.0 %
Legend: Lines: + hit + not hit +
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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         116 :   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         116 :       : 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         116 :         fun_get_hdg_(fun_get_hdg) {
+     124         116 :   }
+     125             : 
+     126         232 :   ~LatGeneric(void) {
+     127         232 :   }
+     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
+
+
+
+ + + + +
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 + + +
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+ + 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 + + + + + + + + + + + + + + +
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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:2024-12-11 22:27:27Functions: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&)116
mrs_uav_state_estimators::LateralEstimator<6>::~LateralEstimator().2116
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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..9c378641c2 --- /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 + + + + + + + + + + + + + + +
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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:2024-12-11 22:27:27Functions: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&)116
mrs_uav_state_estimators::LateralEstimator<6>::~LateralEstimator()0
mrs_uav_state_estimators::LateralEstimator<6>::~LateralEstimator().2116
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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..a9f86010fe --- /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 + + + + + + + + + + + + + + +
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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
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Date:2024-12-11 22:27:27Functions: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         116 :   LateralEstimator(const std::string& name, const std::string& frame_id) : PartialEstimator<n_states, lateral::n_axes>(lateral::type, name, frame_id) {
+      24         116 :   }
+      25             : 
+      26         116 :   ~LateralEstimator(void) {
+      27         116 :   }
+      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
+
+
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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.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 + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators - partial_estimator.h (source / functions)HitTotalCoverage
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Date:2024-12-11 22:27:27Functions:192479.2 %
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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&)116
mrs_uav_state_estimators::PartialEstimator<2, 1>::~PartialEstimator().2116
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&)116
mrs_uav_state_estimators::PartialEstimator<6, 2>::~PartialEstimator().2116
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&)196
mrs_uav_state_estimators::PartialEstimator<3, 1>::~PartialEstimator().2196
mrs_uav_state_estimators::PartialEstimator<3, 1>::stateIdToIndex(int const&, int const&) const142716
mrs_uav_state_estimators::PartialEstimator<6, 2>::getCovarianceAsVector() const198189
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&) const198195
mrs_uav_state_estimators::PartialEstimator<6, 2>::publishOutput() const198198
mrs_uav_state_estimators::PartialEstimator<6, 2>::getStatesAsVector() const198198
mrs_uav_state_estimators::PartialEstimator<2, 1>::getCovarianceAsVector() const218044
mrs_uav_state_estimators::PartialEstimator<2, 1>::getStatesAsVector() const218049
mrs_uav_state_estimators::PartialEstimator<2, 1>::publishOutput() const218064
mrs_uav_state_estimators::PartialEstimator<3, 1>::getCovarianceAsVector() const311089
mrs_uav_state_estimators::PartialEstimator<3, 1>::publishOutput() const311776
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&) const311853
mrs_uav_state_estimators::PartialEstimator<3, 1>::getStatesAsVector() const311964
mrs_uav_state_estimators::PartialEstimator<6, 2>::stateIdToIndex(int const&, int const&) const2963212
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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/include/mrs_uav_state_estimators/estimators - partial_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:343694.4 %
Date:2024-12-11 22:27:27Functions: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&)116
mrs_uav_state_estimators::PartialEstimator<2, 1>::~PartialEstimator()0
mrs_uav_state_estimators::PartialEstimator<2, 1>::~PartialEstimator().2116
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&)196
mrs_uav_state_estimators::PartialEstimator<3, 1>::~PartialEstimator()0
mrs_uav_state_estimators::PartialEstimator<3, 1>::~PartialEstimator().2196
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&)116
mrs_uav_state_estimators::PartialEstimator<6, 2>::~PartialEstimator()0
mrs_uav_state_estimators::PartialEstimator<6, 2>::~PartialEstimator().2116
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() const218064
mrs_uav_state_estimators::PartialEstimator<2, 1>::stateIdToIndex(int const&, int const&) const0
mrs_uav_state_estimators::PartialEstimator<2, 1>::getStatesAsVector() const218049
mrs_uav_state_estimators::PartialEstimator<2, 1>::getCovarianceAsVector() const218044
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&) const311853
mrs_uav_state_estimators::PartialEstimator<3, 1>::publishOutput() const311776
mrs_uav_state_estimators::PartialEstimator<3, 1>::stateIdToIndex(int const&, int const&) const142716
mrs_uav_state_estimators::PartialEstimator<3, 1>::getStatesAsVector() const311964
mrs_uav_state_estimators::PartialEstimator<3, 1>::getCovarianceAsVector() const311089
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&) const198195
mrs_uav_state_estimators::PartialEstimator<6, 2>::publishOutput() const198198
mrs_uav_state_estimators::PartialEstimator<6, 2>::stateIdToIndex(int const&, int const&) const2963212
mrs_uav_state_estimators::PartialEstimator<6, 2>::getStatesAsVector() const198198
mrs_uav_state_estimators::PartialEstimator<6, 2>::getCovarianceAsVector() const198189
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + 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..605984edee --- /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
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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:2024-12-11 22:27:27Functions: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         428 :   PartialEstimator(const std::string &type, const std::string &name, const std::string &frame_id) : Estimator(type, name, frame_id) {
+      62         428 :   }
+      63             : 
+      64         428 :   ~PartialEstimator(void) {
+      65         428 :   }
+      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      728211 : std::vector<double> PartialEstimator<n_states, n_axes>::getStatesAsVector(void) const {
+     103      728211 :   const states_t      states = getStates();
+     104      727530 :   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     3286596 :   for (int i = 0; i < states.size(); i++) {
+     109     2557236 :     states_vec.push_back(states(i));
+     110             :   }
+     111     1454612 :   return states_vec;
+     112             : }
+     113             : /*//}*/
+     114             : 
+     115             : /*//{ getCovarianceAsvector() */
+     116             : template <int n_states, int n_axes>
+     117      727322 : std::vector<double> PartialEstimator<n_states, n_axes>::getCovarianceAsVector(void) const {
+     118      727322 :   const covariance_t  covariance = getCovarianceMatrix();
+     119      727431 :   std::vector<double> covariance_vec;
+     120             :   /* for (auto cov : covariance.reshaped<Eigen::RowMajor>(covariance.size())) { */
+     121             :   /*   covariance_vec.push_back(*cov); */
+     122             :   /* } */
+     123     3284568 :   for (int i = 0; i < covariance.rows(); i++) {
+     124    13365953 :     for (int j = 0; j < covariance.cols(); j++) {
+     125    10805829 :       covariance_vec.push_back(covariance(i, j));
+     126             :     }
+     127             :   }
+     128     1455028 :   return covariance_vec;
+     129             : }
+     130             : /*//}*/
+     131             : 
+     132             : /*//{ stateIdToIndex() */
+     133             : template <int n_states, int n_axes>
+     134     3105928 : int PartialEstimator<n_states, n_axes>::stateIdToIndex(const int &state_id_in, const int &axis_in) const {
+     135     3105928 :   return state_id_in * _n_axes_ + axis_in;
+     136             : }
+     137             : /*//}*/
+     138             : 
+     139             : /*//{ publishOutput() */
+     140             : template <int n_states, int n_axes>
+     141      728038 : void PartialEstimator<n_states, n_axes>::publishOutput() const {
+     142             : 
+     143      728038 :   if (!ch_->debug_topics.output) {
+     144           0 :     return;
+     145             :   }
+     146             : 
+     147     1455911 :   mrs_msgs::EstimatorOutput msg;
+     148      727313 :   msg.header.stamp    = ros::Time::now();
+     149      728310 :   msg.header.frame_id = getFrameId();
+     150      728163 :   msg.state           = getStatesAsVector();
+     151      726436 :   msg.covariance      = getCovarianceAsVector();
+     152             : 
+     153      727319 :   ph_output_.publish(msg);
+     154             : }
+     155             : /*//}*/
+     156             : 
+     157             : /*//{ publishInput() */
+     158             : template <int n_states, int n_axes>
+     159             : template <typename u_t>
+     160      510048 : void PartialEstimator<n_states, n_axes>::publishInput(const u_t &u, const ros::Time& stamp) const {
+     161             : 
+     162      510048 :   if (!ch_->debug_topics.input) {
+     163           0 :     return;
+     164             :   }
+     165             : 
+     166     1016139 :   mrs_msgs::Float64ArrayStamped msg;
+     167      506007 :   msg.header.stamp = stamp;
+     168     1212200 :   for (int i = 0; i < u.rows(); i++) {
+     169      702769 :     msg.values.push_back(u(i));
+     170             :   }
+     171             : 
+     172      506866 :   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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+
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Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-12-11 22:27:27Functions:5683.3 %
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state_generic.h +
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passthrough.h +
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Test:MRS UAV System - Test coverage reportLines:99100.0 %
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Test:MRS UAV System - Test coverage reportLines:99100.0 %
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state_generic.h +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-12-11 22:27:27Functions:5683.3 %
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
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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/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-12-11 22:27:27Functions:5683.3 %
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
passthrough.h +
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state_generic.h +
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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/estimators/state - passthrough.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-12-11 22:27:27Functions: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::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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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:2024-12-11 22:27:27Functions:33100.0 %
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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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Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-12-11 22:27:27Functions:33100.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
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+       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             :   void                                          callbackPassthroughOdom(const nav_msgs::Odometry::ConstPtr msg);
+      52             :   double                                        _critical_timeout_passthrough_odom_;
+      53             :   std::string                                   msg_topic_;
+      54             : 
+      55             :   ros::Timer       timer_check_passthrough_odom_hz_;
+      56             :   void             timerCheckPassthroughOdomHz(const ros::TimerEvent &event);
+      57             :   std::atomic<int> counter_odom_msgs_ = 0;
+      58             :   ros::WallTime    t_check_hz_last_;
+      59             :   double           prev_avg_hz_ = 0;
+      60             :   bool             kickoff_     = false;
+      61             : 
+      62             :   ros::Timer                 timer_update_;
+      63             :   void                       timerUpdate(const ros::TimerEvent &event);
+      64             :   nav_msgs::OdometryConstPtr prev_msg_;
+      65             :   bool                       first_iter_ = true;
+      66             : 
+      67             :   bool isConverged();
+      68             : 
+      69             :   void waitForEstimationInitialization();
+      70             : 
+      71             : public:
+      72           1 :   Passthrough() : StateEstimator(passthrough::name, passthrough::frame_id, passthrough::package_name), is_core_plugin_(is_core_plugin) {
+      73           1 :   }
+      74             : 
+      75           2 :   ~Passthrough(void) {
+      76           2 :   }
+      77             : 
+      78             :   void initialize(ros::NodeHandle &parent_nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) override;
+      79             :   bool start(void) override;
+      80             :   bool pause(void) override;
+      81             :   bool reset(void) override;
+      82             : 
+      83             :   /* mrs_msgs::UavState  getUavState() override; */
+      84             :   /* nav_msgs::Odometry  getInnovation() const override; */
+      85             :   /* std::vector<double> getPoseCovariance() const override; */
+      86             :   /* std::vector<double> getTwistCovariance() const override; */
+      87             : 
+      88             :   bool setUavState(const mrs_msgs::UavState &uav_state) override;
+      89             : };
+      90             : 
+      91             : }  // namespace passthrough
+      92             : 
+      93             : }  // namespace mrs_uav_state_estimators
+      94             : 
+      95             : #endif  // ESTIMATORS_STATE_PASSTHROUGH_H
+
+
+
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Generated by: LCOV version 1.14
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+ Top

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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..08343947479917b7e9045638d31caaa211daee60 GIT binary patch literal 460 zcmV;-0W + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h - functions + + + + + + + + + + + + + + +
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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:2024-12-11 22:27:27Functions: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()0
mrs_uav_state_estimators::StateGeneric::StateGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)116
mrs_uav_state_estimators::StateGeneric::~StateGeneric().2116
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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:2024-12-11 22:27:27Functions:2366.7 %
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mrs_uav_state_estimators::StateGeneric::StateGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)116
mrs_uav_state_estimators::StateGeneric::~StateGeneric()0
mrs_uav_state_estimators::StateGeneric::~StateGeneric().2116
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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/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..051e0fe274 --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions: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         116 :   StateGeneric(const std::string &name, const bool is_core_plugin)
+      79         116 :       : StateEstimator(name, name + "_origin", state_generic::package_name), is_core_plugin_(is_core_plugin) {
+      80         116 :   }
+      81             : 
+      82         116 :   ~StateGeneric(void) {
+      83         116 :   }
+      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
+
+ + + 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 + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..ce4b3647eeeb837a14b19ec628cfa1df6eb92a02 GIT binary patch literal 438 zcmV;n0ZIOeP)Vz^Tt*~F@W@P<*6F01U09LCdGFD)a8j6o=J2p{;vfxW zTmvR#CNa*UrHl>IXwIO>SPp5cm|>sc#=+(ZuNG^GMUk{ zQBea#8B8mCE@mK|!s=en1Db;rbN#@)cC_5>SiyMbUa9H0Ar&dg*Fr-I gkFgQlPPSmrA6JucjdQ-?RR91007*qoM6N<$f^ZwfOaK4? literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-detail-sort-f.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-detail-sort-f.html new file mode 100644 index 0000000000..2e92b42d6d --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-detail-sort-f.html @@ -0,0 +1,192 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processorsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13323656.4 %
Date:2024-12-11 22:27:27Functions:174240.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
proc_mag_declination.h +
0.0%
+ 		0.0 %0 / 520.0 %0 / 8
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 +
70.7%70.7%
+ 		70.7 %29 / 4133.3 %2 / 6
<unnamed>70.7 %29 / 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 +
70.0%70.0%
+ 		70.0 %7 / 1075.0 %6 / 8
<unnamed>70.0 %7 / 1075.0 %6 / 8
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-detail-sort-l.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-detail-sort-l.html new file mode 100644 index 0000000000..2550f32e25 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-detail-sort-l.html @@ -0,0 +1,192 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processorsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13323656.4 %
Date:2024-12-11 22:27:27Functions:174240.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
proc_mag_declination.h +
0.0%
+ 		0.0 %0 / 520.0 %0 / 8
proc_median_filter.h +
63.9%63.9%
+ 		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_excessive_tilt.h +
70.7%70.7%
+ 		70.7 %29 / 4133.3 %2 / 6
<unnamed>70.7 %29 / 4133.3 %2 / 6
proc_saturate.h +
72.5%72.5%
+ 		72.5 %29 / 4066.7 %4 / 6
<unnamed>72.5 %29 / 4066.7 %4 / 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
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + 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..919181801b --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-detail.html @@ -0,0 +1,192 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processorsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13323656.4 %
Date:2024-12-11 22:27:27Functions:174240.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
proc_excessive_tilt.h +
70.7%70.7%
+ 		70.7 %29 / 4133.3 %2 / 6
<unnamed>70.7 %29 / 4133.3 %2 / 6
proc_mag_declination.h +
0.0%
+ 		0.0 %0 / 520.0 %0 / 8
proc_median_filter.h +
63.9%63.9%
+ 		63.9 %23 / 3633.3 %2 / 6
<unnamed>63.9 %23 / 3633.3 %2 / 6
proc_saturate.h +
72.5%72.5%
+ 		72.5 %29 / 4066.7 %4 / 6
<unnamed>72.5 %29 / 4066.7 %4 / 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
processor.h +
70.0%70.0%
+ 		70.0 %7 / 1075.0 %6 / 8
<unnamed>70.0 %7 / 1075.0 %6 / 8
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + 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..4fdce2a507 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-sort-f.html @@ -0,0 +1,152 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processorsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13323656.4 %
Date:2024-12-11 22:27:27Functions:174240.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
proc_mag_declination.h +
0.0%
+ 		0.0 %0 / 520.0 %0 / 8
proc_median_filter.h +
63.9%63.9%
+ 		63.9 %23 / 3633.3 %2 / 6
proc_excessive_tilt.h +
70.7%70.7%
+ 		70.7 %29 / 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
+
+ + + 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..e2f2572b6e --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-sort-l.html @@ -0,0 +1,152 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processorsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13323656.4 %
Date:2024-12-11 22:27:27Functions:174240.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
proc_mag_declination.h +
0.0%
+ 		0.0 %0 / 520.0 %0 / 8
proc_median_filter.h +
63.9%63.9%
+ 		63.9 %23 / 3633.3 %2 / 6
processor.h +
70.0%70.0%
+ 		70.0 %7 / 1075.0 %6 / 8
proc_excessive_tilt.h +
70.7%70.7%
+ 		70.7 %29 / 4133.3 %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
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + 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..a0ede941d5 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index.html @@ -0,0 +1,152 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processorsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13323656.4 %
Date:2024-12-11 22:27:27Functions:174240.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
proc_excessive_tilt.h +
70.7%70.7%
+ 		70.7 %29 / 4133.3 %2 / 6
proc_mag_declination.h +
0.0%
+ 		0.0 %0 / 520.0 %0 / 8
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
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h.func-sort-c.html new file mode 100644 index 0000000000..14df3d634a --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h.func-sort-c.html @@ -0,0 +1,96 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination - geo_mag_declination.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:0260.0 %
Date:2024-12-11 22:27:27Functions:040.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::GeoMagDeclination::getTableData(float, float, short const (*) [37])0
mrs_uav_state_estimators::GeoMagDeclination::getLookupTableIndex(float*, float, float)0
mrs_uav_state_estimators::GeoMagDeclination::getMagDeclinationRadians(float, float)0
float mrs_uav_state_estimators::GeoMagDeclination::constrain<float>(float, float, float)0
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h.func.html new file mode 100644 index 0000000000..f8ed0845ca --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h.func.html @@ -0,0 +1,96 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination - geo_mag_declination.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:0260.0 %
Date:2024-12-11 22:27:27Functions:040.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::GeoMagDeclination::getTableData(float, float, short const (*) [37])0
mrs_uav_state_estimators::GeoMagDeclination::getLookupTableIndex(float*, float, float)0
mrs_uav_state_estimators::GeoMagDeclination::getMagDeclinationRadians(float, float)0
float mrs_uav_state_estimators::GeoMagDeclination::constrain<float>(float, float, float)0
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h.gcov.frameset.html new file mode 100644 index 0000000000..70b138dc5a --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.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/mag_declination/geo_mag_declination.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h.gcov.html new file mode 100644 index 0000000000..50a794102f --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h.gcov.html @@ -0,0 +1,174 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination - geo_mag_declination.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:0260.0 %
Date:2024-12-11 22:27:27Functions:040.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef GEO_MAG_DECLINATION_H
+       3             : #define GEO_MAG_DECLINATION_H
+       4             : 
+       5             : #include "geo_magnetic_tables.hpp"
+       6             : 
+       7             : #include <math.h>
+       8             : #include <stdint.h>
+       9             : 
+      10             : namespace mrs_uav_state_estimators
+      11             : {
+      12             : 
+      13             : class GeoMagDeclination {
+      14             : 
+      15             : public:
+      16             :   /*//{ constrain() */
+      17             :   template <typename T>
+      18           0 :   static T constrain(T val, T min_val, T max_val) {
+      19           0 :     return (val < min_val) ? min_val : ((val > max_val) ? max_val : val);
+      20             :   }
+      21             :   /*//}*/
+      22             : 
+      23             :   /*//{ degrees() */
+      24             :   template <typename T>
+      25             :   static T degrees(T radians) {
+      26             :     return radians * (static_cast<T>(180) / static_cast<T>(M_PI));
+      27             :   }
+      28             :   /*//}*/
+      29             : 
+      30             :   /*//{ getLookupTableIndex() */
+      31           0 :   static unsigned getLookupTableIndex(float *val, float min, float max) {
+      32           0 :     *val = GeoMagDeclination::constrain(*val, min, max - SAMPLING_RES);
+      33             : 
+      34           0 :     return static_cast<unsigned>((-(min) + *val) / SAMPLING_RES);
+      35             :   }
+      36             :   /*//}*/
+      37             : 
+      38             :   /*//{ getTableData() */
+      39           0 :   static float getTableData(float lat, float lon, const int16_t table[LAT_DIM][LON_DIM]) {
+      40             : 
+      41           0 :     lat = GeoMagDeclination::constrain(lat, SAMPLING_MIN_LAT, SAMPLING_MAX_LAT);
+      42             : 
+      43           0 :     if (lon > SAMPLING_MAX_LON) {
+      44           0 :       lon -= 360;
+      45             :     }
+      46             : 
+      47           0 :     if (lon < SAMPLING_MIN_LON) {
+      48           0 :       lon += 360;
+      49             :     }
+      50             : 
+      51             :     /* round down to nearest sampling resolution */
+      52           0 :     float min_lat = floorf(lat / SAMPLING_RES) * SAMPLING_RES;
+      53           0 :     float min_lon = floorf(lon / SAMPLING_RES) * SAMPLING_RES;
+      54             : 
+      55             :     /* find index of nearest low sampling point */
+      56           0 :     unsigned min_lat_index = GeoMagDeclination::getLookupTableIndex(&min_lat, SAMPLING_MIN_LAT, SAMPLING_MAX_LAT);
+      57           0 :     unsigned min_lon_index = GeoMagDeclination::getLookupTableIndex(&min_lon, SAMPLING_MIN_LON, SAMPLING_MAX_LON);
+      58             : 
+      59           0 :     const float data_sw = table[min_lat_index][min_lon_index];
+      60           0 :     const float data_se = table[min_lat_index][min_lon_index + 1];
+      61           0 :     const float data_ne = table[min_lat_index + 1][min_lon_index + 1];
+      62           0 :     const float data_nw = table[min_lat_index + 1][min_lon_index];
+      63             : 
+      64             :     /* perform bilinear interpolation on the four grid corners */
+      65           0 :     const float lat_scale = GeoMagDeclination::constrain((lat - min_lat) / SAMPLING_RES, 0.f, 1.f);
+      66           0 :     const float lon_scale = GeoMagDeclination::constrain((lon - min_lon) / SAMPLING_RES, 0.f, 1.f);
+      67             : 
+      68           0 :     const float data_min = lon_scale * (data_se - data_sw) + data_sw;
+      69           0 :     const float data_max = lon_scale * (data_ne - data_nw) + data_nw;
+      70             : 
+      71           0 :     return lat_scale * (data_max - data_min) + data_min;
+      72             :   }
+      73             :   /*//}*/
+      74             : 
+      75           0 :   static float getMagDeclinationRadians(float lat, float lon) {
+      76           0 :     return GeoMagDeclination::getTableData(lat, lon, declination_table) * 1e-4f;  // declination table stored as 10^-4 radians
+      77             :   }
+      78             : 
+      79             :   static float getMagDeclinationDegrees(float lat, float lon) {
+      80             :     return GeoMagDeclination::degrees(GeoMagDeclination::getMagDeclinationRadians(lat, lon));
+      81             :   }
+      82             : 
+      83             : private:
+      84             :   GeoMagDeclination(){};
+      85             : };
+      86             : 
+      87             : }  // namespace mrs_uav_state_estimators
+      88             : 
+      89             : 
+      90             : #endif
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h.gcov.overview.html new file mode 100644 index 0000000000..b612a78639 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h.gcov.overview.html @@ -0,0 +1,43 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h + + + + + + + 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/processors/mag_declination/geo_mag_declination.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..fa909f4e5808a262dd7216ba6519a9a62cfd547d GIT binary patch literal 494 zcmV zR7i={R|$^8APfvYfIqTumM;9^NBoL@Wg>3IbsN2#^OHIcrLN z5SJcs5!Ek$gQsmPNS>uSW_c`bpC|zRRhkdF zDabt|v+&nI?lGDo_uK+(v>xuC*lcMZ>ZJ_ARPma$EU!x*091f!;EPy9Ougxj0gvFrT}HJ+{rbq9!T7vSS*a!7S}-!SjZm)~WLW}*$P#+bN9s&d{5u2qOC;RHYr z(O4sOEgBzSC7!js6YpWCE{P(dM{wzeOZsaL!r%>&`e}jlq3a>~1*aLj4|N*4iH_7* zR6Kf)#J}6@^&U<_%VSVC^S~6-<7mc==CR>&pU7lkytU~60MGcqwfXIiJ~Q>D>5;dg ksu3~J_0d|wK3FsT07b9yUMb=7vj6}907*qoM6N<$g8JXsmjD0& literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/index-detail-sort-f.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/index-detail-sort-f.html new file mode 100644 index 0000000000..ff93a6daea --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/index-detail-sort-f.html @@ -0,0 +1,102 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declinationHitTotalCoverage
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Date:2024-12-11 22:27:27Functions:040.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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geo_mag_declination.h +
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+ 		0.0 %0 / 260.0 %0 / 4
+
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Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/index-detail-sort-l.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/index-detail-sort-l.html new file mode 100644 index 0000000000..94c80a1ba4 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/index-detail-sort-l.html @@ -0,0 +1,102 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination + + + + + + + + + + + + + + +
LCOV - code coverage report
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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/mag_declination/index-detail.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/index-detail.html new file mode 100644 index 0000000000..4d6a1dfd4f --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/index-detail.html @@ -0,0 +1,102 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination + + + + + + + + + + + + + + +
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Date:2024-12-11 22:27:27Functions:040.0 %
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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/mag_declination/index-sort-f.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/index-sort-f.html new file mode 100644 index 0000000000..f7746f89f9 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination/index-sort-f.html @@ -0,0 +1,102 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/mag_declination + + + + + + + + + + + + + + +
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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/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..f508503d1f --- /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 + + + + + + + + + + + + + + +
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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&)84
mrs_uav_state_estimators::ProcExcessiveTilt<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)140949
+
+
+ + + +
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..14c1fc816c --- /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:294170.7 %
Date:2024-12-11 22:27:27Functions: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>&)140949
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&)84
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
+
+ + + 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..ed03901076 --- /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 + + + + + + + + + + + + + + +
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:294170.7 %
Date:2024-12-11 22:27:27Functions: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          84 : 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          84 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph) {
+      45             : 
+      46             :   // | --------------------- load parameters -------------------- |
+      47          84 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      48             : 
+      49          84 :   ph->param_loader->loadParam("orientation_topic", orientation_topic_);
+      50             :   double max_tilt;
+      51          84 :   ph->param_loader->loadParam("max_tilt", max_tilt);
+      52             : 
+      53          84 :   max_tilt = M_PI * (max_tilt / 180.0);
+      54             : 
+      55          84 :   max_tilt_sq_ = std::pow(max_tilt, 2);
+      56             : 
+      57          84 :   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          84 :   mrs_lib::SubscribeHandlerOptions shopts;
+      64          84 :   shopts.nh                 = nh;
+      65          84 :   shopts.node_name          = Processor<n_measurements>::getPrintName();
+      66          84 :   shopts.no_message_timeout = ros::Duration(1.0);
+      67          84 :   shopts.threadsafe         = true;
+      68          84 :   shopts.autostart          = true;
+      69          84 :   shopts.queue_size         = 10;
+      70          84 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      71             : 
+      72          84 :   sh_orientation_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, "/" + ch->uav_name + "/" + orientation_topic_);
+      73          84 : }
+      74             : /*//}*/
+      75             : 
+      76             : /*//{ process() */
+      77             : template <int n_measurements>
+      78      140949 : std::tuple<bool, bool> ProcExcessiveTilt<n_measurements>::process([[maybe_unused]] measurement_t& measurement) {
+      79             : 
+      80      140949 :   if (!Processor<n_measurements>::enabled_) {
+      81           0 :     return {true, true};
+      82             :   }
+      83             : 
+      84      140949 :   if (!sh_orientation_.hasMsg()) {
+      85           0 :     return {false, false};
+      86             :   }
+      87             : 
+      88      140951 :   bool ok_flag     = true;
+      89      140951 :   bool should_fuse = true;
+      90             : 
+      91             :   try {
+      92      140951 :     Eigen::Matrix3d orientation_R = mrs_lib::AttitudeConverter(sh_orientation_.getMsg()->quaternion);
+      93             : 
+      94      140942 :     const double tilt = mrs_lib::geometry::angleBetween(Eigen::Vector3d(0, 0, 1), orientation_R.col(2));
+      95             : 
+      96      140930 :     const bool is_excessive_tilt = std::pow(tilt, 2) > max_tilt_sq_;
+      97             : 
+      98      140930 :     if (is_excessive_tilt) {
+      99           9 :       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           0 :       ok_flag     = false;
+     101           0 :       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      140934 :   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
+
+
+
+ + + + +
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.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.overview.html new file mode 100644 index 0000000000..8e05401d3b --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.overview.html @@ -0,0 +1,51 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.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 + + +
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+ Overview +
+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..a9577410cc42d06a4fd9ffb2a9d3eb6305b60062 GIT binary patch literal 661 zcmV;G0&4wJ+@1l& z<{5NJ`G~q?Gz+f9z%J=>jL(QF#)p9wj9IaJ!1r9V1bVs~xz?hrMMzc0dY2BAh%5QIH zV6A^Kle_LP@{ECi;o2{ZQK1sJ6r)QJ0!=tW8@R-HFwx*Sqb-vT9xC8@e$g)fy1pNG zr1yCC7Z~synmRvY009@qF!dwrM19YGzaMS8K_ZYO?x?-((YCAY;dO z?Rp9XX)=MdP6h}lG-8CdGGwY3Q^nYjtPPYmPx>S^2QKdLd=WRYUeK{Y1ho)x3a>bl z|2&0djMXkFV+?=)9V3psU!`NgF`Fq+T0(WNp-GH1G~?M>=$<{2+0h(YSZAbyrzaE8 zf2;EBynTADgN!_ClnFutK10m(aBb%M%(c*D77*y5bD*pt<=^+tFsYv@Eql7+^A=~^ zpVBCO=`lP{niywEFH9kQz literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_mag_declination.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_mag_declination.h.func-sort-c.html new file mode 100644 index 0000000000..f17f7ea359 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_mag_declination.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_mag_declination.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_mag_declination.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:0520.0 %
Date:2024-12-11 22:27:27Functions:080.0 %
Legend: Lines: + hit + not hit +
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcMagDeclination<1>::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::ProcMagDeclination<1>::reset()0
mrs_uav_state_estimators::ProcMagDeclination<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)0
mrs_uav_state_estimators::ProcMagDeclination<1>::ProcMagDeclination(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::ProcMagDeclination<2>::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::ProcMagDeclination<2>::reset()0
mrs_uav_state_estimators::ProcMagDeclination<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)0
mrs_uav_state_estimators::ProcMagDeclination<2>::ProcMagDeclination(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
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_mag_declination.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_mag_declination.h.func.html new file mode 100644 index 0000000000..68ce94a0ef --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_mag_declination.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_mag_declination.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_mag_declination.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:0520.0 %
Date:2024-12-11 22:27:27Functions:080.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcMagDeclination<1>::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::ProcMagDeclination<1>::reset()0
mrs_uav_state_estimators::ProcMagDeclination<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)0
mrs_uav_state_estimators::ProcMagDeclination<1>::ProcMagDeclination(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::ProcMagDeclination<2>::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::ProcMagDeclination<2>::reset()0
mrs_uav_state_estimators::ProcMagDeclination<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)0
mrs_uav_state_estimators::ProcMagDeclination<2>::ProcMagDeclination(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
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_mag_declination.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_mag_declination.h.gcov.frameset.html new file mode 100644 index 0000000000..8cbfd90a11 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_mag_declination.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_mag_declination.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_mag_declination.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_mag_declination.h.gcov.html new file mode 100644 index 0000000000..73a7d3e57e --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_mag_declination.h.gcov.html @@ -0,0 +1,231 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_mag_declination.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_mag_declination.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:0520.0 %
Date:2024-12-11 22:27:27Functions:080.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef PROCESSORS_MAG_DECLINATION_H
+       3             : #define PROCESSORS_MAG_DECLINATION_H
+       4             : 
+       5             : #include <mrs_uav_state_estimators/processors/processor.h>
+       6             : #include <mrs_uav_state_estimators/processors/mag_declination/geo_mag_declination.h>
+       7             : 
+       8             : #include <sensor_msgs/NavSatFix.h>
+       9             : 
+      10             : #include <mrs_lib/gps_conversions.h>
+      11             : #include <mrs_lib/subscribe_handler.h>
+      12             : #include <mrs_lib/param_loader.h>
+      13             : 
+      14             : namespace mrs_uav_state_estimators
+      15             : {
+      16             : 
+      17             : using namespace mrs_uav_managers::estimation_manager;
+      18             : 
+      19             : template <int n_measurements>
+      20             : class ProcMagDeclination : public Processor<n_measurements> {
+      21             : 
+      22             : public:
+      23             :   typedef Eigen::Matrix<double, n_measurements, 1> measurement_t;
+      24             : 
+      25             : public:
+      26             :   ProcMagDeclination(ros::NodeHandle& nh, const std::string& correction_name, const std::string& name, const std::shared_ptr<CommonHandlers_t>& ch,
+      27             :                      const std::shared_ptr<PrivateHandlers_t>& ph);
+      28             : 
+      29             :   std::tuple<bool, bool> process(measurement_t& measurement) override;
+      30             :   void                   reset();
+      31             : 
+      32             : private:
+      33             :   bool is_initialized_ = false;
+      34             : 
+      35             :   bool        use_gnss_msg_;
+      36             :   std::string gnss_topic_;
+      37             : 
+      38             :   std::mutex       mtx_gnss_;
+      39             :   std::atomic_bool got_gnss_ = false;
+      40             :   double           gnss_lat_;
+      41             :   double           gnss_lon_;
+      42             : 
+      43             :   mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix> sh_gnss_;
+      44             :   void                                              callbackGnss(const sensor_msgs::NavSatFix::ConstPtr msg);
+      45             : };
+      46             : 
+      47             : /*//{ constructor */
+      48             : template <int n_measurements>
+      49           0 : ProcMagDeclination<n_measurements>::ProcMagDeclination(ros::NodeHandle& nh, const std::string& correction_name, const std::string& name,
+      50             :                                              const std::shared_ptr<CommonHandlers_t>& ch, const std::shared_ptr<PrivateHandlers_t>& ph)
+      51           0 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph) {
+      52             : 
+      53           0 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      54             : 
+      55           0 :   ph->param_loader->loadParam("use_gnss_msg", use_gnss_msg_);
+      56           0 :   if (use_gnss_msg_) {
+      57           0 :     ph->param_loader->loadParam("gnss_topic", gnss_topic_);
+      58             :   } else {
+      59           0 :     ph->param_loader->loadParam("latitude", gnss_lat_);
+      60           0 :     ph->param_loader->loadParam("longitude", gnss_lon_);
+      61             :   }
+      62             : 
+      63           0 :   gnss_topic_ = "/" + ch->uav_name + "/" + gnss_topic_;
+      64             : 
+      65           0 :   if (!ph->param_loader->loadedSuccessfully()) {
+      66           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", Processor<n_measurements>::getPrintName().c_str());
+      67           0 :     ros::shutdown();
+      68             :   }
+      69             : 
+      70             :   // | -------------- initialize subscribe handlers ------------- |
+      71           0 :   mrs_lib::SubscribeHandlerOptions shopts;
+      72           0 :   shopts.nh                 = nh;
+      73           0 :   shopts.node_name          = Processor<n_measurements>::getPrintName();
+      74           0 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      75           0 :   shopts.threadsafe         = true;
+      76           0 :   shopts.autostart          = true;
+      77           0 :   shopts.queue_size         = 10;
+      78           0 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      79             : 
+      80           0 :   sh_gnss_ = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, gnss_topic_, &ProcMagDeclination::callbackGnss, this);
+      81             : 
+      82           0 :   is_initialized_ = true;
+      83           0 : }
+      84             : /*//}*/
+      85             : 
+      86             : /*//{ callbackGnss() */
+      87             : template <int n_measurements>
+      88           0 : void ProcMagDeclination<n_measurements>::callbackGnss(const sensor_msgs::NavSatFix::ConstPtr msg) {
+      89             : 
+      90           0 :   if (!is_initialized_) {
+      91           0 :     return;
+      92             :   }
+      93             : 
+      94           0 :   if (got_gnss_) {
+      95           0 :     return;
+      96             :   }
+      97             : 
+      98           0 :   if (!std::isfinite(msg->latitude)) {
+      99           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in GNSS variable \"msg->latitude\"!!!", Processor<n_measurements>::getPrintName().c_str());
+     100           0 :     return;
+     101             :   }
+     102             : 
+     103           0 :   if (!std::isfinite(msg->longitude)) {
+     104           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in GNSS variable \"msg->longitude\"!!!", Processor<n_measurements>::getPrintName().c_str());
+     105           0 :     return;
+     106             :   }
+     107             : 
+     108           0 :   std::scoped_lock lock(mtx_gnss_);
+     109           0 :   gnss_lat_ = msg->latitude;
+     110           0 :   gnss_lon_ = msg->longitude;
+     111           0 :   ROS_INFO("[%s]: First GNSS obtained: lat:%.2f lon:%.2f", Processor<n_measurements>::getPrintName().c_str(), gnss_lat_, gnss_lon_);
+     112           0 :   got_gnss_ = true;
+     113             : }
+     114             : /*//}*/
+     115             : 
+     116             : /*//{ process() */
+     117             : template <int n_measurements>
+     118           0 : std::tuple<bool, bool> ProcMagDeclination<n_measurements>::process(measurement_t& measurement) {
+     119             : 
+     120           0 :   if (!Processor<n_measurements>::enabled_) {
+     121           0 :     return {true, true};
+     122             :   }
+     123             : 
+     124           0 :   std::scoped_lock lock(mtx_gnss_);
+     125             : 
+     126           0 :   if (!got_gnss_) {
+     127           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: Missing GNSS data on topic: %s", Processor<n_measurements>::getPrintName().c_str(), gnss_topic_.c_str());
+     128           0 :     return {false, false};
+     129             :   }
+     130             : 
+     131           0 :   float mag_declination = GeoMagDeclination::getMagDeclinationRadians(gnss_lat_, gnss_lon_);
+     132             : 
+     133           0 :   measurement(0) -= mag_declination;
+     134             : 
+     135           0 :   return {true, true};
+     136             : }
+     137             : /*//}*/
+     138             : 
+     139             : /*//{ reset() */
+     140             : template <int n_measurements>
+     141           0 : void ProcMagDeclination<n_measurements>::reset() {
+     142           0 :   got_gnss_                  = false;
+     143           0 : }
+     144             : /*//}*/
+     145             : }  // namespace mrs_uav_state_estimators
+     146             : 
+     147             : #endif  // PROCESSORS_PROC_MAG_DECLINATION
+
+
+
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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&)84
mrs_uav_state_estimators::ProcMedianFilter<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)140941
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mrs_uav_state_estimators::ProcMedianFilter<1>::reset()0
mrs_uav_state_estimators::ProcMedianFilter<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)140941
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&)84
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          84 : 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          84 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph) {
+      41             : 
+      42             :   // | --------------------- load parameters -------------------- |
+      43          84 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      44             : 
+      45          84 :   ph->param_loader->loadParam("buffer_size", buffer_size_);
+      46          84 :   ph->param_loader->loadParam("max_diff", max_diff_);
+      47             : 
+      48          84 :   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          84 :   const double min_valid = std::numeric_limits<double>::lowest();
+      55          84 :   const double max_valid = std::numeric_limits<double>::max();
+      56             : 
+      57             :   // initialize median filter
+      58         168 :   for (int i = 0; i < n_measurements; i++) {
+      59          84 :     vec_mf_.push_back(mrs_lib::MedianFilter(buffer_size_, min_valid, max_valid, max_diff_));
+      60             :   }
+      61          84 : }
+      62             : /*//}*/
+      63             : 
+      64             : /*//{ process() */
+      65             : template <int n_measurements>
+      66      140941 : std::tuple<bool, bool> ProcMedianFilter<n_measurements>::process(measurement_t& measurement) {
+      67             : 
+      68      140941 :   if (!Processor<n_measurements>::enabled_) {
+      69           0 :     return {true, true};
+      70             :   }
+      71             : 
+      72      140941 :   bool ok_flag     = true;
+      73      140941 :   bool should_fuse = true;
+      74      281875 :   for (int i = 0; i < measurement.rows(); i++) {
+      75      140918 :     vec_mf_[i].add(measurement(i));
+      76      140929 :     if (vec_mf_[i].full()) {
+      77      132604 :       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        8315 :       ROS_WARN_THROTTLE(1.0, "[%s]: median filter not full yet", Processor<n_measurements>::getPrintName().c_str());
+      88        8315 :       ok_flag     = false;
+      89        8315 :       should_fuse = false;
+      90             :     }
+      91             :   }
+      92             : 
+      93      140918 :   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:2024-12-11 22:27:27Functions: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)>)86
mrs_uav_state_estimators::ProcSaturate<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)3849
mrs_uav_state_estimators::ProcSaturate<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)142714
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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:2024-12-11 22:27:27Functions: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>&)142714
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)>)86
mrs_uav_state_estimators::ProcSaturate<2>::reset()0
mrs_uav_state_estimators::ProcSaturate<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)3849
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:2024-12-11 22:27:27Functions: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          90 : 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          90 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph), state_id_(state_id), fun_get_state_(fun_get_state) {
+      46             : 
+      47             :   // | --------------------- load parameters -------------------- |
+      48          90 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      49             : 
+      50          90 :   ph->param_loader->loadParam("start_enabled", this->start_enabled_);
+      51          90 :   this->enabled_ = this->start_enabled_;
+      52          90 :   ph->param_loader->loadParam("keep_enabled", keep_enabled_);
+      53          90 :   ph->param_loader->loadParam("min", saturate_min_);
+      54          90 :   ph->param_loader->loadParam("max", saturate_max_);
+      55          90 :   ph->param_loader->loadParam("limit", innovation_limit_);
+      56             : 
+      57          90 :   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          90 : }
+      62             : /*//}*/
+      63             : 
+      64             : /*//{ process() */
+      65             : template <int n_measurements>
+      66      146563 : std::tuple<bool, bool> ProcSaturate<n_measurements>::process(measurement_t& measurement) {
+      67             : 
+      68             :   // if no saturation is required, processing is successful
+      69      146563 :   if (!this->enabled_) {
+      70           0 :     return {true, true};
+      71             :   }
+      72             : 
+      73      146563 :   bool ok_flag     = true;
+      74      146563 :   bool should_fuse = true;
+      75      290307 :   for (int i = 0; i < measurement.rows(); i++) {
+      76      150393 :     const double state = fun_get_state_(state_id_, i);
+      77      150410 :     ROS_INFO_ONCE("[%s]: first state[%d][%d]: %.2f", Processor<n_measurements>::getNamespacedName().c_str(), state_id_, i, state);
+      78             : 
+      79      150410 :     if (measurement(i) > state + innovation_limit_ || measurement(i) < state - innovation_limit_) {
+      80        6650 :       return {true, true};  // do not even try to saturate, trigger innovation-based switch to other estimator
+      81             :     }
+      82             : 
+      83      143747 :     if (measurement(i) > state + saturate_max_) {
+      84         391 :       const double saturated = state + saturate_max_;
+      85         391 :       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         391 :       measurement(i) = saturated;
+      88         391 :       ok_flag        = false;
+      89         391 :       should_fuse    = true;
+      90      143362 :     } 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      139882 :   if (!this->keep_enabled_ && ok_flag) {
+     102           0 :     this->enabled_ = false;
+     103             :   }
+     104             : 
+     105      139882 :   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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Generated by: LCOV version 1.14
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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&)112
mrs_uav_state_estimators::ProcTfToWorld<2>::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)78916
mrs_uav_state_estimators::ProcTfToWorld<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)222529
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Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:455778.9 %
Date:2024-12-11 22:27:27Functions:3837.5 %
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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>)78916
mrs_uav_state_estimators::ProcTfToWorld<2>::reset()0
mrs_uav_state_estimators::ProcTfToWorld<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)222529
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&)112
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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/processors/proc_tf_to_world.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.frameset.html new file mode 100644 index 0000000000..6aab5842a6 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.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_tf_to_world.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.html new file mode 100644 index 0000000000..0c81a44a0b --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.html @@ -0,0 +1,241 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions:3837.5 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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         112 : 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         112 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph) {
+      51             : 
+      52         112 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      53             : 
+      54         112 :   ph->param_loader->loadParam("gnss_topic", gnss_topic_);
+      55             : 
+      56         112 :   gnss_topic_ = "/" + ch->uav_name + "/" + gnss_topic_;
+      57             : 
+      58         112 :   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         112 :   mrs_lib::SubscribeHandlerOptions shopts;
+      65         112 :   shopts.nh                 = nh;
+      66         112 :   shopts.node_name          = Processor<n_measurements>::getPrintName();
+      67         112 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      68         112 :   shopts.threadsafe         = true;
+      69         112 :   shopts.autostart          = true;
+      70         112 :   shopts.queue_size         = 10;
+      71         112 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      72             : 
+      73         112 :   sh_gnss_ = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, gnss_topic_, &ProcTfToWorld::callbackGnss, this);
+      74             : 
+      75         112 :   is_initialized_ = true;
+      76         112 : }
+      77             : /*//}*/
+      78             : 
+      79             : /*//{ callbackGnss() */
+      80             : template <int n_measurements>
+      81       78916 : void ProcTfToWorld<n_measurements>::callbackGnss(const sensor_msgs::NavSatFix::ConstPtr msg) {
+      82             : 
+      83       78916 :   if (!is_initialized_) {
+      84       78752 :     return;
+      85             :   }
+      86             : 
+      87       78916 :   if (got_gnss_) {
+      88       78752 :     return;
+      89             :   }
+      90             : 
+      91         112 :   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         112 :   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         224 :   std::scoped_lock lock(mtx_gnss_);
+     102         112 :   mrs_lib::UTM(msg->latitude, msg->longitude, &gnss_x_, &gnss_y_);
+     103         112 :   ROS_INFO("[%s]: First GNSS obtained: %.2f %.2f", Processor<n_measurements>::getPrintName().c_str(), gnss_x_, gnss_y_);
+     104         112 :   got_gnss_ = true;
+     105             : }
+     106             : /*//}*/
+     107             : 
+     108             : /*//{ process() */
+     109             : template <int n_measurements>
+     110      222529 : std::tuple<bool, bool> ProcTfToWorld<n_measurements>::process(measurement_t& measurement) {
+     111             : 
+     112      222529 :   if (!Processor<n_measurements>::enabled_) {
+     113           0 :     return {true, true};
+     114             :   }
+     115             : 
+     116      444901 :   std::scoped_lock lock(mtx_gnss_);
+     117             : 
+     118      222537 :   if (!got_gnss_) {
+     119        8104 :     ROS_WARN_THROTTLE(1.0, "[%s]: Missing GNSS data on topic: %s", Processor<n_measurements>::getPrintName().c_str(), gnss_topic_.c_str());
+     120        8104 :     return {false, false};
+     121             :   }
+     122             : 
+     123      214376 :   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         112 :     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         112 :     gnss_x_                    = (gnss_x_ - measurement(0)) - Processor<n_measurements>::ch_->world_origin.x;
+     130         112 :     gnss_y_                    = (gnss_y_ - measurement(1)) - Processor<n_measurements>::ch_->world_origin.y;
+     131         112 :     is_gnss_offset_calculated_ = true;
+     132         112 :     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      214422 :   measurement(0) += gnss_x_;
+     136      214276 :   measurement(1) += gnss_y_;
+     137             : 
+     138      214399 :   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      214585 :   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
+
+
+
+ + + + +
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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+ Overview +
+ + 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:2024-12-11 22:27:27Functions: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&)116
mrs_uav_state_estimators::Processor<2>::getNamespacedName[abi:cxx11]() const119
mrs_uav_state_estimators::Processor<1>::getPrintName[abi:cxx11]() const172
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&)254
mrs_uav_state_estimators::Processor<1>::getNamespacedName[abi:cxx11]() const338
mrs_uav_state_estimators::Processor<2>::getPrintName[abi:cxx11]() const588
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.func.html new file mode 100644 index 0000000000..912c87de9b --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.func.html @@ -0,0 +1,112 @@ + + + + + + + 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:2024-12-11 22:27:27Functions: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&)254
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&)116
mrs_uav_state_estimators::Processor<1>::getPrintName[abi:cxx11]() const172
mrs_uav_state_estimators::Processor<1>::getNamespacedName[abi:cxx11]() const338
mrs_uav_state_estimators::Processor<2>::getPrintName[abi:cxx11]() const588
mrs_uav_state_estimators::Processor<2>::getNamespacedName[abi:cxx11]() const119
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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..d5b684c376 --- /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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Test:MRS UAV System - Test coverage reportLines:71070.0 %
Date:2024-12-11 22:27:27Functions:6875.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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         370 :   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         370 :       : correction_name_(correction_name), name_(name), ch_(ch), ph_(ph) {
+      30         370 :   }  // 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         457 : std::string Processor<n_measurements>::getNamespacedName() const {
+      52         457 :   return correction_name_ + "/" + name_;
+      53             : }
+      54             : /*//}*/
+      55             : 
+      56             : /*//{ getPrintName() */
+      57             : template <int n_measurements>
+      58         760 : std::string Processor<n_measurements>::getPrintName() const {
+      59         760 :   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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Test:MRS UAV System - Test coverage reportLines:8012365.0 %
Date:2024-12-11 22:27:27Functions:61060.0 %
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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()80
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&)80
mrs_uav_state_estimators::garmin_agl::GarminAgl::start()156
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerCheckHealth(ros::TimerEvent const&)1337
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerUpdate(ros::TimerEvent const&)129462
mrs_uav_state_estimators::garmin_agl::GarminAgl::getUavAglHeight() const131393
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Date:2024-12-11 22:27:27Functions:61060.0 %
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()80
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&)80
mrs_uav_state_estimators::garmin_agl::GarminAgl::isConverged()0
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerUpdate(ros::TimerEvent const&)129462
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerCheckHealth(ros::TimerEvent const&)1337
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()156
mrs_uav_state_estimators::garmin_agl::GarminAgl::getUavAglHeight() const131393
mrs_uav_state_estimators::garmin_agl::GarminAgl::getHeightCovariance() const0
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/agl/garmin_agl.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/agl/garmin_agl.cpp.gcov.frameset.html new file mode 100644 index 0000000000..bd433a3da0 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/agl/garmin_agl.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/agl/garmin_agl.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/agl/garmin_agl.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/agl/garmin_agl.cpp.gcov.html new file mode 100644 index 0000000000..79b82f9a3e --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/agl/garmin_agl.cpp.gcov.html @@ -0,0 +1,353 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/agl/garmin_agl.cpp + + + + + + + + + + + + + + +
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Date:2024-12-11 22:27:27Functions: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          80 : void GarminAgl::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16          80 :   ch_ = ch;
+      17          80 :   ph_ = ph;
+      18          80 :   nh_ = nh;
+      19             : 
+      20          80 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      21             : 
+      22             :   // | --------------------- load parameters -------------------- |
+      23             : 
+      24          80 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getName() + "/");
+      25             : 
+      26          80 :   if (is_core_plugin_) {
+      27             : 
+      28          80 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      29          80 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      30             :   }
+      31             : 
+      32          80 :   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          80 :   _update_timer_rate_       = 100;                                                                                          // TODO: parametrize
+      39          80 :   timer_update_             = nh.createTimer(ros::Rate(_update_timer_rate_), &GarminAgl::timerUpdate, this, false, false);  // not running after init
+      40          80 :   _check_health_timer_rate_ = 1;                                                                                            // TODO: parametrize
+      41          80 :   timer_check_health_       = nh.createTimer(ros::Rate(_check_health_timer_rate_), &GarminAgl::timerCheckHealth, this);
+      42             : 
+      43             :   // | --------------- subscribers initialization --------------- |
+      44         160 :   mrs_lib::SubscribeHandlerOptions shopts;
+      45          80 :   shopts.nh                 = nh;
+      46          80 :   shopts.node_name          = getPrintName();
+      47          80 :   shopts.no_message_timeout = ros::Duration(0.5);
+      48          80 :   shopts.threadsafe         = true;
+      49          80 :   shopts.autostart          = true;
+      50          80 :   shopts.queue_size         = 10;
+      51          80 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      52             : 
+      53             :   // | ---------------- publishers initialization --------------- |
+      54          80 :   ph_agl_height_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh, Support::toSnakeCase(getName()) + "/agl_height", 10);
+      55          80 :   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          80 :   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          80 :   est_agl_garmin_ = std::make_unique<AltGeneric>(est_agl_name_, frame_id_, getName(), is_core_plugin_);
+      65          80 :   est_agl_garmin_->initialize(nh, ch_, ph_);
+      66             : 
+      67          80 :   max_flight_z_ = est_agl_garmin_->getMaxFlightZ();
+      68             : 
+      69             :   // | ------------------ initialize published messages ------------------ |
+      70          80 :   agl_height_init_.header.frame_id     = ns_frame_id_;
+      71          80 :   agl_height_cov_init_.header.frame_id = ns_frame_id_;
+      72             : 
+      73             :   // | ------------------ finish initialization ----------------- |
+      74             : 
+      75          80 :   if (changeState(INITIALIZED_STATE)) {
+      76          80 :     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          80 : }
+      81             : /*//}*/
+      82             : 
+      83             : /*//{ start() */
+      84         156 : bool GarminAgl::start(void) {
+      85             : 
+      86             : 
+      87         156 :   if (isInState(READY_STATE)) {
+      88             : 
+      89             :     bool est_agl_garmin_start_successful;
+      90             : 
+      91         156 :     if (est_agl_garmin_->isStarted() || est_agl_garmin_->isRunning()) {
+      92           0 :       est_agl_garmin_start_successful = true;
+      93             :     } else {
+      94         156 :       est_agl_garmin_start_successful = est_agl_garmin_->start();
+      95             :     }
+      96             : 
+      97         156 :     if (est_agl_garmin_start_successful) {
+      98          80 :       timer_update_.start();
+      99          80 :       changeState(STARTED_STATE);
+     100          80 :       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          76 :   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      129462 : void GarminAgl::timerUpdate([[maybe_unused]] const ros::TimerEvent &event) {
+     147             : 
+     148      129462 :   if (!isInitialized()) {
+     149           0 :     return;
+     150             :   }
+     151             : 
+     152      129462 :   const ros::Time time_now = ros::Time::now();
+     153             : 
+     154      258924 :   mrs_msgs::Float64Stamped agl_height = agl_height_init_;
+     155      129462 :   agl_height.header.stamp             = time_now;
+     156      129462 :   agl_height.value                    = est_agl_garmin_->getState(POSITION);
+     157             : 
+     158      258924 :   mrs_msgs::Float64ArrayStamped agl_height_cov;
+     159      129462 :   agl_height_cov.header.stamp = time_now;
+     160             : 
+     161      129462 :   const int n_states = 2;  // TODO this should be defined somewhere else
+     162      129462 :   agl_height_cov.values.resize(n_states * n_states);
+     163      129462 :   agl_height_cov.values.at(n_states * POSITION + POSITION) = est_agl_garmin_->getCovariance(POSITION);
+     164      129462 :   agl_height_cov.values.at(n_states * VELOCITY + VELOCITY) = est_agl_garmin_->getCovariance(VELOCITY);
+     165             : 
+     166      129462 :   mrs_lib::set_mutexed(mtx_agl_height_, agl_height, agl_height_);
+     167      129462 :   mrs_lib::set_mutexed(mtx_agl_height_cov_, agl_height_cov, agl_height_cov_);
+     168             : 
+     169      129462 :   publishAglHeight();
+     170      129462 :   publishCovariance();
+     171      129462 :   publishDiagnostics();
+     172             : }
+     173             : /*//}*/
+     174             : 
+     175             : /*//{ timerCheckHealth() */
+     176        1337 : void GarminAgl::timerCheckHealth([[maybe_unused]] const ros::TimerEvent &event) {
+     177             : 
+     178        1337 :   if (!isInitialized()) {
+     179           0 :     return;
+     180             :   }
+     181             : 
+     182        1337 :   switch (getCurrentSmState()) {
+     183             : 
+     184           0 :     case UNINITIALIZED_STATE: {
+     185           0 :       break;
+     186             :     }
+     187             : 
+     188          80 :     case INITIALIZED_STATE: {
+     189             : 
+     190          80 :       if (est_agl_garmin_->isInitialized()) {
+     191          80 :         changeState(READY_STATE);
+     192          80 :         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          80 :       break;
+     198             :     }
+     199             : 
+     200           0 :     case READY_STATE: {
+     201           0 :       break;
+     202             :     }
+     203             : 
+     204          80 :     case STARTED_STATE: {
+     205             : 
+     206          80 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s for convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     207             : 
+     208          80 :       if (est_agl_garmin_->isError()) {
+     209           0 :         changeState(ERROR_STATE);
+     210             :       }
+     211             : 
+     212          80 :       if (est_agl_garmin_->isRunning()) {
+     213          80 :         ROS_INFO_THROTTLE(1.0, "[%s]: Subestimators converged", getPrintName().c_str());
+     214          80 :         changeState(RUNNING_STATE);
+     215             :       } else {
+     216           0 :         return;
+     217             :       }
+     218          80 :       break;
+     219             :     }
+     220             : 
+     221        1177 :     case RUNNING_STATE: {
+     222        1177 :       if (est_agl_garmin_->isError()) {
+     223           0 :         changeState(ERROR_STATE);
+     224             :       }
+     225        1177 :       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      131393 : mrs_msgs::Float64Stamped GarminAgl::getUavAglHeight() const {
+     254      131393 :   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          80 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::garmin_agl::GarminAgl, mrs_uav_managers::AglEstimator)
+
+
+
+ + + + +
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Test:MRS UAV System - Test coverage reportLines:21339653.8 %
Date:2024-12-11 22:27:27Functions:223366.7 %
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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&)196
mrs_uav_state_estimators::AltGeneric::isConverged()196
mrs_uav_state_estimators::AltGeneric::callbackReconfigure(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)196
mrs_uav_state_estimators::AltGeneric::setState(double const&, int const&)290
mrs_uav_state_estimators::AltGeneric::setInputCoeff(double const&)380
mrs_uav_state_estimators::AltGeneric::getNamespacedName[abi:cxx11]() const1262
mrs_uav_state_estimators::AltGeneric::getPrintName[abi:cxx11]() const1516
mrs_uav_state_estimators::AltGeneric::start()4685
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) const142721
mrs_uav_state_estimators::AltGeneric::getState(int const&, int const&) const142731
mrs_uav_state_estimators::AltGeneric::getInnovation(int const&) const209778
mrs_uav_state_estimators::AltGeneric::getCovarianceMatrix() const311050
mrs_uav_state_estimators::AltGeneric::getStates() const311884
mrs_uav_state_estimators::AltGeneric::setDt(double const&)312007
mrs_uav_state_estimators::AltGeneric::generateB()312576
mrs_uav_state_estimators::AltGeneric::generateA()312577
mrs_uav_state_estimators::AltGeneric::timerUpdate(ros::TimerEvent const&)356360
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) const492910
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&)492934
mrs_uav_state_estimators::AltGeneric::doCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)492955
mrs_uav_state_estimators::AltGeneric::getCovariance(int const&) const678470
mrs_uav_state_estimators::AltGeneric::getState(int const&) const1165889
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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:2024-12-11 22:27:27Functions: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&)196
mrs_uav_state_estimators::AltGeneric::isConverged()196
mrs_uav_state_estimators::AltGeneric::timerUpdate(ros::TimerEvent const&)356360
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&)492934
mrs_uav_state_estimators::AltGeneric::doCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)492955
mrs_uav_state_estimators::AltGeneric::setInputCoeff(double const&)380
mrs_uav_state_estimators::AltGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::AltGeneric::callbackReconfigure(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)196
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&)312007
mrs_uav_state_estimators::AltGeneric::start()4685
mrs_uav_state_estimators::AltGeneric::setState(double const&, int const&)290
mrs_uav_state_estimators::AltGeneric::setState(double const&, int const&, int const&)0
mrs_uav_state_estimators::AltGeneric::generateA()312577
mrs_uav_state_estimators::AltGeneric::generateB()312576
mrs_uav_state_estimators::AltGeneric::setStates(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)0
mrs_uav_state_estimators::AltGeneric::getPrintName[abi:cxx11]() const1516
mrs_uav_state_estimators::AltGeneric::getCovariance(int const&) const678470
mrs_uav_state_estimators::AltGeneric::getCovariance(int const&, int const&) const0
mrs_uav_state_estimators::AltGeneric::getInnovation(int const&) const209778
mrs_uav_state_estimators::AltGeneric::getInnovation(int const&, int const&) const0
mrs_uav_state_estimators::AltGeneric::getNamespacedName[abi:cxx11]() const1262
mrs_uav_state_estimators::AltGeneric::getCovarianceMatrix() const311050
mrs_uav_state_estimators::AltGeneric::getState(int const&) const1165889
mrs_uav_state_estimators::AltGeneric::getState(int const&, int const&) const142731
mrs_uav_state_estimators::AltGeneric::getStates() const311884
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) const492910
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) const142721
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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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:2024-12-11 22:27:27Functions:223366.7 %
Legend: Lines: + hit + not hit +
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          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         196 : void AltGeneric::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16         196 :   ch_ = ch;
+      17         196 :   ph_ = ph;
+      18             : 
+      19         196 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      20             : 
+      21             :   // clang-format off
+      22         196 :   dt_ = 0.01;
+      23         196 :   input_coeff_ = 10;
+      24         196 :   default_input_coeff_ = 10;
+      25             : 
+      26         196 :   generateA();
+      27         196 :   generateB();
+      28             : 
+      29         196 :   H_ <<
+      30         196 :     1, 0, 0;
+      31             : 
+      32         196 :   innovation_ << 
+      33             :     0;
+      34             : 
+      35             :   // clang-format on
+      36             : 
+      37             :   // | --------------- initialize parameter loader -------------- |
+      38             : 
+      39         196 :   if (is_core_plugin_) {
+      40             : 
+      41         196 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      42         196 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      43             :   }
+      44             : 
+      45         196 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      46             : 
+      47             :   // | --------------------- load parameters -------------------- |
+      48             : 
+      49         196 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      50         196 :   ph->param_loader->loadParam("innovation/limit", pos_innovation_limit_);
+      51         196 :   ph->param_loader->loadParam("innovation/action", exc_innovation_action_name_);
+      52         196 :   exc_innovation_action_ = map_exc_inno_action.at(exc_innovation_action_name_);
+      53         196 :   ph->param_loader->loadParam("repredictor/enabled", is_repredictor_enabled_);
+      54         196 :   if (is_repredictor_enabled_) {
+      55           0 :     ph->param_loader->loadParam("repredictor/buffer_size", rep_buffer_size_);
+      56             :   }
+      57             : 
+      58             :   // | --------------- corrections initialization --------------- |
+      59         196 :   ph->param_loader->loadParam("corrections", correction_names_);
+      60             : 
+      61         478 :   for (auto corr_name : correction_names_) {
+      62         282 :     corrections_.push_back(std::make_shared<Correction<alt_generic::n_measurements>>(
+      63      143285 :         nh, getNamespacedName(), corr_name, ns_frame_id_, EstimatorType_t::ALTITUDE, ch_, ph_, [this](int a, int b) { return this->getState(a, b); },
+      64      492910 :         [this](const Correction<alt_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t state) {
+      65      492910 :           return this->doCorrection(meas, R, state);
+      66             :         }));
+      67             :   }
+      68             : 
+      69         196 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      70             : 
+      71             :   // | ----------- initialize process noise covariance ---------- |
+      72         196 :   Q_ = Q_t::Zero();
+      73             :   double tmp_noise;
+      74         196 :   ph->param_loader->loadParam("process_noise/pos", tmp_noise);
+      75         196 :   Q_(POSITION, POSITION) = tmp_noise;
+      76         196 :   ph->param_loader->loadParam("process_noise/vel", tmp_noise);
+      77         196 :   Q_(VELOCITY, VELOCITY) = tmp_noise;
+      78         196 :   ph->param_loader->loadParam("process_noise/acc", tmp_noise);
+      79         196 :   Q_(ACCELERATION, ACCELERATION) = tmp_noise;
+      80             : 
+      81             :   // | ------- check if all parameters loaded successfully ------ |
+      82         196 :   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         196 :       std::make_unique<drmgr_t>(ros::NodeHandle("~/" + getNamespacedName()), true, getPrintName(), boost::bind(&AltGeneric::callbackReconfigure, this, _1, _2));
+      90         196 :   drmgr_->config.pos = Q_(POSITION, POSITION);
+      91         196 :   drmgr_->config.vel = Q_(VELOCITY, VELOCITY);
+      92         196 :   drmgr_->config.acc = Q_(ACCELERATION, ACCELERATION);
+      93         196 :   drmgr_->update_config(drmgr_->config);
+      94             : 
+      95             :   // | --------------- Kalman filter intialization -------------- |
+      96         196 :   const x_t        x0 = x_t::Zero();
+      97         196 :   const P_t        P0 = 1e3 * P_t::Identity();
+      98         196 :   const statecov_t sc0({x0, P0});
+      99         196 :   sc_ = sc0;
+     100             : 
+     101         196 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+     102         196 :   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         196 :   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         392 :   mrs_lib::SubscribeHandlerOptions shopts;
+     120         196 :   shopts.nh                 = nh;
+     121         196 :   shopts.node_name          = getPrintName();
+     122         196 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     123         196 :   shopts.threadsafe         = true;
+     124         196 :   shopts.autostart          = true;
+     125         196 :   shopts.queue_size         = 10;
+     126         196 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     127             : 
+     128         196 :   sh_control_input_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>(shopts, "control_input_in");
+     129             : 
+     130             :   // | ---------------- publishers initialization --------------- |
+     131         196 :   if (ch_->debug_topics.input) {
+     132         196 :     ph_input_ = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, getNamespacedName() + "/input", 10);
+     133             :   }
+     134         196 :   if (ch_->debug_topics.output) {
+     135         196 :     ph_output_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput>(nh, getNamespacedName() + "/output", 10);
+     136             :   }
+     137         196 :   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         196 :   if (changeState(INITIALIZED_STATE)) {
+     144         196 :     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         196 : }
+     149             : /*//}*/
+     150             : 
+     151             : /*//{ start() */
+     152        4685 : bool AltGeneric::start(void) {
+     153             : 
+     154        4685 :   if (isInState(READY_STATE)) {
+     155             :     /* timer_update_.start(); */
+     156         196 :     changeState(STARTED_STATE);
+     157         196 :     return true;
+     158             : 
+     159             :   } else {
+     160        4489 :     ROS_WARN_THROTTLE(1.0, "[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+     161        4489 :     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      356360 : void AltGeneric::timerUpdate(const ros::TimerEvent &event) {
+     213             : 
+     214             : 
+     215      356360 :   if (!isInitialized()) {
+     216       44366 :     return;
+     217             :   }
+     218             : 
+     219      356314 :   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        6596 :     case READY_STATE: {
+     227        6596 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     228        6596 :       break;
+     229             :     }
+     230             : 
+     231        8468 :     case INITIALIZED_STATE: {
+     232             :       // initialize the estimator with current corrections
+     233        8765 :       for (auto correction : corrections_) {
+     234        8559 :         auto res = correction->getProcessedCorrection();
+     235        8542 :         if (res) {
+     236         290 :           auto measurement_stamped = res.value();
+     237         290 :           setState(measurement_stamped.value(0), correction->getStateId());
+     238         290 :           ROS_INFO("[%s]: Setting initial state to: %.2f", getPrintName().c_str(), measurement_stamped.value(0));
+     239             :         } else {
+     240        8256 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(),
+     241             :                             correction->getNamespacedName().c_str());
+     242        8247 :           return;
+     243             :         }
+     244             :       }
+     245         196 :       changeState(READY_STATE);
+     246         196 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     247         196 :       break;
+     248             :     }
+     249             : 
+     250         196 :     case STARTED_STATE: {
+     251         196 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s for convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     252             : 
+     253         196 :       if (isConverged()) {
+     254         196 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     255         196 :         changeState(RUNNING_STATE);
+     256             :       }
+     257         196 :       break;
+     258             :     }
+     259             : 
+     260      341080 :     case RUNNING_STATE: {
+     261      824414 :       for (auto correction : corrections_) {
+     262      483301 :         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      341080 :       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      348108 :   if (sh_control_input_.newMsg()) {
+     313      173374 :     is_input_ready_ = true;
+     314             :   }
+     315             : 
+     316             :   // check age of input
+     317      347991 :   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      347938 :   if (!isRunning() && !isStarted()) {
+     324        6784 :     return;
+     325             :   }
+     326             : 
+     327      341146 :   if (first_iter_) {
+     328         196 :     first_iter_ = false;
+     329         196 :     return;
+     330             :   }
+     331             : 
+     332      340950 :   double dt = (event.current_real - event.last_real).toSec();
+     333      341020 :   if (dt <= 0.0 || dt > 1.0) {
+     334       29136 :     return;
+     335             :   }
+     336             : 
+     337      311884 :   if (!is_repredictor_enabled_) {  // repredictor calculates dt on its own
+     338      311895 :     setDt(dt);
+     339             :   }
+     340             : 
+     341             :   // prediction step
+     342      311817 :   u_t       u;
+     343      311597 :   ros::Time input_stamp;
+     344      311616 :   if (is_input_ready_) {
+     345      199729 :     mrs_msgs::EstimatorInputConstPtr msg            = sh_control_input_.getMsg();
+     346      199781 :     const tf2::Vector3               des_acc_global = getAccGlobal(msg, 0);  // we don't care about heading
+     347      198955 :     input_stamp                                     = msg->header.stamp;
+     348      198992 :     if (input_coeff_ != default_input_coeff_){
+     349         158 :       setInputCoeff(default_input_coeff_);
+     350             :     }
+     351      198992 :     u(0) = des_acc_global.getZ();
+     352             :   } else {
+     353      111814 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: not receiving control input, estimation suboptimal, potentially unstable", getPrintName().c_str());
+     354      111969 :     input_stamp = ros::Time::now();
+     355      112038 :     if (input_coeff_ != 0){
+     356         223 :       setInputCoeff(0);
+     357             :     }
+     358      112038 :     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      309668 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     371      310566 :   Q_t        Q  = mrs_lib::get_mutexed(mtx_Q_, Q_);
+     372             : 
+     373             :   try {
+     374             :     // Apply the prediction step
+     375      621443 :     std::scoped_lock lock(mutex_lkf_);
+     376      310697 :     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      310697 :       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      308912 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     389             : 
+     390             :   // publishing
+     391      310195 :   publishInput(u, input_stamp);
+     392      311993 :   publishOutput();
+     393      312036 :   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      492955 : void AltGeneric::doCorrection(const Correction<alt_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id) {
+     493      492955 :   doCorrection(meas.value, R, state_id, meas.stamp);
+     494      492637 : }
+     495             : /*//}*/
+     496             : 
+     497             : /*//{ doCorrection() */
+     498      492934 : void AltGeneric::doCorrection(const z_t &z, const double R, const StateId_t &H_idx, const ros::Time &meas_stamp) {
+     499             : 
+     500      492934 :   if (!isInitialized()) {
+     501        4621 :     return;
+     502             :   }
+     503             : 
+     504             :   // we do not want to perform corrections until the estimator is initialized
+     505      492814 :   if (!(isInState(SMStates_t::READY_STATE) || isInState(SMStates_t::RUNNING_STATE) || isInState(SMStates_t::STARTED_STATE))) {
+     506        4617 :     return;
+     507             :   }
+     508             : 
+     509             :   // for position state check the innovation
+     510      488075 :   if (H_idx == POSITION) {
+     511      264329 :     std::scoped_lock lock(mtx_innovation_);
+     512             : 
+     513      264373 :     is_mitigating_jump_ = false;
+     514      264414 :     innovation_(0)      = z(0) - getState(POSITION);
+     515             : 
+     516      264409 :     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      264434 :     innovation_ok_ = true;
+     545             :   }
+     546             : 
+     547      488163 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     548             :   try {
+     549             :     // Apply the correction step
+     550             :     {
+     551      973485 :       std::scoped_lock lock(mutex_lkf_);
+     552      488273 :       H_        = H_t::Zero();
+     553      488223 :       H_(H_idx) = 1;
+     554      487521 :       lkf_->H   = H_;
+     555      486642 :       if (is_repredictor_enabled_) {
+     556             : 
+     557           0 :         lkf_rep_->addMeasurement(z, R_t::Ones() * R, meas_stamp, models_[H_idx]);
+     558             :       } else {
+     559      486642 :         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      484790 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     569             : }  // namespace mrs_uav_state_estimators
+     570             : /*//}*/
+     571             : 
+     572             : /*//{ isConverged() */
+     573         196 : bool AltGeneric::isConverged() {
+     574             : 
+     575             :   // TODO: check convergence by rate of change of determinant
+     576             : 
+     577         196 :   return true;
+     578             : }
+     579             : /*//}*/
+     580             : 
+     581             : /*//{ getState() */
+     582      142731 : double AltGeneric::getState(const int &state_id_in, const int &axis_in) const {
+     583      142731 :   return getState(stateIdToIndex(state_id_in, axis_in));
+     584             : }
+     585             : 
+     586     1165889 : double AltGeneric::getState(const int &state_idx_in) const {
+     587     1165889 :   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         290 : void AltGeneric::setState(const double &state_in, const int &state_idx_in) {
+     597         290 :   mrs_lib::set_mutexed(mutex_sc_, state_in, sc_.x(state_idx_in));
+     598         290 : }
+     599             : /*//}*/
+     600             : 
+     601             : /*//{ getStates() */
+     602      311884 : AltGeneric::states_t AltGeneric::getStates(void) const {
+     603      622871 :   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      678470 : double AltGeneric::getCovariance(const int &state_idx_in) const {
+     619      678470 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P(state_idx_in, state_idx_in);
+     620             : }
+     621             : /*//}*/
+     622             : 
+     623             : /*//{ getCovarianceMatrix() */
+     624      311050 : AltGeneric::covariance_t AltGeneric::getCovarianceMatrix(void) const {
+     625      621923 :   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      209778 : double AltGeneric::getInnovation(const int &state_idx) const {
+     637      209778 :   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      312007 : void AltGeneric::setDt(const double &dt) {
+     647      312007 :   dt_ = dt;
+     648      312007 :   generateA();
+     649      311743 :   generateB();
+     650      623622 :   std::scoped_lock lock(mutex_lkf_);
+     651      311808 :   lkf_->A = A_;
+     652      311712 :   lkf_->B = B_;
+     653      311700 : }
+     654             : /*//}*/
+     655             : 
+     656             : /*//{ setInputCoeff() */
+     657         380 : void AltGeneric::setInputCoeff(const double &input_coeff) {
+     658         380 :   input_coeff_ = input_coeff;
+     659         380 :   generateA();
+     660         375 :   generateB();
+     661         757 :   std::scoped_lock lock(mutex_lkf_);
+     662         378 :   lkf_->A = A_;
+     663         381 :   lkf_->B = B_;
+     664             : 
+     665         379 :   if (is_repredictor_enabled_) {
+     666           0 :     models_.clear();
+     667           0 :     generateRepredictorModels(input_coeff_);
+     668             :   }
+     669         380 : }
+     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      312577 : void AltGeneric::generateA() {
+     708             : 
+     709             :   // clang-format off
+     710      312577 :     A_ <<
+     711      312157 :       1, dt_, 0.5 * dt_ * dt_,
+     712      312261 :       0, 1, dt_,
+     713      312389 :       0, 0, 1-(input_coeff_ * dt_);
+     714             :   // clang-format on
+     715      312243 : }
+     716             : /*//}*/
+     717             : 
+     718             : /*//{ generateB() */
+     719      312576 : void AltGeneric::generateB() {
+     720             : 
+     721             :   // clang-format off
+     722      312576 :     B_ <<
+     723             :       0,
+     724      312076 :       0,
+     725      312212 :       (input_coeff_ * dt_);
+     726             :   // clang-format on
+     727      312101 : }
+     728             : /*//}*/
+     729             : 
+     730             : /*//{ callbackReconfigure() */
+     731         196 : void AltGeneric::callbackReconfigure(AltitudeEstimatorConfig &config, [[maybe_unused]] uint32_t level) {
+     732             : 
+     733         196 :   if (!isInitialized()) {
+     734         196 :     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        1262 : std::string AltGeneric::getNamespacedName() const {
+     747        2524 :   return parent_state_est_name_ + "/" + getName();
+     748             : }
+     749             : /*//}*/
+     750             : 
+     751             : /*//{ getPrintName() */
+     752        1516 : std::string AltGeneric::getPrintName() const {
+     753        3032 :   return ch_->nodelet_name + "/" + parent_state_est_name_ + "/" + getName();
+     754             : }
+     755             : /*//}*/
+     756             : };  // namespace mrs_uav_state_estimators
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.gcov.overview.html b/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.gcov.overview.html new file mode 100644 index 0000000000..83bab29753 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.gcov.overview.html @@ -0,0 +1,209 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/altitude/alt_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 + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..6de0c6ed562f0020e348f2b6ac1f1a3b6bf80a22 GIT binary patch literal 2923 zcmV-x3zYPUP)7#*!!f{)a0oWA3(ZC}!{Y0or(m-fx3MGDN9)Q@A~jiK&zJOLjHfTLb4={3{Cd5{S2m1&H~K|4fTJ5; z#=Oj_fcVsQjAQtDyi6y-F%lyye6+*>)UY*TfK}jT_M8cbPdx%VZ82_;^_iQguH)RN z#xTC2h7EsH!|2W9BiNyyjAq|#N(R#NvBDl~?0l>ZtCkIbknFVVj570XkPLsL$x^U` z>)}oadh4B?5trzHGKMS6Gv8<20@MnEi`o>ZWCa zMgzwaX_D`3$@a|q|MR+R|1ra}f8XC=fEC+wrIF$SNmh!^nH>bu8P%q6(?9Z4!Ap9) z$AVC_0+Ma2ia#Dga_&s)y`6-(n#kgtc_HvzP=N1$It@6%uL37<2?P~%QM%x;QlPo=CGLay06724DskQ@*N&>y9XPR<6nqXCF% zrF#4Rut|Ut!;^T>W{0FTMqsMs{!Wmq17bn$#e!ShYo>Nfta+TS76Sm8@Tmidp02Qu zl!7V)X1V&2{ba6MgFAx`=9=jq+~8d>6DWEV$r-jug;Wa7DS{bpq6#(BENoyDjEY-W!5Ge<3Sc(33DOxx23Saaf{gr{ zoxyDnkb*oMB!2R&?j+j|riFRl8KCBzSwQ4SYSlu3;pguRJJ@S+VRo>u;dEzi^d}E? zBBn@7ftV%swmsm&bI1~E3m69z@)E4{L}0TVLuY_12Dn5~O$rEcJZ6vG;y6%R7$7w8 zE$ogcAapeJE@hG_(iFR-#}YMSLLS4@Aq1ueAA!`_`zFQ8kcRPGlLC*FX!6%%9x?VT ztPl_yLl!R=0v`{`Q=Uicq5P7?KBp!ntDb9GC@9TO7{0@mGH@|_>N7WJVbc}@Qr47o zIo*a|(CQY49hzgo3S#9B^$P;=!tAJ0pnCL;nOc|KCvz#f7n-lJ%EeC;v-6t7AeM-zrFz^q#T?MZ;^*gg#?vzLKx#Z< zx`B4)6Kf20g<8#LuuMenrW70T0w8>`A+-tqx=m~^EMPoyi0Q&6ytZ8ks*q1c82!|V z1(4~Ido*QYzzAtbS^@P27PL(wTH=vj;@QH`@)%i)(%dn7iYFH{@|88h>?wD965tg& zL-#bFtSp!5&{4K>ZRozSM$)urw_ixy3fclXg^A<24kK~n| zI{#~#Js2E3T!&WX9;EJ)Gg4#PHkUQfwzRszolwq|s+m*LgrMAt;DX(AseA3b`=~KK z1U_k*R18%*Fs7J}v?7^tqqXofB!*CSPb{vrL7AQov&@(sv|JdTlFoveqP;kXUoWY< zriX`7+RmFV#@4wRb>kH?>_u^v0Bgn`?y|e8(?zq1Y^-UffJwp}2?aPBJ6!-#yQmL< z(S1^z#Gfh9{v?kZ^3ic;>K%wF)6|GjKWg?)uS#KE06ZFA3O(P`CD8|5l_Fv& zNRWKQPIM_2^38lS$B*Gi$aRcrHM5mHAHVlejfI82X643aoX{BgO}}?@0JUsF0Q?oI zjqd^r{dlJB8Ep4&(za>thka5KMQ@bje7MxN^7xK1my8b+;~s`sxj{4VHtOOU^E~bk zQ+BLAQ!LUF;Bd4A=MOe|V`|=y&nb#C?33uu95Ky2dsDis3{Ytc3-;09)2bXvAqT*w zS22qAo~?NCYsCF<vsRy#yq3CB$+Q1c6d#-w*i z$$}?Rgi{RZo8Gk7@c5vmxJn+|pN@B2J(Bp?@Np>43Y`sD>jXXk zkyYY=H*jYF&ZU6U0~V)^ z0UiI8Y*<1}4dadpX_N$LK4S~niEUGZZVL~HT0_+(TX;TTdHVw3H*Dcje*Pi>t^mu^ z?pbl{^Wm*UH*l|kgvQyAIL1FO4*WzkSNkyjBWx;wz{f=dK-gwA!B&HOQ7@Kcv6p!YVk2l{?K z2LObSPGRC0aL=6Ibn4%%~P0Z5dNNj!D}WvETx#pUyV(o9EJB{s*Oe VWmOf>UV8ul002ovPDHLkV1ldmd?f$? literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/src/estimators/altitude/index-detail-sort-f.html b/mrs_uav_state_estimators/src/estimators/altitude/index-detail-sort-f.html new file mode 100644 index 0000000000..8dd27d42c2 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/altitude/index-detail-sort-f.html @@ -0,0 +1,110 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/altitude + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/src/estimators/altitudeHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:21339653.8 %
Date:2024-12-11 22:27:27Functions:223366.7 %
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+ 		53.8 %213 / 39666.7 %22 / 33
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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:2024-12-11 22:27:27Functions:0340.0 %
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::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
+
+
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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.func.html b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.func.html new file mode 100644 index 0000000000..e88702a403 --- /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
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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:2024-12-11 22:27:27Functions: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
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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/heading - hdg_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:03580.0 %
Date:2024-12-11 22:27:27Functions: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.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:2024-12-11 22:27:27Functions: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&)116
mrs_uav_state_estimators::HdgPassthrough::start()186
mrs_uav_state_estimators::HdgPassthrough::getNamespacedName[abi:cxx11]() const232
mrs_uav_state_estimators::HdgPassthrough::getPrintName[abi:cxx11]() const656
mrs_uav_state_estimators::HdgPassthrough::getCovarianceMatrix() const218039
mrs_uav_state_estimators::HdgPassthrough::getStates() const218041
mrs_uav_state_estimators::HdgPassthrough::timerUpdate(ros::TimerEvent const&)218064
mrs_uav_state_estimators::HdgPassthrough::timerCheckHealth(ros::TimerEvent const&)221939
mrs_uav_state_estimators::HdgPassthrough::callbackAngularVelocity(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)228235
mrs_uav_state_estimators::HdgPassthrough::callbackOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)231105
mrs_uav_state_estimators::HdgPassthrough::setState(double const&, int const&)459229
mrs_uav_state_estimators::HdgPassthrough::getState(int const&) const763419
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Generated by: LCOV version 1.14
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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:2024-12-11 22:27:27Functions: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&)116
mrs_uav_state_estimators::HdgPassthrough::timerUpdate(ros::TimerEvent const&)218064
mrs_uav_state_estimators::HdgPassthrough::timerCheckHealth(ros::TimerEvent const&)221939
mrs_uav_state_estimators::HdgPassthrough::callbackOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)231105
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>)228235
mrs_uav_state_estimators::HdgPassthrough::pause()0
mrs_uav_state_estimators::HdgPassthrough::reset()0
mrs_uav_state_estimators::HdgPassthrough::start()186
mrs_uav_state_estimators::HdgPassthrough::setState(double const&, int const&)459229
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]() const656
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]() const232
mrs_uav_state_estimators::HdgPassthrough::getCovarianceMatrix() const218039
mrs_uav_state_estimators::HdgPassthrough::getState(int const&) const763419
mrs_uav_state_estimators::HdgPassthrough::getState(int const&, int const&) const0
mrs_uav_state_estimators::HdgPassthrough::getStates() const218041
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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:2024-12-11 22:27:27Functions:122352.2 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          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         116 : void HdgPassthrough::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16         116 :   ch_ = ch;
+      17         116 :   ph_ = ph;
+      18             : 
+      19         116 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      20             : 
+      21         116 :   hdg_state_      = states_t::Zero();
+      22         116 :   hdg_covariance_ = covariance_t::Zero();
+      23             : 
+      24         116 :   innovation_ << 
+      25         116 :     0, 0;
+      26             : 
+      27             : 
+      28             :   // | --------------- param loader initialization --------------- |
+      29             : 
+      30         116 :   if (is_core_plugin_) {
+      31             : 
+      32         116 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      33         116 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      34             :   }
+      35             : 
+      36         116 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      37             : 
+      38             :   // | --------------------- load parameters -------------------- |
+      39         116 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      40             : 
+      41         116 :   ph->param_loader->loadParam("topics/orientation", orient_topic_);
+      42         116 :   ph->param_loader->loadParam("topics/angular_velocity", ang_vel_topic_);
+      43             : 
+      44         116 :   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         116 :   timer_update_       = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &HdgPassthrough::timerUpdate, this, false, false);  // not running after init
+      51         116 :   timer_check_health_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &HdgPassthrough::timerCheckHealth, this);
+      52             : 
+      53             :   // | --------------- subscribers initialization --------------- |
+      54             :   // subscriber to odometry
+      55         232 :   mrs_lib::SubscribeHandlerOptions shopts;
+      56         116 :   shopts.nh                 = nh;
+      57         116 :   shopts.node_name          = getPrintName();
+      58         116 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      59         116 :   shopts.threadsafe         = true;
+      60         116 :   shopts.autostart          = true;
+      61         116 :   shopts.queue_size         = 10;
+      62         116 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      63             : 
+      64         232 :   sh_orientation_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, "/" + ch_->uav_name + "/" + orient_topic_,
+      65         116 :                                                                                 &HdgPassthrough::callbackOrientation, this);
+      66         232 :   sh_ang_vel_     = mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped>(shopts, "/" + ch_->uav_name + "/" + ang_vel_topic_,
+      67         116 :                                                                          &HdgPassthrough::callbackAngularVelocity, this);
+      68             : 
+      69             :   // | ---------------- publishers initialization --------------- |
+      70         116 :   if (ch_->debug_topics.output) {
+      71         116 :     ph_output_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput>(nh, getNamespacedName() + "/output", 10);
+      72             :   }
+      73         116 :   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         116 :   if (changeState(INITIALIZED_STATE)) {
+      80         116 :     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         116 : }
+      85             : /*//}*/
+      86             : 
+      87             : /*//{ start() */
+      88         186 : bool HdgPassthrough::start(void) {
+      89             : 
+      90         186 :   if (isInState(READY_STATE)) {
+      91         116 :     timer_update_.start();
+      92         116 :     changeState(STARTED_STATE);
+      93         116 :     return true;
+      94             : 
+      95             :   } else {
+      96          70 :     ROS_WARN_THROTTLE(1.0, "[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+      97          70 :     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      231105 : void HdgPassthrough::callbackOrientation(const geometry_msgs::QuaternionStamped::ConstPtr msg) {
+     133             : 
+     134      231105 :   if (!isInitialized()) {
+     135          30 :     return;
+     136             :   }
+     137             : 
+     138             :   double hdg;
+     139             :   try {
+     140      231044 :     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      231045 :   setState(hdg, POSITION);
+     147             : 
+     148      231016 :   if (!isError()) {
+     149      230938 :     mrs_lib::set_mutexed(mutex_last_valid_hdg_, hdg, last_valid_hdg_);
+     150             :   }
+     151             : }
+     152             : /*//}*/
+     153             : 
+     154             : /*//{ callbackAngularVelocity() */
+     155      228235 : void HdgPassthrough::callbackAngularVelocity(const geometry_msgs::Vector3Stamped::ConstPtr msg) {
+     156             : 
+     157      228235 :   if (!isInitialized() || !sh_orientation_.hasMsg()) {
+     158           1 :     return;
+     159             :   }
+     160             : 
+     161             :   double hdg_rate;
+     162             :   try {
+     163      228229 :     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      227966 :   setState(hdg_rate, VELOCITY);
+     170             : }
+     171             : /*//}*/
+     172             : 
+     173             : /* timerUpdate() //{*/
+     174      218064 : void HdgPassthrough::timerUpdate([[maybe_unused]] const ros::TimerEvent &event) {
+     175             : 
+     176             : 
+     177      218064 :   if (!isInitialized()) {
+     178           0 :     return;
+     179             :   }
+     180             : 
+     181      218045 :   publishOutput();
+     182      218070 :   publishDiagnostics();
+     183             : }
+     184             : /*//}*/
+     185             : 
+     186             : /*//{ timerCheckHealth() */
+     187      221939 : void HdgPassthrough::timerCheckHealth([[maybe_unused]] const ros::TimerEvent &event) {
+     188             : 
+     189      221939 :   if (!isInitialized()) {
+     190          10 :     return;
+     191             :   }
+     192             : 
+     193      221930 :   if (isInState(INITIALIZED_STATE) && is_orient_ready_ && is_ang_vel_ready_) {
+     194             : 
+     195         116 :     changeState(READY_STATE);
+     196         116 :     ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     197             :   }
+     198             : 
+     199      221930 :   if (isInState(STARTED_STATE)) {
+     200             : 
+     201         116 :     ROS_INFO_THROTTLE(1.0, "[%s]: Estimator Running", getPrintName().c_str());
+     202         116 :     changeState(RUNNING_STATE);
+     203             :   }
+     204             : 
+     205      221929 :   if (sh_orientation_.hasMsg()) {
+     206      220238 :     is_orient_ready_ = true;
+     207             :   } else {
+     208        1688 :     ROS_WARN_THROTTLE(1.0, "[%s]: has not received orientation yet", getPrintName().c_str());
+     209             :   }
+     210             : 
+     211      221930 :   if (sh_ang_vel_.hasMsg()) {
+     212      218478 :     is_ang_vel_ready_ = true;
+     213             :   } else {
+     214        3452 :     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      763419 : double HdgPassthrough::getState(const int &state_idx_in) const {
+     225      763419 :   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      459229 : void HdgPassthrough::setState(const double &state_in, const int &state_idx_in) {
+     235             : 
+     236      459229 :   const double prev_hdg_state   = mrs_lib::get_mutexed(mtx_hdg_state_, hdg_state_(state_idx_in));
+     237      459046 :   prev_hdg_state_(state_idx_in) = prev_hdg_state;
+     238      459031 :   mrs_lib::set_mutexed(mtx_hdg_state_, state_in, hdg_state_(state_idx_in));
+     239             : 
+     240      458974 :   const double innovation = mrs_lib::geometry::radians::dist(mrs_lib::geometry::radians(state_in), mrs_lib::geometry::radians(prev_hdg_state));
+     241      458761 :   mrs_lib::set_mutexed(mtx_innovation_, innovation, innovation_(state_idx_in));
+     242      459043 : }
+     243             : /*//}*/
+     244             : 
+     245             : /*//{ getStates() */
+     246      218041 : HdgPassthrough::states_t HdgPassthrough::getStates(void) const {
+     247      218041 :   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      218039 : HdgPassthrough::covariance_t HdgPassthrough::getCovarianceMatrix(void) const {
+     269      218039 :   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         232 : std::string HdgPassthrough::getNamespacedName() const {
+     297         464 :   return parent_state_est_name_ + "/" + getName();
+     298             : }
+     299             : /*//}*/
+     300             : 
+     301             : /*//{ getPrintName() */
+     302         656 : std::string HdgPassthrough::getPrintName() const {
+     303        1312 :   return ch_->nodelet_name + "/" + parent_state_est_name_ + "/" + getName();
+     304             : }
+     305             : /*//}*/
+     306             : 
+     307             : };  // namespace mrs_uav_state_estimators
+
+
+
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_state_estimators/src/estimators/headingHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9149118.5 %
Date:2024-12-11 22:27:27Functions:125721.1 %
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
hdg_generic.cpp +
0.0%
+ 		0.0 %0 / 3580.0 %0 / 34
hdg_passthrough.cpp +
68.4%68.4%
+ 		68.4 %91 / 13352.2 %12 / 23
<unnamed>68.4 %91 / 13352.2 %12 / 23
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_state_estimators/src/estimators/headingHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9149118.5 %
Date:2024-12-11 22:27:27Functions:125721.1 %
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
hdg_generic.cpp +
0.0%
+ 		0.0 %0 / 3580.0 %0 / 34
hdg_passthrough.cpp +
68.4%68.4%
+ 		68.4 %91 / 13352.2 %12 / 23
<unnamed>68.4 %91 / 13352.2 %12 / 23
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_state_estimators/src/estimators/headingHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9149118.5 %
Date:2024-12-11 22:27:27Functions:125721.1 %
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
hdg_generic.cpp +
0.0%
+ 		0.0 %0 / 3580.0 %0 / 34
hdg_passthrough.cpp +
68.4%68.4%
+ 		68.4 %91 / 13352.2 %12 / 23
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LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/headingHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9149118.5 %
Date:2024-12-11 22:27:27Functions:125721.1 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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hdg_generic.cpp +
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hdg_passthrough.cpp +
68.4%68.4%
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LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/headingHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9149118.5 %
Date:2024-12-11 22:27:27Functions:125721.1 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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hdg_generic.cpp +
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hdg_passthrough.cpp +
68.4%68.4%
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LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/headingHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9149118.5 %
Date:2024-12-11 22:27:27Functions:125721.1 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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hdg_passthrough.cpp +
68.4%68.4%
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_state_estimators/src/estimators/lateralHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:24143855.0 %
Date:2024-12-11 22:27:27Functions:253375.8 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Current view:top level - mrs_uav_state_estimators/src/estimators/lateralHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:24143855.0 %
Date:2024-12-11 22:27:27Functions:253375.8 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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+ 		55.0 %241 / 43875.8 %25 / 33
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Current view:top level - mrs_uav_state_estimators/src/estimators/lateralHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:24143855.0 %
Date:2024-12-11 22:27:27Functions:253375.8 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Current view:top level - mrs_uav_state_estimators/src/estimators/lateralHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:24143855.0 %
Date:2024-12-11 22:27:27Functions:253375.8 %
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Current view:top level - mrs_uav_state_estimators/src/estimators/lateralHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:24143855.0 %
Date:2024-12-11 22:27:27Functions:253375.8 %
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lat_generic.cpp +
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+ 		55.0 %241 / 43875.8 %25 / 33
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LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/lateralHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:24143855.0 %
Date:2024-12-11 22:27:27Functions:253375.8 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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lat_generic.cpp +
55.0%55.0%
+ 		55.0 %241 / 43875.8 %25 / 33
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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/lateral - lat_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:24143855.0 %
Date:2024-12-11 22:27:27Functions: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&)116
mrs_uav_state_estimators::LatGeneric::isConverged()116
mrs_uav_state_estimators::LatGeneric::callbackReconfigure(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)116
mrs_uav_state_estimators::LatGeneric::setInputCoeff(double const&)225
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&)374
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&, int const&)374
mrs_uav_state_estimators::LatGeneric::getNamespacedName[abi:cxx11]() const700
mrs_uav_state_estimators::LatGeneric::getPrintName[abi:cxx11]() const1080
mrs_uav_state_estimators::LatGeneric::start()4434
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) const7688
mrs_uav_state_estimators::LatGeneric::getCovarianceMatrix() const198192
mrs_uav_state_estimators::LatGeneric::getStates() const198195
mrs_uav_state_estimators::LatGeneric::setDt(double const&)198197
mrs_uav_state_estimators::LatGeneric::generateB()198539
mrs_uav_state_estimators::LatGeneric::generateA()198541
mrs_uav_state_estimators::LatGeneric::timerUpdate(ros::TimerEvent const&)221570
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&)228912
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) const229060
mrs_uav_state_estimators::LatGeneric::doCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)229104
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&) const419539
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&, int const&) const419547
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&) const839096
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&, int const&) const839106
mrs_uav_state_estimators::LatGeneric::getState(int const&) const1701843
mrs_uav_state_estimators::LatGeneric::getState(int const&, int const&) const1702181
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+
+ + + +
Generated by: LCOV version 1.14
+
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LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions: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::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&)116
mrs_uav_state_estimators::LatGeneric::isConverged()116
mrs_uav_state_estimators::LatGeneric::timerUpdate(ros::TimerEvent const&)221570
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&)228912
mrs_uav_state_estimators::LatGeneric::doCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)229104
mrs_uav_state_estimators::LatGeneric::setInputCoeff(double const&)225
mrs_uav_state_estimators::LatGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::LatGeneric::callbackReconfigure(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)116
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&)198197
mrs_uav_state_estimators::LatGeneric::start()4434
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&)374
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&, int const&)374
mrs_uav_state_estimators::LatGeneric::generateA()198541
mrs_uav_state_estimators::LatGeneric::generateB()198539
mrs_uav_state_estimators::LatGeneric::setStates(Eigen::Matrix<double, 6, 1, 0, 6, 1> const&)0
mrs_uav_state_estimators::LatGeneric::getPrintName[abi:cxx11]() const1080
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&) const839096
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&, int const&) const839106
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&) const419539
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&, int const&) const419547
mrs_uav_state_estimators::LatGeneric::getNamespacedName[abi:cxx11]() const700
mrs_uav_state_estimators::LatGeneric::getCovarianceMatrix() const198192
mrs_uav_state_estimators::LatGeneric::getState(int const&) const1701843
mrs_uav_state_estimators::LatGeneric::getState(int const&, int const&) const1702181
mrs_uav_state_estimators::LatGeneric::getStates() const198195
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) const229060
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) const7688
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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+
+ + + +
Generated by: LCOV version 1.14
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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:2024-12-11 22:27:27Functions:253375.8 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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         116 : void LatGeneric::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      14             : 
+      15         116 :   ch_ = ch;
+      16         116 :   ph_ = ph;
+      17             : 
+      18         116 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      19             : 
+      20             :   // clang-format off
+      21         116 :   dt_ = 0.01;
+      22         116 :   input_coeff_ = 10;
+      23         116 :   default_input_coeff_ = 10;
+      24             : 
+      25         116 :   generateA();
+      26         116 :   generateB();
+      27             : 
+      28         116 :   H_ <<
+      29         116 :     1, 0, 0, 0, 0, 0,
+      30         116 :     0, 1, 0, 0, 0, 0;
+      31             : 
+      32         116 :   innovation_ << 
+      33         116 :     0, 0;
+      34             : 
+      35             : 
+      36             :   // clang-format on
+      37             : 
+      38             :   // | --------------- initialize parameter loader -------------- |
+      39             : 
+      40         116 :   if (is_core_plugin_) {
+      41             : 
+      42         116 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      43         116 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      44             :   }
+      45             : 
+      46         116 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      47             : 
+      48             :   // | --------------------- load parameters -------------------- |
+      49         116 :   ph->param_loader->loadParam("hdg_source_topic", hdg_source_topic_);
+      50         116 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      51         116 :   ph->param_loader->loadParam("innovation/limit", pos_innovation_limit_);
+      52         116 :   ph->param_loader->loadParam("innovation/action", exc_innovation_action_name_);
+      53         116 :   exc_innovation_action_ = map_exc_inno_action.at(exc_innovation_action_name_);
+      54         116 :   ph->param_loader->loadParam("repredictor/enabled", is_repredictor_enabled_);
+      55         116 :   if (is_repredictor_enabled_) {
+      56           0 :     ph->param_loader->loadParam("repredictor/buffer_size", rep_buffer_size_);
+      57             :   }
+      58             : 
+      59             :   // | --------------- corrections initialization --------------- |
+      60         116 :   ph->param_loader->loadParam("corrections", correction_names_);
+      61             : 
+      62         236 :   for (auto corr_name : correction_names_) {
+      63         120 :     corrections_.push_back(std::make_shared<Correction<lat_generic::n_measurements>>(
+      64        7928 :         nh, getNamespacedName(), corr_name, ns_frame_id_, EstimatorType_t::LATERAL, ch_, ph_, [this](int a, int b) { return this->getState(a, b); },
+      65      229060 :         [this](const Correction<lat_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t state) {
+      66      229060 :           return this->doCorrection(meas, R, state);
+      67             :         }));
+      68             :   }
+      69             : 
+      70             :   // | ------- check if all parameters loaded successfully ------ |
+      71         116 :   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         116 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      77             : 
+      78             :   // | ----------- initialize process noise covariance ---------- |
+      79         116 :   Q_ = Q_t::Zero();
+      80             :   double tmp_noise;
+      81         116 :   ph->param_loader->loadParam("process_noise/pos", tmp_noise);
+      82         116 :   Q_(stateIdToIndex(POSITION, AXIS_X), stateIdToIndex(POSITION, AXIS_X)) = tmp_noise;
+      83         116 :   Q_(stateIdToIndex(POSITION, AXIS_Y), stateIdToIndex(POSITION, AXIS_Y)) = tmp_noise;
+      84         116 :   ph->param_loader->loadParam("process_noise/vel", tmp_noise);
+      85         116 :   Q_(stateIdToIndex(VELOCITY, AXIS_X), stateIdToIndex(VELOCITY, AXIS_X)) = tmp_noise;
+      86         116 :   Q_(stateIdToIndex(VELOCITY, AXIS_Y), stateIdToIndex(VELOCITY, AXIS_Y)) = tmp_noise;
+      87         116 :   ph->param_loader->loadParam("process_noise/acc", tmp_noise);
+      88         116 :   Q_(stateIdToIndex(ACCELERATION, AXIS_X), stateIdToIndex(ACCELERATION, AXIS_X)) = tmp_noise;
+      89         116 :   Q_(stateIdToIndex(ACCELERATION, AXIS_Y), stateIdToIndex(ACCELERATION, AXIS_Y)) = tmp_noise;
+      90             : 
+      91             :   // | ------------- initialize dynamic reconfigure ------------- |
+      92             :   drmgr_ =
+      93         116 :       std::make_unique<drmgr_t>(ros::NodeHandle("~/" + getNamespacedName()), true, getPrintName(), boost::bind(&LatGeneric::callbackReconfigure, this, _1, _2));
+      94         116 :   drmgr_->config.pos = Q_(stateIdToIndex(POSITION, AXIS_X), stateIdToIndex(POSITION, AXIS_X));
+      95         116 :   drmgr_->config.vel = Q_(stateIdToIndex(VELOCITY, AXIS_X), stateIdToIndex(VELOCITY, AXIS_X));
+      96         116 :   drmgr_->config.acc = Q_(stateIdToIndex(ACCELERATION, AXIS_X), stateIdToIndex(ACCELERATION, AXIS_X));
+      97         116 :   drmgr_->update_config(drmgr_->config);
+      98             : 
+      99             :   // | --------------- Kalman filter intialization -------------- |
+     100         116 :   const x_t        x0 = x_t::Zero();
+     101         116 :   const P_t        P0 = 1e3 * P_t::Identity();
+     102         116 :   const statecov_t sc0({x0, P0});
+     103         116 :   sc_ = sc0;
+     104             : 
+     105         116 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+     106         116 :   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         116 :   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         232 :   mrs_lib::SubscribeHandlerOptions shopts;
+     124         116 :   shopts.nh                 = nh;
+     125         116 :   shopts.node_name          = getPrintName();
+     126         116 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     127         116 :   shopts.threadsafe         = true;
+     128         116 :   shopts.autostart          = true;
+     129         116 :   shopts.queue_size         = 10;
+     130         116 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     131             : 
+     132         116 :   sh_control_input_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>(shopts, "control_input_in");
+     133             :   sh_hdg_state_ =
+     134         116 :       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         116 :   if (ch_->debug_topics.input) {
+     138         116 :     ph_input_ = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, getNamespacedName() + "/input", 10);
+     139             :   }
+     140         116 :   if (ch_->debug_topics.output) {
+     141         116 :     ph_output_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput>(nh, getNamespacedName() + "/output", 10);
+     142             :   }
+     143         116 :   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         116 :   if (changeState(INITIALIZED_STATE)) {
+     150         116 :     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         116 : }
+     155             : /*//}*/
+     156             : 
+     157             : /*//{ start() */
+     158        4434 : bool LatGeneric::start(void) {
+     159             : 
+     160        4434 :   if (isInState(READY_STATE)) {
+     161             :     /* timer_update_.start(); */
+     162         116 :     changeState(STARTED_STATE);
+     163         116 :     return true;
+     164             : 
+     165             :   } else {
+     166        4318 :     ROS_WARN_THROTTLE(1.0, "[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+     167        4318 :     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      221570 : void LatGeneric::timerUpdate(const ros::TimerEvent &event) {
+     219             : 
+     220      221570 :   if (!isInitialized()) {
+     221       23376 :     return;
+     222             :   }
+     223             : 
+     224      221567 :   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          91 :     case READY_STATE: {
+     232          91 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     233          91 :       break;
+     234             :     }
+     235             : 
+     236        7546 :     case INITIALIZED_STATE: {
+     237             :       // initialize the estimator with current corrections
+     238        7733 :       for (auto correction : corrections_) {
+     239        7617 :         auto res = correction->getProcessedCorrection();
+     240        7617 :         if (res) {
+     241         187 :           auto measurement_stamped = res.value(); 
+     242         187 :           setState(measurement_stamped.value(AXIS_X), correction->getStateId(), AXIS_X);
+     243         187 :           setState(measurement_stamped.value(AXIS_Y), correction->getStateId(), AXIS_Y);
+     244         187 :           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        7430 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(), correction->getNamespacedName().c_str());
+     248        7430 :           return;
+     249             :         }
+     250             :       }
+     251         116 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     252         116 :       changeState(READY_STATE);
+     253         116 :       break;
+     254             :     }
+     255             : 
+     256         116 :     case STARTED_STATE: {
+     257         116 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     258         116 :       if (isConverged()) {
+     259         116 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     260         116 :         changeState(RUNNING_STATE);
+     261             :       }
+     262         116 :       break;
+     263             :     }
+     264             : 
+     265      213815 :     case RUNNING_STATE: {
+     266      438794 :       for (auto correction : corrections_) {
+     267      224979 :         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      213815 :       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      214138 :   if (sh_control_input_.newMsg()) {
+     319      106667 :     is_input_ready_ = true;
+     320             :   }
+     321             : 
+     322             :   // check age of input
+     323      214134 :   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      214136 :   if (fun_get_hdg_()) {
+     330      213882 :     is_hdg_state_ready_ = true;
+     331             :   }
+     332             : 
+     333      214138 :   if (!isRunning() && !isStarted()) {
+     334         193 :     return;
+     335             :   }
+     336             : 
+     337      213941 :   if (first_iter_) {
+     338         116 :     first_iter_ = false;
+     339         116 :     return;
+     340             :   }
+     341             : 
+     342             :   // obtain dt for state prediction
+     343      213825 :   double dt = (event.current_real - event.last_real).toSec();
+     344      213827 :   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       15630 :     return;
+     346             :   }
+     347             : 
+     348      198197 :   if (!is_repredictor_enabled_) { // repredictor calculates dt on its own
+     349      198199 :     setDt(dt);
+     350             :   }
+     351             : 
+     352             :   // obtain unbiased desired control acceleration in the estimator frame that will be used as input to the estimator
+     353      198199 :   u_t       u;
+     354      198185 :   ros::Time input_stamp;
+     355      198197 :   if (is_input_ready_ && is_hdg_state_ready_) {
+     356      121702 :     auto res = fun_get_hdg_();
+     357      121708 :     if (!res) {
+     358           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: could not obtain heading", getPrintName().c_str());
+     359           0 :       return;
+     360             :     }
+     361             : 
+     362      121709 :     const tf2::Vector3 des_acc_global = getAccGlobal(sh_control_input_.getMsg(), res.value());
+     363      121580 :     input_stamp                       = sh_control_input_.getMsg()->header.stamp;
+     364      121657 :     if (input_coeff_ != default_input_coeff_){
+     365          93 :       setInputCoeff(default_input_coeff_);
+     366             :     }
+     367      121657 :     u(0) = des_acc_global.getX();
+     368      121553 :     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       76483 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: not receiving control input, estimation suboptimal, potentially unstable", getPrintName().c_str());
+     372       76486 :     input_stamp = ros::Time::now();
+     373       76487 :     if (input_coeff_ != 0){
+     374         132 :       setInputCoeff(0);
+     375             :     }
+     376       76487 :     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      198131 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     390      198148 :   Q_t        Q  = mrs_lib::get_mutexed(mtx_Q_, Q_);
+     391             : 
+     392             :   // prediction step
+     393             :   try {
+     394             :     // Apply the prediction step
+     395      396366 :     std::scoped_lock lock(mutex_lkf_);
+     396      198182 :     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      198182 :       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      198150 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     410             : 
+     411             :   // publishing
+     412      198142 :   publishInput(u, input_stamp);
+     413      198201 :   publishOutput();
+     414      198201 :   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      229104 : void LatGeneric::doCorrection(const Correction<lat_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id) {
+     518      229104 :   doCorrection(meas.value, R, state_id, meas.stamp);
+     519      229072 : }
+     520             : /*//}*/
+     521             : 
+     522             : /*//{ doCorrection() */
+     523      228912 : void LatGeneric::doCorrection(const z_t &z, const double R, const StateId_t &state_id, const ros::Time &meas_stamp) {
+     524             : 
+     525      228912 :   if (!isInitialized()) {
+     526         193 :     return;
+     527             :   }
+     528             : 
+     529             :   // we do not want to perform corrections until the estimator is initialized
+     530      228963 :   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      228636 :   if (state_id == POSITION) {
+     536             :     {
+     537      217783 :       std::scoped_lock lock(mtx_innovation_);
+     538             : 
+     539      217903 :       is_mitigating_jump_ = false;
+     540      217976 :       innovation_(0)      = z(0) - getState(POSITION, AXIS_X);
+     541      217781 :       innovation_(1)      = z(1) - getState(POSITION, AXIS_Y);
+     542             : 
+     543      217853 :       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      217846 :       innovation_ok_ = true;
+     576             :     }
+     577             :   }
+     578             : 
+     579      228693 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     580             :   try {
+     581             :     // Apply the correction step
+     582      457494 :     std::scoped_lock lock(mutex_lkf_);
+     583      228787 :     H_                           = H_t::Zero();
+     584      228646 :     H_(AXIS_X, state_id * 2)     = 1;
+     585      228516 :     H_(AXIS_Y, state_id * 2 + 1) = 1;
+     586      228700 :     lkf_->H                      = H_;
+     587             : 
+     588      228125 :     if (is_repredictor_enabled_) {
+     589             : 
+     590           0 :       lkf_rep_->addMeasurement(z, R_t::Ones() * R, meas_stamp, models_[state_id]);
+     591             :     } else {
+     592      228125 :       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      228652 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     601             : }  // namespace mrs_uav_state_estimators
+     602             : /*//}*/
+     603             : 
+     604             : /*//{ isConverged() */
+     605         116 : bool LatGeneric::isConverged() {
+     606             : 
+     607             :   // TODO: check convergence by rate of change of determinant
+     608             : 
+     609         116 :   return true;
+     610             : }
+     611             : /*//}*/
+     612             : 
+     613             : /*//{ getState() */
+     614     1702181 : double LatGeneric::getState(const int &state_id_in, const int &axis_in) const {
+     615     1702181 :   return getState(stateIdToIndex(state_id_in, axis_in));
+     616             : }
+     617             : 
+     618     1701843 : double LatGeneric::getState(const int &state_idx_in) const {
+     619     1701843 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x(state_idx_in);
+     620             : }
+     621             : /*//}*/
+     622             : 
+     623             : /*//{ setState() */
+     624         374 : void LatGeneric::setState(const double &state_in, const int &state_id_in, const int &axis_in) {
+     625         374 :   setState(state_in, stateIdToIndex(state_id_in, axis_in));
+     626         374 : }
+     627             : 
+     628         374 : void LatGeneric::setState(const double &state_in, const int &state_idx_in) {
+     629         374 :   mrs_lib::set_mutexed(mutex_sc_, state_in, sc_.x(state_idx_in));
+     630         374 : }
+     631             : /*//}*/
+     632             : 
+     633             : /*//{ getStates() */
+     634      198195 : LatGeneric::states_t LatGeneric::getStates(void) const {
+     635      396373 :   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      839106 : double LatGeneric::getCovariance(const int &state_id_in, const int &axis_in) const {
+     647      839106 :   return getCovariance(stateIdToIndex(state_id_in, axis_in));
+     648             : }
+     649             : 
+     650      839096 : double LatGeneric::getCovariance(const int &state_idx_in) const {
+     651      839096 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P(state_idx_in, state_idx_in);
+     652             : }
+     653             : /*//}*/
+     654             : 
+     655             : /*//{ getCovarianceMatrix() */
+     656      198192 : LatGeneric::covariance_t LatGeneric::getCovarianceMatrix(void) const {
+     657      396374 :   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      419539 : double LatGeneric::getInnovation(const int &state_idx) const {
+     669      419539 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_)(state_idx);
+     670             : }
+     671             : 
+     672      419547 : double LatGeneric::getInnovation(const int &state_id_in, const int &axis_in) const {
+     673      419547 :   return getInnovation(stateIdToIndex(state_id_in, axis_in));
+     674             : }
+     675             : /*//}*/
+     676             : 
+     677             : /*//{ setDt() */
+     678      198197 : void LatGeneric::setDt(const double &dt) {
+     679      198197 :   dt_ = dt;
+     680      198197 :   generateA();
+     681      198199 :   generateB();
+     682      396384 :   std::scoped_lock lock(mutex_lkf_);
+     683      198195 :   lkf_->A = A_;
+     684      198197 :   lkf_->B = B_;
+     685      198189 : }
+     686             : /*//}*/
+     687             : 
+     688             : /*//{ setInputCoeff() */
+     689         225 : void LatGeneric::setInputCoeff(const double &input_coeff) {
+     690         225 :   input_coeff_ = input_coeff;
+     691         225 :   generateA();
+     692         225 :   generateB();
+     693         450 :   std::scoped_lock lock(mutex_lkf_);
+     694         225 :   lkf_->A = A_;
+     695         225 :   lkf_->B = B_;
+     696             : 
+     697         225 :   if (is_repredictor_enabled_) {
+     698           0 :     models_.clear();
+     699           0 :     generateRepredictorModels(input_coeff_);
+     700             :   }
+     701         225 : }
+     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      198541 : void LatGeneric::generateA() {
+     747             : 
+     748             :   // clang-format off
+     749      198541 :     A_ <<
+     750      198534 :       1, 0, dt_, 0, 0.5 * dt_ * dt_, 0,
+     751      198537 :       0, 1, 0, dt_, 0, 0.5 * dt_ * dt_,
+     752      198539 :       0, 0, 1, 0, dt_, 0,
+     753      198541 :       0, 0, 0, 1, 0, dt_,
+     754      198540 :       0, 0, 0, 0, 1-(input_coeff_ * dt_), 0,
+     755      198541 :       0, 0, 0, 0, 0, 1-(input_coeff_ * dt_);
+     756             :   // clang-format on
+     757      198536 : }
+     758             : /*//}*/
+     759             : 
+     760             : /*//{ generateB() */
+     761      198539 : void LatGeneric::generateB() {
+     762             : 
+     763             :   // clang-format off
+     764      198539 :     B_ <<
+     765      198541 :       0, 0,
+     766      198534 :       0, 0,
+     767      198534 :       0, 0,
+     768      198535 :       0, 0,
+     769      198540 :       input_coeff_ * dt_, 0,
+     770      198542 :       0, input_coeff_ * dt_;
+     771             :   // clang-format on
+     772      198531 : }
+     773             : /*//}*/
+     774             : 
+     775             : /*//{ callbackReconfigure() */
+     776         116 : void LatGeneric::callbackReconfigure(LateralEstimatorConfig &config, [[maybe_unused]] uint32_t level) {
+     777             : 
+     778         116 :   if (!isInitialized()) {
+     779         116 :     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         700 : std::string LatGeneric::getNamespacedName() const {
+     795        1400 :   return parent_state_est_name_ + "/" + getName();
+     796             : }
+     797             : /*//}*/
+     798             : 
+     799             : /*//{ getPrintName() */
+     800        1080 : std::string LatGeneric::getPrintName() const {
+     801        2160 :   return ch_->nodelet_name + "/" + parent_state_est_name_ + "/" + getName();
+     802             : }
+     803             : /*//}*/
+     804             : };  // namespace mrs_uav_state_estimators
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.gcov.overview.html b/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.gcov.overview.html new file mode 100644 index 0000000000..c2c3e8a4a4 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.gcov.overview.html @@ -0,0 +1,221 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/lateral/lat_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 + 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/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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()30
mrs_uav_state_estimators::gps_baro::GpsBaro::GpsBaro()30
mrs_uav_state_estimators::gps_baro::GpsBaro::~GpsBaro()30
mrs_uav_state_estimators::gps_baro::GpsBaro::~GpsBaro().230
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..fd026c59ac --- /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 + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()30
mrs_uav_state_estimators::gps_baro::GpsBaro::GpsBaro()30
mrs_uav_state_estimators::gps_baro::GpsBaro::~GpsBaro()30
mrs_uav_state_estimators::gps_baro::GpsBaro::~GpsBaro().230
+
+
+ + + +
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..97f47106ae --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions: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          30 :   GpsBaro() : StateGeneric(estimator_name, is_core_plugin) {
+      15          30 :   }
+      16             : 
+      17          60 :   ~GpsBaro(void) {
+      18          60 :   }
+      19             : };
+      20             : 
+      21             : }  // namespace gps_baro
+      22             : }  // namespace mrs_uav_state_estimators
+      23             : 
+      24             : #include <pluginlib/class_list_macros.h>
+      25          30 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::gps_baro::GpsBaro, mrs_uav_managers::StateEstimator)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + 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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()82
mrs_uav_state_estimators::gps_garmin::GpsGarmin::GpsGarmin()82
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin()82
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin().282
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..f17ec6363e --- /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:2024-12-11 22:27:27Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()82
mrs_uav_state_estimators::gps_garmin::GpsGarmin::GpsGarmin()82
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin()82
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin().282
+
+
+ + + +
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..cc8e15a6d2 --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions: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          82 :   GpsGarmin() : StateGeneric(estimator_name, is_core_plugin) {
+      15          82 :   }
+      16             : 
+      17         164 :   ~GpsGarmin(void) {
+      18         164 :   }
+      19             : };
+      20             : 
+      21             : }  // namespace gps_garmin
+      22             : }  // namespace mrs_uav_state_estimators
+      23             : 
+      24             : #include <pluginlib/class_list_macros.h>
+      25          82 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::gps_garmin::GpsGarmin, mrs_uav_managers::StateEstimator)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + 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..44e20f4123 --- /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 + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32850565.0 %
Date:2024-12-11 22:27:27Functions:283873.7 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
passthrough.cpp +
59.8%59.8%
+ 		59.8 %113 / 18950.0 %5 / 10
<unnamed>59.8 %113 / 18950.0 %5 / 10
state_generic.cpp +
65.9%65.9%
+ 		65.9 %195 / 29658.3 %7 / 12
<unnamed>65.9 %195 / 29658.3 %7 / 12
rtk.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
<unnamed>100.0 %5 / 5100.0 %4 / 4
rtk_garmin.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
<unnamed>100.0 %5 / 5100.0 %4 / 4
gps_baro.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
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Test:MRS UAV System - Test coverage reportLines:32850565.0 %
Date:2024-12-11 22:27:27Functions:283873.7 %
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Test:MRS UAV System - Test coverage reportLines:32850565.0 %
Date:2024-12-11 22:27:27Functions:283873.7 %
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Test:MRS UAV System - Test coverage reportLines:32850565.0 %
Date:2024-12-11 22:27:27Functions:283873.7 %
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Current view:top level - mrs_uav_state_estimators/src/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32850565.0 %
Date:2024-12-11 22:27:27Functions:283873.7 %
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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:32850565.0 %
Date:2024-12-11 22:27:27Functions:283873.7 %
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+ + + 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..220929d171 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.func-sort-c.html @@ -0,0 +1,120 @@ + + + + + + + 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:11318959.8 %
Date:2024-12-11 22:27:27Functions:51050.0 %
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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::timerUpdate(ros::TimerEvent 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::timerCheckPassthroughOdomHz(ros::TimerEvent const&)4
mrs_uav_state_estimators::passthrough::Passthrough::callbackPassthroughOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)1392
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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:11318959.8 %
Date:2024-12-11 22:27:27Functions:51050.0 %
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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&)0
mrs_uav_state_estimators::passthrough::Passthrough::callbackPassthroughOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)1392
mrs_uav_state_estimators::passthrough::Passthrough::timerCheckPassthroughOdomHz(ros::TimerEvent const&)4
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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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:11318959.8 %
Date:2024-12-11 22:27:27Functions:51050.0 %
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          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 &parent_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           2 :   ros::NodeHandle nh(parent_nh);
+      20             : 
+      21           1 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      22             : 
+      23             :   // | --------------- param loader initialization -------------- |
+      24             : 
+      25           1 :   if (is_core_plugin_) {
+      26             : 
+      27           1 :     ph_->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      28           1 :     ph_->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      29             :   }
+      30             : 
+      31           1 :   ph_->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getName() + "/");
+      32             : 
+      33             :   // | --------------------- load parameters -------------------- |
+      34           1 :   ph_->param_loader->loadParam("max_flight_z", max_flight_z_);
+      35           1 :   ph_->param_loader->loadParam("message/topic", msg_topic_);
+      36           1 :   ph_->param_loader->loadParam("kickoff", kickoff_, false);
+      37           1 :   msg_topic_ = "/" + ch_->uav_name + "/" + msg_topic_;
+      38             : 
+      39             :   // | --------------- subscribers initialization --------------- |
+      40           2 :   mrs_lib::SubscribeHandlerOptions shopts;
+      41           1 :   shopts.nh                 = nh;
+      42           1 :   shopts.node_name          = getPrintName();
+      43           1 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      44           1 :   shopts.threadsafe         = true;
+      45           1 :   shopts.autostart          = true;
+      46           1 :   shopts.queue_size         = 10;
+      47           1 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      48             : 
+      49           1 :   sh_passthrough_odom_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, msg_topic_, &Passthrough::callbackPassthroughOdom, this);
+      50             : 
+      51             :   // | ------------------ timers initialization ----------------- |
+      52           1 :   t_check_hz_last_                 = ros::WallTime::now();
+      53           1 :   prev_avg_hz_                     = 0;
+      54           1 :   timer_check_passthrough_odom_hz_ = nh.createTimer(ros::Rate(1.0), &Passthrough::timerCheckPassthroughOdomHz, this);
+      55             : 
+      56             :   // | ---------------- publishers initialization --------------- |
+      57           1 :   ph_odom_ = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/odom", 10);  // needed for tf
+      58           1 :   if (ch_->debug_topics.state) {
+      59           1 :     ph_uav_state_ = mrs_lib::PublisherHandler<mrs_msgs::UavState>(nh, Support::toSnakeCase(getName()) + "/uav_state", 10);
+      60             :   }
+      61           1 :   if (ch_->debug_topics.covariance) {
+      62           0 :     ph_pose_covariance_  = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, Support::toSnakeCase(getName()) + "/pose_covariance", 10);
+      63           0 :     ph_twist_covariance_ = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, Support::toSnakeCase(getName()) + "/twist_covariance", 10);
+      64             :   }
+      65           1 :   if (ch_->debug_topics.innovation) {
+      66           0 :     ph_innovation_ = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/innovation", 10);
+      67             :   }
+      68           1 :   if (ch_->debug_topics.diag) {
+      69           0 :     ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics>(nh, Support::toSnakeCase(getName()) + "/diagnostics", 10);
+      70             :   }
+      71             : 
+      72             :   // | ------------------ initialize published messages ------------------ |
+      73           1 :   uav_state_init_.header.frame_id = ns_frame_id_;
+      74           1 :   uav_state_init_.child_frame_id  = ch_->frames.ns_fcu;
+      75             : 
+      76           1 :   uav_state_init_.estimator_horizontal = est_lat_name_;
+      77           1 :   uav_state_init_.estimator_vertical   = est_alt_name_;
+      78           1 :   uav_state_init_.estimator_heading    = est_hdg_name_;
+      79             : 
+      80           1 :   innovation_init_.header.frame_id         = ns_frame_id_;
+      81           1 :   innovation_init_.child_frame_id          = ch_->frames.ns_fcu;
+      82           1 :   innovation_init_.pose.pose.orientation.w = 1.0;
+      83             : 
+      84             :   // | ------------------ finish initialization ----------------- |
+      85             : 
+      86           1 :   if (changeState(INITIALIZED_STATE)) {
+      87           1 :     ROS_INFO("[%s]: Estimator initialized", getPrintName().c_str());
+      88             :   } else {
+      89           0 :     ROS_INFO("[%s]: Estimator could not be initialized", getPrintName().c_str());
+      90             :   }
+      91           1 : }
+      92             : /*//}*/
+      93             : 
+      94             : /*//{ start() */
+      95           1 : bool Passthrough::start(void) {
+      96             : 
+      97             : 
+      98           1 :   if (isInState(READY_STATE)) {
+      99             : 
+     100             :     /* timer_update_.start(); */
+     101           1 :     changeState(STARTED_STATE);
+     102           1 :     return true;
+     103             : 
+     104             :   } else {
+     105           0 :     ROS_WARN("[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+     106           0 :     ros::Duration(1.0).sleep();
+     107             :   }
+     108           0 :   return false;
+     109             : 
+     110             :   ROS_ERROR("[%s]: Failed to start", getPrintName().c_str());
+     111             :   return false;
+     112             : }
+     113             : /*//}*/
+     114             : 
+     115             : /*//{ pause() */
+     116           0 : bool Passthrough::pause(void) {
+     117             : 
+     118           0 :   if (isInState(RUNNING_STATE)) {
+     119           0 :     changeState(STOPPED_STATE);
+     120           0 :     return true;
+     121             :   }
+     122           0 :   return false;
+     123             : }
+     124             : /*//}*/
+     125             : 
+     126             : /*//{ reset() */
+     127           0 : bool Passthrough::reset(void) {
+     128             : 
+     129           0 :   if (!isInitialized()) {
+     130           0 :     ROS_ERROR("[%s]: Cannot reset uninitialized estimator", getPrintName().c_str());
+     131           0 :     return false;
+     132             :   }
+     133             : 
+     134           0 :   changeState(STOPPED_STATE);
+     135             : 
+     136           0 :   ROS_INFO("[%s]: Estimator reset", getPrintName().c_str());
+     137             : 
+     138           0 :   return true;
+     139             : }
+     140             : /*//}*/
+     141             : 
+     142             : /* timerCheckPassthroughOdomHz() //{*/
+     143           4 : void Passthrough::timerCheckPassthroughOdomHz([[maybe_unused]] const ros::TimerEvent &event) {
+     144             : 
+     145           4 :   if (!isInitialized()) {
+     146           0 :     return;
+     147             :   }
+     148             : 
+     149           4 :   if (isInState(INITIALIZED_STATE)) {
+     150             : 
+     151             :     // first wait for a message
+     152           4 :     if (!sh_passthrough_odom_.hasMsg()) {
+     153           0 :       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());
+     154           0 :       return;
+     155             :     }
+     156             : 
+     157             :     // calculate average rate of messages
+     158           4 :     if (counter_odom_msgs_ > 0) {
+     159           4 :       ros::WallTime t_now  = ros::WallTime::now();
+     160           4 :       double        dt     = (t_now - t_check_hz_last_).toSec();
+     161           4 :       double        avg_hz = counter_odom_msgs_ / dt;
+     162           4 :       t_check_hz_last_     = t_now;
+     163           4 :       counter_odom_msgs_   = 0;
+     164           4 :       ROS_INFO("[%s]: rate of passthrough odom: %.2f Hz", getPrintName().c_str(), avg_hz);
+     165             : 
+     166             :       // check message rate stability
+     167           4 :       if (abs(avg_hz - prev_avg_hz_) >= 5) {
+     168           2 :         ROS_INFO("[%s]: %s stable passthrough odometry rate. now: %.2f Hz prev: %.2f Hz", getPrintName().c_str(), Support::waiting_for_string.c_str(), avg_hz,
+     169             :                  prev_avg_hz_);
+     170           2 :         prev_avg_hz_ = avg_hz;
+     171           3 :         return;
+     172             :       }
+     173             : 
+     174             :       // the message rate must be higher than required by the control manager
+     175           2 :       if (!kickoff_ && avg_hz < ch_->desired_uav_state_rate) {
+     176           1 :         ROS_ERROR(
+     177             :             "[%s]: rate of passthrough odom: %.2f Hz is lower than desired uav_state rate: %.2f Hz. Flight not allowed. Provide higher passthrough odometry rate "
+     178             :             "or use a higher-level controller.",
+     179             :             getPrintName().c_str(), avg_hz, ch_->desired_uav_state_rate);
+     180             :         // note: might run the publishing asynchronously on the desired rate in this case to still be able to fly
+     181             :         // the states would then be interpolated by ZOH (bleeh)
+     182             :         /* timer_update_       = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &Passthrough::timerUpdate, this); */
+     183           1 :         return;
+     184             :       }
+     185             :     }
+     186             : 
+     187           1 :     changeState(READY_STATE);
+     188           1 :     ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is ready to start", getPrintName().c_str());
+     189           1 :     timer_check_passthrough_odom_hz_.stop();
+     190             :   }
+     191             : }
+     192             : /*//}*/
+     193             : 
+     194             : /* timerUpdate() //{*/
+     195           0 : void Passthrough::timerUpdate([[maybe_unused]] const ros::TimerEvent &event) {
+     196             : 
+     197             : 
+     198           0 :   if (isInState(STARTED_STATE)) {
+     199             : 
+     200           0 :     changeState(RUNNING_STATE);
+     201             :   }
+     202             : 
+     203           0 :   const ros::Time time_now = ros::Time::now();
+     204             : 
+     205           0 :   nav_msgs::OdometryConstPtr msg = sh_passthrough_odom_.getMsg();
+     206             : 
+     207           0 :   if (first_iter_) {
+     208           0 :     prev_msg_   = msg;
+     209           0 :     first_iter_ = false;
+     210             :   }
+     211             : 
+     212           0 :   mrs_msgs::UavState uav_state = uav_state_init_;
+     213             : 
+     214           0 :   uav_state.header.stamp = time_now;
+     215             : 
+     216           0 :   uav_state.pose.position    = msg->pose.pose.position;
+     217           0 :   uav_state.pose.orientation = msg->pose.pose.orientation;
+     218             : 
+     219           0 :   uav_state.velocity.linear  = Support::rotateVector(msg->twist.twist.linear, msg->pose.pose.orientation);
+     220           0 :   uav_state.velocity.angular = msg->twist.twist.angular;
+     221             : 
+     222           0 :   const nav_msgs::Odometry odom = Support::uavStateToOdom(uav_state);
+     223             : 
+     224           0 :   nav_msgs::Odometry innovation = innovation_init_;
+     225           0 :   innovation.header.stamp       = time_now;
+     226             : 
+     227           0 :   innovation.pose.pose.position.x = prev_msg_->pose.pose.position.x - msg->pose.pose.position.x;
+     228           0 :   innovation.pose.pose.position.y = prev_msg_->pose.pose.position.y - msg->pose.pose.position.y;
+     229           0 :   innovation.pose.pose.position.z = prev_msg_->pose.pose.position.z - msg->pose.pose.position.z;
+     230             : 
+     231           0 :   mrs_msgs::Float64ArrayStamped pose_covariance, twist_covariance;
+     232           0 :   pose_covariance.header.stamp  = time_now;
+     233           0 :   twist_covariance.header.stamp = time_now;
+     234             : 
+     235           0 :   const int n_states = 6;  // TODO this should be defined somewhere else
+     236           0 :   pose_covariance.values.resize(n_states * n_states);
+     237           0 :   pose_covariance.values.at(n_states * AXIS_X + AXIS_X) = 1e-10;
+     238           0 :   pose_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = 1e-10;
+     239           0 :   pose_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = 1e-10;
+     240             : 
+     241           0 :   twist_covariance.values.resize(n_states * n_states);
+     242           0 :   twist_covariance.values.at(n_states * AXIS_X + AXIS_X) = 1e-10;
+     243           0 :   twist_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = 1e-10;
+     244           0 :   twist_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = 1e-10;
+     245             : 
+     246           0 :   mrs_lib::set_mutexed(mtx_uav_state_, uav_state, uav_state_);
+     247           0 :   mrs_lib::set_mutexed(mtx_odom_, odom, odom_);
+     248           0 :   mrs_lib::set_mutexed(mtx_innovation_, innovation, innovation_);
+     249           0 :   mrs_lib::set_mutexed(mtx_covariance_, pose_covariance, pose_covariance_);
+     250           0 :   mrs_lib::set_mutexed(mtx_covariance_, twist_covariance, twist_covariance_);
+     251             : 
+     252           0 :   publishUavState();
+     253           0 :   publishOdom();
+     254           0 :   publishCovariance();
+     255           0 :   publishInnovation();
+     256           0 :   publishDiagnostics();
+     257             : 
+     258           0 :   prev_msg_ = msg;
+     259           0 : }
+     260             : /*//}*/
+     261             : 
+     262             : /*//{ callbackPassthroughOdom() */
+     263        1392 : void Passthrough::callbackPassthroughOdom(const nav_msgs::Odometry::ConstPtr msg) {
+     264             : 
+     265        1392 :   counter_odom_msgs_++;
+     266             : 
+     267        1392 :   if (!isInitialized()) {
+     268           0 :     return;
+     269             :   }
+     270             : 
+     271        1392 :   if (isInState(STARTED_STATE)) {
+     272             : 
+     273           1 :     changeState(RUNNING_STATE);
+     274             :   }
+     275             : 
+     276        1392 :   if (first_iter_) {
+     277           1 :     prev_msg_   = msg;
+     278           1 :     first_iter_ = false;
+     279             :   }
+     280             : 
+     281        2784 :   nav_msgs::Odometry odom = *msg;
+     282             : 
+     283             :   // change the frame_ids
+     284        1392 :   odom.header.frame_id = ns_frame_id_;
+     285        1392 :   odom.child_frame_id  = ch_->frames.ns_fcu;
+     286             : 
+     287        2784 :   mrs_msgs::UavState uav_state = uav_state_init_;
+     288             : 
+     289             :   // here we are assuming the passthrough odometry has correct timestamp
+     290        1392 :   uav_state.header.stamp = odom.header.stamp;
+     291             :   /* const ros::Time time_now = ros::Time::now(); */
+     292             :   /* uav_state.header.stamp = time_now; */
+     293             : 
+     294        1392 :   uav_state.pose.position    = odom.pose.pose.position;
+     295        1392 :   uav_state.pose.orientation = odom.pose.pose.orientation;
+     296        1392 :   uav_state.velocity.angular = odom.twist.twist.angular;
+     297             : 
+     298             :   // uav_state has velocities in the parent frame
+     299        1392 :   uav_state.velocity.linear = Support::rotateVector(odom.twist.twist.linear, odom.pose.pose.orientation);
+     300             : 
+     301             : 
+     302        2784 :   nav_msgs::Odometry innovation = innovation_init_;
+     303        1392 :   innovation.header.stamp       = odom.header.stamp;
+     304             : 
+     305        1392 :   innovation.pose.pose.position.x = prev_msg_->pose.pose.position.x - msg->pose.pose.position.x;
+     306        1392 :   innovation.pose.pose.position.y = prev_msg_->pose.pose.position.y - msg->pose.pose.position.y;
+     307        1392 :   innovation.pose.pose.position.z = prev_msg_->pose.pose.position.z - msg->pose.pose.position.z;
+     308             : 
+     309        2784 :   mrs_msgs::Float64ArrayStamped pose_covariance, twist_covariance;
+     310        1392 :   pose_covariance.header.stamp  = odom.header.stamp;
+     311        1392 :   twist_covariance.header.stamp = odom.header.stamp;
+     312             : 
+     313        1392 :   const int n_states = 6;  // TODO this should be defined somewhere else
+     314        1392 :   pose_covariance.values.resize(n_states * n_states);
+     315        1392 :   pose_covariance.values.at(n_states * AXIS_X + AXIS_X) = 1e-10;
+     316        1392 :   pose_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = 1e-10;
+     317        1392 :   pose_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = 1e-10;
+     318             : 
+     319        1392 :   twist_covariance.values.resize(n_states * n_states);
+     320        1392 :   twist_covariance.values.at(n_states * AXIS_X + AXIS_X) = 1e-10;
+     321        1392 :   twist_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = 1e-10;
+     322        1392 :   twist_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = 1e-10;
+     323             : 
+     324        1392 :   mrs_lib::set_mutexed(mtx_uav_state_, uav_state, uav_state_);
+     325        1392 :   mrs_lib::set_mutexed(mtx_odom_, odom, odom_);
+     326        1392 :   mrs_lib::set_mutexed(mtx_innovation_, innovation, innovation_);
+     327        1392 :   mrs_lib::set_mutexed(mtx_covariance_, pose_covariance, pose_covariance_);
+     328        1392 :   mrs_lib::set_mutexed(mtx_covariance_, twist_covariance, twist_covariance_);
+     329             : 
+     330        1392 :   publishUavState();
+     331        1392 :   publishOdom();
+     332        1392 :   publishCovariance();
+     333        1392 :   publishInnovation();
+     334        1392 :   publishDiagnostics();
+     335             : 
+     336        1392 :   prev_msg_ = msg;
+     337             : }
+     338             : /*//}*/
+     339             : 
+     340             : /*//{ isConverged() */
+     341           0 : bool Passthrough::isConverged() {
+     342             : 
+     343             :   // TODO: check convergence by rate of change of determinant
+     344             :   // most likely not used in top-level estimator
+     345             : 
+     346           0 :   return true;
+     347             : }
+     348             : /*//}*/
+     349             : 
+     350             : /*//{ setUavState() */
+     351           0 : bool Passthrough::setUavState([[maybe_unused]] const mrs_msgs::UavState &uav_state) {
+     352             : 
+     353           0 :   if (!isInState(STOPPED_STATE)) {
+     354           0 :     ROS_WARN("[%s]: Estimator state can be set only in the STOPPED state", getPrintName().c_str());
+     355           0 :     return false;
+     356             :   }
+     357             : 
+     358           0 :   ROS_WARN("[%s]: Setting the state of this estimator is not implemented.", getPrintName().c_str());
+     359           0 :   return false;
+     360             : }
+     361             : /*//}*/
+     362             : 
+     363             : }  // namespace passthrough
+     364             : 
+     365             : }  // namespace mrs_uav_state_estimators
+     366             : 
+     367             : #include <pluginlib/class_list_macros.h>
+     368           1 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::passthrough::Passthrough, mrs_uav_managers::StateEstimator)
+
+
+
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Generated by: LCOV version 1.14
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+
          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..12b137c223 --- /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:2024-12-11 22:27:27Functions: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()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
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+ + + 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..0a1ead19ef --- /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
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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:2024-12-11 22:27:27Functions: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()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..2db95931e7 --- /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 + + + + + + + + + + + + + + +
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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:2024-12-11 22:27:27Functions: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..7b39c81294 --- /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
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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:2024-12-11 22:27:27Functions: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&)116
mrs_uav_state_estimators::StateGeneric::start()8542
mrs_uav_state_estimators::StateGeneric::updateUavState()209781
mrs_uav_state_estimators::StateGeneric::timerUpdate(ros::TimerEvent const&)222016
mrs_uav_state_estimators::StateGeneric::timerPubAttitude(ros::TimerEvent const&)222023
mrs_uav_state_estimators::StateGeneric::getHeading() const335835
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()() const335840
+
+
+ + + +
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..a4e79ae7f2 --- /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:2024-12-11 22:27:27Functions: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&)116
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&)222016
mrs_uav_state_estimators::StateGeneric::updateUavState()209781
mrs_uav_state_estimators::StateGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::StateGeneric::timerPubAttitude(ros::TimerEvent const&)222023
mrs_uav_state_estimators::StateGeneric::pause()0
mrs_uav_state_estimators::StateGeneric::reset()0
mrs_uav_state_estimators::StateGeneric::start()8542
mrs_uav_state_estimators::StateGeneric::getHeading() const335835
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()() const335840
+
+
+ + + +
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..4cca98d157 --- /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:2024-12-11 22:27:27Functions: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         116 : void StateGeneric::initialize(ros::NodeHandle &parent_nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      12             : 
+      13         116 :   ch_ = ch;
+      14         116 :   ph_ = ph;
+      15             : 
+      16         232 :   ros::NodeHandle nh(parent_nh);
+      17             : 
+      18         116 :   if (is_core_plugin_) {
+      19             : 
+      20         116 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      21         116 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      22             :   }
+      23             : 
+      24         116 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getName() + "/");
+      25             : 
+      26         116 :   ph->param_loader->loadParam("estimators/lateral/name", est_lat_name_);
+      27         116 :   ph->param_loader->loadParam("estimators/altitude/name", est_alt_name_);
+      28         116 :   ph->param_loader->loadParam("estimators/heading/name", est_hdg_name_);
+      29         116 :   ph->param_loader->loadParam("estimators/heading/passthrough", is_hdg_passthrough_);
+      30             : 
+      31         116 :   ph->param_loader->loadParam("override_frame_id/enabled", is_override_frame_id_);
+      32         116 :   if (is_override_frame_id_) {
+      33           0 :     ph->param_loader->loadParam("override_frame_id/frame_id", frame_id_);
+      34             :   }
+      35             : 
+      36         232 :   std::string topic_orientation;
+      37         116 :   ph->param_loader->loadParam("topics/orientation", topic_orientation);
+      38         116 :   topic_orientation_ = "/" + ch_->uav_name + "/" + topic_orientation;
+      39         232 :   std::string topic_angular_velocity;
+      40         116 :   ph->param_loader->loadParam("topics/angular_velocity", topic_angular_velocity);
+      41         116 :   topic_angular_velocity_ = "/" + ch_->uav_name + "/" + topic_angular_velocity;
+      42             : 
+      43         116 :   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         116 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      49             : 
+      50             :   // | ------------------ timers initialization ----------------- |
+      51         116 :   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         116 :   timer_pub_attitude_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &StateGeneric::timerPubAttitude, this);
+      54             : 
+      55             :   // | --------------- subscribers initialization --------------- |
+      56         232 :   mrs_lib::SubscribeHandlerOptions shopts;
+      57         116 :   shopts.nh                 = nh;
+      58         116 :   shopts.node_name          = getPrintName();
+      59         116 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      60         116 :   shopts.threadsafe         = true;
+      61         116 :   shopts.autostart          = true;
+      62         116 :   shopts.queue_size         = 10;
+      63         116 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      64             : 
+      65         116 :   sh_hw_api_orient_  = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, topic_orientation_);
+      66         116 :   sh_hw_api_ang_vel_ = mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped>(shopts, topic_angular_velocity_);
+      67             : 
+      68             :   // | ---------------- publishers initialization --------------- |
+      69         116 :   ph_odom_     = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/odom", 10);
+      70         116 :   ph_attitude_ = mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped>(nh, Support::toSnakeCase(getName()) + "/attitude", 10);
+      71             : 
+      72         116 :   if (ch_->debug_topics.state) {
+      73         116 :     ph_uav_state_ = mrs_lib::PublisherHandler<mrs_msgs::UavState>(nh, Support::toSnakeCase(getName()) + "/uav_state", 10);
+      74             :   }
+      75         116 :   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         116 :   if (ch_->debug_topics.innovation) {
+      80           0 :     ph_innovation_ = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/innovation", 10);
+      81             :   }
+      82         116 :   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         232 :   std::vector<double> max_altitudes;
+      88             : 
+      89         116 :   if (is_hdg_passthrough_) {
+      90         116 :     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         116 :   est_hdg_->initialize(nh, ch_, ph_);
+      95         116 :   max_altitudes.push_back(est_hdg_->getMaxFlightZ());
+      96             : 
+      97      335956 :   est_lat_ = std::make_unique<LatGeneric>(est_lat_name_, frame_id_, getName(), is_core_plugin_, [this](void) { return this->getHeading(); });
+      98         116 :   est_lat_->initialize(nh, ch_, ph_);
+      99         116 :   max_altitudes.push_back(est_lat_->getMaxFlightZ());
+     100             : 
+     101         116 :   est_alt_ = std::make_unique<AltGeneric>(est_alt_name_, frame_id_, getName(), is_core_plugin_);
+     102         116 :   est_alt_->initialize(nh, ch_, ph_);
+     103         116 :   max_altitudes.push_back(est_alt_->getMaxFlightZ());
+     104             : 
+     105         116 :   max_flight_z_ = *std::min_element(max_altitudes.begin(), max_altitudes.end());
+     106             : 
+     107             :   // | ------------------ initialize published messages ------------------ |
+     108         116 :   uav_state_init_.header.frame_id = ns_frame_id_;
+     109         116 :   uav_state_init_.child_frame_id  = ch_->frames.ns_fcu;
+     110             : 
+     111         116 :   uav_state_init_.estimator_horizontal = est_lat_name_;
+     112         116 :   uav_state_init_.estimator_vertical   = est_alt_name_;
+     113         116 :   uav_state_init_.estimator_heading    = est_hdg_name_;
+     114             : 
+     115         116 :   innovation_init_.header.frame_id         = ns_frame_id_;
+     116         116 :   innovation_init_.child_frame_id          = ch_->frames.ns_fcu;
+     117         116 :   innovation_init_.pose.pose.orientation.w = 1.0;
+     118             : 
+     119             :   // | ------------------ finish initialization ----------------- |
+     120             : 
+     121         116 :   if (changeState(INITIALIZED_STATE)) {
+     122         116 :     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         116 : }
+     127             : /*//}*/
+     128             : 
+     129             : /*//{ start() */
+     130        8542 : bool StateGeneric::start(void) {
+     131             : 
+     132        8542 :   if (isInState(READY_STATE)) {
+     133             : 
+     134             :     bool est_lat_start_successful, est_alt_start_successful, est_hdg_start_successful;
+     135             : 
+     136        8542 :     if (est_lat_->isStarted() || est_lat_->isRunning()) {
+     137        4108 :       est_lat_start_successful = true;
+     138             :     } else {
+     139        4434 :       est_lat_start_successful = est_lat_->start();
+     140             :     }
+     141             : 
+     142        8542 :     if (est_alt_->isStarted() || est_alt_->isRunning()) {
+     143        4013 :       est_alt_start_successful = true;
+     144             :     } else {
+     145        4529 :       est_alt_start_successful = est_alt_->start();
+     146             :     }
+     147             : 
+     148        8542 :     if (est_hdg_->isStarted() || est_hdg_->isRunning()) {
+     149        8356 :       timer_pub_attitude_.start();
+     150        8356 :       est_hdg_start_successful = true;
+     151             :     } else {
+     152         186 :       est_hdg_start_successful = est_hdg_->start();
+     153             :     }
+     154             : 
+     155        8542 :     if (est_lat_start_successful && est_alt_start_successful && est_hdg_start_successful) {
+     156             :       /* timer_update_.start(); */
+     157         116 :       changeState(STARTED_STATE);
+     158         116 :       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        8426 :   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      222016 : void StateGeneric::timerUpdate([[maybe_unused]] const ros::TimerEvent &event) {
+     210             : 
+     211             : 
+     212      222016 :   if (!isInitialized()) {
+     213       12238 :     return;
+     214             :   }
+     215             : 
+     216      442341 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("StateGeneric::timerUpdate", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     217             : 
+     218      221171 :   switch (getCurrentSmState()) {
+     219             : 
+     220           0 :     case UNINITIALIZED_STATE: {
+     221           0 :       break;
+     222             :     }
+     223        2838 :     case INITIALIZED_STATE: {
+     224             : 
+     225        2838 :       if (sh_hw_api_orient_.hasMsg() && sh_hw_api_ang_vel_.hasMsg()) {
+     226         116 :         if (est_lat_->isInitialized() && est_alt_->isInitialized() && est_hdg_->isInitialized()) {
+     227         116 :           changeState(READY_STATE);
+     228         116 :           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        2722 :         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        2722 :         return;
+     236             :       }
+     237             : 
+     238         116 :       break;
+     239             :     }
+     240             : 
+     241        8520 :     case READY_STATE: {
+     242        8520 :       break;
+     243             :     }
+     244             : 
+     245         148 :     case STARTED_STATE: {
+     246             : 
+     247         148 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     248             : 
+     249         148 :       if (est_lat_->isError() || est_alt_->isError() || est_hdg_->isError()) {
+     250           0 :         changeState(ERROR_STATE);
+     251             :       }
+     252             : 
+     253         148 :       if (est_lat_->isRunning() && est_alt_->isRunning() && est_hdg_->isRunning()) {
+     254         116 :         ROS_INFO_THROTTLE(1.0, "[%s]: Subestimators converged", getPrintName().c_str());
+     255         116 :         changeState(RUNNING_STATE);
+     256             :       } else {
+     257          32 :         return;
+     258             :       }
+     259         116 :       break;
+     260             :     }
+     261             : 
+     262      209665 :     case RUNNING_STATE: {
+     263      209665 :       if (est_lat_->isError() || est_alt_->isError() || est_hdg_->isError()) {
+     264           0 :         changeState(ERROR_STATE);
+     265             :       }
+     266      209664 :       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      218415 :   if (!isRunning() && !isStarted()) {
+     282        8636 :     return;
+     283             :   }
+     284             : 
+     285      209780 :   updateUavState();
+     286             : 
+     287      209780 :   publishUavState();
+     288      209781 :   publishOdom();
+     289      209781 :   publishCovariance();
+     290      209781 :   publishInnovation();
+     291      209781 :   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      222023 : void StateGeneric::timerPubAttitude([[maybe_unused]] const ros::TimerEvent &event) {
+     371             : 
+     372      222023 :   if (!isInitialized()) {
+     373        3937 :     return;
+     374             :   }
+     375             : 
+     376      442344 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("StateGeneric::timerPubAttitude", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     377             : 
+     378      221172 :   if (!sh_hw_api_orient_.hasMsg()) {
+     379        1622 :     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        1622 :     return;
+     381             :   }
+     382             : 
+     383      219550 :   if (!est_hdg_->isRunning() && !isError()) {
+     384        1464 :     ROS_WARN_THROTTLE(1.0, "[%s]: cannot publish attitude, heading estimator is not running", getPrintName().c_str());
+     385        1464 :     return;
+     386             :   }
+     387             : 
+     388      218086 :   scope_timer.checkpoint("checks");
+     389             : 
+     390      218086 :   const ros::Time time_now = ros::Time::now();
+     391             : 
+     392      218086 :   geometry_msgs::QuaternionStamped att;
+     393      218086 :   att.header.stamp    = time_now;
+     394      218086 :   att.header.frame_id = ns_frame_id_ + "_att_only";
+     395             : 
+     396             :   double hdg;
+     397      218086 :   if (isError()) {
+     398           0 :     hdg = est_hdg_->getLastValidHdg();
+     399             :   } else {
+     400      218086 :     hdg = est_hdg_->getState(POSITION);
+     401             :   }
+     402             : 
+     403      218086 :   auto res = rotateQuaternionByHeading(sh_hw_api_orient_.getMsg()->quaternion, hdg);
+     404      218077 :   if (res) {
+     405      218082 :     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      218077 :   scope_timer.checkpoint("rotate");
+     412             : 
+     413      218081 :   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      218084 :   scope_timer.checkpoint("nan check");
+     419             : 
+     420      218081 :   ph_attitude_.publish(att);
+     421      218086 :   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      209781 : void StateGeneric::updateUavState() {
+     437             : 
+     438      209781 :   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      209781 :   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      419561 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("StateGeneric::updateUavState", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     448             : 
+     449      209780 :   const ros::Time time_now = ros::Time::now();
+     450             : 
+     451      209781 :   mrs_msgs::UavState uav_state = uav_state_init_;
+     452      209781 :   uav_state.header.stamp       = time_now;
+     453             : 
+     454             :   // do not rotate orientation if passthrough hdg
+     455      209781 :   if (est_hdg_name_ == "hdg_passthrough") {
+     456           0 :     uav_state.pose.orientation = sh_hw_api_orient_.getMsg()->quaternion;
+     457             :   } else {
+     458             :     double hdg;
+     459      209781 :     if (isError()) {
+     460           0 :       hdg = est_hdg_->getLastValidHdg();
+     461             :     } else {
+     462      209780 :       hdg = est_hdg_->getState(POSITION);
+     463             :     }
+     464             : 
+     465      209781 :     auto res = rotateQuaternionByHeading(sh_hw_api_orient_.getMsg()->quaternion, hdg);
+     466      209778 :     if (res) {
+     467      209780 :       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      209780 :   scope_timer.checkpoint("rotate orientation");
+     475             : 
+     476      209781 :   uav_state.velocity.angular = sh_hw_api_ang_vel_.getMsg()->vector;
+     477             : 
+     478      209776 :   uav_state.pose.position.x = est_lat_->getState(POSITION, AXIS_X);
+     479      209780 :   uav_state.pose.position.y = est_lat_->getState(POSITION, AXIS_Y);
+     480      209780 :   uav_state.pose.position.z = est_alt_->getState(POSITION);
+     481             : 
+     482      209778 :   uav_state.velocity.linear.x = est_lat_->getState(VELOCITY, AXIS_X);  // in global frame
+     483      209780 :   uav_state.velocity.linear.y = est_lat_->getState(VELOCITY, AXIS_Y);  // in global frame
+     484      209781 :   uav_state.velocity.linear.z = est_alt_->getState(VELOCITY);          // in global frame
+     485             : 
+     486      209778 :   uav_state.acceleration.linear.x = est_lat_->getState(ACCELERATION, AXIS_X);  // in global frame
+     487      209780 :   uav_state.acceleration.linear.y = est_lat_->getState(ACCELERATION, AXIS_Y);  // in global frame
+     488      209781 :   uav_state.acceleration.linear.z = est_alt_->getState(ACCELERATION);          // in global frame
+     489             : 
+     490      209779 :   scope_timer.checkpoint("fill uav state");
+     491             : 
+     492      419556 :   const nav_msgs::Odometry odom = Support::uavStateToOdom(uav_state);
+     493      209779 :   scope_timer.checkpoint("uav state to odom");
+     494             : 
+     495      419551 :   nav_msgs::Odometry innovation = innovation_init_;
+     496      209779 :   innovation.header.stamp       = time_now;
+     497             : 
+     498      209779 :   innovation.pose.pose.position.x = est_lat_->getInnovation(POSITION, AXIS_X);
+     499      209778 :   innovation.pose.pose.position.y = est_lat_->getInnovation(POSITION, AXIS_Y);
+     500      209776 :   innovation.pose.pose.position.z = est_alt_->getInnovation(POSITION);
+     501             : 
+     502      209772 :   is_mitigating_jump_ = est_alt_->isMitigatingJump() || est_lat_->isMitigatingJump() || est_hdg_->isMitigatingJump();
+     503             : 
+     504      209781 :   scope_timer.checkpoint("innovation");
+     505             : 
+     506      419551 :   mrs_msgs::Float64ArrayStamped pose_covariance, twist_covariance;
+     507      209767 :   pose_covariance.header.stamp  = time_now;
+     508      209767 :   twist_covariance.header.stamp = time_now;
+     509             : 
+     510      209767 :   const int n_states = 6;  // TODO this should be defined somewhere else
+     511      209767 :   pose_covariance.values.resize(n_states * n_states);
+     512      209775 :   pose_covariance.values.at(n_states * AXIS_X + AXIS_X) = est_lat_->getCovariance(POSITION, AXIS_X);
+     513      209763 :   pose_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = est_lat_->getCovariance(POSITION, AXIS_Y);
+     514      209774 :   pose_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = est_alt_->getCovariance(POSITION);
+     515             : 
+     516      209768 :   twist_covariance.values.resize(n_states * n_states);
+     517      209778 :   twist_covariance.values.at(n_states * AXIS_X + AXIS_X) = est_lat_->getCovariance(VELOCITY, AXIS_X);
+     518      209771 :   twist_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = est_lat_->getCovariance(VELOCITY, AXIS_Y);
+     519      209776 :   twist_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = est_alt_->getCovariance(VELOCITY);
+     520             : 
+     521      209777 :   scope_timer.checkpoint("covariance");
+     522             : 
+     523      209775 :   mrs_lib::set_mutexed(mtx_uav_state_, uav_state, uav_state_);
+     524      209780 :   mrs_lib::set_mutexed(mtx_odom_, odom, odom_);
+     525      209772 :   mrs_lib::set_mutexed(mtx_innovation_, innovation, innovation_);
+     526      209775 :   mrs_lib::set_mutexed(mtx_covariance_, pose_covariance, pose_covariance_);
+     527      209770 :   mrs_lib::set_mutexed(mtx_covariance_, twist_covariance, twist_covariance_);
+     528             : }
+     529             : /*//}*/
+     530             : 
+     531             : /*//{ getHeading() */
+     532      335835 : std::optional<double> StateGeneric::getHeading() const {
+     533      335835 :   if (!est_hdg_->isRunning()) {
+     534         247 :     return {};
+     535             :   }
+     536      335596 :   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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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:2024-12-11 22:27:27Functions:71838.9 %
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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()109
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>)109
mrs_uav_trackers::joy_tracker::JoyTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)309
mrs_uav_trackers::joy_tracker::JoyTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)377
mrs_uav_trackers::joy_tracker::JoyTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)140010
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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:2024-12-11 22:27:27Functions: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()109
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>)109
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&)377
mrs_uav_trackers::joy_tracker::JoyTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)309
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&)140010
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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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:2024-12-11 22:27:27Functions:71838.9 %
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 <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         109 : 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         109 :   this->common_handlers_  = common_handlers;
+     136         109 :   this->private_handlers_ = private_handlers;
+     137             : 
+     138         109 :   _uav_name_ = common_handlers->uav_name;
+     139             : 
+     140         109 :   nh_ = nh;
+     141             : 
+     142         109 :   ros::Time::waitForValid();
+     143             : 
+     144             :   // --------------------------------------------------------------
+     145             :   // |                     loading parameters                     |
+     146             :   // --------------------------------------------------------------
+     147             : 
+     148             :   // | ---------- loading params using the parent's nh ---------- |
+     149             : 
+     150         218 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     151             : 
+     152         109 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     153             : 
+     154         109 :   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         109 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/joy_tracker.yaml");
+     162         109 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/joy_tracker.yaml");
+     163             : 
+     164         218 :   const std::string yaml_prefix = "mrs_uav_trackers/joy_tracker/";
+     165             : 
+     166         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/vertical_speed", _vertical_speed_);
+     167             : 
+     168         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "max_tilt", _max_tilt_);
+     169             : 
+     170         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "heading_tracker/heading_rate", _heading_rate_);
+     171             : 
+     172             :   // load channels
+     173         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/pitch", _channel_pitch_);
+     174         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/roll", _channel_roll_);
+     175         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/heading", _channel_heading_);
+     176         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/throttle", _channel_throttle_);
+     177             : 
+     178             :   // load channel multipliers
+     179         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/pitch", _channel_mult_pitch_);
+     180         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/roll", _channel_mult_roll_);
+     181         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/heading", _channel_mult_heading_);
+     182         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/throttle", _channel_mult_throttle_);
+     183             : 
+     184         109 :   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         109 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "JoyTracker", _profiler_enabled_);
+     192             : 
+     193             :   // | ----------------------- subscribers ---------------------- |
+     194             : 
+     195         109 :   mrs_lib::SubscribeHandlerOptions shopts;
+     196         109 :   shopts.nh              = nh_;
+     197         109 :   shopts.node_name       = "JoyTracker";
+     198         109 :   shopts.queue_size      = 1;
+     199         109 :   shopts.transport_hints = ros::TransportHints().tcpNoDelay();
+     200             : 
+     201         109 :   sh_joystick_ = mrs_lib::SubscribeHandler<sensor_msgs::Joy>(shopts, "joystick");
+     202             : 
+     203             :   // | --------------------- finish the init -------------------- |
+     204             : 
+     205         109 :   last_update = ros::Time(0);
+     206             : 
+     207         109 :   is_initialized_ = true;
+     208             : 
+     209         109 :   ROS_INFO("[JoyTracker]: initialized");
+     210             : 
+     211         109 :   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      140010 : 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      420030 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     300      420030 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("JoyTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     301             : 
+     302             :   {
+     303      140010 :     std::scoped_lock lock(mutex_uav_state_);
+     304             : 
+     305      140010 :     uav_state_ = uav_state;
+     306             : 
+     307      140010 :     got_uav_state_ = true;
+     308             :   }
+     309             : 
+     310      140010 :   double dt = (ros::Time::now() - last_update).toSec();
+     311             : 
+     312      140010 :   last_update = ros::Time::now();
+     313             : 
+     314             :   // up to this part the update() method is evaluated even when the tracker is not active
+     315      140010 :   if (!is_active_) {
+     316      140010 :     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         309 : const std_srvs::SetBoolResponse::ConstPtr JoyTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     388             : 
+     389         618 :   std_srvs::SetBoolResponse res;
+     390         618 :   std::stringstream         ss;
+     391             : 
+     392         309 :   if (cmd->data != callbacks_enabled_) {
+     393             : 
+     394          19 :     callbacks_enabled_ = cmd->data;
+     395             : 
+     396          19 :     ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+     397          19 :     ROS_INFO_STREAM_THROTTLE(1.0, "[JoyTracker]: " << ss.str());
+     398             : 
+     399             :   } else {
+     400             : 
+     401         290 :     ss << "callbacks were already " << (callbacks_enabled_ ? "enabled" : "disabled");
+     402         290 :     ROS_WARN_STREAM_THROTTLE(1.0, "[JoyTracker]: " << ss.str());
+     403             :   }
+     404             : 
+     405         309 :   res.message = ss.str();
+     406         309 :   res.success = true;
+     407             : 
+     408         618 :   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         377 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr JoyTracker::setConstraints([
+     465             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     466             : 
+     467         377 :   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         109 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::joy_tracker::JoyTracker, mrs_uav_managers::Tracker)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:44160173.4 %
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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:2024-12-11 22:27:27Functions:213167.7 %
Legend: Lines: + hit + not hit +
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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> >&)21
mrs_uav_trackers::landoff_tracker::LandoffTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)46
mrs_uav_trackers::landoff_tracker::LandoffTracker::deactivate()62
(anonymous namespace)::ProxyExec0::ProxyExec0()109
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>)109
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeState(mrs_uav_trackers::landoff_tracker::States_t)151
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeStateHorizontal(mrs_uav_trackers::landoff_tracker::States_t)185
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeStateVertical(mrs_uav_trackers::landoff_tracker::States_t)227
mrs_uav_trackers::landoff_tracker::LandoffTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)309
mrs_uav_trackers::landoff_tracker::LandoffTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)377
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopVerticalMotion()668
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopHorizontalMotion()668
mrs_uav_trackers::landoff_tracker::LandoffTracker::getStatus()2287
mrs_uav_trackers::landoff_tracker::LandoffTracker::decelerateVertical()4797
mrs_uav_trackers::landoff_tracker::LandoffTracker::accelerateVertical()16074
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopHorizontal()20871
mrs_uav_trackers::landoff_tracker::LandoffTracker::timerMain(ros::TimerEvent const&)23918
mrs_uav_trackers::landoff_tracker::LandoffTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)140010
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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:2024-12-11 22:27:27Functions: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()109
mrs_uav_trackers::landoff_tracker::LandoffTracker::deactivate()62
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>)109
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeState(mrs_uav_trackers::landoff_tracker::States_t)151
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&)377
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopHorizontal()20871
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackTakeoff(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)21
mrs_uav_trackers::landoff_tracker::LandoffTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)309
mrs_uav_trackers::landoff_tracker::LandoffTracker::accelerateVertical()16074
mrs_uav_trackers::landoff_tracker::LandoffTracker::decelerateVertical()4797
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopVerticalMotion()668
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeStateVertical(mrs_uav_trackers::landoff_tracker::States_t)227
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()668
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)185
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&)140010
mrs_uav_trackers::landoff_tracker::LandoffTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)46
mrs_uav_trackers::landoff_tracker::LandoffTracker::getStatus()2287
mrs_uav_trackers::landoff_tracker::LandoffTracker::timerMain(ros::TimerEvent const&)23918
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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:2024-12-11 22:27:27Functions:213167.7 %
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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_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         109 : 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         109 :   this->common_handlers_  = common_handlers;
+     217         109 :   this->private_handlers_ = private_handlers;
+     218             : 
+     219         109 :   _uav_name_ = common_handlers->uav_name;
+     220             : 
+     221         109 :   nh_ = nh;
+     222             : 
+     223         109 :   ros::Time::waitForValid();
+     224             : 
+     225             :   // --------------------------------------------------------------
+     226             :   // |                     loading parameters                     |
+     227             :   // --------------------------------------------------------------
+     228             : 
+     229             :   // | ---------- loading params using the parent's nh ---------- |
+     230             : 
+     231         218 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     232             : 
+     233         109 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     234             : 
+     235         109 :   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         109 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/landoff_tracker.yaml");
+     243         109 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/landoff_tracker.yaml");
+     244             : 
+     245         218 :   const std::string yaml_prefix = "mrs_uav_trackers/landoff_tracker/";
+     246             : 
+     247         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "horizontal_tracker/horizontal_speed", _horizontal_speed_);
+     248         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "horizontal_tracker/horizontal_acceleration", _horizontal_acceleration_);
+     249             : 
+     250         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/vertical_speed", _vertical_speed_);
+     251         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/vertical_acceleration", _vertical_acceleration_);
+     252             : 
+     253         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/takeoff_speed", _takeoff_speed_);
+     254         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/takeoff_acceleration", _takeoff_acceleration_);
+     255             : 
+     256         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/landing_speed", _landing_speed_);
+     257         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/landing_acceleration", _landing_acceleration_);
+     258             : 
+     259         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/elanding_speed", _elanding_speed_);
+     260         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/elanding_acceleration", _elanding_acceleration_);
+     261             : 
+     262         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "heading_tracker/heading_rate", _heading_rate_);
+     263         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "heading_tracker/heading_gain", _heading_gain_);
+     264             : 
+     265         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "main_timer_rate", _main_timer_rate_);
+     266             : 
+     267         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "landing_reference", _landing_reference_);
+     268             : 
+     269         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "max_position_difference", _max_position_difference_);
+     270             : 
+     271         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "takeoff_disable_lateral_gains", _takeoff_disable_lateral_gains_);
+     272         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "takeoff_disable_lateral_gains_z", _takeoff_disable_lateral_gains_z_);
+     273             : 
+     274         109 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     275           0 :     ROS_ERROR("[LandoffTracker]: Could not load all parameters!");
+     276           0 :     return false;
+     277             :   }
+     278             : 
+     279         109 :   _tracker_dt_ = 1.0 / double(_main_timer_rate_);
+     280             : 
+     281         109 :   ROS_INFO("[LandoffTracker]: tracker_dt: %f", _tracker_dt_);
+     282             : 
+     283         109 :   state_x_       = 0;
+     284         109 :   state_y_       = 0;
+     285         109 :   state_z_       = 0;
+     286         109 :   state_heading_ = 0;
+     287             : 
+     288         109 :   speed_x_       = 0;
+     289         109 :   speed_y_       = 0;
+     290         109 :   speed_heading_ = 0;
+     291             : 
+     292         109 :   current_horizontal_speed_ = 0;
+     293         109 :   current_vertical_speed_   = 0;
+     294             : 
+     295         109 :   current_horizontal_acceleration_ = 0;
+     296         109 :   current_vertical_acceleration_   = 0;
+     297             : 
+     298         109 :   current_vertical_direction_ = 0;
+     299             : 
+     300         109 :   current_state_vertical_  = LANDED_STATE;
+     301         109 :   previous_state_vertical_ = LANDED_STATE;
+     302             : 
+     303         109 :   current_state_horizontal_  = LANDED_STATE;
+     304         109 :   previous_state_horizontal_ = LANDED_STATE;
+     305             : 
+     306             :   // | ------------------------ profiler ------------------------ |
+     307             : 
+     308         109 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "LandoffTracker", _profiler_enabled_);
+     309             : 
+     310             :   // | ------------------------ services ------------------------ |
+     311             : 
+     312         109 :   service_takeoff_ = nh_.advertiseService("takeoff", &LandoffTracker::callbackTakeoff, this);
+     313         109 :   service_land_    = nh_.advertiseService("land", &LandoffTracker::callbackLand, this);
+     314         109 :   service_eland_   = nh_.advertiseService("eland", &LandoffTracker::callbackELand, this);
+     315             : 
+     316             :   // | ------------------------- timers ------------------------- |
+     317             : 
+     318         109 :   timer_main_ = nh_.createTimer(ros::Rate(_main_timer_rate_), &LandoffTracker::timerMain, this, false, false);
+     319             : 
+     320             :   // | ----------------------- finish init ---------------------- |
+     321             : 
+     322         109 :   is_initialized_ = true;
+     323             : 
+     324         109 :   ROS_INFO("[LandoffTracker]: initialized");
+     325             : 
+     326         109 :   return true;
+     327             : }
+     328             : 
+     329             : //}
+     330             : 
+     331             : /* //{ activate() */
+     332             : 
+     333          46 : std::tuple<bool, std::string> LandoffTracker::activate([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand>& last_tracker_cmd) {
+     334             : 
+     335          92 :   std::stringstream ss;
+     336             : 
+     337          46 :   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          46 :   activate_as_the_first_tracker = !last_tracker_cmd.has_value();
+     345             : 
+     346             :   // copy member variables
+     347          92 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     348             : 
+     349             :   double uav_heading;
+     350             : 
+     351             :   try {
+     352          46 :     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          92 :     std::scoped_lock lock(mutex_goal_);
+     367             : 
+     368             :     // the last command is usable
+     369          46 :     state_x_       = uav_state.pose.position.x;
+     370          46 :     state_y_       = uav_state.pose.position.y;
+     371          46 :     state_z_       = uav_state.pose.position.z;
+     372          46 :     state_heading_ = uav_heading;
+     373             : 
+     374          46 :     speed_x_         = uav_state.velocity.linear.x;
+     375          46 :     speed_y_         = uav_state.velocity.linear.y;
+     376          46 :     current_heading_ = atan2(speed_y_, speed_x_);
+     377             : 
+     378          46 :     current_horizontal_speed_ = sqrt(pow(speed_x_, 2) + pow(speed_y_, 2));
+     379             : 
+     380          46 :     current_vertical_speed_     = fabs(uav_state.velocity.linear.z);
+     381          46 :     current_vertical_direction_ = uav_state.velocity.linear.z > 0 ? +1 : -1;
+     382             : 
+     383          46 :     current_horizontal_acceleration_ = 0;
+     384          46 :     current_vertical_acceleration_   = 0;
+     385             : 
+     386          46 :     goal_heading_ = uav_heading;
+     387             : 
+     388          46 :     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          46 :     std::scoped_lock lock(mutex_state_);
+     399             : 
+     400          46 :     horizontal_t_stop    = current_horizontal_speed_ / _horizontal_acceleration_;
+     401          46 :     horizontal_stop_dist = (horizontal_t_stop * current_horizontal_speed_) / 2.0;
+     402          46 :     stop_dist_x          = cos(current_heading_) * horizontal_stop_dist;
+     403          46 :     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          46 :     std::scoped_lock lock(mutex_state_);
+     414             : 
+     415          46 :     vertical_t_stop    = current_vertical_speed_ / _vertical_acceleration_;
+     416          46 :     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          46 :     std::scoped_lock lock(mutex_goal_, mutex_state_);
+     425             : 
+     426          46 :     goal_x_ = state_x_ + stop_dist_x;
+     427          46 :     goal_y_ = state_y_ + stop_dist_y;
+     428          46 :     goal_z_ = state_z_ + vertical_stop_dist;
+     429             :   }
+     430             : 
+     431          46 :   landing_        = false;
+     432          46 :   taking_off_     = false;
+     433          46 :   is_active_      = true;
+     434          46 :   have_goal_      = false;
+     435          46 :   cause_failsafe_ = false;
+     436             : 
+     437          46 :   timer_main_.start();
+     438             : 
+     439             :   {
+     440          92 :     std::scoped_lock lock(mutex_goal_);
+     441             : 
+     442          46 :     ROS_INFO("[LandoffTracker]: stopping goal: x: %.2f, y: %.2f, z: %.2f, heading: %.2f", goal_x_, goal_y_, goal_z_, goal_heading_);
+     443             :   }
+     444             : 
+     445          46 :   changeState(STOP_MOTION_STATE);
+     446             : 
+     447          46 :   ss << "activated";
+     448          46 :   ROS_INFO_STREAM("[LandoffTracker]: " << ss.str());
+     449             : 
+     450          46 :   return std::tuple(true, ss.str());
+     451             : }
+     452             : 
+     453             : //}
+     454             : 
+     455             : /* //{ deactivate() */
+     456             : 
+     457          62 : void LandoffTracker::deactivate(void) {
+     458             : 
+     459          62 :   is_active_                = false;
+     460          62 :   landing_                  = false;
+     461          62 :   taking_off_               = false;
+     462          62 :   current_state_vertical_   = IDLE_STATE;
+     463          62 :   current_state_horizontal_ = IDLE_STATE;
+     464             : 
+     465          62 :   timer_main_.stop();
+     466             : 
+     467          62 :   ROS_INFO("[LandoffTracker]: deactivated");
+     468          62 : }
+     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      140010 : 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      420030 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     487      420030 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("LandoffTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     488             : 
+     489             :   {
+     490      140010 :     std::scoped_lock lock(mutex_uav_state_);
+     491             : 
+     492      140010 :     uav_state_ = uav_state;
+     493             : 
+     494      140010 :     got_uav_state_ = true;
+     495             :   }
+     496             : 
+     497             :   // up to this part the update() method is evaluated even when the tracker is not active
+     498      140010 :   if (!is_active_ || cause_failsafe_) {
+     499      122015 :     return {};
+     500             :   }
+     501             : 
+     502       17995 :   position_output_.header.stamp    = ros::Time::now();
+     503       17995 :   position_output_.header.frame_id = uav_state_.header.frame_id;
+     504             : 
+     505             :   {
+     506       17995 :     std::scoped_lock lock(mutex_state_);
+     507             : 
+     508       17995 :     position_output_.position.x = state_x_;
+     509       17995 :     position_output_.position.y = state_y_;
+     510       17995 :     position_output_.position.z = state_z_;
+     511       17995 :     position_output_.heading    = state_heading_;
+     512             : 
+     513       17995 :     position_output_.velocity.x   = cos(current_heading_) * current_horizontal_speed_;
+     514       17995 :     position_output_.velocity.y   = sin(current_heading_) * current_horizontal_speed_;
+     515       17995 :     position_output_.velocity.z   = current_vertical_direction_ * current_vertical_speed_;
+     516       17995 :     position_output_.heading_rate = speed_heading_;
+     517             : 
+     518       17995 :     position_output_.use_position_vertical   = 1;
+     519       17995 :     position_output_.use_position_horizontal = 1;
+     520       17995 :     position_output_.use_heading             = 1;
+     521       17995 :     position_output_.use_heading_rate        = 1;
+     522       17995 :     position_output_.use_velocity_vertical   = 1;
+     523       17995 :     position_output_.use_velocity_horizontal = 1;
+     524             :   }
+     525             : 
+     526             :   {
+     527       35990 :     std::scoped_lock lock(mutex_last_control_output_);
+     528             : 
+     529       17995 :     last_control_output_ = last_control_output;
+     530             :   }
+     531             : 
+     532       17995 :   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       17995 :     position_output_.disable_position_gains = false;
+     536             :   }
+     537             : 
+     538       17995 :   if (taking_off_) {
+     539        9131 :     position_output_.disable_antiwindups = true;
+     540             :   } else {
+     541        8864 :     position_output_.disable_antiwindups = false;
+     542             :   }
+     543             : 
+     544       17995 :   return {position_output_};
+     545             : }
+     546             : 
+     547             : //}
+     548             : 
+     549             : /* //{ getStatus() */
+     550             : 
+     551        2287 : const mrs_msgs::TrackerStatus LandoffTracker::getStatus() {
+     552             : 
+     553        2287 :   mrs_msgs::TrackerStatus tracker_status;
+     554             : 
+     555        2287 :   tracker_status.active            = is_active_;
+     556        2287 :   tracker_status.callbacks_enabled = callbacks_enabled_;
+     557             : 
+     558        2287 :   const bool hovering = current_state_vertical_ == HOVER_STATE && current_state_horizontal_ == HOVER_STATE;
+     559        2287 :   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        2287 :   if (idling || (hovering && activate_as_the_first_tracker)) {
+     564             : 
+     565         182 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_IDLE;
+     566             : 
+     567        2105 :   } else if (taking_off_) {
+     568             : 
+     569        1016 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_TAKEOFF;
+     570             : 
+     571        1089 :   } else if (hovering) {
+     572             : 
+     573           0 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_HOVER;
+     574             : 
+     575        1089 :   } else if (landing_) {
+     576             : 
+     577        1084 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_LAND;
+     578             :   }
+     579             : 
+     580        2287 :   tracker_status.have_goal = landing_ || taking_off_ || !(hovering || idling);
+     581             : 
+     582        2287 :   tracker_status.tracking_trajectory = false;
+     583             : 
+     584        2287 :   return tracker_status;
+     585             : }
+     586             : 
+     587             : //}
+     588             : 
+     589             : /* //{ enableCallbacks() */
+     590             : 
+     591         309 : const std_srvs::SetBoolResponse::ConstPtr LandoffTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr& cmd) {
+     592             : 
+     593         618 :   std_srvs::SetBoolResponse res;
+     594         618 :   std::stringstream         ss;
+     595             : 
+     596         309 :   if (cmd->data != callbacks_enabled_) {
+     597             : 
+     598          19 :     callbacks_enabled_ = cmd->data;
+     599             : 
+     600          19 :     ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+     601          19 :     ROS_INFO_STREAM_THROTTLE(1.0, "[LandoffTrakcer]: " << ss.str());
+     602             : 
+     603             :   } else {
+     604             : 
+     605         290 :     ss << "callbacks were already " << (callbacks_enabled_ ? "enabled" : "disabled");
+     606         290 :     ROS_WARN_STREAM_THROTTLE(1.0, "[LandoffTrakcer]: " << ss.str());
+     607             :   }
+     608             : 
+     609         309 :   res.message = ss.str();
+     610         309 :   res.success = true;
+     611             : 
+     612         618 :   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         377 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr LandoffTracker::setConstraints([
+     778             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& cmd) {
+     779             : 
+     780             : 
+     781         377 :   mrs_lib::set_mutexed(mutex_constraints_, cmd->constraints, constraints_);
+     782             : 
+     783         377 :   ROS_INFO("[LandoffTracker]: updating constraints");
+     784             : 
+     785         754 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     786         377 :   res.success = true;
+     787         377 :   res.message = "constraints updated";
+     788             : 
+     789         754 :   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         185 : void LandoffTracker::changeStateHorizontal(States_t new_state) {
+     826             : 
+     827         185 :   previous_state_horizontal_ = current_state_horizontal_;
+     828         185 :   current_state_horizontal_  = new_state;
+     829             : 
+     830         185 :   switch (current_state_horizontal_) {
+     831             : 
+     832          59 :     case STOPPING_STATE: {
+     833             : 
+     834         118 :       std::scoped_lock lock(mutex_state_);
+     835          59 :       current_horizontal_speed_ = 0;
+     836             : 
+     837          59 :       break;
+     838             :     };
+     839             : 
+     840         126 :     default: {
+     841             : 
+     842         126 :       break;
+     843             :     }
+     844             :   }
+     845             : 
+     846         185 :   ROS_INFO("[LandoffTracker]: Switching horizontal state %s -> %s", state_names.at(previous_state_horizontal_), state_names.at(current_state_horizontal_));
+     847         185 : }
+     848             : 
+     849             : //}
+     850             : 
+     851             : /* //{ changeStateVertical() */
+     852             : 
+     853         227 : void LandoffTracker::changeStateVertical(States_t new_state) {
+     854             : 
+     855         227 :   previous_state_vertical_ = current_state_vertical_;
+     856         227 :   current_state_vertical_  = new_state;
+     857             : 
+     858         227 :   switch (current_state_vertical_) {
+     859             : 
+     860          46 :     case HOVER_STATE: {
+     861          46 :       taking_off_ = false;
+     862          46 :       break;
+     863             :     }
+     864             : 
+     865         181 :     default: {
+     866         181 :       break;
+     867             :     }
+     868             :   }
+     869             : 
+     870         227 :   ROS_INFO("[LandoffTracker]: Switching vertical state %s -> %s", state_names.at(previous_state_vertical_), state_names.at(current_state_vertical_));
+     871         227 : }
+     872             : 
+     873             : //}
+     874             : 
+     875             : /* //{ changeState() */
+     876             : 
+     877         151 : void LandoffTracker::changeState(States_t new_state) {
+     878             : 
+     879         151 :   changeStateVertical(new_state);
+     880         151 :   changeStateHorizontal(new_state);
+     881         151 : }
+     882             : 
+     883             : //}
+     884             : 
+     885             : // | --------------------- motion routines -------------------- |
+     886             : 
+     887             : /* //{ stopHorizontalMotion() */
+     888             : 
+     889         668 : void LandoffTracker::stopHorizontalMotion(void) {
+     890             : 
+     891             :   {
+     892        1336 :     std::scoped_lock lock(mutex_state_);
+     893             : 
+     894         668 :     current_horizontal_speed_ -= _horizontal_acceleration_ * _tracker_dt_;
+     895             : 
+     896         668 :     if (current_horizontal_speed_ < 0) {
+     897         400 :       current_horizontal_speed_        = 0;
+     898         400 :       current_horizontal_acceleration_ = 0;
+     899             :     } else {
+     900         268 :       current_horizontal_acceleration_ = -_horizontal_acceleration_;
+     901             :     }
+     902             :   }
+     903         668 : }
+     904             : 
+     905             : //}
+     906             : 
+     907             : /* //{ stopVerticalMotion() */
+     908             : 
+     909         668 : void LandoffTracker::stopVerticalMotion(void) {
+     910             : 
+     911             :   {
+     912        1336 :     std::scoped_lock lock(mutex_state_);
+     913             : 
+     914         668 :     current_vertical_speed_ -= _vertical_acceleration_ * _tracker_dt_;
+     915             : 
+     916         668 :     if (current_vertical_speed_ < 0) {
+     917          38 :       current_vertical_speed_        = 0;
+     918          38 :       current_vertical_acceleration_ = 0;
+     919             :     } else {
+     920         630 :       current_vertical_acceleration_ = -_vertical_acceleration_;
+     921             :     }
+     922             :   }
+     923         668 : }
+     924             : 
+     925             : //}
+     926             : 
+     927             : /* //{ accelerateVertical() */
+     928             : 
+     929       16074 : void LandoffTracker::accelerateVertical(void) {
+     930             : 
+     931             :   // copy member variables
+     932       16074 :   auto [current_vertical_speed, state_z] = mrs_lib::get_mutexed(mutex_state_, current_vertical_speed_, state_z_);
+     933       16074 :   auto goal_z                            = mrs_lib::get_mutexed(mutex_goal_, goal_z_);
+     934       16074 :   auto constraints                       = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     935             : 
+     936             :   double used_acceleration;
+     937             :   double used_speed;
+     938             : 
+     939       16074 :   if (taking_off_) {
+     940             : 
+     941        4797 :     used_speed        = _takeoff_speed_;
+     942        4797 :     used_acceleration = _takeoff_acceleration_;
+     943             : 
+     944        4797 :     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        4797 :     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       11277 :   } else if (landing_) {
+     955             : 
+     956       11277 :     if (elanding_) {
+     957             : 
+     958        7055 :       used_speed        = _elanding_speed_;
+     959        7055 :       used_acceleration = _elanding_acceleration_;
+     960             : 
+     961             :     } else {
+     962             : 
+     963        4222 :       used_speed        = _landing_speed_;
+     964        4222 :       used_acceleration = _landing_acceleration_;
+     965             : 
+     966        4222 :       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        4222 :       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       16074 :   double tar_z = goal_z - state_z;
+     986             : 
+     987             :   // set the right vertical direction
+     988             :   {
+     989       16074 :     std::scoped_lock lock(mutex_state_);
+     990             : 
+     991       16074 :     current_vertical_direction_ = mrs_lib::signum(tar_z);
+     992             :   }
+     993             : 
+     994       16074 :   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       16074 :   double vertical_t_stop    = current_vertical_speed / used_acceleration;
+     998       16074 :   double vertical_stop_dist = (vertical_t_stop * current_vertical_speed) / 2.0;
+     999       16074 :   double stop_dist_z        = current_vertical_direction * vertical_stop_dist;
+    1000             : 
+    1001             :   {
+    1002       32148 :     std::scoped_lock lock(mutex_state_);
+    1003             : 
+    1004       16074 :     current_vertical_speed_ += used_acceleration * _tracker_dt_;
+    1005             : 
+    1006       16074 :     if (current_vertical_speed_ >= used_speed) {
+    1007        3872 :       current_vertical_speed_ -= _vertical_acceleration_ * _tracker_dt_;
+    1008        3872 :       current_vertical_acceleration_ = 0;
+    1009             :     } else {
+    1010       12202 :       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       16074 :   if (!elanding_ && !landing_) {
+    1020        4797 :     if (fabs(state_z + stop_dist_z - goal_z) < (2 * (used_speed * _tracker_dt_))) {
+    1021             : 
+    1022             :       {
+    1023          21 :         std::scoped_lock lock(mutex_state_);
+    1024             : 
+    1025          21 :         current_vertical_acceleration_ = 0;
+    1026             :       }
+    1027             : 
+    1028          21 :       changeStateVertical(DECELERATING_STATE);
+    1029             :     }
+    1030             :   }
+    1031       16074 : }
+    1032             : 
+    1033             : //}
+    1034             : 
+    1035             : /* //{ decelerateVertical() */
+    1036             : 
+    1037        4797 : void LandoffTracker::decelerateVertical(void) {
+    1038             : 
+    1039             :   double used_acceleration;
+    1040             : 
+    1041        4797 :   if (taking_off_) {
+    1042             : 
+    1043        4797 :     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        9594 :     std::scoped_lock lock(mutex_state_);
+    1062             : 
+    1063        4797 :     current_vertical_speed_ -= used_acceleration * _tracker_dt_;
+    1064             : 
+    1065        4797 :     if (current_vertical_speed_ < 0) {
+    1066          21 :       current_vertical_speed_ = 0;
+    1067             :     } else {
+    1068        4776 :       current_vertical_acceleration_ = -used_acceleration;
+    1069             :     }
+    1070             :   }
+    1071             : 
+    1072        4797 :   auto current_vertical_speed = mrs_lib::get_mutexed(mutex_state_, current_vertical_speed_);
+    1073             : 
+    1074        4797 :   if (current_vertical_speed == 0) {
+    1075             : 
+    1076             :     {
+    1077          21 :       std::scoped_lock lock(mutex_state_);
+    1078             : 
+    1079          21 :       current_vertical_acceleration_ = 0;
+    1080             :     }
+    1081             : 
+    1082          21 :     changeStateVertical(STOPPING_STATE);
+    1083             :   }
+    1084        4797 : }
+    1085             : 
+    1086             : //}
+    1087             : 
+    1088             : /* //{ stopHorizontal() */
+    1089             : 
+    1090       20871 : void LandoffTracker::stopHorizontal(void) {
+    1091             : 
+    1092             :   {
+    1093       20871 :     std::scoped_lock lock(mutex_state_, mutex_goal_);
+    1094             : 
+    1095       20871 :     double new_state_x = 0.95 * state_x_ + 0.05 * goal_x_;
+    1096       20871 :     double new_state_y = 0.95 * state_y_ + 0.05 * goal_y_;
+    1097             : 
+    1098       20871 :     double dist_x = new_state_x - state_x_;
+    1099       20871 :     double dist_y = new_state_y - state_y_;
+    1100             : 
+    1101       20871 :     double dt = 1.0 / _main_timer_rate_;
+    1102             : 
+    1103       20871 :     if (std::abs(dist_x / dt) > 1.0) {
+    1104           0 :       dist_x = mrs_lib::signum(dist_x) * (1.0 * dt);
+    1105             :     }
+    1106             : 
+    1107       20871 :     if (std::abs(dist_y / dt) > 1.0) {
+    1108           0 :       dist_y = mrs_lib::signum(dist_y) * (1.0 * dt);
+    1109             :     }
+    1110             : 
+    1111       20871 :     state_x_ += dist_x;
+    1112       20871 :     state_y_ += dist_y;
+    1113             : 
+    1114       20871 :     current_horizontal_acceleration_ = 0;
+    1115             :   }
+    1116       20871 : }
+    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       23918 : void LandoffTracker::timerMain(const ros::TimerEvent& event) {
+    1150             : 
+    1151       23918 :   std::scoped_lock lock(mutex_main_timer_);
+    1152             : 
+    1153       23918 :   if (!is_active_) {
+    1154           0 :     return;
+    1155             :   }
+    1156             : 
+    1157             :   // copy member variables
+    1158       47836 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1159       23918 :   auto [state_x, state_y, state_z, current_horizontal_speed, current_vertical_speed, current_heading, current_vertical_direction] = mrs_lib::get_mutexed(
+    1160       23918 :       mutex_state_, state_x_, state_y_, state_z_, current_horizontal_speed_, current_vertical_speed_, current_heading_, current_vertical_direction_);
+    1161       23918 :   auto [goal_x, goal_y, goal_z] = mrs_lib::get_mutexed(mutex_goal_, goal_x_, goal_y_, goal_z_);
+    1162       47836 :   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       23918 :   uav_x = uav_state.pose.position.x;
+    1166       23918 :   uav_y = uav_state.pose.position.y;
+    1167       23918 :   uav_z = uav_state.pose.position.z;
+    1168             : 
+    1169       71754 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("main", _main_timer_rate_, 0.002, event);
+    1170       71754 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("LandoffTracker::main", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1171             : 
+    1172       23918 :   bool takeoff_saturated = false;
+    1173             : 
+    1174       23918 :   if (taking_off_) {
+    1175             : 
+    1176             :     // calculate the vector
+    1177       10175 :     double err_x      = uav_x - state_x;
+    1178       10175 :     double err_y      = uav_y - state_y;
+    1179       10175 :     double err_z      = uav_z - state_z;
+    1180       10175 :     double error_size = sqrt(pow(err_x, 2) + pow(err_y, 2) + pow(err_z, 2));
+    1181             : 
+    1182       10175 :     if (error_size > _max_position_difference_) {
+    1183             : 
+    1184             :       // calculate the potential next step
+    1185         124 :       double future_state_x = state_x + cos(current_heading) * current_horizontal_speed * _tracker_dt_;
+    1186         124 :       double future_state_y = state_y + sin(current_heading) * current_horizontal_speed * _tracker_dt_;
+    1187         124 :       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         124 :       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         124 :         takeoff_saturated = true;
+    1195             : 
+    1196         124 :         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       10175 :     if (last_control_output.diagnostics.ramping_up) {
+    1204             : 
+    1205         456 :       ROS_INFO_THROTTLE(1.0, "[LandoffTracker]: waiting for the controller to rampup");
+    1206         456 :       takeoff_saturated = true;
+    1207             :     }
+    1208             :   }
+    1209             : 
+    1210       23918 :   if (!takeoff_saturated) {
+    1211             : 
+    1212       23338 :     switch (current_state_horizontal_) {
+    1213             : 
+    1214         668 :       case STOP_MOTION_STATE: {
+    1215             : 
+    1216         668 :         stopHorizontalMotion();
+    1217         668 :         break;
+    1218             :       }
+    1219             : 
+    1220       20871 :       case STOPPING_STATE: {
+    1221             : 
+    1222       20871 :         stopHorizontal();
+    1223       20871 :         break;
+    1224             :       }
+    1225             : 
+    1226        1799 :       default: {
+    1227             : 
+    1228        1799 :         break;
+    1229             :       }
+    1230             :     }
+    1231             : 
+    1232       23338 :     switch (current_state_vertical_) {
+    1233             : 
+    1234         668 :       case STOP_MOTION_STATE: {
+    1235             : 
+    1236         668 :         stopVerticalMotion();
+    1237         668 :         break;
+    1238             :       }
+    1239             : 
+    1240       16074 :       case ACCELERATING_STATE: {
+    1241             : 
+    1242       16074 :         accelerateVertical();
+    1243       16074 :         break;
+    1244             :       }
+    1245             : 
+    1246        4797 :       case DECELERATING_STATE: {
+    1247             : 
+    1248        4797 :         decelerateVertical();
+    1249        4797 :         break;
+    1250             :       }
+    1251             : 
+    1252           0 :       case STOPPING_STATE: {
+    1253             : 
+    1254           0 :         stopVertical();
+    1255           0 :         break;
+    1256             :       }
+    1257             : 
+    1258        1799 :       default: {
+    1259             : 
+    1260        1799 :         break;
+    1261             :       }
+    1262             :     }
+    1263             :   }
+    1264             : 
+    1265       23918 :   if (current_state_horizontal_ == STOP_MOTION_STATE && current_state_vertical_ == STOP_MOTION_STATE) {
+    1266         688 :     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          59 :       if (have_goal_) {
+    1273             : 
+    1274          34 :         changeStateVertical(ACCELERATING_STATE);
+    1275          34 :         changeStateHorizontal(STOPPING_STATE);
+    1276             : 
+    1277             :       } else {
+    1278             : 
+    1279          25 :         changeState(STOPPING_STATE);
+    1280             : 
+    1281             :         {
+    1282          25 :           std::scoped_lock lock(mutex_state_);
+    1283             : 
+    1284          25 :           current_horizontal_speed_ = 0;
+    1285          25 :           current_vertical_speed_   = 0;
+    1286             :         }
+    1287             :       }
+    1288             :     }
+    1289             :   }
+    1290             : 
+    1291       23918 :   if (current_state_vertical_ == STOPPING_STATE && current_state_horizontal_ == STOPPING_STATE) {
+    1292             : 
+    1293          46 :     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          46 :     } 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          46 :         std::scoped_lock lock(mutex_state_);
+    1306             : 
+    1307          46 :         if (!taking_off_) {
+    1308          25 :           state_x_ = goal_x;
+    1309          25 :           state_y_ = goal_y;
+    1310          25 :           state_z_ = goal_z;
+    1311             :         }
+    1312             : 
+    1313          46 :         current_horizontal_speed_ = 0;
+    1314          46 :         current_vertical_speed_   = 0;
+    1315             :       }
+    1316             : 
+    1317          46 :       changeState(HOVER_STATE);
+    1318             : 
+    1319          46 :       have_goal_ = false;
+    1320             :     }
+    1321             :   }
+    1322             : 
+    1323       23918 :   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       23918 :   if (!takeoff_saturated) {
+    1341             :     {
+    1342       23338 :       std::scoped_lock lock(mutex_state_);
+    1343             : 
+    1344       23338 :       state_x_ += cos(current_heading) * current_horizontal_speed * _tracker_dt_;
+    1345       23338 :       state_y_ += sin(current_heading) * current_horizontal_speed * _tracker_dt_;
+    1346       23338 :       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       47836 :     std::scoped_lock lock(mutex_state_);
+    1357             : 
+    1358             :     double current_heading_rate;
+    1359             : 
+    1360       23918 :     if (fabs(goal_heading_ - state_heading_) > M_PI)
+    1361           0 :       current_heading_rate = -_heading_gain_ * (goal_heading_ - state_heading_);
+    1362             :     else
+    1363       23918 :       current_heading_rate = _heading_gain_ * (goal_heading_ - state_heading_);
+    1364             : 
+    1365       23918 :     if (current_heading_rate > _heading_rate_) {
+    1366           0 :       current_heading_rate = _heading_rate_;
+    1367       23918 :     } 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       23918 :     state_heading_ += current_heading_rate * _tracker_dt_;
+    1373             : 
+    1374       23918 :     if (state_heading_ > M_PI) {
+    1375           0 :       state_heading_ -= 2 * M_PI;
+    1376       23918 :     } else if (state_heading_ < -M_PI) {
+    1377           0 :       state_heading_ += 2 * M_PI;
+    1378             :     }
+    1379             : 
+    1380       23918 :     if (fabs(state_heading_ - goal_heading_) < (2 * (_heading_rate_ * _tracker_dt_))) {
+    1381       23918 :       state_heading_ = goal_heading_;
+    1382             :     }
+    1383             :   }
+    1384             : 
+    1385             :   // --------------------------------------------------------------
+    1386             :   // |                      landing setpoint                      |
+    1387             :   // --------------------------------------------------------------
+    1388             : 
+    1389       23918 :   if (landing_) {
+    1390             :     {
+    1391       11882 :       std::scoped_lock lock(mutex_goal_);
+    1392             : 
+    1393       11882 :       goal_z_ = uav_z + _landing_reference_;
+    1394             :     }
+    1395             :   }
+    1396             : }
+    1397             : 
+    1398             : //}
+    1399             : 
+    1400             : // | ------------------------ callbacks ----------------------- |
+    1401             : 
+    1402             : /* //{ callbackTakeoff() */
+    1403             : 
+    1404          21 : bool LandoffTracker::callbackTakeoff(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    1405             : 
+    1406          42 :   std::stringstream ss;
+    1407             : 
+    1408             :   // copy member variables
+    1409          42 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1410             : 
+    1411          21 :   double uav_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1412             : 
+    1413             :   double uav_x, uav_y, uav_z;
+    1414          21 :   uav_x = uav_state.pose.position.x;
+    1415          21 :   uav_y = uav_state.pose.position.y;
+    1416          21 :   uav_z = uav_state.pose.position.z;
+    1417             : 
+    1418          21 :   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          21 :   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          21 :   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          42 :     std::scoped_lock lock(mutex_goal_, mutex_state_);
+    1445             : 
+    1446          21 :     state_x_ = uav_x;
+    1447          21 :     goal_x_  = uav_x;
+    1448             : 
+    1449          21 :     state_y_ = uav_y;
+    1450          21 :     goal_y_  = uav_y;
+    1451             : 
+    1452          21 :     state_z_ = uav_z;
+    1453          21 :     goal_z_  = uav_z + req.goal;
+    1454             : 
+    1455          21 :     state_heading_ = uav_heading;
+    1456          21 :     goal_heading_  = uav_heading;
+    1457             : 
+    1458          21 :     speed_x_                = 0;
+    1459          21 :     speed_y_                = 0;
+    1460          21 :     current_vertical_speed_ = 0;
+    1461             : 
+    1462          21 :     have_goal_ = true;
+    1463             :   }
+    1464             : 
+    1465          21 :   ROS_INFO("[LandoffTracker]: taking off");
+    1466             : 
+    1467          21 :   taking_off_ = true;
+    1468          21 :   landing_    = false;
+    1469          21 :   elanding_   = false;
+    1470             : 
+    1471          21 :   res.success = true;
+    1472          21 :   res.message = "taking off";
+    1473             : 
+    1474          21 :   changeState(STOP_MOTION_STATE);
+    1475             : 
+    1476          21 :   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         109 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::landoff_tracker::LandoffTracker, mrs_uav_managers::Tracker)
+
+
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Current view:top level - mrs_uav_trackers/src/line_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32547768.1 %
Date:2024-12-11 22:27:27Functions:193063.3 %
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
line_tracker.cpp +
68.1%68.1%
+ 		68.1 %325 / 47763.3 %19 / 30
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trackers/src/line_tracker/line_tracker.cpp.func-sort-c.html b/mrs_uav_trackers/src/line_tracker/line_tracker.cpp.func-sort-c.html new file mode 100644 index 0000000000..2be5c7fff9 --- /dev/null +++ b/mrs_uav_trackers/src/line_tracker/line_tracker.cpp.func-sort-c.html @@ -0,0 +1,200 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/line_tracker/line_tracker.cpp - functions + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions: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&)1682
mrs_uav_trackers::line_tracker::LineTracker::mainTimer(ros::TimerEvent const&)2310
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trackers/src/line_tracker/line_tracker.cpp.func.html b/mrs_uav_trackers/src/line_tracker/line_tracker.cpp.func.html new file mode 100644 index 0000000000..ece00a2907 --- /dev/null +++ b/mrs_uav_trackers/src/line_tracker/line_tracker.cpp.func.html @@ -0,0 +1,200 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/line_tracker/line_tracker.cpp - functions + + + + + + + + + + + + + + +
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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:2024-12-11 22:27:27Functions: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&)1682
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&)2310
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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/line_tracker - line_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32547768.1 %
Date:2024-12-11 22:27:27Functions:193063.3 %
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/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        1682 : 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        5046 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     519        5046 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("LineTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     520             : 
+     521             :   {
+     522        1682 :     std::scoped_lock lock(mutex_uav_state_);
+     523             : 
+     524        1682 :     uav_state_ = uav_state;
+     525        1682 :     uav_x_     = uav_state_.pose.position.x;
+     526        1682 :     uav_y_     = uav_state_.pose.position.y;
+     527        1682 :     uav_z_     = uav_state_.pose.position.z;
+     528             : 
+     529        1682 :     got_uav_state_ = true;
+     530             :   }
+     531             : 
+     532             :   // up to this part the update() method is evaluated even when the tracker is not active
+     533        1682 :   if (!is_active_) {
+     534         106 :     return {};
+     535             :   }
+     536             : 
+     537        3152 :   mrs_msgs::TrackerCommand tracker_cmd;
+     538             : 
+     539        1576 :   tracker_cmd.header.stamp    = ros::Time::now();
+     540        1576 :   tracker_cmd.header.frame_id = uav_state.header.frame_id;
+     541             : 
+     542             :   {
+     543        1576 :     std::scoped_lock lock(mutex_state_);
+     544             : 
+     545        1576 :     tracker_cmd.position.x = state_x_;
+     546        1576 :     tracker_cmd.position.y = state_y_;
+     547        1576 :     tracker_cmd.position.z = state_z_;
+     548        1576 :     tracker_cmd.heading    = radians::wrap(state_heading_);
+     549             : 
+     550        1576 :     tracker_cmd.velocity.x   = cos(current_heading_) * current_horizontal_speed_;
+     551        1576 :     tracker_cmd.velocity.y   = sin(current_heading_) * current_horizontal_speed_;
+     552        1576 :     tracker_cmd.velocity.z   = current_vertical_direction_ * current_vertical_speed_;
+     553        1576 :     tracker_cmd.heading_rate = speed_heading_;
+     554             : 
+     555        1576 :     tracker_cmd.acceleration.x = 0;
+     556        1576 :     tracker_cmd.acceleration.y = 0;
+     557        1576 :     tracker_cmd.acceleration.z = current_vertical_direction_ * current_vertical_acceleration_;
+     558             : 
+     559        1576 :     tracker_cmd.use_position_vertical   = 1;
+     560        1576 :     tracker_cmd.use_position_horizontal = 1;
+     561        1576 :     tracker_cmd.use_heading             = 1;
+     562        1576 :     tracker_cmd.use_heading_rate        = 1;
+     563        1576 :     tracker_cmd.use_velocity_vertical   = 1;
+     564        1576 :     tracker_cmd.use_velocity_horizontal = 1;
+     565        1576 :     tracker_cmd.use_acceleration        = 1;
+     566             :   }
+     567             : 
+     568        1576 :   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        2310 : void LineTracker::mainTimer(const ros::TimerEvent &event) {
+    1136             : 
+    1137        2310 :   if (!is_active_) {
+    1138         511 :     return;
+    1139             :   }
+    1140             : 
+    1141        5397 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("main", _tracker_loop_rate_, 0.01, event);
+    1142        5397 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("LineTracker::main", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1143             : 
+    1144        1799 :   auto [goal_x, goal_y, goal_z]    = mrs_lib::get_mutexed(mutex_goal_, goal_x_, goal_y_, goal_z_);
+    1145        1799 :   auto [state_x, state_y, state_z] = mrs_lib::get_mutexed(mutex_state_, state_x_, state_y_, state_z_);
+    1146             : 
+    1147        1799 :   switch (current_state_horizontal_) {
+    1148             : 
+    1149         647 :     case IDLE_STATE:
+    1150             : 
+    1151         647 :       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        1799 :   switch (current_state_vertical_) {
+    1179             : 
+    1180         647 :     case IDLE_STATE:
+    1181             : 
+    1182         647 :       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        1799 :   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        1799 :   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        1799 :     std::scoped_lock lock(mutex_state_);
+    1238             : 
+    1239        1799 :     state_x_ += cos(current_heading_) * current_horizontal_speed_ * _tracker_dt_;
+    1240        1799 :     state_y_ += sin(current_heading_) * current_horizontal_speed_ * _tracker_dt_;
+    1241        1799 :     state_z_ += current_vertical_direction_ * current_vertical_speed_ * _tracker_dt_;
+    1242             :   }
+    1243             : 
+    1244             :   // --------------------------------------------------------------
+    1245             :   // |                        heading tracking                        |
+    1246             :   // --------------------------------------------------------------
+    1247             : 
+    1248             :   {
+    1249        3598 :     std::scoped_lock lock(mutex_state_);
+    1250             : 
+    1251             :     // compute the desired heading rate
+    1252             :     double current_heading_rate;
+    1253        1799 :     if (fabs(goal_heading_ - state_heading_) > M_PI)
+    1254           0 :       current_heading_rate = -_heading_gain_ * (goal_heading_ - state_heading_);
+    1255             :     else
+    1256        1799 :       current_heading_rate = _heading_gain_ * (goal_heading_ - state_heading_);
+    1257             : 
+    1258        1799 :     if (current_heading_rate > _heading_rate_) {
+    1259          50 :       current_heading_rate = _heading_rate_;
+    1260        1749 :     } 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        1799 :     state_heading_ += current_heading_rate * _tracker_dt_;
+    1266             : 
+    1267        1799 :     if (fabs(state_heading_ - goal_heading_) < (2 * (_heading_rate_ * _tracker_dt_))) {
+    1268        1360 :       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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Current view:top level - mrs_uav_trackers/src/midair_activation_tracker - midair_activation_tracker.cpp (source / functions)HitTotalCoverage
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Date:2024-12-11 22:27:27Functions:91850.0 %
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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()58
(anonymous namespace)::ProxyExec0::ProxyExec0()109
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>)109
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&)309
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)377
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)140010
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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..b140ff63e0 --- /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
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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:2024-12-11 22:27:27Functions: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()109
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>)109
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&)377
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)309
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&)140010
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()58
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+ + + diff --git a/mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp.gcov.frameset.html b/mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp.gcov.frameset.html new file mode 100644 index 0000000000..fa5ac7f267 --- /dev/null +++ b/mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp.gcov.html b/mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp.gcov.html new file mode 100644 index 0000000000..f41417fffc --- /dev/null +++ b/mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp.gcov.html @@ -0,0 +1,426 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions: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         109 : 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         109 :   this->common_handlers_  = common_handlers;
+      81         109 :   this->private_handlers_ = private_handlers;
+      82             : 
+      83         109 :   _uav_name_ = common_handlers->uav_name;
+      84             : 
+      85         109 :   nh_ = nh;
+      86             : 
+      87         109 :   ros::Time::waitForValid();
+      88             : 
+      89             :   // --------------------------------------------------------------
+      90             :   // |                     loading parameters                     |
+      91             :   // --------------------------------------------------------------
+      92             : 
+      93             :   // | ---------- loading params using the parent's nh ---------- |
+      94             : 
+      95         218 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+      96             : 
+      97         109 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+      98             : 
+      99         109 :   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         109 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/midair_activation_tracker.yaml");
+     107         109 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/midair_activation_tracker.yaml");
+     108             : 
+     109         218 :   const std::string yaml_prefix = "mrs_uav_trackers/midair_activation_tracker/";
+     110             : 
+     111         109 :   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         109 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "MidairActivationTracker", _profiler_enabled_);
+     119             : 
+     120             :   // | --------------------- finish the init -------------------- |
+     121             : 
+     122         109 :   is_initialized_ = true;
+     123             : 
+     124         109 :   ROS_INFO("[MidairActivationTracker]: initialized");
+     125             : 
+     126         109 :   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      140010 : 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      140010 :   if (!is_active_) {
+     174      139504 :     return {};
+     175             :   }
+     176             : 
+     177        1518 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     178             :   mrs_lib::ScopeTimer timer =
+     179        1518 :       mrs_lib::ScopeTimer("MidairActivationTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     180             : 
+     181        1012 :   mrs_msgs::TrackerCommand tracker_cmd;
+     182             : 
+     183         506 :   tracker_cmd.header.frame_id = uav_state.header.frame_id;
+     184         506 :   tracker_cmd.header.stamp    = ros::Time::now();
+     185             : 
+     186         506 :   tracker_cmd.position.x = uav_state.pose.position.x;
+     187         506 :   tracker_cmd.position.y = uav_state.pose.position.y;
+     188         506 :   tracker_cmd.position.z = uav_state.pose.position.z;
+     189             : 
+     190         506 :   tracker_cmd.velocity.x = uav_state.velocity.linear.x;
+     191         506 :   tracker_cmd.velocity.y = uav_state.velocity.linear.y;
+     192         506 :   tracker_cmd.velocity.z = uav_state.velocity.linear.z;
+     193             : 
+     194             :   try {
+     195         506 :     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         506 :   tracker_cmd.use_position_vertical   = true;
+     203         506 :   tracker_cmd.use_position_horizontal = true;
+     204             : 
+     205         506 :   tracker_cmd.use_velocity_vertical   = true;
+     206         506 :   tracker_cmd.use_velocity_horizontal = true;
+     207             : 
+     208         506 :   tracker_cmd.use_heading = true;
+     209             : 
+     210         506 :   ROS_WARN_THROTTLE(0.1, "[MidairActivationTracker]: outputting cmd");
+     211             : 
+     212         506 :   return {tracker_cmd};
+     213             : }
+     214             : 
+     215             : //}
+     216             : 
+     217             : /* //{ getStatus() */
+     218             : 
+     219          58 : const mrs_msgs::TrackerStatus MidairActivationTracker::getStatus() {
+     220             : 
+     221          58 :   mrs_msgs::TrackerStatus tracker_status;
+     222             : 
+     223          58 :   tracker_status.active            = is_active_;
+     224          58 :   tracker_status.callbacks_enabled = callbacks_enabled_;
+     225             : 
+     226          58 :   return tracker_status;
+     227             : }
+     228             : 
+     229             : //}
+     230             : 
+     231             : /* //{ enableCallbacks() */
+     232             : 
+     233         309 : const std_srvs::SetBoolResponse::ConstPtr MidairActivationTracker::enableCallbacks([[maybe_unused]] const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     234             : 
+     235         618 :   std_srvs::SetBoolResponse res;
+     236             : 
+     237         309 :   res.message = "callbacks are always disabled";
+     238         309 :   res.success = true;
+     239             : 
+     240         618 :   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         377 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MidairActivationTracker::setConstraints([
+     298             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     299             : 
+     300         754 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     301             : 
+     302         377 :   res.success = true;
+     303         377 :   res.message = "constraints updated";
+     304             : 
+     305         754 :   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         109 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker, mrs_uav_managers::Tracker)
+
+
+
+ + + + +
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:1396168283.0 %
Date:2024-12-11 22:27:27Functions: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&)100
(anonymous namespace)::ProxyExec0::ProxyExec0()109
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>)109
mrs_uav_trackers::mpc_tracker::MpcTracker::dynamicReconfigureCallback(mrs_uav_trackers::mpc_trackerConfig&, unsigned int)109
mrs_uav_trackers::mpc_tracker::MpcTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)268
mrs_uav_trackers::mpc_tracker::MpcTracker::setGoal(double, double, double, double, bool)270
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackOtherMavTrajectory(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)342
mrs_uav_trackers::mpc_tracker::MpcTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)377
mrs_uav_trackers::mpc_tracker::MpcTracker::timerHover(ros::TimerEvent const&)467
mrs_uav_trackers::mpc_tracker::MpcTracker::setRelativeGoal(double, double, double, double, bool)567
mrs_uav_trackers::mpc_tracker::MpcTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)816
mrs_uav_trackers::mpc_tracker::MpcTracker::timerVelocityTracking(ros::TimerEvent const&)820
mrs_uav_trackers::mpc_tracker::MpcTracker::loadTrajectory[abi:cxx11](mrs_msgs::TrajectoryReference_<std::allocator<void> >)823
mrs_uav_trackers::mpc_tracker::MpcTracker::setSinglePointReference(double, double, double, double)837
mrs_uav_trackers::mpc_tracker::MpcTracker::toggleHover(bool)1318
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackOtherMavDiagnostics(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)2159
mrs_uav_trackers::mpc_tracker::MpcTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)2169
mrs_uav_trackers::mpc_tracker::MpcTracker::timerAvoidanceTrajectory(ros::TimerEvent const&)4502
mrs_uav_trackers::mpc_tracker::MpcTracker::getStatus()9438
mrs_uav_trackers::mpc_tracker::MpcTracker::increaseCurrentTrajectoryTime(double)15589
mrs_uav_trackers::mpc_tracker::MpcTracker::timerDiagnostics(ros::TimerEvent const&)22734
mrs_uav_trackers::mpc_tracker::MpcTracker::publishDiagnostics()24440
mrs_uav_trackers::mpc_tracker::MpcTracker::getCurrentTrajectoryIdx()25030
mrs_uav_trackers::mpc_tracker::MpcTracker::iterateModel(double const&)80385
mrs_uav_trackers::mpc_tracker::MpcTracker::checkTrajectoryForCollisions(int&)82272
mrs_uav_trackers::mpc_tracker::MpcTracker::calculateMPC()83313
mrs_uav_trackers::mpc_tracker::MpcTracker::filterReferenceZ(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, double, double)83313
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)83313
mrs_uav_trackers::mpc_tracker::MpcTracker::manageConstraints()83313
mrs_uav_trackers::mpc_tracker::MpcTracker::timerMPC(ros::TimerEvent const&)83313
mrs_uav_trackers::mpc_tracker::MpcTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)140010
mrs_uav_trackers::mpc_tracker::MpcTracker::checkCollision(double, double, double, double, double, double)185800
mrs_uav_trackers::mpc_tracker::MpcTracker::checkCollisionInflated(double, double, double, double, double, double)185800
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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/mpc_tracker - mpc_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1396168283.0 %
Date:2024-12-11 22:27:27Functions: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()109
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>)109
mrs_uav_trackers::mpc_tracker::MpcTracker::timerHover(ros::TimerEvent const&)467
mrs_uav_trackers::mpc_tracker::MpcTracker::resetStatic()0
mrs_uav_trackers::mpc_tracker::MpcTracker::toggleHover(bool)1318
mrs_uav_trackers::mpc_tracker::MpcTracker::calculateMPC()83313
mrs_uav_trackers::mpc_tracker::MpcTracker::iterateModel(double const&)80385
mrs_uav_trackers::mpc_tracker::MpcTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)268
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)185800
mrs_uav_trackers::mpc_tracker::MpcTracker::loadTrajectory[abi:cxx11](mrs_msgs::TrajectoryReference_<std::allocator<void> >)823
mrs_uav_trackers::mpc_tracker::MpcTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)377
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&)2169
mrs_uav_trackers::mpc_tracker::MpcTracker::setRelativeGoal(double, double, double, double, bool)567
mrs_uav_trackers::mpc_tracker::MpcTracker::filterReferenceZ(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, double, double)83313
mrs_uav_trackers::mpc_tracker::MpcTracker::timerDiagnostics(ros::TimerEvent const&)22734
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)83313
mrs_uav_trackers::mpc_tracker::MpcTracker::manageConstraints()83313
mrs_uav_trackers::mpc_tracker::MpcTracker::publishDiagnostics()24440
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&)816
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&)820
mrs_uav_trackers::mpc_tracker::MpcTracker::checkCollisionInflated(double, double, double, double, double, double)185800
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()25030
mrs_uav_trackers::mpc_tracker::MpcTracker::gotoTrajectoryStartImpl[abi:cxx11]()2
mrs_uav_trackers::mpc_tracker::MpcTracker::setSinglePointReference(double, double, double, double)837
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&)4502
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackOtherMavTrajectory(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)342
mrs_uav_trackers::mpc_tracker::MpcTracker::dynamicReconfigureCallback(mrs_uav_trackers::mpc_trackerConfig&, unsigned int)109
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>)2159
mrs_uav_trackers::mpc_tracker::MpcTracker::startTrajectoryTrackingImpl[abi:cxx11]()2
mrs_uav_trackers::mpc_tracker::MpcTracker::checkTrajectoryForCollisions(int&)82272
mrs_uav_trackers::mpc_tracker::MpcTracker::resumeTrajectoryTrackingImpl[abi:cxx11]()1
mrs_uav_trackers::mpc_tracker::MpcTracker::increaseCurrentTrajectoryTime(double)15589
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&)140010
mrs_uav_trackers::mpc_tracker::MpcTracker::setGoal(double, double, double, double, bool)270
mrs_uav_trackers::mpc_tracker::MpcTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)100
mrs_uav_trackers::mpc_tracker::MpcTracker::timerMPC(ros::TimerEvent const&)83313
mrs_uav_trackers::mpc_tracker::MpcTracker::getStatus()9438
+
+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trackers/src/mpc_tracker/mpc_tracker.cpp.gcov.frameset.html b/mrs_uav_trackers/src/mpc_tracker/mpc_tracker.cpp.gcov.frameset.html new file mode 100644 index 0000000000..70888f86ff --- /dev/null +++ b/mrs_uav_trackers/src/mpc_tracker/mpc_tracker.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/mpc_tracker/mpc_tracker.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_trackers/src/mpc_tracker/mpc_tracker.cpp.gcov.html b/mrs_uav_trackers/src/mpc_tracker/mpc_tracker.cpp.gcov.html new file mode 100644 index 0000000000..10b4095730 --- /dev/null +++ b/mrs_uav_trackers/src/mpc_tracker/mpc_tracker.cpp.gcov.html @@ -0,0 +1,3993 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/mpc_tracker/mpc_tracker.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:1396168283.0 %
Date:2024-12-11 22:27:27Functions:455090.0 %
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             : #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         109 : 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         109 :   nh_ = nh;
+     413             : 
+     414         109 :   common_handlers_  = common_handlers;
+     415         109 :   private_handlers_ = private_handlers;
+     416             : 
+     417         109 :   _uav_name_ = common_handlers->uav_name;
+     418             : 
+     419         109 :   ros::Time::waitForValid();
+     420             : 
+     421         109 :   time_last_update_ = ros::Time(0);
+     422             : 
+     423             :   // --------------------------------------------------------------
+     424             :   // |                     loading parameters                     |
+     425             :   // --------------------------------------------------------------
+     426             : 
+     427             :   // | ---------- loading params using the parent's nh ---------- |
+     428             : 
+     429         218 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     430             : 
+     431         109 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     432             : 
+     433         109 :   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         109 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/mpc_tracker.yaml");
+     441         109 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/mpc_tracker.yaml");
+     442             : 
+     443         218 :   const std::string yaml_prefix = "mrs_uav_trackers/mpc_tracker/";
+     444             : 
+     445         109 :   private_handlers->param_loader->loadParam("network/robot_names", _avoidance_other_uav_names_);
+     446             : 
+     447         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_loop/synchronous_rate_limit", _mpc_synchronous_rate_limit_);
+     448         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_loop/asynchronous_loop_rate", _mpc_asynchronous_rate_);
+     449             : 
+     450         109 :   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         109 :   dt1_ = 1.0 / _mpc_asynchronous_rate_;
+     456             : 
+     457         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "braking/enabled", drs_params_.braking_enabled);
+     458         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "braking/q_vel_braking", drs_params_.q_vel_braking);
+     459         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "braking/q_vel_no_braking", drs_params_.q_vel_no_braking);
+     460             : 
+     461         109 :   private_handlers->param_loader->loadMatrixKnown(yaml_prefix + "model/translation/A", _mat_A_, MPC_N_STATES, MPC_N_STATES);
+     462         109 :   private_handlers->param_loader->loadMatrixKnown(yaml_prefix + "model/translation/B", _mat_B_, MPC_N_STATES, MPC_N_INPUTS);
+     463             : 
+     464         109 :   A_ = _mat_A_;
+     465         109 :   B_ = _mat_B_;
+     466             : 
+     467         109 :   private_handlers->param_loader->loadMatrixKnown(yaml_prefix + "model/heading/A", _mat_A_heading_, MPC_HEADING_N_STATES, MPC_HEADING_N_STATES);
+     468         109 :   private_handlers->param_loader->loadMatrixKnown(yaml_prefix + "model/heading/B", _mat_B_heading_, MPC_HEADING_N_STATES, MPC_HEADING_N_INPUTS);
+     469             : 
+     470         109 :   A_heading_ = _mat_A_heading_;
+     471         109 :   B_heading_ = _mat_B_heading_;
+     472             : 
+     473             :   // load the MPC parameters
+     474         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/dt2", _dt2_);
+     475             : 
+     476         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "diagnostics/rate", _diagnostics_rate_);
+     477         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "diagnostics/position_tracking_threshold", _diag_pos_tracking_thr_);
+     478         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "diagnostics/orientation_tracking_threshold", _diag_heading_tracking_thr_);
+     479             : 
+     480         109 :   bool verbose_xy      = false;
+     481         109 :   bool verbose_z       = false;
+     482         109 :   bool verbose_heading = false;
+     483             : 
+     484         218 :   std::vector<double> xy_Q;
+     485         218 :   std::vector<double> z_Q;
+     486         218 :   std::vector<double> heading_Q;
+     487             : 
+     488         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/xy/verbose", verbose_xy);
+     489         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/xy/max_n_iterations", _max_iters_xy_);
+     490         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/xy/Q", xy_Q);
+     491             : 
+     492         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/z/verbose", verbose_z);
+     493         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/z/max_n_iterations", _max_iters_z_);
+     494         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/z/Q", z_Q);
+     495             : 
+     496         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/heading/verbose", verbose_heading);
+     497         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/heading/max_n_iterations", _max_iters_heading_);
+     498         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/heading/Q", heading_Q);
+     499             : 
+     500         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "wiggle/enabled", drs_params_.wiggle_enabled);
+     501         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "wiggle/amplitude", drs_params_.wiggle_amplitude);
+     502         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "wiggle/frequency", drs_params_.wiggle_frequency);
+     503             : 
+     504         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/enabled", collision_avoidance_enabled_);
+     505         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/enabled_passively", collision_avoidance_enabled_passively_);
+     506         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/predicted_trajectory_publish_rate", _avoidance_trajectory_rate_);
+     507         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/correction", _avoidance_z_correction_);
+     508         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/radius", _avoidance_radius_threshold_);
+     509         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/altitude_threshold", _avoidance_z_threshold_);
+     510         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_horizontal_speed_coef", _avoidance_collision_horizontal_speed_coef_);
+     511         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_slow_down_fully", _avoidance_collision_slow_down_fully_);
+     512         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_slow_down_start", _avoidance_collision_slow_down_);
+     513         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_start_climbing", _avoidance_collision_start_climbing_);
+     514         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/trajectory_timeout", _collision_trajectory_timeout_);
+     515             : 
+     516         109 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     517           0 :     ROS_ERROR("[MpcTracker]: could not load all parameters!");
+     518           0 :     return false;
+     519             :   }
+     520             : 
+     521         109 :   ROS_INFO_STREAM("[MpcTracker]: initializing solvers with dt1 = " << dt1_);
+     522             : 
+     523         109 :   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         109 :   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         109 :   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         109 :       std::make_shared<mrs_mpc_solvers::mpc_tracker::Solver>("MpcTracker_hdg", verbose_heading, _max_iters_heading_, heading_Q, dt1_, _dt2_, 0);
+     528             : 
+     529         109 :   mpc_x_         = MatrixXd::Zero(MPC_N_STATES, 1);
+     530         109 :   mpc_x_heading_ = MatrixXd::Zero(MPC_HEADING_N_STATES, 1);
+     531             : 
+     532         109 :   mpc_u_ = VectorXd::Zero(MPC_N_INPUTS);
+     533             : 
+     534         109 :   coef_time = ros::Time(0);
+     535             : 
+     536         109 :   des_x_trajectory_       = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+     537         109 :   des_y_trajectory_       = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+     538         109 :   des_z_trajectory_       = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+     539         109 :   des_z_filtered_offset_  = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+     540         109 :   des_heading_trajectory_ = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+     541             : 
+     542         109 :   service_server_wiggle_ = nh_.advertiseService("wiggle", &MpcTracker::callbackWiggle, this);
+     543             : 
+     544         109 :   pub_diagnostics_   = mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics>(nh_, "diagnostics", 1);
+     545         109 :   pub_status_string_ = mrs_lib::PublisherHandler<std_msgs::String>(nh_, "string", 1);
+     546             : 
+     547             :   // extract the numerical name
+     548         109 :   sscanf(_uav_name_.c_str(), "uav%d", &avoidance_this_uav_number_);
+     549         109 :   ROS_INFO("[MpcTracker]: Numerical ID of this UAV is %d", avoidance_this_uav_number_);
+     550         109 :   avoidance_this_uav_priority_ = avoidance_this_uav_number_;
+     551             : 
+     552             :   // exclude this drone from the list
+     553         109 :   std::vector<std::string>::iterator it = _avoidance_other_uav_names_.begin();
+     554         228 :   while (it != _avoidance_other_uav_names_.end()) {
+     555             : 
+     556         119 :     std::string temp_str = *it;
+     557             : 
+     558             :     int other_uav_priority;
+     559         119 :     sscanf(temp_str.c_str(), "uav%d", &other_uav_priority);
+     560             : 
+     561         119 :     if (other_uav_priority == avoidance_this_uav_number_) {
+     562             : 
+     563         109 :       _avoidance_other_uav_names_.erase(it);
+     564         109 :       continue;
+     565             :     }
+     566             : 
+     567          10 :     it++;
+     568             :   }
+     569             : 
+     570             :   // initialize velocity tracker
+     571             : 
+     572         109 :   velocity_reference_time_ = ros::Time(0);
+     573             : 
+     574             :   // create publishers for predicted trajectory
+     575             : 
+     576         109 :   ph_avoidance_trajectory_           = mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory>(nh_, "predicted_trajectory", 1);
+     577         109 :   ph_predicted_trajectory_debugging_ = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "predicted_trajectory_debugging", 1);
+     578         109 :   ph_mpc_reference_debugging_        = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "mpc_reference_debugging", 1, true);
+     579         109 :   ph_current_trajectory_point_       = mrs_lib::PublisherHandler<geometry_msgs::PoseStamped>(nh_, "current_trajectory_point", 1, true);
+     580         109 :   ph_first_reference_point_          = mrs_lib::PublisherHandler<geometry_msgs::PoseStamped>(nh_, "first_reference_point", 1, true);
+     581             : 
+     582         109 :   pub_debug_processed_trajectory_poses_   = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "trajectory_processed/poses", 1, true);
+     583         109 :   pub_debug_processed_trajectory_markers_ = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "trajectory_processed/markers", 1, true);
+     584             : 
+     585             :   // preallocate predicted trajectory
+     586         109 :   predicted_trajectory_         = MatrixXd::Zero(MPC_HORIZON_LENGTH * MPC_N_STATES, 1);
+     587         109 :   predicted_heading_trajectory_ = MatrixXd::Zero(MPC_HORIZON_LENGTH * MPC_N_STATES, 1);
+     588             : 
+     589         109 :   collision_free_altitude_ = std::numeric_limits<float>::lowest();
+     590             : 
+     591             :   // collision avoidance toggle service
+     592         109 :   service_server_toggle_avoidance_ = nh_.advertiseService("collision_avoidance", &MpcTracker::callbackToggleCollisionAvoidance, this);
+     593             : 
+     594         218 :   mrs_lib::SubscribeHandlerOptions shopts;
+     595         109 :   shopts.nh                 = nh_;
+     596         109 :   shopts.node_name          = "MpcTracker";
+     597         109 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     598         109 :   shopts.threadsafe         = true;
+     599         109 :   shopts.autostart          = true;
+     600         109 :   shopts.queue_size         = 10;
+     601         109 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     602             : 
+     603             :   // create subscribers on other drones diagnostics
+     604         109 :   if (collision_avoidance_enabled_ || collision_avoidance_enabled_passively_) {
+     605             : 
+     606         119 :     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         109 :   sh_estimation_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, std::string("/") + _uav_name_ + "/estimation_manager/diagnostics");
+     624             : 
+     625             :   // | --------------- dynamic reconfigure server --------------- |
+     626             : 
+     627         109 :   reconfigure_server_.reset(new ReconfigureServer(config_mutex_, nh_));
+     628         109 :   reconfigure_server_->updateConfig(drs_params_);
+     629         109 :   ReconfigureServer::CallbackType f = boost::bind(&MpcTracker::dynamicReconfigureCallback, this, _1, _2);
+     630         109 :   reconfigure_server_->setCallback(f);
+     631             : 
+     632             :   // | ------------------------ profiler ------------------------ |
+     633             : 
+     634         109 :   profiler = mrs_lib::Profiler(common_handlers->parent_nh, "MpcTracker", _profiler_enabled_);
+     635             : 
+     636             :   // | ------------------------- timers ------------------------- |
+     637             : 
+     638         218 :   timer_avoidance_trajectory_ = nh_.createTimer(ros::Rate(_avoidance_trajectory_rate_), &MpcTracker::timerAvoidanceTrajectory, this, false,
+     639         218 :                                                 collision_avoidance_enabled_ || collision_avoidance_enabled_passively_);
+     640         109 :   timer_diagnostics_          = nh_.createTimer(ros::Rate(_diagnostics_rate_), &MpcTracker::timerDiagnostics, this);
+     641         109 :   timer_mpc_iteration_        = nh_.createTimer(ros::Rate(_mpc_asynchronous_rate_), &MpcTracker::timerMPC, this, false, false);
+     642         109 :   timer_velocity_tracking_    = nh_.createTimer(ros::Rate(30.0), &MpcTracker::timerVelocityTracking, this, false, false);
+     643         109 :   timer_hover_                = nh_.createTimer(ros::Rate(10.0), &MpcTracker::timerHover, this, false, false);
+     644             : 
+     645             :   // | ----------------------- finish init ---------------------- |
+     646             : 
+     647         109 :   is_initialized_ = true;
+     648             : 
+     649         109 :   ROS_INFO("[MpcTracker]: initialized");
+     650             : 
+     651         109 :   return true;
+     652             : }
+     653             : 
+     654             : //}
+     655             : 
+     656             : /* //{ activate() */
+     657             : 
+     658         100 : std::tuple<bool, std::string> MpcTracker::activate(const std::optional<mrs_msgs::TrackerCommand>& last_tracker_cmd) {
+     659             : 
+     660         200 :   std::stringstream ss;
+     661             : 
+     662         100 :   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         200 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     671             : 
+     672             :   double uav_state_heading;
+     673             : 
+     674             :   try {
+     675         100 :     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         200 :   MatrixXd mpc_x         = MatrixXd::Zero(MPC_N_STATES, 1);
+     684         100 :   MatrixXd mpc_x_heading = MatrixXd::Zero(MPC_HEADING_N_STATES, 1);
+     685             : 
+     686         100 :   if (last_tracker_cmd) {
+     687             : 
+     688             :     // set the initial condition from the last tracker's cmd
+     689             : 
+     690          98 :     if (last_tracker_cmd->use_position_horizontal) {
+     691          98 :       mpc_x(0, 0) = last_tracker_cmd->position.x;
+     692          98 :       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          98 :     if (last_tracker_cmd->use_position_vertical) {
+     699          98 :       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          98 :     if (last_tracker_cmd->use_velocity_horizontal) {
+     705          98 :       mpc_x(1, 0) = last_tracker_cmd->velocity.x;
+     706          98 :       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          98 :     if (last_tracker_cmd->use_velocity_vertical) {
+     713          98 :       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          98 :     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          98 :       mpc_x(2, 0)  = 0;
+     724          98 :       mpc_x(6, 0)  = 0;
+     725          98 :       mpc_x(10, 0) = 0;
+     726             :     }
+     727             : 
+     728             :     // the jerks
+     729          98 :     mpc_x(3, 0)  = 0;
+     730          98 :     mpc_x(7, 0)  = 0;
+     731          98 :     mpc_x(11, 0) = 0;
+     732             : 
+     733          98 :     if (last_tracker_cmd->use_heading) {
+     734          98 :       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          98 :     if (last_tracker_cmd->use_heading_rate) {
+     747          21 :       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          98 :     mpc_x_heading(2, 0) = 0;
+     753          98 :     mpc_x_heading(3, 0) = 0;
+     754             : 
+     755          98 :     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         200 :     std::scoped_lock lock(mutex_mpc_x_);
+     786             : 
+     787         100 :     mpc_x_         = mpc_x;
+     788         100 :     mpc_x_heading_ = mpc_x_heading;
+     789             :   }
+     790             : 
+     791         100 :   trajectory_tracking_in_progress_ = false;
+     792             : 
+     793         100 :   ss << "activated";
+     794         100 :   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         100 :   setRelativeGoal(0, 0, 0, 0, false);  // do not delete
+     800             : 
+     801         100 :   toggleHover(true);
+     802             : 
+     803         100 :   model_first_iteration_ = true;
+     804             : 
+     805         100 :   A_ = _mat_A_;
+     806         100 :   B_ = _mat_B_;
+     807             : 
+     808         100 :   A_heading_ = _mat_A_heading_;
+     809         100 :   B_heading_ = _mat_B_heading_;
+     810             : 
+     811         100 :   is_active_ = true;
+     812             : 
+     813         100 :   if (!mpc_synchronous_) {
+     814          90 :     timer_mpc_iteration_.start();
+     815             :   }
+     816             : 
+     817         100 :   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      140010 : 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      420030 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("update");
+     923      420030 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("MpcTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     924             : 
+     925      280020 :   auto old_uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     926             : 
+     927             :   // save the uav state
+     928      140010 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     929             : 
+     930             :   // the time from the last update call
+     931      140010 :   double dt = 0.01;
+     932             : 
+     933      140010 :   if (time_last_update_.isValid()) {
+     934      140010 :     dt = (ros::Time::now() - time_last_update_).toSec();
+     935             :   }
+     936             : 
+     937      140010 :   time_last_update_ = ros::Time::now();
+     938             : 
+     939      140010 :   if (dt > 0) {
+     940             : 
+     941      139740 :     double rate = 1.0 / dt;
+     942             : 
+     943      139740 :     update_rate_ = 0.9 * update_rate_ + 0.1 * rate;
+     944             : 
+     945      139740 :     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      139740 :     } 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      140010 :   if (!is_active_) {
+     960       59371 :     return {};
+     961             :   }
+     962             : 
+     963      161278 :   mrs_msgs::TrackerCommand tracker_cmd;
+     964             : 
+     965       80639 :   if (!mpc_synchronous_ && (!mpc_computed_ || mpc_result_invalid_)) {
+     966             : 
+     967         128 :     ROS_WARN_THROTTLE(0.1, "[MpcTracker]: MPC not ready, returning current odom as the command");
+     968             : 
+     969             :     // set the header
+     970         128 :     tracker_cmd.header.stamp    = uav_state.header.stamp;
+     971         128 :     tracker_cmd.header.frame_id = uav_state.header.frame_id;
+     972             : 
+     973             :     // set positions from odom
+     974         128 :     tracker_cmd.position.x              = uav_state.pose.position.x;
+     975         128 :     tracker_cmd.position.y              = uav_state.pose.position.y;
+     976         128 :     tracker_cmd.position.z              = uav_state.pose.position.z;
+     977         128 :     tracker_cmd.use_position_vertical   = 1;
+     978         128 :     tracker_cmd.use_position_horizontal = 1;
+     979             : 
+     980             :     // set velocities from odom
+     981         128 :     tracker_cmd.velocity.x              = uav_state.velocity.linear.x;
+     982         128 :     tracker_cmd.velocity.y              = uav_state.velocity.linear.y;
+     983         128 :     tracker_cmd.velocity.z              = uav_state.velocity.linear.z;
+     984         128 :     tracker_cmd.use_velocity_vertical   = 1;
+     985         128 :     tracker_cmd.use_velocity_horizontal = 1;
+     986             : 
+     987             :     // set zero accelerations
+     988         128 :     tracker_cmd.acceleration.x   = 0;
+     989         128 :     tracker_cmd.acceleration.y   = 0;
+     990         128 :     tracker_cmd.acceleration.z   = 0;
+     991         128 :     tracker_cmd.use_acceleration = 1;
+     992             : 
+     993             :     try {
+     994         128 :       tracker_cmd.heading     = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     995         128 :       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         128 :     tracker_cmd.jerk.x = 0;
+    1004         128 :     tracker_cmd.jerk.y = 0;
+    1005         128 :     tracker_cmd.jerk.z = 0;
+    1006             : 
+    1007             :     try {
+    1008         128 :       tracker_cmd.heading_rate     = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeadingRate(uav_state.velocity.angular);
+    1009         128 :       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         128 :     return {tracker_cmd};
+    1017             :   }
+    1018             : 
+    1019       80511 :   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       76384 :     ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: running in ASYNCHRONOUS mode");
+    1035             :   }
+    1036             : 
+    1037       80511 :   if (dt > 0) {
+    1038       80385 :     iterateModel(dt);
+    1039             :   } else {
+    1040         126 :     ROS_WARN_THROTTLE(1.0, "[MpcTracker]: dt !> 0, not iterating the model");
+    1041             :   }
+    1042             : 
+    1043      161022 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    1044      161022 :   auto prediction_full_state  = mrs_lib::get_mutexed(mutex_prediction_full_state_, prediction_full_state_);
+    1045             : 
+    1046             :   // check whether all outputs are finite
+    1047       80511 :   bool arefinite = true;
+    1048     1046643 :   for (int i = 0; i < 12; i++) {
+    1049      966132 :     if (!std::isfinite(mpc_x(i, 0))) {
+    1050           0 :       arefinite = false;
+    1051             :     }
+    1052             :   }
+    1053             : 
+    1054       80511 :   if (arefinite) {
+    1055             : 
+    1056             :     // set the desired states base on the result of the mpc
+    1057       80511 :     tracker_cmd.position.x     = mpc_x(0, 0);
+    1058       80511 :     tracker_cmd.velocity.x     = mpc_x(1, 0);
+    1059       80511 :     tracker_cmd.acceleration.x = mpc_x(2, 0);
+    1060       80511 :     tracker_cmd.jerk.x         = mpc_x(3, 0);
+    1061             : 
+    1062       80511 :     tracker_cmd.position.y     = mpc_x(4, 0);
+    1063       80511 :     tracker_cmd.velocity.y     = mpc_x(5, 0);
+    1064       80511 :     tracker_cmd.acceleration.y = mpc_x(6, 0);
+    1065       80511 :     tracker_cmd.jerk.y         = mpc_x(7, 0);
+    1066             : 
+    1067       80511 :     tracker_cmd.position.z     = mpc_x(8, 0);
+    1068       80511 :     tracker_cmd.velocity.z     = mpc_x(9, 0);
+    1069       80511 :     tracker_cmd.acceleration.z = mpc_x(10, 0);
+    1070       80511 :     tracker_cmd.jerk.z         = mpc_x(11, 0);
+    1071             : 
+    1072       80511 :     tracker_cmd.full_state_prediction = prediction_full_state;
+    1073             : 
+    1074       80511 :     tracker_cmd.use_position_vertical     = 1;
+    1075       80511 :     tracker_cmd.use_position_horizontal   = 1;
+    1076       80511 :     tracker_cmd.use_velocity_vertical     = 1;
+    1077       80511 :     tracker_cmd.use_velocity_horizontal   = 1;
+    1078       80511 :     tracker_cmd.use_acceleration          = 1;
+    1079       80511 :     tracker_cmd.use_jerk                  = 1;
+    1080       80511 :     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       80511 :   bool heading_finite = true;
+    1090      402555 :   for (int i = 0; i < MPC_HEADING_N_STATES; i++) {
+    1091      322044 :     if (!std::isfinite(mpc_x_heading(i, 0))) {
+    1092           0 :       heading_finite = false;
+    1093             :     }
+    1094             :   }
+    1095             : 
+    1096       80511 :   if (heading_finite) {
+    1097             : 
+    1098       80511 :     tracker_cmd.heading              = mpc_x_heading(0, 0);
+    1099       80511 :     tracker_cmd.heading_rate         = mpc_x_heading(1, 0);
+    1100       80511 :     tracker_cmd.heading_acceleration = mpc_x_heading(2, 0);
+    1101       80511 :     tracker_cmd.heading_jerk         = mpc_x_heading(3, 0);
+    1102             : 
+    1103       80511 :     tracker_cmd.use_heading              = 1;
+    1104       80511 :     tracker_cmd.use_heading_rate         = 1;
+    1105       80511 :     tracker_cmd.use_heading_acceleration = 1;
+    1106       80511 :     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       80511 :   tracker_cmd.header.stamp    = uav_state.header.stamp;
+    1117       80511 :   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       80511 :   return {tracker_cmd};
+    1122             : }  // namespace mpc_tracker
+    1123             : 
+    1124             : //}
+    1125             : 
+    1126             : /* //{ getStatus() */
+    1127             : 
+    1128        9438 : const mrs_msgs::TrackerStatus MpcTracker::getStatus() {
+    1129             : 
+    1130       18876 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    1131        9438 :   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        9438 :     std::scoped_lock lock(mutex_des_trajectory_);
+    1136             : 
+    1137        9438 :     des_x       = des_x_trajectory_(0);
+    1138        9438 :     des_y       = des_y_trajectory_(0);
+    1139        9438 :     des_z       = des_z_trajectory_(0);
+    1140        9438 :     des_heading = des_heading_trajectory_(0);
+    1141             :   }
+    1142             : 
+    1143        9438 :   mrs_msgs::TrackerStatus tracker_status;
+    1144             : 
+    1145        9438 :   tracker_status.active            = is_active_;
+    1146        9438 :   tracker_status.callbacks_enabled = is_active_ && callbacks_enabled_ && !hovering_in_progress_;
+    1147             : 
+    1148        9438 :   tracker_status.tracking_trajectory = trajectory_tracking_in_progress_;
+    1149             : 
+    1150        9438 :   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        9438 :   bool have_heading_error    = fabs(radians::diff(mpc_x_heading(0), des_heading)) > _diag_heading_tracking_thr_;
+    1152        9438 :   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        9438 :   tracker_status.have_goal = trajectory_tracking_in_progress_ || hovering_in_progress_ || have_position_error || have_heading_error || have_nonzero_velocity;
+    1155             : 
+    1156        9438 :   if (!is_active_)
+    1157           0 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_IDLE;
+    1158        9438 :   else if (tracker_status.tracking_trajectory)
+    1159        1829 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_TRAJECTORY;
+    1160        7609 :   else if (tracker_status.have_goal)
+    1161        4290 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_REFERENCE;
+    1162             :   else
+    1163        3319 :     tracker_status.state = mrs_msgs::TrackerStatus::STATE_HOVER;
+    1164             : 
+    1165             : 
+    1166        9438 :   int trajectory_tracking_idx = getCurrentTrajectoryIdx();
+    1167             : 
+    1168        9438 :   tracker_status.trajectory_length = trajectory_size;
+    1169        9438 :   tracker_status.trajectory_idx    = trajectory_tracking_idx;
+    1170             : 
+    1171        9438 :   if (trajectory_tracking_in_progress_) {
+    1172             : 
+    1173        3658 :     auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1174             : 
+    1175        1829 :     std::scoped_lock lock(mutex_des_whole_trajectory_);
+    1176             : 
+    1177        1829 :     tracker_status.trajectory_reference.header.stamp    = ros::Time::now();
+    1178        1829 :     tracker_status.trajectory_reference.header.frame_id = uav_state.header.frame_id;
+    1179             : 
+    1180        1829 :     tracker_status.trajectory_reference.reference.position.x = (*des_x_whole_trajectory_)(trajectory_tracking_idx);
+    1181        1829 :     tracker_status.trajectory_reference.reference.position.y = (*des_y_whole_trajectory_)(trajectory_tracking_idx);
+    1182        1829 :     tracker_status.trajectory_reference.reference.position.z = (*des_z_whole_trajectory_)(trajectory_tracking_idx);
+    1183        1829 :     tracker_status.trajectory_reference.reference.heading    = (*des_heading_whole_trajectory_)(trajectory_tracking_idx);
+    1184             :   }
+    1185             : 
+    1186       18876 :   return tracker_status;
+    1187             : }
+    1188             : 
+    1189             : //}
+    1190             : 
+    1191             : /* //{ enableCallbacks() */
+    1192             : 
+    1193        2169 : const std_srvs::SetBoolResponse::ConstPtr MpcTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr& cmd) {
+    1194             : 
+    1195        4338 :   std::stringstream ss;
+    1196             : 
+    1197        2169 :   if (cmd->data != callbacks_enabled_) {
+    1198             : 
+    1199        1879 :     callbacks_enabled_ = cmd->data;
+    1200        1879 :     ss << "callbacks %s" << (callbacks_enabled_ ? "enabled" : "disabled");
+    1201             : 
+    1202             :   } else {
+    1203             : 
+    1204         290 :     ss << "callbacks were already %s" << (callbacks_enabled_ ? "enabled" : "disabled");
+    1205             :   }
+    1206             : 
+    1207        4338 :   std_srvs::SetBoolResponse res;
+    1208        2169 :   res.message = ss.str();
+    1209        2169 :   res.success = true;
+    1210             : 
+    1211        4338 :   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         377 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MpcTracker::setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& constraints) {
+    1444             : 
+    1445         377 :   if (!is_initialized_) {
+    1446           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+    1447             :   }
+    1448             : 
+    1449         377 :   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         754 :     std::scoped_lock lock(mutex_constraints_filtered_);
+    1455             : 
+    1456             :     // important! this needs to be done to initialize the full struct
+    1457         377 :     if (!got_constraints_) {
+    1458             : 
+    1459         109 :       constraints_filtered_ = constraints->constraints;
+    1460             : 
+    1461             :     } else {
+    1462             : 
+    1463         268 :       constraints_filtered_.horizontal_speed          = constraints->constraints.horizontal_speed;
+    1464         268 :       constraints_filtered_.vertical_ascending_speed  = constraints->constraints.vertical_ascending_speed;
+    1465         268 :       constraints_filtered_.vertical_descending_speed = constraints->constraints.vertical_descending_speed;
+    1466         268 :       constraints_filtered_.heading_speed             = constraints->constraints.heading_speed;
+    1467             :     }
+    1468             :   }
+    1469             : 
+    1470         377 :   got_constraints_ = true;
+    1471             : 
+    1472         377 :   all_constraints_set_ = false;
+    1473             : 
+    1474         377 :   ROS_INFO("[MpcTracker]: updating constraints");
+    1475             : 
+    1476         754 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+    1477         377 :   res.success = true;
+    1478         377 :   res.message = "constraints updated";
+    1479             : 
+    1480         377 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+    1481             : }
+    1482             : 
+    1483             : //}
+    1484             : 
+    1485             : /* //{ setReference() */
+    1486             : 
+    1487         268 : const mrs_msgs::ReferenceSrvResponse::ConstPtr MpcTracker::setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr& cmd) {
+    1488             : 
+    1489         268 :   toggleHover(false);
+    1490             : 
+    1491         268 :   setGoal(cmd->reference.position.x, cmd->reference.position.y, cmd->reference.position.z, cmd->reference.heading, true);
+    1492             : 
+    1493         536 :   mrs_msgs::ReferenceSrvResponse res;
+    1494         268 :   res.success = true;
+    1495         268 :   res.message = "reference set";
+    1496             : 
+    1497         536 :   return mrs_msgs::ReferenceSrvResponse::ConstPtr(new mrs_msgs::ReferenceSrvResponse(res));
+    1498             : }
+    1499             : 
+    1500             : //}
+    1501             : 
+    1502             : /* //{ setVelocityReference() */
+    1503             : 
+    1504         816 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr MpcTracker::setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr& cmd) {
+    1505             : 
+    1506         816 :   if (!is_initialized_) {
+    1507           0 :     return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+    1508             :   }
+    1509             : 
+    1510             :   {
+    1511         816 :     std::scoped_lock lock(mutex_velocity_reference_);
+    1512             : 
+    1513         816 :     velocity_reference_time_ = ros::Time::now();
+    1514             : 
+    1515         816 :     velocity_reference_ = cmd->reference;
+    1516             :   }
+    1517             : 
+    1518         816 :   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        1632 :   mrs_msgs::VelocityReferenceSrvResponse response;
+    1529         816 :   response.success = true;
+    1530         816 :   response.message = "reference set";
+    1531             : 
+    1532         816 :   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         342 : void MpcTracker::callbackOtherMavTrajectory(const mrs_msgs::FutureTrajectory::ConstPtr msg) {
+    1561             : 
+    1562         342 :   if (!is_initialized_) {
+    1563           0 :     return;
+    1564             :   }
+    1565             : 
+    1566         684 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("callbackOtherMavTrajectory");
+    1567             :   mrs_lib::ScopeTimer timer =
+    1568         684 :       mrs_lib::ScopeTimer("MpcTracker::callbackOtherMavTrajectory", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1569             : 
+    1570         342 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1571             : 
+    1572         342 :   mrs_msgs::FutureTrajectory trajectory = *msg;
+    1573             : 
+    1574             :   // the times might not be synchronized, so just remember the time of receiving it
+    1575         342 :   trajectory.stamp = ros::Time::now();
+    1576             : 
+    1577             :   // transform it from the utm origin to the currently used frame
+    1578         684 :   auto res = common_handlers_->transformer->getTransform("utm_origin", uav_state.header.frame_id, ros::Time::now());
+    1579             : 
+    1580         342 :   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         342 :   geometry_msgs::TransformStamped tf = res.value();
+    1590             : 
+    1591       14022 :   for (int i = 0; i < int(trajectory.points.size()); i++) {
+    1592             : 
+    1593       13680 :     geometry_msgs::PoseStamped original_pose;
+    1594             : 
+    1595       13680 :     original_pose.pose.position.x = trajectory.points.at(i).x;
+    1596       13680 :     original_pose.pose.position.y = trajectory.points.at(i).y;
+    1597       13680 :     original_pose.pose.position.z = trajectory.points.at(i).z;
+    1598             : 
+    1599       13680 :     original_pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1600             : 
+    1601       13680 :     auto res = common_handlers_->transformer->transform(original_pose, tf);
+    1602             : 
+    1603       13680 :     if (res) {
+    1604       13680 :       trajectory.points.at(i).x = res.value().pose.position.x;
+    1605       13680 :       trajectory.points.at(i).y = res.value().pose.position.y;
+    1606       13680 :       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         684 :     std::scoped_lock lock(mutex_other_uav_avoidance_trajectories_);
+    1619             : 
+    1620             :     // update the diagnostics
+    1621         342 :     other_uav_avoidance_trajectories_[trajectory.uav_name] = trajectory;
+    1622             :   }
+    1623             : }
+    1624             : 
+    1625             : //}
+    1626             : 
+    1627             : /* //{ callbackOtherMavDiagnostics() */
+    1628             : 
+    1629        2159 : void MpcTracker::callbackOtherMavDiagnostics(const mrs_msgs::MpcTrackerDiagnostics::ConstPtr msg) {
+    1630             : 
+    1631        6477 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("callbackOtherMavDiagnostics");
+    1632             :   mrs_lib::ScopeTimer timer =
+    1633        6477 :       mrs_lib::ScopeTimer("MpcTracker::callbackOtherMavDiagnostics", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1634             : 
+    1635        4318 :   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        2159 :   diagnostics.header.stamp = ros::Time::now();
+    1640             : 
+    1641             :   {
+    1642        4318 :     std::scoped_lock lock(mutex_other_uav_diagnostics_);
+    1643             : 
+    1644        2159 :     other_uav_diagnostics_[diagnostics.uav_name] = diagnostics;
+    1645             :   }
+    1646        2159 : }
+    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         109 : void MpcTracker::dynamicReconfigureCallback(mrs_uav_trackers::mpc_trackerConfig& config, [[maybe_unused]] uint32_t level) {
+    1696             : 
+    1697         218 :   std::scoped_lock lock(mutex_drs_params_);
+    1698             : 
+    1699         109 :   drs_params_ = config;
+    1700             : 
+    1701         109 :   ROS_INFO("[MpcTracker]: DRS updated");
+    1702         109 : }
+    1703             : 
+    1704             : //}
+    1705             : 
+    1706             : // --------------------------------------------------------------
+    1707             : // |                          routines                          |
+    1708             : // --------------------------------------------------------------
+    1709             : 
+    1710             : // | --------------- mutual collision avoidance --------------- |
+    1711             : 
+    1712             : /* //{ checkCollision() */
+    1713             : 
+    1714      185800 : bool MpcTracker::checkCollision(const double ax, const double ay, const double az, const double bx, const double by, const double bz) {
+    1715             : 
+    1716      185800 :   if (mrs_lib::geometry::dist(vec2_t(ax, ay), vec2_t(bx, by)) < _avoidance_radius_threshold_ && fabs(az - bz) < _avoidance_z_threshold_) {
+    1717             : 
+    1718       11213 :     return true;
+    1719             : 
+    1720             :   } else {
+    1721             : 
+    1722      174587 :     return false;
+    1723             :   }
+    1724             : }
+    1725             : 
+    1726             : //}
+    1727             : 
+    1728             : /* //{ checkCollisionInflated() */
+    1729             : 
+    1730      185800 : bool MpcTracker::checkCollisionInflated(const double ax, const double ay, const double az, const double bx, const double by, const double bz) {
+    1731             : 
+    1732      185800 :   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       65156 :     return true;
+    1735             : 
+    1736             :   } else {
+    1737             : 
+    1738      120644 :     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       82272 : double MpcTracker::checkTrajectoryForCollisions(int& first_collision_index) {
+    1748             : 
+    1749       82272 :   std::scoped_lock lock(mutex_predicted_trajectory_, mutex_des_trajectory_, mutex_other_uav_avoidance_trajectories_);
+    1750             : 
+    1751       82272 :   first_collision_index = INT_MAX;
+    1752       82272 :   avoiding_collision_   = false;
+    1753             : 
+    1754       82272 :   std::map<std::string, mrs_msgs::FutureTrajectory>::iterator u = other_uav_avoidance_trajectories_.begin();
+    1755             : 
+    1756       86919 :   while (u != other_uav_avoidance_trajectories_.end()) {
+    1757             : 
+    1758             :     // is the other's trajectory fresh enought?
+    1759        4647 :     if ((ros::Time::now() - u->second.stamp).toSec() < _collision_trajectory_timeout_) {
+    1760             : 
+    1761      190445 :       for (int v = 0; v < MPC_HORIZON_LENGTH; v++) {
+    1762             : 
+    1763             :         // check all points of the trajectory for possible collisions
+    1764      185800 :         if (checkCollision(predicted_trajectory_(v * MPC_N_STATES, 0), predicted_trajectory_(v * MPC_N_STATES + 4, 0),
+    1765      185800 :                            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       11213 :           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       11213 :           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       11213 :           if ((u->second.collision_avoidance == false) || (other_uav_priority < avoidance_this_uav_priority_)) {
+    1775             : 
+    1776             :             // we should be avoiding
+    1777        6114 :             avoiding_collision_      = true;
+    1778        6114 :             double tmp_safe_altitude = u->second.points.at(v).z + _avoidance_z_correction_;
+    1779             : 
+    1780        6114 :             if (tmp_safe_altitude > collision_free_altitude_ && v <= _avoidance_collision_start_climbing_) {
+    1781         345 :               collision_free_altitude_ = tmp_safe_altitude;
+    1782             :             }
+    1783             : 
+    1784        6114 :             ROS_ERROR_STREAM_THROTTLE(1, "[MpcTracker]: avoiding collision with uav" << other_uav_priority);
+    1785             : 
+    1786             :           } else {
+    1787             :             // the other uav should avoid us
+    1788        5099 :             ROS_WARN_STREAM_THROTTLE(1, "[MpcTracker]: detected collision with uav" << other_uav_priority << ", not avoiding (my priority is higher)");
+    1789             :           }
+    1790             :         }
+    1791             : 
+    1792      185800 :         if (checkCollisionInflated(predicted_trajectory_(v * MPC_N_STATES, 0), predicted_trajectory_(v * MPC_N_STATES + 4, 0),
+    1793      185800 :                                    predicted_trajectory_(v * MPC_N_STATES + 8, 0), u->second.points.at(v).x, u->second.points.at(v).y,
+    1794      185800 :                                    u->second.points.at(v).z)) {
+    1795             : 
+    1796             :           // collision is detected
+    1797       65156 :           if (first_collision_index > v) {
+    1798        2479 :             first_collision_index = v;
+    1799             :           }
+    1800             :         }
+    1801             :       }
+    1802             :     }
+    1803             : 
+    1804        4647 :     u++;
+    1805             :   }
+    1806             : 
+    1807       82272 :   if (!avoiding_collision_) {
+    1808             : 
+    1809       81634 :     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       81634 :     collision_free_altitude_ -= 2.0 / (1.0 / dt1);
+    1813             : 
+    1814       81634 :     double safety_area_min_z = std::numeric_limits<double>::lowest();
+    1815             : 
+    1816       81634 :     if (collision_free_altitude_ < safety_area_min_z) {
+    1817             : 
+    1818           0 :       collision_free_altitude_ = safety_area_min_z;
+    1819             :     }
+    1820             :   }
+    1821             : 
+    1822      164544 :   return collision_free_altitude_;
+    1823             : }
+    1824             : 
+    1825             : //}
+    1826             : 
+    1827             : // | ------------------ trajectory filtering ------------------ |
+    1828             : 
+    1829             : /* //{ filterReferenceXY() */
+    1830             : 
+    1831       83313 : 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       83313 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    1835             : 
+    1836      166626 :   auto mpc_x         = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    1837       83313 :   auto trajectory_dt = mrs_lib::get_mutexed(mutex_des_trajectory_, trajectory_dt_);
+    1838             : 
+    1839      166626 :   MatrixXd filtered_x_trajectory = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+    1840      166626 :   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       83313 :   if (std::hypot(mpc_x(0, 0) - des_x_trajectory(0, 0), mpc_x(4, 0) - des_y_trajectory(0, 0)) < 2.0) {
+    1848       61753 :     return {des_x_trajectory, des_y_trajectory};
+    1849             :   }
+    1850             : 
+    1851      883960 :   for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    1852             : 
+    1853      862400 :     if (i == 0) {
+    1854       21560 :       max_sample_x = max_speed_x * dt1;
+    1855       21560 :       max_sample_y = max_speed_y * dt1;
+    1856       21560 :       difference_x = des_x_trajectory(i, 0) - mpc_x(0, 0);
+    1857       21560 :       difference_y = des_y_trajectory(i, 0) - mpc_x(4, 0);
+    1858             :     } else {
+    1859      840840 :       max_sample_x = max_speed_x * _dt2_;
+    1860      840840 :       max_sample_y = max_speed_y * _dt2_;
+    1861      840840 :       difference_x = des_x_trajectory(i, 0) - filtered_x_trajectory(i - 1, 0);
+    1862      840840 :       difference_y = des_y_trajectory(i, 0) - filtered_y_trajectory(i - 1, 0);
+    1863             :     }
+    1864             : 
+    1865      862400 :     if (!trajectory_tracking_in_progress_) {
+    1866             : 
+    1867      791840 :       double direction_angle  = atan2(difference_y, difference_x);
+    1868      791840 :       double max_dir_sample_x = abs(max_sample_x * cos(direction_angle));
+    1869      791840 :       double max_dir_sample_y = abs(max_sample_y * sin(direction_angle));
+    1870             : 
+    1871      791840 :       if (max_sample_x > max_dir_sample_x) {
+    1872      234848 :         max_sample_x = max_dir_sample_x;
+    1873             :       }
+    1874      791840 :       if (max_sample_y > max_dir_sample_y) {
+    1875      791840 :         max_sample_y = max_dir_sample_y;
+    1876             :       }
+    1877             : 
+    1878             :       // saturate the difference
+    1879      791840 :       if (difference_x > max_sample_x)
+    1880      156694 :         difference_x = max_sample_x;
+    1881      635146 :       else if (difference_x < -max_sample_x)
+    1882      158223 :         difference_x = -max_sample_x;
+    1883             : 
+    1884      791840 :       if (difference_y > max_sample_y)
+    1885       74054 :         difference_y = max_sample_y;
+    1886      717786 :       else if (difference_y < -max_sample_y)
+    1887      162071 :         difference_y = -max_sample_y;
+    1888             :     }
+    1889             : 
+    1890      862400 :     if (i == 0) {
+    1891       21560 :       filtered_x_trajectory(i, 0) = mpc_x(0, 0) + difference_x;
+    1892       21560 :       filtered_y_trajectory(i, 0) = mpc_x(4, 0) + difference_y;
+    1893             :     } else {
+    1894      840840 :       filtered_x_trajectory(i, 0) = filtered_x_trajectory(i - 1, 0) + difference_x;
+    1895      840840 :       filtered_y_trajectory(i, 0) = filtered_y_trajectory(i - 1, 0) + difference_y;
+    1896             :     }
+    1897             :   }
+    1898             : 
+    1899             :   // | ----------------------- add wiggle ----------------------- |
+    1900             : 
+    1901       21560 :   auto [wiggle_enabled, wiggle_amplitude, wiggle_frequency_] =
+    1902       21560 :       mrs_lib::get_mutexed(mutex_drs_params_, drs_params_.wiggle_enabled, drs_params_.wiggle_amplitude, drs_params_.wiggle_frequency);
+    1903             : 
+    1904       21560 :   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       21560 :   return std::make_tuple(filtered_x_trajectory, filtered_y_trajectory);
+    1919             : }
+    1920             : 
+    1921             : //}
+    1922             : 
+    1923             : /* //{ filterReferenceZ() */
+    1924             : 
+    1925       83313 : MatrixXd MpcTracker::filterReferenceZ(const VectorXd& des_z_trajectory, const double max_ascending_speed, const double max_descending_speed) {
+    1926             : 
+    1927      166626 :   auto mpc_x = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    1928             : 
+    1929       83313 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    1930             : 
+    1931             :   double difference_z;
+    1932             :   double max_sample_z;
+    1933             : 
+    1934       83313 :   MatrixXd filtered_trajectory = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+    1935             : 
+    1936       83313 :   double current_z = mpc_x(8, 0);
+    1937             : 
+    1938     3415836 :   for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    1939             : 
+    1940     3332520 :     if (i == 0) {
+    1941             : 
+    1942       83313 :       difference_z = des_z_trajectory(i, 0) - current_z;
+    1943             : 
+    1944       83313 :       if (difference_z > 0) {
+    1945       33694 :         max_sample_z = max_ascending_speed * dt1;
+    1946             :       } else {
+    1947       49619 :         max_sample_z = max_descending_speed * dt1;
+    1948             :       }
+    1949             : 
+    1950             :     } else {
+    1951             : 
+    1952     3249204 :       difference_z = des_z_trajectory(i, 0) - filtered_trajectory(i - 1, 0);
+    1953             : 
+    1954     3249204 :       if (difference_z > 0) {
+    1955      211776 :         max_sample_z = max_ascending_speed * _dt2_;
+    1956             :       } else {
+    1957     3037430 :         max_sample_z = max_descending_speed * _dt2_;
+    1958             :       }
+    1959             :     }
+    1960             : 
+    1961     3332520 :     if (!trajectory_tracking_in_progress_) {
+    1962             : 
+    1963             :       // saturate the difference
+    1964     2709080 :       if (difference_z > max_sample_z)
+    1965       79738 :         difference_z = max_sample_z;
+    1966     2629338 :       else if (difference_z < -max_sample_z)
+    1967       22218 :         difference_z = -max_sample_z;
+    1968             :     }
+    1969             : 
+    1970     3332520 :     if (i == 0) {
+    1971       83313 :       filtered_trajectory(i, 0) = current_z + difference_z;
+    1972             :     } else {
+    1973     3249204 :       filtered_trajectory(i, 0) = filtered_trajectory(i - 1, 0) + difference_z;
+    1974             :     }
+    1975             :   }
+    1976             : 
+    1977      166626 :   return filtered_trajectory;
+    1978             : }
+    1979             : 
+    1980             : //}
+    1981             : 
+    1982             : /* //{ manageConstraints() */
+    1983             : 
+    1984       83313 : void MpcTracker::manageConstraints() {
+    1985             : 
+    1986       83313 :   if (!got_constraints_) {
+    1987       83135 :     return;
+    1988             :   }
+    1989             : 
+    1990       83313 :   if (all_constraints_set_) {
+    1991       83135 :     return;
+    1992             :   }
+    1993             : 
+    1994         178 :   auto constraints            = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    1995         356 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    1996             : 
+    1997         356 :   bool can_change = (fabs(mpc_x(1, 0)) < constraints.horizontal_speed) && (fabs(mpc_x(2, 0)) < constraints.horizontal_acceleration) &&
+    1998         178 :                     (fabs(mpc_x(3, 0)) < constraints.horizontal_jerk) && (fabs(mpc_x(5, 0)) < constraints.horizontal_speed) &&
+    1999         178 :                     (fabs(mpc_x(6, 0)) < constraints.horizontal_acceleration) && (fabs(mpc_x(7, 0)) < constraints.horizontal_jerk) &&
+    2000         178 :                     (mpc_x(9, 0) < constraints.vertical_ascending_speed) && (mpc_x(9, 0) > -constraints.vertical_descending_speed) &&
+    2001         178 :                     (mpc_x(10, 0) < constraints.vertical_ascending_acceleration) && (mpc_x(10, 0) > -constraints.vertical_descending_acceleration) &&
+    2002         178 :                     (mpc_x(11, 0) < constraints.vertical_ascending_jerk) && (mpc_x(11, 0) > -constraints.vertical_descending_jerk) &&
+    2003         534 :                     (fabs(mpc_x_heading(1, 0)) < constraints.heading_speed) && (fabs(mpc_x_heading(2, 0)) < constraints.heading_acceleration) &&
+    2004         178 :                     (fabs(mpc_x_heading(3, 0)) < constraints.heading_jerk);
+    2005             : 
+    2006         178 :   if (can_change) {
+    2007             : 
+    2008             :     {
+    2009         178 :       std::scoped_lock lock(mutex_constraints_filtered_);
+    2010             : 
+    2011         178 :       constraints_filtered_.horizontal_acceleration = constraints.horizontal_acceleration;
+    2012         178 :       constraints_filtered_.horizontal_jerk         = constraints.horizontal_jerk;
+    2013         178 :       constraints_filtered_.horizontal_snap         = constraints.horizontal_snap;
+    2014             : 
+    2015         178 :       constraints_filtered_.vertical_ascending_acceleration = constraints.vertical_ascending_acceleration;
+    2016         178 :       constraints_filtered_.vertical_ascending_jerk         = constraints.vertical_ascending_jerk;
+    2017         178 :       constraints_filtered_.vertical_ascending_snap         = constraints.vertical_ascending_snap;
+    2018             : 
+    2019         178 :       constraints_filtered_.vertical_descending_acceleration = constraints.vertical_descending_acceleration;
+    2020         178 :       constraints_filtered_.vertical_descending_jerk         = constraints.vertical_descending_jerk;
+    2021         178 :       constraints_filtered_.vertical_descending_snap         = constraints.vertical_descending_snap;
+    2022             : 
+    2023         178 :       constraints_filtered_.heading_acceleration = constraints.heading_acceleration;
+    2024         178 :       constraints_filtered_.heading_jerk         = constraints.heading_jerk;
+    2025         178 :       constraints_filtered_.heading_snap         = constraints.heading_snap;
+    2026             :     }
+    2027             : 
+    2028         178 :     ROS_INFO_THROTTLE(1.0, "[MpcTracker]: all constraints succesfully applied");
+    2029         178 :     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       83313 : void MpcTracker::calculateMPC() {
+    2041             : 
+    2042       83313 :   std::scoped_lock lock(mutex_mpc_calculation_);
+    2043             : 
+    2044       83313 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    2045             : 
+    2046       83313 :   ROS_DEBUG_STREAM_THROTTLE(1.0, "[MpcTracker]: MPC calculation dt = " << dt1);
+    2047             : 
+    2048       83313 :   auto constraints            = mrs_lib::get_mutexed(mutex_constraints_filtered_, constraints_filtered_);
+    2049       83313 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    2050       83313 :   auto uav_state              = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    2051       83313 :   auto drs_params             = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+    2052             : 
+    2053       83313 :   MatrixXd des_x_trajectory, des_y_trajectory, des_z_trajectory, des_heading_trajectory;
+    2054             :   {
+    2055      166626 :     std::scoped_lock lock(mutex_des_trajectory_);
+    2056             : 
+    2057       83313 :     des_x_trajectory       = des_x_trajectory_;
+    2058       83313 :     des_y_trajectory       = des_y_trajectory_;
+    2059       83313 :     des_z_trajectory       = des_z_trajectory_;
+    2060       83313 :     des_heading_trajectory = des_heading_trajectory_;
+    2061             :   }
+    2062             : 
+    2063       83313 :   int    first_collision_index = INT_MAX;
+    2064       83313 :   double lowest_z              = std::numeric_limits<double>::max();
+    2065             : 
+    2066       83313 :   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     3373153 :     for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    2070     3290880 :       if (des_z_trajectory_(i, 0) < lowest_z) {
+    2071      122310 :         lowest_z = des_z_trajectory_(i, 0);
+    2072             :       }
+    2073             :     }
+    2074             : 
+    2075             :     // check other drone trajectories for collisions
+    2076       82272 :     minimum_collison_free_altitude_ = checkTrajectoryForCollisions(first_collision_index);
+    2077             : 
+    2078             :   } else {
+    2079             : 
+    2080        1041 :     minimum_collison_free_altitude_ = std::numeric_limits<double>::lowest();
+    2081             :   }
+    2082             : 
+    2083       83313 :   double max_speed_x = constraints.horizontal_speed;
+    2084       83313 :   double max_speed_y = constraints.horizontal_speed;
+    2085       83313 :   double max_speed_z = constraints.vertical_ascending_speed;
+    2086       83313 :   double min_speed_z = constraints.vertical_descending_speed;
+    2087             : 
+    2088       83313 :   double max_acc_x = constraints.horizontal_acceleration;
+    2089       83313 :   double max_acc_y = constraints.horizontal_acceleration;
+    2090       83313 :   double max_acc_z = constraints.vertical_ascending_acceleration;
+    2091       83313 :   double min_acc_z = constraints.vertical_descending_acceleration;
+    2092             : 
+    2093       83313 :   double max_snap_x = constraints.horizontal_snap;
+    2094       83313 :   double max_snap_y = constraints.horizontal_snap;
+    2095       83313 :   double max_snap_z = constraints.vertical_ascending_snap;
+    2096       83313 :   double min_snap_z = constraints.vertical_descending_snap;
+    2097             : 
+    2098       83313 :   double max_jerk_x = constraints.horizontal_jerk;
+    2099       83313 :   double max_jerk_y = constraints.horizontal_jerk;
+    2100       83313 :   double max_jerk_z = constraints.vertical_ascending_jerk;
+    2101       83313 :   double min_jerk_z = constraints.vertical_descending_jerk;
+    2102             : 
+    2103       83313 :   collision_avoidance_affecting_me_ = false;
+    2104             : 
+    2105       83313 :   if (first_collision_index < MPC_HORIZON_LENGTH) {
+    2106             : 
+    2107        2479 :     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        2479 :     double tmp = 0;
+    2110             : 
+    2111        2479 :     if (first_collision_index <= _avoidance_collision_slow_down_fully_) {
+    2112        2479 :       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        2479 :     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        2479 :     } else if (tmp > 1.0) {
+    2124           0 :       tmp = 1.0;
+    2125        2479 :     } else if (tmp < 0.0) {
+    2126           0 :       tmp = 0.0;
+    2127             :     }
+    2128             : 
+    2129        2479 :     if (tmp > coef_scaler) {
+    2130           6 :       coef_scaler = tmp;
+    2131           6 :       coef_time   = ros::Time::now();
+    2132             :     }
+    2133        2479 :     if ((ros::Time::now() - coef_time).toSec() > 2.0) {
+    2134        2023 :       coef_scaler = tmp;
+    2135             :     }
+    2136             : 
+    2137             :     // we are close to a possible collision, better slow down a bit to give everyone more time
+    2138        2479 :     max_speed_x = constraints.horizontal_speed * ((_avoidance_collision_horizontal_speed_coef_ * coef_scaler) + (1.0 - coef_scaler));
+    2139        2479 :     max_speed_y = constraints.horizontal_speed * ((_avoidance_collision_horizontal_speed_coef_ * coef_scaler) + (1.0 - coef_scaler));
+    2140             :   }
+    2141             : 
+    2142       83313 :   if (collision_free_altitude_ > lowest_z) {
+    2143             : 
+    2144        1522 :     collision_avoidance_affecting_me_ = true;
+    2145        1522 :     max_speed_x                       = constraints.horizontal_speed * (_avoidance_collision_horizontal_speed_coef_);
+    2146        1522 :     max_speed_y                       = constraints.horizontal_speed * (_avoidance_collision_horizontal_speed_coef_);
+    2147             :   }
+    2148             : 
+    2149             :   // first control input generated by MPC
+    2150      166626 :   VectorXd mpc_u         = VectorXd::Zero(MPC_N_INPUTS);
+    2151       83313 :   double   mpc_u_heading = 0;
+    2152             : 
+    2153       83313 :   double iters_z       = 0;
+    2154       83313 :   double iters_x       = 0;
+    2155       83313 :   double iters_y       = 0;
+    2156       83313 :   double iters_heading = 0;
+    2157             : 
+    2158       83313 :   ros::Time time_begin = ros::Time::now();
+    2159             : 
+    2160      166626 :   MatrixXd des_z_filtered = filterReferenceZ(des_z_trajectory, max_speed_z, min_speed_z);
+    2161             : 
+    2162     3415836 :   for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    2163     3332520 :     if (des_z_filtered(i, 0) < minimum_collison_free_altitude_) {
+    2164       59778 :       des_z_filtered_offset_(i, 0) = minimum_collison_free_altitude_;
+    2165             :     } else {
+    2166     3272742 :       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       83313 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2175       64030 :     mpc_solver_z_->setVelQ(drs_params.q_vel_braking);
+    2176             :   } else {
+    2177       19283 :     mpc_solver_z_->setVelQ(drs_params.q_vel_no_braking);
+    2178             :   }
+    2179             : 
+    2180      166626 :   MatrixXd initial_z = MatrixXd::Zero(4, 1);
+    2181             : 
+    2182       83313 :   initial_z(0, 0) = mpc_x(8, 0);
+    2183       83313 :   initial_z(1, 0) = mpc_x(9, 0);
+    2184       83313 :   initial_z(2, 0) = mpc_x(10, 0);
+    2185       83313 :   initial_z(3, 0) = mpc_x(11, 0);
+    2186             : 
+    2187       83313 :   mpc_solver_z_->setDt(dt1);
+    2188       83313 :   mpc_solver_z_->setInitialState(initial_z);
+    2189       83313 :   mpc_solver_z_->loadReference(des_z_filtered_offset_);
+    2190       83313 :   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       83313 :   iters_z += mpc_solver_z_->solveMPC();
+    2192             : 
+    2193             :   {
+    2194      166626 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2195             : 
+    2196       83313 :     mpc_solver_z_->getStates(predicted_trajectory_);
+    2197             :   }
+    2198             : 
+    2199       83313 :   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       83313 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2205             : 
+    2206       83313 :     ascend = (predicted_trajectory_(10, 0) / max_speed_z);
+    2207             :   }
+    2208             : 
+    2209       83313 :   if (ascend > 0 && collision_free_altitude_ > lowest_z) {
+    2210         675 :     max_speed_y = max_speed_y * (1.0 - ascend);
+    2211         675 :     max_speed_x = max_speed_x * (1.0 - ascend);
+    2212             :   }
+    2213             : 
+    2214      249939 :   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       83313 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2219       64029 :     mpc_solver_x_->setVelQ(drs_params.q_vel_braking);
+    2220             :   } else {
+    2221       19284 :     mpc_solver_x_->setVelQ(drs_params.q_vel_no_braking);
+    2222             :   }
+    2223             : 
+    2224      166626 :   MatrixXd initial_x = MatrixXd::Zero(4, 1);
+    2225             : 
+    2226       83313 :   initial_x(0, 0) = mpc_x(0, 0);
+    2227       83313 :   initial_x(1, 0) = mpc_x(1, 0);
+    2228       83313 :   initial_x(2, 0) = mpc_x(2, 0);
+    2229       83313 :   initial_x(3, 0) = mpc_x(3, 0);
+    2230             : 
+    2231       83313 :   mpc_solver_x_->setDt(dt1);
+    2232       83313 :   mpc_solver_x_->setInitialState(initial_x);
+    2233       83313 :   mpc_solver_x_->loadReference(des_x_filtered);
+    2234             : 
+    2235       83313 :   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       83313 :   iters_x += mpc_solver_x_->solveMPC();
+    2237             : 
+    2238             :   {
+    2239      166626 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2240             : 
+    2241       83313 :     mpc_solver_x_->getStates(predicted_trajectory_);
+    2242             :   }
+    2243             : 
+    2244       83313 :   mpc_u(0) = mpc_solver_x_->getFirstControlInput();
+    2245             : 
+    2246             :   // | -------------------- MPC solver y-axis ------------------- |
+    2247             : 
+    2248       83313 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2249       64028 :     mpc_solver_y_->setVelQ(drs_params.q_vel_braking);
+    2250             :   } else {
+    2251       19285 :     mpc_solver_y_->setVelQ(drs_params.q_vel_no_braking);
+    2252             :   }
+    2253             : 
+    2254      166626 :   MatrixXd initial_y = MatrixXd::Zero(4, 1);
+    2255             : 
+    2256       83313 :   initial_y(0, 0) = mpc_x(4, 0);
+    2257       83313 :   initial_y(1, 0) = mpc_x(5, 0);
+    2258       83313 :   initial_y(2, 0) = mpc_x(6, 0);
+    2259       83313 :   initial_y(3, 0) = mpc_x(7, 0);
+    2260             : 
+    2261       83313 :   mpc_solver_y_->setDt(dt1);
+    2262       83313 :   mpc_solver_y_->setInitialState(initial_y);
+    2263       83313 :   mpc_solver_y_->loadReference(des_y_filtered);
+    2264       83313 :   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       83313 :   iters_y += mpc_solver_y_->solveMPC();
+    2266             :   {
+    2267      166626 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2268             : 
+    2269       83313 :     mpc_solver_y_->getStates(predicted_trajectory_);
+    2270             :   }
+    2271       83313 :   mpc_u(1) = mpc_solver_y_->getFirstControlInput();
+    2272             : 
+    2273             :   // | ------------------- MPC solver heading ------------------- |
+    2274             : 
+    2275             :   // unwrap the heading reference
+    2276             : 
+    2277       83313 :   des_heading_trajectory(0, 0) = sradians::unwrap(des_heading_trajectory(0, 0), mpc_x_heading(0));
+    2278             : 
+    2279     3332520 :   for (int i = 1; i < MPC_HORIZON_LENGTH; i++) {
+    2280     3249204 :     des_heading_trajectory(i, 0) = sradians::unwrap(des_heading_trajectory(i, 0), des_heading_trajectory(i - 1, 0));
+    2281             :   }
+    2282             : 
+    2283       83313 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2284       64027 :     mpc_solver_heading_->setVelQ(drs_params.q_vel_braking);
+    2285             :   } else {
+    2286       19286 :     mpc_solver_heading_->setVelQ(drs_params.q_vel_no_braking);
+    2287             :   }
+    2288             : 
+    2289       83313 :   mpc_solver_heading_->setDt(dt1);
+    2290       83313 :   mpc_solver_heading_->setInitialState(mpc_x_heading);
+    2291       83313 :   mpc_solver_heading_->loadReference(des_heading_trajectory);
+    2292       83313 :   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       83313 :   iters_heading += mpc_solver_heading_->solveMPC();
+    2295             :   {
+    2296      166626 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2297             : 
+    2298       83313 :     mpc_solver_heading_->getStates(predicted_heading_trajectory_);
+    2299             :   }
+    2300       83313 :   mpc_u_heading = mpc_solver_heading_->getFirstControlInput();
+    2301             : 
+    2302             :   {
+    2303      166626 :     geometry_msgs::PoseStamped point;
+    2304       83313 :     point.header.stamp    = ros::Time::now();
+    2305       83313 :     point.header.frame_id = uav_state_.header.frame_id;
+    2306             : 
+    2307       83313 :     point.pose.position.x = des_x_filtered(0, 0);
+    2308       83313 :     point.pose.position.y = des_y_filtered(0, 0);
+    2309       83313 :     point.pose.position.z = des_z_filtered(0, 0);
+    2310             : 
+    2311       83313 :     point.pose.orientation = mrs_lib::AttitudeConverter(0, 0, des_heading_trajectory(0, 0));
+    2312             : 
+    2313       83313 :     ph_first_reference_point_.publish(point);
+    2314             :   }
+    2315             : 
+    2316             :   {
+    2317       83313 :     bool saturating = false;
+    2318             : 
+    2319       83313 :     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       83313 :     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       83313 :     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       83313 :     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       83313 :     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       83313 :     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       83313 :     if (saturating) {
+    2351           0 :       debugPrintState(0.1);
+    2352           0 :       debugPrintMPCResult(0.1);
+    2353             :     }
+    2354             :   }
+    2355             : 
+    2356             :   {
+    2357       83313 :     std::scoped_lock lock(mutex_mpc_u_);
+    2358             : 
+    2359       83313 :     mpc_u_         = mpc_u;
+    2360       83313 :     mpc_u_heading_ = mpc_u_heading;
+    2361             :   }
+    2362             : 
+    2363       83313 :   double mpc_solver_time = (ros::Time::now() - time_begin).toSec();
+    2364       83313 :   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           4 :     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       83313 :   future_was_predicted_ = true;
+    2372             : 
+    2373             :   // | ------------- breaking for the next iteration ------------ |
+    2374             : 
+    2375      157495 :   if (drs_params.braking_enabled && (std::abs(des_x_filtered(MPC_HORIZON_LENGTH - 6) - des_x_filtered(MPC_HORIZON_LENGTH - 1)) <= 0.1) &&
+    2376      143781 :       (std::abs(des_y_filtered(MPC_HORIZON_LENGTH - 6) - des_y_filtered(MPC_HORIZON_LENGTH - 1)) <= 0.1) &&
+    2377      236225 :       (std::abs(des_z_filtered(MPC_HORIZON_LENGTH - 6) - des_z_filtered(MPC_HORIZON_LENGTH - 1)) <= 0.1) &&
+    2378       68008 :       (std::abs(radians::diff(des_heading_trajectory(MPC_HORIZON_LENGTH - 6), des_heading_trajectory(MPC_HORIZON_LENGTH - 1))) <= 0.1)) {
+    2379             : 
+    2380       67803 :     brake_ = true;
+    2381       67803 :     ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: braking");
+    2382             : 
+    2383             :   } else {
+    2384       15510 :     brake_ = false;
+    2385             :   }
+    2386             : 
+    2387             :   /* publish mpc reference //{ */
+    2388             : 
+    2389             :   {
+    2390      166626 :     geometry_msgs::PoseArray debug_trajectory_out;
+    2391       83313 :     debug_trajectory_out.header.stamp    = ros::Time::now();
+    2392       83313 :     debug_trajectory_out.header.frame_id = uav_state_.header.frame_id;
+    2393             : 
+    2394             :     {
+    2395      166626 :       std::scoped_lock lock(mutex_predicted_trajectory_);
+    2396             : 
+    2397     3415836 :       for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    2398             : 
+    2399     3332520 :         geometry_msgs::Pose new_pose;
+    2400             : 
+    2401     3332520 :         new_pose.position.x = des_x_filtered(i, 0);
+    2402     3332520 :         new_pose.position.y = des_y_filtered(i, 0);
+    2403     3332520 :         new_pose.position.z = des_z_filtered(i, 0);
+    2404             : 
+    2405     3332520 :         new_pose.orientation = mrs_lib::AttitudeConverter(0, 0, des_heading_trajectory(i));
+    2406             : 
+    2407     3332520 :         debug_trajectory_out.poses.push_back(new_pose);
+    2408             :       }
+    2409             :     }
+    2410             : 
+    2411       83313 :     ph_mpc_reference_debugging_.publish(debug_trajectory_out);
+    2412             :   }
+    2413             : 
+    2414             :   //}
+    2415             : }
+    2416             : 
+    2417             : //}
+    2418             : 
+    2419             : /* iterateModel() //{ */
+    2420             : 
+    2421       80385 : void MpcTracker::iterateModel(const double& dt) {
+    2422             : 
+    2423       80385 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    2424             : 
+    2425       80385 :   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       80286 :     dt1 = 0.9 * dt1 + 0.1 * dt;
+    2433             : 
+    2434       80286 :     mrs_lib::set_mutexed(mutex_dt1_, dt1, dt1_);
+    2435       80286 :     timer_mpc_iteration_.setPeriod(ros::Duration(dt1), false);
+    2436             : 
+    2437             :     // clang-format off
+    2438       80286 :     A_ << 1, dt1, 0.5*dt1*dt1, 0,           0, 0,   0,           0,           0, 0,   0,           0,
+    2439       80286 :           0, 1,   dt1,         0.5*dt1*dt1, 0, 0,   0,           0,           0, 0,   0,           0,
+    2440       80286 :           0, 0,   1,           dt1,         0, 0,   0,           0,           0, 0,   0,           0,
+    2441       80286 :           0, 0,   0,           1,           0, 0,   0,           0,           0, 0,   0,           0,
+    2442       80286 :           0, 0,   0,           0,           1, dt1, 0.5*dt1*dt1, 0,           0, 0,   0,           0,
+    2443       80286 :           0, 0,   0,           0,           0, 1,   dt1,         0.5*dt1*dt1, 0, 0,   0,           0,
+    2444       80286 :           0, 0,   0,           0,           0, 0,   1,           dt1,         0, 0,   0,           0,
+    2445       80286 :           0, 0,   0,           0,           0, 0,   0,           1,           0, 0,   0,           0,
+    2446       80286 :           0, 0,   0,           0,           0, 0,   0,           0,           1, dt1, 0.5*dt1*dt1, 0,
+    2447       80286 :           0, 0,   0,           0,           0, 0,   0,           0,           0, 1,   dt1,         0.5*dt1*dt1,
+    2448       80286 :           0, 0,   0,           0,           0, 0,   0,           0,           0, 0,   1,           dt1,
+    2449       80286 :           0, 0,   0,           0,           0, 0,   0,           0,           0, 0,   0,           1;
+    2450             : 
+    2451       80286 :       B_ << 0,   0,   0,
+    2452       80286 :             0,   0,   0,
+    2453       80286 :             0,   0,   0,
+    2454       80286 :             dt1, 0,   0,
+    2455       80286 :             0,   0,   0,
+    2456       80286 :             0,   0,   0,
+    2457       80286 :             0,   0,   0,
+    2458       80286 :             0,   dt1, 0,
+    2459       80286 :             0,   0,   0,
+    2460       80286 :             0,   0,   0,
+    2461       80286 :             0,   0,   0,
+    2462       80286 :             0,   0,   dt1;
+    2463             : 
+    2464       80286 :       A_heading_ << 1, dt1, 0.5*dt1*dt1, 0,
+    2465       80286 :                     0, 1,   dt1,         0.5*dt1*dt1,
+    2466       80286 :                     0, 0,   1,           dt1,
+    2467       80286 :                     0, 0,   0,           1;
+    2468             : 
+    2469       80286 :       B_heading_ << 0,
+    2470       80286 :                     0,
+    2471      160572 :                     0,
+    2472       80286 :                     dt1;
+    2473             : 
+    2474       80286 :     model_iteration_last_time_ = ros::Time::now();
+    2475             :   }
+    2476             : 
+    2477             :   {
+    2478      160770 :     auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    2479      160770 :     auto [mpc_u, mpc_u_heading] = mrs_lib::get_mutexed(mutex_mpc_u_, mpc_u_, mpc_u_heading_);
+    2480             : 
+    2481      160770 :     MatrixXd new_mpc_x         = A_ * mpc_x + B_ * mpc_u;
+    2482      160770 :     MatrixXd new_mpc_x_heading = A_heading_ * mpc_x_heading + B_heading_ * mpc_u_heading;
+    2483             : 
+    2484             :     // | --------------- check the state difference --------------- |
+    2485             :     {
+    2486       80385 :       auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    2487             : 
+    2488       80385 :       bool problem = false;
+    2489             : 
+    2490             :       // position
+    2491             : 
+    2492       80385 :       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       80385 :       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       80385 :       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       80385 :       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       80385 :       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       80385 :       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       80385 :       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       80385 :       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       80385 :       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       80385 :       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       80385 :       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       80385 :       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       80385 :       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       80385 :       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       80385 :       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       80385 :       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       80385 :       if (problem) {
+    2601           0 :         debugPrintState(0.001);
+    2602           0 :         debugPrintMPCResult(0.001);
+    2603             :       }
+    2604             :     }
+    2605             : 
+    2606             :     {
+    2607       80385 :       std::scoped_lock lock(mutex_mpc_x_);
+    2608             : 
+    2609       80385 :       mpc_x_         = new_mpc_x;
+    2610       80385 :       mpc_x_heading_ = new_mpc_x_heading;
+    2611             : 
+    2612       80385 :       mpc_x_heading_(0) = sradians::wrap(mpc_x_heading_(0));
+    2613             :     }
+    2614             :   }
+    2615       80385 : }
+    2616             : 
+    2617             : //}
+    2618             : 
+    2619             : // | -------------------- referece setting -------------------- |
+    2620             : 
+    2621             : /* //{ loadTrajectory() */
+    2622             : 
+    2623             : // method for setting desired trajectory
+    2624         823 : std::tuple<bool, std::string, bool> MpcTracker::loadTrajectory(const mrs_msgs::TrajectoryReference msg) {
+    2625             : 
+    2626         823 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    2627             : 
+    2628             :   // copy the member variables
+    2629        1646 :   auto x         = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    2630        1646 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    2631             : 
+    2632        1646 :   std::stringstream ss;
+    2633             : 
+    2634             :   /* check the trajectory dt //{ */
+    2635             : 
+    2636             :   double trajectory_dt;
+    2637         823 :   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         823 :   } 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         823 :     trajectory_dt = msg.dt;
+    2647             :   }
+    2648             : 
+    2649             :   //}
+    2650             : 
+    2651         823 :   int trajectory_size = msg.points.size();
+    2652             : 
+    2653             :   /* sanitize the time-ness of the trajectory //{ */
+    2654             : 
+    2655         823 :   int    trajectory_sample_offset    = 0;  // how many samples in past is the trajectory
+    2656         823 :   int    trajectory_subsample_offset = 0;  // how many simulation inner loops ahead of the first valid sample
+    2657         823 :   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         823 :   if (msg.fly_now) {
+    2661             : 
+    2662         822 :     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         822 :     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         819 :       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         819 :       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         822 :     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         823 :   ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: trajectory sample offset: %d", trajectory_sample_offset);
+    2731         823 :   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        1646 :   MatrixXd des_x_whole_trajectory       = VectorXd::Zero(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2743        1646 :   MatrixXd des_y_whole_trajectory       = VectorXd::Zero(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2744        1646 :   MatrixXd des_z_whole_trajectory       = VectorXd::Zero(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2745        1646 :   MatrixXd des_heading_whole_trajectory = VectorXd::Zero(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2746             : 
+    2747       42367 :   for (int i = 0; i < trajectory_size; i++) {
+    2748             : 
+    2749       41544 :     des_x_whole_trajectory(i)       = msg.points.at(trajectory_sample_offset + i).position.x;
+    2750       41544 :     des_y_whole_trajectory(i)       = msg.points.at(trajectory_sample_offset + i).position.y;
+    2751       41544 :     des_z_whole_trajectory(i)       = msg.points.at(trajectory_sample_offset + i).position.z;
+    2752       41544 :     des_heading_whole_trajectory(i) = msg.points.at(trajectory_sample_offset + i).heading;
+    2753             :   }
+    2754             : 
+    2755             :   //}
+    2756             : 
+    2757             :   /* set looping //{ */
+    2758             : 
+    2759         823 :   bool loop = false;
+    2760             : 
+    2761         823 :   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         823 :     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         823 :   if (!loop) {
+    2799             : 
+    2800             :     // extend it so it has smooth ending
+    2801       33743 :     for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    2802             : 
+    2803       32920 :       des_x_whole_trajectory(i + trajectory_size)       = des_x_whole_trajectory(i + trajectory_size - 1);
+    2804       32920 :       des_y_whole_trajectory(i + trajectory_size)       = des_y_whole_trajectory(i + trajectory_size - 1);
+    2805       32920 :       des_z_whole_trajectory(i + trajectory_size)       = des_z_whole_trajectory(i + trajectory_size - 1);
+    2806       32920 :       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        1646 :     std::scoped_lock lock(mutex_des_whole_trajectory_, mutex_des_trajectory_, mutex_trajectory_tracking_states_);
+    2823             : 
+    2824         823 :     des_whole_trajectory_id_ = msg.input_id;
+    2825             : 
+    2826         823 :     auto mpc_x_heading = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_heading_);
+    2827             : 
+    2828         823 :     trajectory_tracking_in_progress_ = msg.fly_now;
+    2829         823 :     trajectory_track_heading_        = msg.use_heading;
+    2830             : 
+    2831             :     // allocate the vectors
+    2832         823 :     des_x_whole_trajectory_       = std::make_shared<VectorXd>(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2833         823 :     des_y_whole_trajectory_       = std::make_shared<VectorXd>(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2834         823 :     des_z_whole_trajectory_       = std::make_shared<VectorXd>(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2835         823 :     des_heading_whole_trajectory_ = std::make_shared<VectorXd>(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2836             : 
+    2837       75287 :     for (int i = 0; i < trajectory_size + MPC_HORIZON_LENGTH; i++) {
+    2838             : 
+    2839       74464 :       (*des_x_whole_trajectory_)(i) = des_x_whole_trajectory(i);
+    2840       74464 :       (*des_y_whole_trajectory_)(i) = des_y_whole_trajectory(i);
+    2841       74464 :       (*des_z_whole_trajectory_)(i) = des_z_whole_trajectory(i);
+    2842             : 
+    2843       74464 :       if (trajectory_track_heading_) {
+    2844       74464 :         (*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         823 :     if (trajectory_tracking_in_progress_) {
+    2852             : 
+    2853         822 :       toggleHover(false);
+    2854             : 
+    2855             :       /* interpolate the trajectory points and fill in the desired_trajectory vector //{ */
+    2856             : 
+    2857       33702 :       for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    2858             : 
+    2859       32880 :         double first_time = dt1 + i * _dt2_ + trajectory_subsample_offset * dt1;
+    2860             : 
+    2861       32880 :         int first_idx  = floor(first_time / trajectory_dt);
+    2862       32880 :         int second_idx = first_idx + 1;
+    2863             : 
+    2864       32880 :         double interp_coeff = std::fmod(first_time / trajectory_dt, 1.0);
+    2865             : 
+    2866       32880 :         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       32880 :           if (second_idx >= trajectory_size) {
+    2878           5 :             second_idx = trajectory_size - 1;
+    2879             :           }
+    2880             : 
+    2881       32880 :           if (first_idx >= trajectory_size) {
+    2882           4 :             first_idx = trajectory_size - 1;
+    2883             :           }
+    2884             :         }
+    2885             : 
+    2886       32880 :         des_x_trajectory_(i, 0) = (1.0 - interp_coeff) * des_x_whole_trajectory(first_idx) + interp_coeff * des_x_whole_trajectory(second_idx);
+    2887       32880 :         des_y_trajectory_(i, 0) = (1.0 - interp_coeff) * des_y_whole_trajectory(first_idx) + interp_coeff * des_y_whole_trajectory(second_idx);
+    2888       32880 :         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       32880 :         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         823 :     trajectory_size_             = trajectory_size;
+    2897         823 :     trajectory_current_time_     = 0;
+    2898         823 :     trajectory_set_              = true;
+    2899         823 :     trajectory_tracking_loop_    = loop;
+    2900         823 :     trajectory_dt_               = trajectory_dt;
+    2901         823 :     trajectory_count_++;
+    2902             :   }
+    2903             : 
+    2904             :   //}
+    2905             : 
+    2906         823 :   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        1646 :     geometry_msgs::PoseArray debug_trajectory_out;
+    2913         823 :     debug_trajectory_out.header.stamp    = ros::Time::now();
+    2914         823 :     debug_trajectory_out.header.frame_id = common_handlers_->transformer->resolveFrame(msg.header.frame_id);
+    2915             : 
+    2916             :     {
+    2917        1646 :       std::scoped_lock lock(mutex_des_whole_trajectory_);
+    2918             : 
+    2919       42367 :       for (int i = 0; i < trajectory_size; i++) {
+    2920             : 
+    2921       41544 :         geometry_msgs::Pose new_pose;
+    2922             : 
+    2923       41544 :         new_pose.position.x = (*des_x_whole_trajectory_)(i);
+    2924       41544 :         new_pose.position.y = (*des_y_whole_trajectory_)(i);
+    2925       41544 :         new_pose.position.z = (*des_z_whole_trajectory_)(i);
+    2926             : 
+    2927       41544 :         new_pose.orientation = mrs_lib::AttitudeConverter(0, 0, (*des_heading_whole_trajectory_)(i));
+    2928             : 
+    2929       41544 :         debug_trajectory_out.poses.push_back(new_pose);
+    2930             :       }
+    2931             :     }
+    2932             : 
+    2933         823 :     pub_debug_processed_trajectory_poses_.publish(debug_trajectory_out);
+    2934             : 
+    2935        1646 :     visualization_msgs::MarkerArray msg_out;
+    2936             : 
+    2937        1646 :     visualization_msgs::Marker marker;
+    2938             : 
+    2939         823 :     marker.header.stamp     = ros::Time::now();
+    2940         823 :     marker.header.frame_id  = common_handlers_->transformer->resolveFrame(msg.header.frame_id);
+    2941         823 :     marker.type             = visualization_msgs::Marker::LINE_LIST;
+    2942         823 :     marker.color.a          = 1;
+    2943         823 :     marker.scale.x          = 0.05;
+    2944         823 :     marker.color.r          = 1;
+    2945         823 :     marker.color.g          = 0;
+    2946         823 :     marker.color.b          = 0;
+    2947         823 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2948             : 
+    2949             :     {
+    2950        1646 :       std::scoped_lock lock(mutex_des_whole_trajectory_);
+    2951             : 
+    2952       41544 :       for (int i = 0; i < trajectory_size - 1; i++) {
+    2953             : 
+    2954       40721 :         geometry_msgs::Point point1;
+    2955             : 
+    2956       40721 :         point1.x = des_x_whole_trajectory(i);
+    2957       40721 :         point1.y = des_y_whole_trajectory(i);
+    2958       40721 :         point1.z = des_z_whole_trajectory(i);
+    2959             : 
+    2960       40721 :         marker.points.push_back(point1);
+    2961             : 
+    2962       40721 :         geometry_msgs::Point point2;
+    2963             : 
+    2964       40721 :         point2.x = des_x_whole_trajectory(i + 1);
+    2965       40721 :         point2.y = des_y_whole_trajectory(i + 1);
+    2966       40721 :         point2.z = des_z_whole_trajectory(i + 1);
+    2967             : 
+    2968       40721 :         marker.points.push_back(point2);
+    2969             :       }
+    2970             :     }
+    2971             : 
+    2972         823 :     msg_out.markers.push_back(marker);
+    2973             : 
+    2974         823 :     pub_debug_processed_trajectory_markers_.publish(msg_out);
+    2975             :   }
+    2976             : 
+    2977             :   //}
+    2978             : 
+    2979         823 :   publishDiagnostics();
+    2980             : 
+    2981        1646 :   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         837 : void MpcTracker::setSinglePointReference(const double x, const double y, const double z, const double heading) {
+    2990             : 
+    2991        1674 :   std::scoped_lock lock(mutex_des_trajectory_);
+    2992             : 
+    2993         837 :   des_x_trajectory_.fill(x);
+    2994         837 :   des_y_trajectory_.fill(y);
+    2995         837 :   des_z_trajectory_.fill(z);
+    2996         837 :   des_heading_trajectory_.fill(heading);
+    2997         837 : }
+    2998             : 
+    2999             : //}
+    3000             : 
+    3001             : /* //{ setGoal() */
+    3002             : 
+    3003             : // set absolute goal
+    3004         270 : void MpcTracker::setGoal(const double pos_x, const double pos_y, const double pos_z, const double heading, const bool use_heading) {
+    3005             : 
+    3006         270 :   double desired_heading = sradians::wrap(heading);
+    3007             : 
+    3008         540 :   auto mpc_x_heading = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_heading_);
+    3009             : 
+    3010         270 :   if (!use_heading) {
+    3011           0 :     desired_heading = mpc_x_heading(0, 0);
+    3012             :   }
+    3013             : 
+    3014         270 :   trajectory_tracking_in_progress_ = false;
+    3015             : 
+    3016         270 :   setSinglePointReference(pos_x, pos_y, pos_z, desired_heading);
+    3017             : 
+    3018         270 :   publishDiagnostics();
+    3019         270 : }
+    3020             : 
+    3021             : //}
+    3022             : 
+    3023             : /* //{ setRelativeGoal() */
+    3024             : 
+    3025         567 : void MpcTracker::setRelativeGoal(const double pos_x, const double pos_y, const double pos_z, const double heading, const bool use_heading) {
+    3026             : 
+    3027        1134 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    3028             : 
+    3029         567 :   double abs_x = mpc_x(0, 0) + pos_x;
+    3030         567 :   double abs_y = mpc_x(4, 0) + pos_y;
+    3031         567 :   double abs_z = mpc_x(8, 0) + pos_z;
+    3032             : 
+    3033         567 :   double abs_heading = mpc_x_heading(0, 0);
+    3034             : 
+    3035         567 :   if (use_heading) {
+    3036           0 :     abs_heading += heading;
+    3037             :   }
+    3038             : 
+    3039         567 :   trajectory_tracking_in_progress_ = false;
+    3040             : 
+    3041         567 :   setSinglePointReference(abs_x, abs_y, abs_z, abs_heading);
+    3042             : 
+    3043         567 :   publishDiagnostics();
+    3044         567 : }
+    3045             : 
+    3046             : //}
+    3047             : 
+    3048             : /* toggleHover() //{ */
+    3049             : 
+    3050        1318 : void MpcTracker::toggleHover(bool in) {
+    3051             : 
+    3052        1318 :   if (in == false && hovering_in_progress_) {
+    3053             : 
+    3054         105 :     ROS_DEBUG("[MpcTracker]: stoppping the hover timer");
+    3055             : 
+    3056         105 :     timer_hover_.stop();
+    3057             : 
+    3058         105 :     hovering_in_progress_ = false;
+    3059             : 
+    3060        1213 :   } else if (in == true && !hovering_in_progress_) {
+    3061             : 
+    3062         105 :     ROS_DEBUG("[MpcTracker]: starting the hover timer");
+    3063             : 
+    3064         105 :     hovering_in_progress_ = true;
+    3065             : 
+    3066         105 :     timer_hover_.start();
+    3067             :   }
+    3068        1318 : }
+    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       24440 : void MpcTracker::publishDiagnostics(void) {
+    3225             : 
+    3226       48880 :   auto des_x_trajectory       = mrs_lib::get_mutexed(mutex_des_trajectory_, des_x_trajectory_);
+    3227       48880 :   auto des_y_trajectory       = mrs_lib::get_mutexed(mutex_des_trajectory_, des_y_trajectory_);
+    3228       48880 :   auto des_z_trajectory       = mrs_lib::get_mutexed(mutex_des_trajectory_, des_z_trajectory_);
+    3229       48880 :   auto des_heading_trajectory = mrs_lib::get_mutexed(mutex_des_trajectory_, des_heading_trajectory_);
+    3230             : 
+    3231       48880 :   mrs_msgs::MpcTrackerDiagnostics diagnostics;
+    3232             : 
+    3233       24440 :   diagnostics.header.stamp    = ros::Time::now();
+    3234       24440 :   diagnostics.header.frame_id = uav_state_.header.frame_id;
+    3235             : 
+    3236       24440 :   diagnostics.active = is_active_;
+    3237             : 
+    3238       24440 :   diagnostics.uav_name = _uav_name_;
+    3239             : 
+    3240       24440 :   diagnostics.collision_avoidance_active = collision_avoidance_enabled_;
+    3241       24440 :   diagnostics.avoiding_collision         = collision_avoidance_affecting_me_;
+    3242             : 
+    3243       24440 :   diagnostics.setpoint.position.x = des_x_trajectory(0, 0);
+    3244       24440 :   diagnostics.setpoint.position.y = des_y_trajectory(0, 0);
+    3245       24440 :   diagnostics.setpoint.position.z = des_z_trajectory(0, 0);
+    3246             : 
+    3247       24440 :   diagnostics.setpoint.orientation = mrs_lib::AttitudeConverter(0, 0, des_heading_trajectory(0, 0));
+    3248             : 
+    3249       48880 :   std::stringstream ss;
+    3250             : 
+    3251             :   {
+    3252       48880 :     std::scoped_lock lock(mutex_other_uav_diagnostics_);
+    3253             : 
+    3254             :     // fill in if other UAVs are sending their trajectories
+    3255       24440 :     std::map<std::string, mrs_msgs::MpcTrackerDiagnostics>::iterator u = other_uav_diagnostics_.begin();
+    3256             : 
+    3257       26620 :     while (u != other_uav_diagnostics_.end()) {
+    3258             : 
+    3259        2180 :       if (u->second.collision_avoidance_active) {
+    3260             : 
+    3261             :         // is the other's trajectory fresh enought?
+    3262        1461 :         if ((ros::Time::now() - u->second.header.stamp).toSec() < _collision_trajectory_timeout_) {
+    3263        1461 :           diagnostics.avoidance_active_uavs.push_back(u->first);
+    3264        1461 :           ss << u->first.c_str() << ", ";
+    3265             :         }
+    3266             :       }
+    3267             : 
+    3268        2180 :       u++;
+    3269             :     }
+    3270             :   }
+    3271             : 
+    3272       48880 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    3273             : 
+    3274       24440 :   if (ss.str().length() > 0) {
+    3275        1461 :     ROS_DEBUG_STREAM_THROTTLE(5.0, "[MpcTracker]: getting avoidance trajectories: " << ss.str());
+    3276       49779 :   } else if (collision_avoidance_enabled_ &&
+    3277       26800 :       (uav_state.estimator_horizontal == "lat_gps" || uav_state.estimator_horizontal == "lat_rtk")) {
+    3278       19006 :     ROS_DEBUG_THROTTLE(10.0, "[MpcTracker]: missing avoidance trajectories!");
+    3279             :   }
+    3280             : 
+    3281       24440 :   pub_diagnostics_.publish(diagnostics);
+    3282             : 
+    3283       48880 :   std_msgs::String string_msg;
+    3284             : 
+    3285       24440 :   if (diagnostics.avoidance_active_uavs.empty()) {
+    3286             : 
+    3287       22979 :     string_msg.data = "-id col_avoid I see: NOTHING";
+    3288             : 
+    3289             :   } else {
+    3290             : 
+    3291        1461 :     string_msg.data = "-id col_avoid I see: ";
+    3292             :   }
+    3293             : 
+    3294       24440 :   if (diagnostics.avoidance_active_uavs.size() <= 3) {
+    3295             : 
+    3296       25901 :     for (size_t i = 0; i < diagnostics.avoidance_active_uavs.size(); i++) {
+    3297        1461 :       if (i == 0) {
+    3298        1461 :         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       24440 :   pub_status_string_.publish(string_msg);
+    3313       24440 : }
+    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       25030 : int MpcTracker::getCurrentTrajectoryIdx() {
+    3348             : 
+    3349       25030 :   auto trajectory_current_time = mrs_lib::get_mutexed(mutex_trajectory_tracking_states_, trajectory_current_time_);
+    3350       25030 :   auto trajectory_dt   = mrs_lib::get_mutexed(mutex_trajectory_tracking_states_, trajectory_dt_);
+    3351             : 
+    3352       25030 :   return floor(trajectory_current_time / trajectory_dt);
+    3353             : }
+    3354             : 
+    3355             : //}
+    3356             : 
+    3357             : /* increaseCurrentTrajectoryTime() //{ */
+    3358             : 
+    3359       15589 : void MpcTracker::increaseCurrentTrajectoryTime(const double dt) {
+    3360             : 
+    3361       15589 :   auto trajectory_current_time = mrs_lib::get_mutexed(mutex_trajectory_tracking_states_, trajectory_current_time_);
+    3362       15589 :   auto [trajectory_size, trajectory_dt] = mrs_lib::get_mutexed(mutex_des_trajectory_, trajectory_size_, trajectory_dt_);
+    3363             : 
+    3364       15589 :   trajectory_current_time += dt;
+    3365             : 
+    3366       15589 :   const double trajectory_duration = trajectory_size * trajectory_dt;
+    3367             : 
+    3368             :   // if the tracking idx hits the end of the trajectory
+    3369       15589 :   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       15589 :   if (trajectory_tracking_in_progress_) {
+    3387       15584 :     mrs_lib::set_mutexed(mutex_trajectory_tracking_states_, trajectory_current_time, trajectory_current_time_);
+    3388             :   }
+    3389       15589 : }
+    3390             : 
+    3391             : //}
+    3392             : 
+    3393             : // --------------------------------------------------------------
+    3394             : // |                           timers                           |
+    3395             : // --------------------------------------------------------------
+    3396             : 
+    3397             : /* //{ timerDiagnostics() */
+    3398             : 
+    3399             : // published diagnostics in reguar intervals
+    3400       22734 : void MpcTracker::timerDiagnostics(const ros::TimerEvent& event) {
+    3401             : 
+    3402       22734 :   if (!is_initialized_)
+    3403           0 :     return;
+    3404             : 
+    3405       68202 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerDiagnostics", _diagnostics_rate_, 0.1, event);
+    3406       68202 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcTracker::timerDiagnostics", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3407             : 
+    3408       22734 :   publishDiagnostics();
+    3409             : }
+    3410             : 
+    3411             : //}
+    3412             : 
+    3413             : /* //{ timerMPC() */
+    3414             : 
+    3415       83313 : void MpcTracker::timerMPC(const ros::TimerEvent& event) {
+    3416             : 
+    3417       83313 :   if (odometry_reset_in_progress_) {
+    3418           0 :     ROS_ERROR("[MpcTracker]: mpc iteration tried run while reseting odometry");
+    3419           0 :     return;
+    3420             :   }
+    3421             : 
+    3422       83313 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    3423             : 
+    3424       83313 :   mrs_lib::AtomicScopeFlag unset_running(mpc_timer_running_);
+    3425             : 
+    3426       83313 :   bool started_with_invalid = mpc_result_invalid_;
+    3427             : 
+    3428       83313 :   if (!is_active_) {
+    3429           0 :     return;
+    3430             :   }
+    3431             : 
+    3432       83313 :   if (!is_initialized_) {
+    3433           0 :     return;
+    3434             :   }
+    3435             : 
+    3436      249939 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerMPC", 1.0 / dt1, 0.01, event);
+    3437      249939 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcTracker::timerMPC", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3438             : 
+    3439       83313 :   ros::Time     begin = ros::Time::now();
+    3440       83313 :   ros::Time     end;
+    3441       83313 :   ros::Duration interval;
+    3442             :   int           trajectory_id;
+    3443             : 
+    3444             :   // if we are tracking trajectory, copy the setpoint
+    3445       83313 :   if (trajectory_tracking_in_progress_) {
+    3446             : 
+    3447       31182 :     MatrixXd des_x_trajectory, des_y_trajectory, des_z_trajectory, des_heading_trajectory;
+    3448       31182 :     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       15591 :       std::scoped_lock lock(mutex_des_trajectory_, mutex_des_whole_trajectory_);
+    3453             : 
+    3454       15591 :       des_x_trajectory       = des_x_trajectory_;
+    3455       15591 :       des_y_trajectory       = des_y_trajectory_;
+    3456       15591 :       des_z_trajectory       = des_z_trajectory_;
+    3457       15591 :       des_heading_trajectory = des_heading_trajectory_;
+    3458             : 
+    3459       15591 :       des_x_whole_trajectory       = *des_x_whole_trajectory_;
+    3460       15591 :       des_y_whole_trajectory       = *des_y_whole_trajectory_;
+    3461       15591 :       des_z_whole_trajectory       = *des_z_whole_trajectory_;
+    3462       15591 :       des_heading_whole_trajectory = *des_heading_whole_trajectory_;
+    3463             : 
+    3464       15591 :       trajectory_size = trajectory_size_;
+    3465       15591 :       trajectory_dt   = trajectory_dt_;
+    3466             : 
+    3467       15591 :       trajectory_id = des_whole_trajectory_id_;
+    3468             :     }
+    3469             : 
+    3470             :     /* interpolate the trajectory points and fill in the desired_trajectory vector //{ */
+    3471             : 
+    3472       15591 :     const double dt_from_last_update = (event.current_real - event.last_real).toSec();
+    3473             : 
+    3474       15591 :     if (dt_from_last_update > 0.0 && dt_from_last_update < 1.0) {
+    3475       15589 :       increaseCurrentTrajectoryTime(dt_from_last_update);
+    3476             :     } else {
+    3477           2 :       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       15591 :     auto trajectory_current_time = mrs_lib::get_mutexed(mutex_trajectory_tracking_states_, trajectory_current_time_);
+    3481             : 
+    3482      639231 :     for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    3483             : 
+    3484      623640 :       auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    3485             : 
+    3486      623640 :       double first_time = trajectory_current_time + dt1 + i * _dt2_;
+    3487             : 
+    3488      623640 :       int first_idx  = int(floor(first_time / trajectory_dt));
+    3489             : 
+    3490      623640 :       int second_idx = first_idx + 1;
+    3491             : 
+    3492      623640 :       double interp_coeff = std::fmod(first_time / trajectory_dt, 1.0);
+    3493             : 
+    3494      623640 :       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      623640 :         if (second_idx >= trajectory_size) {
+    3507       85904 :           second_idx = trajectory_size - 1;
+    3508             :         }
+    3509             : 
+    3510      623640 :         if (first_idx >= trajectory_size) {
+    3511       79177 :           first_idx = trajectory_size - 1;
+    3512             :         }
+    3513             :       }
+    3514             : 
+    3515      623640 :       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      623640 :       des_x_trajectory(i, 0) = (1.0 - interp_coeff) * des_x_whole_trajectory(first_idx) + interp_coeff * des_x_whole_trajectory(second_idx);
+    3521      623640 :       des_y_trajectory(i, 0) = (1.0 - interp_coeff) * des_y_whole_trajectory(first_idx) + interp_coeff * des_y_whole_trajectory(second_idx);
+    3522      623640 :       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      623640 :       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       31182 :       std::scoped_lock lock(mutex_des_trajectory_);
+    3529             : 
+    3530       15591 :       des_x_trajectory_       = des_x_trajectory;
+    3531       15591 :       des_y_trajectory_       = des_y_trajectory;
+    3532       15591 :       des_z_trajectory_       = des_z_trajectory;
+    3533       15591 :       des_heading_trajectory_ = des_heading_trajectory;
+    3534             :     }
+    3535             : 
+    3536             :     //}
+    3537             : 
+    3538             :     // | ---------- publish the current trajectory point ---------- |
+    3539             : 
+    3540       15591 :     int trajectory_tracking_idx = getCurrentTrajectoryIdx();
+    3541             : 
+    3542       31182 :     geometry_msgs::PoseStamped debug_trajectory_point;
+    3543       15591 :     debug_trajectory_point.header.stamp    = ros::Time::now();
+    3544       15591 :     debug_trajectory_point.header.frame_id = uav_state_.header.frame_id;
+    3545             : 
+    3546       15591 :     debug_trajectory_point.pose.position.x = (*des_x_whole_trajectory_)(trajectory_tracking_idx);
+    3547       15591 :     debug_trajectory_point.pose.position.y = (*des_y_whole_trajectory_)(trajectory_tracking_idx);
+    3548       15591 :     debug_trajectory_point.pose.position.z = (*des_z_whole_trajectory_)(trajectory_tracking_idx);
+    3549             : 
+    3550       15591 :     debug_trajectory_point.pose.orientation = mrs_lib::AttitudeConverter(0, 0, (*des_heading_whole_trajectory_)(trajectory_tracking_idx));
+    3551             : 
+    3552       15591 :     ph_current_trajectory_point_.publish(debug_trajectory_point);
+    3553             : 
+    3554             :   } else {
+    3555             : 
+    3556       67722 :     std::scoped_lock lock(mutex_des_whole_trajectory_);
+    3557             : 
+    3558       67722 :     trajectory_id = des_whole_trajectory_id_;
+    3559             :   }
+    3560             : 
+    3561       83313 :   manageConstraints();
+    3562             : 
+    3563       83313 :   calculateMPC();
+    3564             : 
+    3565       83313 :   end      = ros::Time::now();
+    3566       83313 :   interval = end - begin;
+    3567             : 
+    3568             :   // | ------------------ calculate the MPC RTF ----------------- |
+    3569             : 
+    3570       83313 :   mpc_rtf_ = 0.99 * mpc_rtf_ + 0.01 * (interval.toSec()/dt1);
+    3571             : 
+    3572       83313 :   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      166626 :     geometry_msgs::PoseArray debug_trajectory_out;
+    3580       83313 :     debug_trajectory_out.header.stamp    = ros::Time::now();
+    3581       83313 :     debug_trajectory_out.header.frame_id = uav_state_.header.frame_id;
+    3582             : 
+    3583             :     {
+    3584      166626 :       std::scoped_lock lock(mutex_predicted_trajectory_);
+    3585             : 
+    3586     3415836 :       for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    3587             : 
+    3588     3332520 :         geometry_msgs::Pose newPose;
+    3589             : 
+    3590     3332520 :         newPose.position.x = predicted_trajectory_(i * MPC_N_STATES);
+    3591     3332520 :         newPose.position.y = predicted_trajectory_(i * MPC_N_STATES + 4);
+    3592     3332520 :         newPose.position.z = predicted_trajectory_(i * MPC_N_STATES + 8);
+    3593             : 
+    3594             :         try {
+    3595     3332520 :           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     3332520 :         debug_trajectory_out.poses.push_back(newPose);
+    3601             :       }
+    3602             :     }
+    3603             : 
+    3604       83313 :     ph_predicted_trajectory_debugging_.publish(debug_trajectory_out);
+    3605             :   }
+    3606             : 
+    3607             :   //}
+    3608             : 
+    3609             :   /* publish full state prediction //{ */
+    3610             : 
+    3611             :   {
+    3612      166626 :     mrs_msgs::MpcPredictionFullState prediction_fs_out;
+    3613       83313 :     prediction_fs_out.header.stamp    = ros::Time::now();
+    3614       83313 :     prediction_fs_out.header.frame_id = uav_state_.header.frame_id;
+    3615             : 
+    3616       83313 :     ros::Time stamp = prediction_fs_out.header.stamp;
+    3617             : 
+    3618       83313 :     prediction_fs_out.input_id = trajectory_id;
+    3619             : 
+    3620             :     {
+    3621      166626 :       std::scoped_lock lock(mutex_predicted_trajectory_);
+    3622             : 
+    3623     3415836 :       for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    3624             : 
+    3625     3332520 :         if (i == 0) {
+    3626       83313 :           stamp += ros::Duration(0.01);
+    3627             :         } else {
+    3628     3249204 :           stamp += ros::Duration(0.2);
+    3629             :         }
+    3630             : 
+    3631     3332520 :         prediction_fs_out.stamps.push_back(stamp);
+    3632             : 
+    3633             :         {  // position
+    3634     3332520 :           geometry_msgs::Point point;
+    3635             : 
+    3636     3332520 :           point.x = predicted_trajectory_(i * MPC_N_STATES);
+    3637     3332520 :           point.y = predicted_trajectory_(i * MPC_N_STATES + 4);
+    3638     3332520 :           point.z = predicted_trajectory_(i * MPC_N_STATES + 8);
+    3639             : 
+    3640     3332520 :           prediction_fs_out.position.push_back(point);
+    3641             :         }
+    3642             : 
+    3643             :         {  // velocity
+    3644     3332520 :           geometry_msgs::Vector3 vector;
+    3645             : 
+    3646     3332520 :           vector.x = predicted_trajectory_(i * MPC_N_STATES + 1);
+    3647     3332520 :           vector.y = predicted_trajectory_(i * MPC_N_STATES + 5);
+    3648     3332520 :           vector.z = predicted_trajectory_(i * MPC_N_STATES + 9);
+    3649             : 
+    3650     3332520 :           prediction_fs_out.velocity.push_back(vector);
+    3651             :         }
+    3652             : 
+    3653             :         {  // acceleration
+    3654     3332520 :           geometry_msgs::Vector3 vector3;
+    3655             : 
+    3656     3332520 :           vector3.x = predicted_trajectory_(i * MPC_N_STATES + 2);
+    3657     3332520 :           vector3.y = predicted_trajectory_(i * MPC_N_STATES + 6);
+    3658     3332520 :           vector3.z = predicted_trajectory_(i * MPC_N_STATES + 10);
+    3659             : 
+    3660     3332520 :           prediction_fs_out.acceleration.push_back(vector3);
+    3661             :         }
+    3662             : 
+    3663             :         {  // jerk
+    3664     3332520 :           geometry_msgs::Vector3 vector3;
+    3665             : 
+    3666     3332520 :           vector3.x = predicted_trajectory_(i * MPC_N_STATES + 3);
+    3667     3332520 :           vector3.y = predicted_trajectory_(i * MPC_N_STATES + 7);
+    3668     3332520 :           vector3.z = predicted_trajectory_(i * MPC_N_STATES + 11);
+    3669             : 
+    3670     3332520 :           prediction_fs_out.jerk.push_back(vector3);
+    3671             :         }
+    3672             : 
+    3673             :         {
+    3674             :           // heading
+    3675             : 
+    3676     3332520 :           prediction_fs_out.heading.push_back(predicted_heading_trajectory_(i * MPC_N_STATES));
+    3677     3332520 :           prediction_fs_out.heading_rate.push_back(predicted_heading_trajectory_(i * MPC_N_STATES + 1));
+    3678     3332520 :           prediction_fs_out.heading_acceleration.push_back(predicted_heading_trajectory_(i * MPC_N_STATES + 2));
+    3679     3332520 :           prediction_fs_out.heading_jerk.push_back(predicted_heading_trajectory_(i * MPC_N_STATES + 3));
+    3680             :         }
+    3681             :       }
+    3682             :     }
+    3683             : 
+    3684             :     {
+    3685      166626 :       std::scoped_lock lock(mutex_prediction_full_state_);
+    3686       83313 :       prediction_full_state_ = prediction_fs_out;
+    3687             :     }
+    3688             :   }
+    3689             : 
+    3690             :   //}
+    3691             : 
+    3692       83313 :   mpc_computed_ = true;
+    3693             : 
+    3694       83313 :   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         820 : void MpcTracker::timerVelocityTracking(const ros::TimerEvent& event) {
+    3707             : 
+    3708         820 :   if (!is_initialized_) {
+    3709           3 :     return;
+    3710             :   }
+    3711             : 
+    3712         820 :   if (!velocity_tracking_active_) {
+    3713           0 :     return;
+    3714             :   }
+    3715             : 
+    3716        1640 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerVelocityTracking", int(30.0), 0.01, event);
+    3717             :   mrs_lib::ScopeTimer timer =
+    3718        1640 :       mrs_lib::ScopeTimer("MpcTracker::timerVelocityTracking", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3719             : 
+    3720             :   // stop the timer when timeout
+    3721         820 :   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        1634 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    3734         817 :   auto velocity_reference     = mrs_lib::get_mutexed(mutex_velocity_reference_, velocity_reference_);
+    3735             : 
+    3736        1634 :   mrs_msgs::TrajectoryReference trajectory;
+    3737             : 
+    3738         817 :   trajectory.fly_now         = true;
+    3739         817 :   trajectory.use_heading     = true;
+    3740         817 :   trajectory.dt              = 0.2;
+    3741         817 :   trajectory.header.stamp    = ros::Time::now();
+    3742         817 :   trajectory.header.frame_id = "";
+    3743             : 
+    3744         817 :   double x       = mpc_x(0, 0);
+    3745         817 :   double y       = mpc_x(4, 0);
+    3746         817 :   double z       = mpc_x(8, 0);
+    3747         817 :   double heading = mpc_x_heading(0, 0);
+    3748             : 
+    3749       41667 :   for (int i = 0; i < 50; i++) {
+    3750             : 
+    3751       40850 :     mrs_msgs::Reference reference;
+    3752       40850 :     reference.position.x = x;
+    3753       40850 :     reference.position.y = y;
+    3754       40850 :     reference.position.z = z;
+    3755       40850 :     reference.heading    = heading;
+    3756             : 
+    3757       40850 :     trajectory.points.push_back(reference);
+    3758             : 
+    3759       40850 :     x += velocity_reference.velocity.x * trajectory.dt;
+    3760       40850 :     y += velocity_reference.velocity.y * trajectory.dt;
+    3761       40850 :     z += velocity_reference.velocity.z * trajectory.dt;
+    3762             : 
+    3763       40850 :     if (velocity_reference.use_altitude) {
+    3764           0 :       z = velocity_reference.altitude;
+    3765             :     }
+    3766             : 
+    3767       40850 :     if (velocity_reference.use_heading_rate) {
+    3768       37550 :       heading += velocity_reference.heading_rate * trajectory.dt;
+    3769        3300 :     } else if (velocity_reference.use_heading) {
+    3770           0 :       heading = velocity_reference.heading;
+    3771             :     }
+    3772             :   }
+    3773             : 
+    3774        1634 :   auto [success, message, modified] = loadTrajectory(trajectory);
+    3775             : }
+    3776             : 
+    3777             : //}
+    3778             : 
+    3779             : /* //{ timerAvoidanceTrajectory() */
+    3780             : 
+    3781        4502 : void MpcTracker::timerAvoidanceTrajectory(const ros::TimerEvent& event) {
+    3782             : 
+    3783        4502 :   if (!is_active_) {
+    3784        2170 :     return;
+    3785             :   }
+    3786             : 
+    3787        2368 :   if (!is_initialized_) {
+    3788           0 :     return;
+    3789             :   }
+    3790             : 
+    3791        2368 :   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        2368 :     auto                     estimation_diag      = sh_estimation_diag_.getMsg();
+    3797        2368 :     std::vector<std::string> state_estimators = estimation_diag.get()->switchable_state_estimators;
+    3798             : 
+    3799        2368 :     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        2368 :     bool got_rtk_est = std::find(state_estimators.begin(), state_estimators.end(), "rtk") != state_estimators.end();
+    3801             : 
+    3802        2368 :     if (!got_gps_est && !got_rtk_est) {
+    3803          36 :       return;
+    3804             :     }
+    3805             :   }
+    3806             : 
+    3807        4664 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerAvoidanceTrajectory", _avoidance_trajectory_rate_, 0.1, event);
+    3808             :   mrs_lib::ScopeTimer timer =
+    3809        4664 :       mrs_lib::ScopeTimer("MpcTracker::timerAvoidanceTrajectory", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3810             : 
+    3811        2332 :   auto uav_state            = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    3812        2332 :   auto predicted_trajectory = mrs_lib::get_mutexed(mutex_predicted_trajectory_, predicted_trajectory_);
+    3813             : 
+    3814        2332 :   if (future_was_predicted_) {
+    3815             : 
+    3816        2329 :     mrs_msgs::FutureTrajectory avoidance_trajectory;
+    3817             : 
+    3818             :     // fill last trajectory with initial data
+    3819        2329 :     avoidance_trajectory.stamp               = ros::Time::now();
+    3820        2329 :     avoidance_trajectory.uav_name            = _uav_name_;
+    3821        2329 :     avoidance_trajectory.priority            = avoidance_this_uav_priority_;
+    3822        2329 :     avoidance_trajectory.collision_avoidance = collision_avoidance_enabled_ && (uav_state.estimator_horizontal == "lat_gps" || uav_state.estimator_horizontal == "lat_rtk");
+    3823        2329 :     avoidance_trajectory.points.clear();
+    3824        2329 :     avoidance_trajectory.stamp               = ros::Time::now();
+    3825        2329 :     avoidance_trajectory.uav_name            = _uav_name_;
+    3826        2329 :     avoidance_trajectory.priority            = avoidance_this_uav_priority_;
+    3827        2329 :     avoidance_trajectory.collision_avoidance = collision_avoidance_enabled_;
+    3828             : 
+    3829        4658 :     auto res = common_handlers_->transformer->getTransform(uav_state.header.frame_id, "utm_origin", ros::Time::now());
+    3830             : 
+    3831        2329 :     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        4658 :       geometry_msgs::TransformStamped tf = res.value();
+    3841             : 
+    3842       95489 :       for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    3843             : 
+    3844             :         // original point
+    3845      186320 :         geometry_msgs::PoseStamped original_point;
+    3846             : 
+    3847       93160 :         original_point.header.stamp    = ros::Time::now();
+    3848       93160 :         original_point.header.frame_id = uav_state.header.frame_id;
+    3849             : 
+    3850       93160 :         original_point.pose.position.x = predicted_trajectory(i * MPC_N_STATES);
+    3851       93160 :         original_point.pose.position.y = predicted_trajectory(i * MPC_N_STATES + 4);
+    3852       93160 :         original_point.pose.position.z = predicted_trajectory(i * MPC_N_STATES + 8);
+    3853             : 
+    3854       93160 :         original_point.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    3855             : 
+    3856      186320 :         auto res = common_handlers_->transformer->transform(original_point, tf);
+    3857             : 
+    3858       93160 :         if (res) {
+    3859             : 
+    3860       93160 :           mrs_msgs::FuturePoint new_point;
+    3861             : 
+    3862       93160 :           new_point.x = res.value().pose.position.x;
+    3863       93160 :           new_point.y = res.value().pose.position.y;
+    3864       93160 :           new_point.z = res.value().pose.position.z;
+    3865             : 
+    3866       93160 :           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        2329 :     ph_avoidance_trajectory_.publish(avoidance_trajectory);
+    3878             :   }
+    3879             : }
+    3880             : 
+    3881             : //}
+    3882             : 
+    3883             : /* timerHover() //{ */
+    3884             : 
+    3885         467 : void MpcTracker::timerHover(const ros::TimerEvent& event) {
+    3886             : 
+    3887         934 :   MatrixXd mpc_x = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    3888             : 
+    3889        1401 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerHover", 10, 0.01, event);
+    3890        1401 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcTracker::timerHover", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3891             : 
+    3892         467 :   setRelativeGoal(0, 0, 0, 0, false);
+    3893             : 
+    3894         467 :   if (fabs(mpc_x(1, 0)) < 0.1 && fabs(mpc_x(5, 0)) < 0.1 && fabs(mpc_x(9, 0)) < 0.1) {
+    3895             : 
+    3896          78 :     toggleHover(false);
+    3897             : 
+    3898          78 :     ROS_INFO("[MpcTracker]: timerHover: speed is low, stopping hover timer");
+    3899             :   }
+    3900         467 : }
+    3901             : 
+    3902             : //}
+    3903             : 
+    3904             : }  // namespace mpc_tracker
+    3905             : 
+    3906             : }  // namespace mrs_uav_trackers
+    3907             : 
+    3908             : #include <pluginlib/class_list_macros.h>
+    3909         109 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::mpc_tracker::MpcTracker, mrs_uav_managers::Tracker)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_trackers/src/mpc_tracker/mpc_tracker.cpp.gcov.overview.html b/mrs_uav_trackers/src/mpc_tracker/mpc_tracker.cpp.gcov.overview.html new file mode 100644 index 0000000000..7fda2a1cc8 --- /dev/null +++ b/mrs_uav_trackers/src/mpc_tracker/mpc_tracker.cpp.gcov.overview.html @@ -0,0 +1,998 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/mpc_tracker/mpc_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 + 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+ Overview +
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Test:MRS UAV System - Test coverage reportLines:6444814.3 %
Date:2024-12-11 22:27:27Functions:71936.8 %
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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:2024-12-11 22:27:27Functions: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()109
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>)109
mrs_uav_trackers::speed_tracker::SpeedTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)309
mrs_uav_trackers::speed_tracker::SpeedTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)377
mrs_uav_trackers::speed_tracker::SpeedTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)140010
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.func.html b/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.func.html new file mode 100644 index 0000000000..760b2eb2bb --- /dev/null +++ b/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.func.html @@ -0,0 +1,156 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions:71936.8 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()109
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>)109
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&)377
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&)309
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&)140010
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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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.gcov.frameset.html b/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.gcov.frameset.html new file mode 100644 index 0000000000..8377e2d518 --- /dev/null +++ b/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.gcov.html b/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.gcov.html new file mode 100644 index 0000000000..7456d2eb57 --- /dev/null +++ b/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.gcov.html @@ -0,0 +1,1259 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp + + + + + + + + + + + + + + +
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:2024-12-11 22:27:27Functions: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         109 : 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         109 :   this->common_handlers_  = common_handlers;
+     143         109 :   this->private_handlers_ = private_handlers;
+     144             : 
+     145         109 :   _uav_name_ = common_handlers->uav_name;
+     146             : 
+     147         109 :   nh_ = nh;
+     148             : 
+     149         109 :   ros::Time::waitForValid();
+     150             : 
+     151             :   // --------------------------------------------------------------
+     152             :   // |                     loading parameters                     |
+     153             :   // --------------------------------------------------------------
+     154             : 
+     155             :   // | ---------------- load parent's parameters ---------------- |
+     156             : 
+     157         218 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     158             : 
+     159         109 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     160             : 
+     161         109 :   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         109 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/speed_tracker.yaml");
+     169         109 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/speed_tracker.yaml");
+     170             : 
+     171         218 :   const std::string yaml_prefix = "mrs_uav_trackers/speed_tracker/";
+     172             : 
+     173         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "command_timeout", _external_command_timeout_);
+     174             : 
+     175         109 :   private_handlers->param_loader->loadParam(yaml_prefix + "backup_tracker", _backup_tracker_);
+     176             : 
+     177         109 :   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         109 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "SpeedTracker", _profiler_enabled_);
+     185             : 
+     186             :   // | ----------------------- subscribers ---------------------- |
+     187             : 
+     188         109 :   mrs_lib::SubscribeHandlerOptions shopts;
+     189         109 :   shopts.nh              = nh_;
+     190         109 :   shopts.node_name       = "SpeedTracker";
+     191         109 :   shopts.threadsafe      = true;
+     192         109 :   shopts.autostart       = true;
+     193         109 :   shopts.transport_hints = ros::TransportHints().tcpNoDelay();
+     194             : 
+     195         109 :   sh_command_ = mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand>(shopts, "command", &SpeedTracker::callbackCommand, this);
+     196             : 
+     197             :   // | ----------------------- publishers ----------------------- |
+     198             : 
+     199         109 :   ph_rviz_marker_ = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "rviz_marker", 1);
+     200             : 
+     201             :   // | --------------------- service clients -------------------- |
+     202             : 
+     203         109 :   sch_switch_tracker_ = mrs_lib::ServiceClientHandler<mrs_msgs::String>(common_handlers->parent_nh, "switch_tracker");
+     204             : 
+     205             :   // | --------------------- finish the init -------------------- |
+     206             : 
+     207         109 :   is_initialized_ = true;
+     208             : 
+     209         109 :   ROS_INFO("[SpeedTracker]: initialized");
+     210             : 
+     211         109 :   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      140010 : 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      420030 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     291      420030 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("SpeedTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     292             : 
+     293             :   {
+     294      140010 :     std::scoped_lock lock(mutex_uav_state_);
+     295             : 
+     296      140010 :     uav_state_ = uav_state;
+     297             : 
+     298      140010 :     got_uav_state_ = true;
+     299             :   }
+     300             : 
+     301             :   double uav_heading;
+     302             : 
+     303             :   try {
+     304      140010 :     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      140010 :   if (!is_active_) {
+     314      140010 :     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         309 : const std_srvs::SetBoolResponse::ConstPtr SpeedTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     437             : 
+     438         618 :   std_srvs::SetBoolResponse res;
+     439         618 :   std::stringstream         ss;
+     440             : 
+     441         309 :   if (cmd->data != callbacks_enabled_) {
+     442             : 
+     443          19 :     callbacks_enabled_ = cmd->data;
+     444             : 
+     445          19 :     ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+     446          19 :     ROS_INFO_STREAM_THROTTLE(1.0, "[SpeedTracker]: " << ss.str());
+     447             : 
+     448             :   } else {
+     449             : 
+     450         290 :     ss << "callbacks were already " << (callbacks_enabled_ ? "enabled" : "disabled");
+     451         290 :     ROS_WARN_STREAM_THROTTLE(1.0, "[SpeedTracker]: " << ss.str());
+     452             :   }
+     453             : 
+     454         309 :   res.message = ss.str();
+     455         309 :   res.success = true;
+     456             : 
+     457         618 :   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         377 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr SpeedTracker::setConstraints([
+     533             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     534             : 
+     535             :   {
+     536         377 :     std::scoped_lock lock(mutex_constraints_);
+     537             : 
+     538         377 :     constraints_ = cmd->constraints;
+     539             :   }
+     540             : 
+     541         754 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     542             : 
+     543         377 :   res.success = true;
+     544         377 :   res.message = "constraints updated";
+     545             : 
+     546         754 :   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         109 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::speed_tracker::SpeedTracker, mrs_uav_managers::Tracker)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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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:755111867.5 %
Date:2024-12-11 22:27:27Functions:2222100.0 %
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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&)16
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&)16
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::timeLeft()16
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&)17
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::checkNaN(Waypoint_t const&)24
(anonymous namespace)::ProxyExec0::ProxyExec0()109
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackDrs(mrs_uav_trajectory_generation::drsConfig&, unsigned int)109
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::onInit()109
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::interpolatePoint(Waypoint_t const&, Waypoint_t const&, double const&)1012
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&)4916
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::overtime()9682
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)175721
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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:755111867.5 %
Date:2024-12-11 22:27:27Functions: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()109
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackDrs(mrs_uav_trajectory_generation::drsConfig&, unsigned int)109
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&)16
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&)4916
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)175721
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::interpolatePoint(Waypoint_t const&, Waypoint_t const&, double const&)1012
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&)16
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&)17
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::onInit()109
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()9682
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::timeLeft()16
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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/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..5b52eca81c --- /dev/null +++ b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.html @@ -0,0 +1,2514 @@ + + + + + + + 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:755111867.5 %
Date:2024-12-11 22:27:27Functions: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         109 : void MrsTrajectoryGeneration::onInit() {
+     254             : 
+     255             :   /* obtain node handle */
+     256         109 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     257             : 
+     258             :   /* waits for the ROS to publish clock */
+     259         109 :   ros::Time::waitForValid();
+     260             : 
+     261             :   // | ----------------------- publishers ----------------------- |
+     262             : 
+     263         109 :   ph_original_path_ = mrs_lib::PublisherHandler<mrs_msgs::Path>(nh_, "original_path_out", 1);
+     264             : 
+     265             :   // | ----------------------- subscribers ---------------------- |
+     266             : 
+     267         218 :   mrs_lib::SubscribeHandlerOptions shopts;
+     268         109 :   shopts.nh                 = nh_;
+     269         109 :   shopts.node_name          = "TrajectoryGeneration";
+     270         109 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     271         109 :   shopts.threadsafe         = true;
+     272         109 :   shopts.autostart          = true;
+     273         109 :   shopts.queue_size         = 10;
+     274         109 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     275             : 
+     276         109 :   sh_constraints_          = mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints>(shopts, "constraints_in");
+     277         109 :   sh_tracker_cmd_          = mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand>(shopts, "tracker_cmd_in");
+     278         109 :   sh_uav_state_            = mrs_lib::SubscribeHandler<mrs_msgs::UavState>(shopts, "uav_state_in", &MrsTrajectoryGeneration::callbackUavState, this);
+     279         109 :   sh_control_manager_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diag_in");
+     280             : 
+     281         109 :   sh_path_ = mrs_lib::SubscribeHandler<mrs_msgs::Path>(shopts, "path_in", &MrsTrajectoryGeneration::callbackPath, this);
+     282             : 
+     283             :   // | --------------------- service servers -------------------- |
+     284             : 
+     285         109 :   service_server_path_ = nh_.advertiseService("path_in", &MrsTrajectoryGeneration::callbackPathSrv, this);
+     286             : 
+     287         109 :   service_server_get_path_ = nh_.advertiseService("get_path_in", &MrsTrajectoryGeneration::callbackGetPathSrv, this);
+     288             : 
+     289         109 :   service_client_trajectory_reference_ = nh_.serviceClient<mrs_msgs::TrajectoryReferenceSrv>("trajectory_reference_out");
+     290             : 
+     291             :   // | ----------------------- parameters ----------------------- |
+     292             : 
+     293         218 :   mrs_lib::ParamLoader param_loader(nh_, "MrsTrajectoryGeneration");
+     294             : 
+     295         218 :   std::string custom_config_path;
+     296         218 :   std::string platform_config_path;
+     297         218 :   std::string uav_manager_config_path;
+     298             : 
+     299         109 :   param_loader.loadParam("custom_config", custom_config_path);
+     300         109 :   param_loader.loadParam("platform_config", platform_config_path);
+     301         109 :   param_loader.loadParam("uav_manager_config", uav_manager_config_path);
+     302             : 
+     303         109 :   if (uav_manager_config_path == "") {
+     304           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: uav_manager_config param is empty");
+     305           0 :     ros::shutdown();
+     306             :   }
+     307             : 
+     308         109 :   if (custom_config_path != "") {
+     309         109 :     param_loader.addYamlFile(custom_config_path);
+     310             :   }
+     311             : 
+     312         109 :   if (platform_config_path != "") {
+     313         109 :     param_loader.addYamlFile(platform_config_path);
+     314             :   }
+     315             : 
+     316         109 :   param_loader.addYamlFile(uav_manager_config_path);
+     317             : 
+     318         109 :   param_loader.addYamlFileFromParam("private_config");
+     319         109 :   param_loader.addYamlFileFromParam("public_config");
+     320             : 
+     321         218 :   const std::string yaml_prefix = "mrs_uav_trajectory_generation/";
+     322             : 
+     323         109 :   param_loader.loadParam("uav_name", _uav_name_);
+     324             : 
+     325         109 :   param_loader.loadParam(yaml_prefix + "sampling_dt", _sampling_dt_);
+     326             : 
+     327         109 :   param_loader.loadParam(yaml_prefix + "enforce_fallback_solver", params_.enforce_fallback_solver);
+     328             : 
+     329         109 :   param_loader.loadParam(yaml_prefix + "max_trajectory_len_factor", _max_trajectory_len_factor_);
+     330         109 :   param_loader.loadParam(yaml_prefix + "min_trajectory_len_factor", _min_trajectory_len_factor_);
+     331             : 
+     332         109 :   param_loader.loadParam(yaml_prefix + "n_attempts", _n_attempts_);
+     333         109 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/enabled", _fallback_sampling_enabled_);
+     334         109 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/speed_factor", _fallback_sampling_speed_factor_);
+     335         109 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/accel_factor", _fallback_sampling_accel_factor_);
+     336         109 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/stopping_time", _fallback_sampling_stopping_time_);
+     337         109 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/first_waypoint_additional_stop", _fallback_sampling_first_waypoint_additional_stop_);
+     338             : 
+     339         109 :   param_loader.loadParam(yaml_prefix + "check_trajectory_deviation/enabled", _trajectory_max_segment_deviation_enabled_);
+     340         109 :   param_loader.loadParam(yaml_prefix + "check_trajectory_deviation/max_deviation", params_.max_deviation);
+     341         109 :   param_loader.loadParam(yaml_prefix + "check_trajectory_deviation/max_iterations", _trajectory_max_segment_deviation_max_iterations_);
+     342             : 
+     343         109 :   param_loader.loadParam(yaml_prefix + "path_straightener/enabled", _path_straightener_enabled_);
+     344         109 :   param_loader.loadParam(yaml_prefix + "path_straightener/max_deviation", _path_straightener_max_deviation_);
+     345         109 :   param_loader.loadParam(yaml_prefix + "path_straightener/max_hdg_deviation", _path_straightener_max_hdg_deviation_);
+     346             : 
+     347         109 :   param_loader.loadParam(yaml_prefix + "override_heading_atan2", _override_heading_atan2_);
+     348             : 
+     349         109 :   param_loader.loadParam(yaml_prefix + "min_waypoint_distance", _min_waypoint_distance_);
+     350             : 
+     351         109 :   param_loader.loadParam("mrs_uav_managers/uav_manager/takeoff/takeoff_height", _takeoff_height_);
+     352             : 
+     353             :   // | --------------------- tf transformer --------------------- |
+     354             : 
+     355         109 :   transformer_ = std::make_shared<mrs_lib::Transformer>(nh_, "TrajectoryGeneration");
+     356         109 :   transformer_->setDefaultPrefix(_uav_name_);
+     357         109 :   transformer_->retryLookupNewest(true);
+     358             : 
+     359             :   // | ------------------- scope timer logger ------------------- |
+     360             : 
+     361         109 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     362         327 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     363         109 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     364             : 
+     365             :   // | --------------------- service clients -------------------- |
+     366             : 
+     367         109 :   param_loader.loadParam(yaml_prefix + "time_penalty", params_.time_penalty);
+     368         109 :   param_loader.loadParam(yaml_prefix + "soft_constraints_enabled", params_.soft_constraints_enabled);
+     369         109 :   param_loader.loadParam(yaml_prefix + "soft_constraints_weight", params_.soft_constraints_weight);
+     370         109 :   param_loader.loadParam(yaml_prefix + "time_allocation", params_.time_allocation);
+     371         109 :   param_loader.loadParam(yaml_prefix + "equality_constraint_tolerance", params_.equality_constraint_tolerance);
+     372         109 :   param_loader.loadParam(yaml_prefix + "inequality_constraint_tolerance", params_.inequality_constraint_tolerance);
+     373         109 :   param_loader.loadParam(yaml_prefix + "max_iterations", params_.max_iterations);
+     374         109 :   param_loader.loadParam(yaml_prefix + "derivative_to_optimize", params_.derivative_to_optimize);
+     375             : 
+     376         109 :   param_loader.loadParam(yaml_prefix + "max_time", params_.max_execution_time);
+     377             : 
+     378         109 :   max_execution_time_ = params_.max_execution_time;
+     379             : 
+     380         109 :   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         109 :   bw_original_ = mrs_lib::BatchVisualizer(nh_, "markers/original", "");
+     388             : 
+     389         109 :   bw_original_.clearBuffers();
+     390         109 :   bw_original_.clearVisuals();
+     391             : 
+     392         109 :   bw_final_ = mrs_lib::BatchVisualizer(nh_, "markers/final", "");
+     393             : 
+     394         109 :   bw_final_.clearBuffers();
+     395         109 :   bw_final_.clearVisuals();
+     396             : 
+     397             :   // | --------------- dynamic reconfigure server --------------- |
+     398             : 
+     399         109 :   drs_.reset(new Drs_t(mutex_drs_, nh_));
+     400         109 :   drs_->updateConfig(params_);
+     401         109 :   Drs_t::CallbackType f = boost::bind(&MrsTrajectoryGeneration::callbackDrs, this, _1, _2);
+     402         109 :   drs_->setCallback(f);
+     403             : 
+     404             :   // | --------------------- finish the init -------------------- |
+     405             : 
+     406         109 :   ROS_INFO_ONCE("[TrajectoryGeneration]: initialized");
+     407             : 
+     408         109 :   is_initialized_ = true;
+     409         109 : }
+     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          17 :   for (int k = 0; k < _trajectory_max_segment_deviation_max_iterations_; k++) {
+     727             : 
+     728          17 :     ROS_DEBUG("[TrajectoryGeneration]: revalidation cycle #%d", k);
+     729             : 
+     730          17 :     std::tie(safe, traj_idx, segment_safeness, max_deviation) = validateTrajectorySpatial(trajectory, waypoints);
+     731             : 
+     732          17 :     if (_trajectory_max_segment_deviation_enabled_ && !safe) {
+     733             : 
+     734          11 :       ROS_DEBUG("[TrajectoryGeneration]: trajectory is not safe, max deviation %.3f m", max_deviation);
+     735             : 
+     736          11 :       std::vector<Waypoint_t>::iterator waypoint = waypoints.begin();
+     737          11 :       std::vector<bool>::iterator       safeness = segment_safeness.begin();
+     738             : 
+     739         108 :       for (; waypoint < waypoints.end() - 1; waypoint++) {
+     740             : 
+     741          97 :         if (!(*safeness)) {
+     742             : 
+     743          49 :           if (waypoint > waypoints.begin() || max_deviation_first_segment_ || int(waypoints.size()) <= 2) {
+     744          49 :             Waypoint_t midpoint2 = interpolatePoint(*waypoint, *(waypoint + 1), 0.5);
+     745          49 :             waypoint             = waypoints.insert(waypoint + 1, midpoint2);
+     746             :           }
+     747             :         }
+     748             : 
+     749          97 :         safeness++;
+     750             :       }
+     751             : 
+     752          11 :       if (params.enforce_fallback_solver) {
+     753           0 :         ROS_WARN("[TrajectoryGeneration]: fallback sampling enforced");
+     754           0 :         result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     755          11 :       } else if (fallback_sampling) {
+     756           0 :         ROS_WARN("[TrajectoryGeneration]: executing fallback sampling");
+     757           0 :         result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     758          11 :       } 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          11 :       } 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          11 :         result = findTrajectoryAsync(waypoints, initial_condition, sampling_dt, relax_heading);
+     766             :       }
+     767             : 
+     768          11 :       if (result) {
+     769           6 :         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           6 :       }
+     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          16 : 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          48 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::findTrajectory", scope_timer_logger_, scope_timer_enabled_);
+     859             : 
+     860          32 :   mrs_lib::AtomicScopeFlag unset_running(running_async_planning_);
+     861             : 
+     862          16 :   ROS_DEBUG("[TrajectoryGeneration]: findTrajectory() started");
+     863             : 
+     864          16 :   ros::Time find_trajectory_time_start = ros::Time::now();
+     865             : 
+     866          32 :   auto params      = mrs_lib::get_mutexed(mutex_params_, params_);
+     867          32 :   auto constraints = sh_constraints_.getMsg();
+     868             : 
+     869          32 :   auto control_manager_diag = sh_control_manager_diag_.getMsg();
+     870             : 
+     871          16 :   if (initial_state && (initial_state->header.stamp - ros::Time::now()).toSec() < 0.2 && control_manager_diag->tracker_status.have_goal) {
+     872           4 :     max_deviation_first_segment_ = false;
+     873             :   } else {
+     874          12 :     max_deviation_first_segment_ = true;
+     875             :   }
+     876             : 
+     877             :   // optimizer
+     878             : 
+     879          16 :   eth_trajectory_generation::NonlinearOptimizationParameters parameters;
+     880             : 
+     881          16 :   parameters.f_rel                  = 0.05;
+     882          16 :   parameters.x_rel                  = 0.1;
+     883          16 :   parameters.time_penalty           = params.time_penalty;
+     884          16 :   parameters.use_soft_constraints   = params.soft_constraints_enabled;
+     885          16 :   parameters.soft_constraint_weight = params.soft_constraints_weight;
+     886          16 :   parameters.time_alloc_method      = static_cast<eth_trajectory_generation::NonlinearOptimizationParameters::TimeAllocMethod>(params.time_allocation);
+     887          16 :   if (params.time_allocation == 2) {
+     888          16 :     parameters.algorithm = nlopt::LD_LBFGS;
+     889             :   }
+     890          16 :   parameters.initial_stepsize_rel            = 0.1;
+     891          16 :   parameters.inequality_constraint_tolerance = params.inequality_constraint_tolerance;
+     892          16 :   parameters.equality_constraint_tolerance   = params.equality_constraint_tolerance;
+     893          16 :   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          16 :   parameters.max_time = 2 * (NLOPT_EXEC_TIME_FACTOR * timeLeft());
+     897             : 
+     898          32 :   eth_trajectory_generation::Vertex::Vector vertices;
+     899          16 :   const int                                 dimension = 4;
+     900             : 
+     901          16 :   int derivative_to_optimize = eth_trajectory_generation::derivative_order::ACCELERATION;
+     902             : 
+     903          16 :   switch (params.derivative_to_optimize) {
+     904          16 :     case 0: {
+     905          16 :       derivative_to_optimize = eth_trajectory_generation::derivative_order::ACCELERATION;
+     906          16 :       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          16 :   if (initial_state) {
+     923          16 :     last_heading = initial_state->heading;
+     924             :   } else {
+     925           0 :     last_heading = waypoints.at(0).coords(3);
+     926             :   }
+     927             : 
+     928         198 :   for (size_t i = 0; i < waypoints.size(); i++) {
+     929         182 :     double x       = waypoints.at(i).coords(0);
+     930         182 :     double y       = waypoints.at(i).coords(1);
+     931         182 :     double z       = waypoints.at(i).coords(2);
+     932         182 :     double heading = sradians::unwrap(waypoints.at(i).coords(3), last_heading);
+     933         182 :     last_heading   = heading;
+     934             : 
+     935         364 :     eth_trajectory_generation::Vertex vertex(dimension);
+     936             : 
+     937         182 :     if (i == 0) {
+     938             : 
+     939          16 :       vertex.makeStartOrEnd(Eigen::Vector4d(x, y, z, heading), derivative_to_optimize);
+     940             : 
+     941          16 :       vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+     942             : 
+     943          16 :       if (initial_state) {
+     944             : 
+     945          16 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::VELOCITY,
+     946          16 :                              Eigen::Vector4d(initial_state->velocity.x, initial_state->velocity.y, initial_state->velocity.z, initial_state->heading_rate));
+     947             : 
+     948          16 :         vertex.addConstraint(
+     949             :             eth_trajectory_generation::derivative_order::ACCELERATION,
+     950          16 :             Eigen::Vector4d(initial_state->acceleration.x, initial_state->acceleration.y, initial_state->acceleration.z, initial_state->heading_acceleration));
+     951             : 
+     952          16 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::JERK,
+     953          32 :                              Eigen::Vector4d(initial_state->jerk.x, initial_state->jerk.y, initial_state->jerk.z, initial_state->heading_jerk));
+     954             :       }
+     955             : 
+     956         166 :     } else if (i == (waypoints.size() - 1)) {  // the last point
+     957             : 
+     958          16 :       vertex.makeStartOrEnd(Eigen::Vector4d(x, y, z, heading), derivative_to_optimize);
+     959             : 
+     960          16 :       vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+     961             : 
+     962             :     } else {  // mid points
+     963             : 
+     964         150 :       vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+     965             : 
+     966         150 :       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         182 :     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          16 :   double vertical_speed_lim        = std::min(constraints->vertical_ascending_speed, constraints->vertical_descending_speed);
+     983          16 :   double vertical_acceleration_lim = std::min(constraints->vertical_ascending_acceleration, constraints->vertical_descending_acceleration);
+     984             : 
+     985          16 :   v_max_horizontal = constraints->horizontal_speed;
+     986          16 :   a_max_horizontal = constraints->horizontal_acceleration;
+     987             : 
+     988          16 :   v_max_vertical = vertical_speed_lim;
+     989          16 :   a_max_vertical = vertical_acceleration_lim;
+     990             : 
+     991          16 :   j_max_horizontal = constraints->horizontal_jerk;
+     992          16 :   j_max_vertical   = std::min(constraints->vertical_ascending_jerk, constraints->vertical_descending_jerk);
+     993             : 
+     994          16 :   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          16 :   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          16 :     v_max_heading = constraints->heading_speed;
+    1033          16 :     a_max_heading = constraints->heading_acceleration;
+    1034          16 :     j_max_heading = constraints->heading_jerk;
+    1035             :   }
+    1036             : 
+    1037          16 :   ROS_DEBUG("[TrajectoryGeneration]: using constraints:");
+    1038          16 :   ROS_DEBUG("[TrajectoryGeneration]: horizontal: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_horizontal, a_max_horizontal, j_max_horizontal);
+    1039          16 :   ROS_DEBUG("[TrajectoryGeneration]: vertical: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_vertical, a_max_vertical, j_max_vertical);
+    1040          16 :   ROS_DEBUG("[TrajectoryGeneration]: heading: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_heading, a_max_heading, j_max_heading);
+    1041             : 
+    1042          32 :   std::vector<double> segment_times, segment_times_baca;
+    1043          32 :   segment_times      = estimateSegmentTimes(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+    1044          16 :                                        v_max_heading, a_max_heading);
+    1045          32 :   segment_times_baca = estimateSegmentTimesBaca(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+    1046          16 :                                                 v_max_heading, a_max_heading);
+    1047             : 
+    1048          16 :   double initial_total_time      = 0;
+    1049          16 :   double initial_total_time_baca = 0;
+    1050         182 :   for (int i = 0; i < int(segment_times_baca.size()); i++) {
+    1051         166 :     initial_total_time += segment_times.at(i);
+    1052         166 :     initial_total_time_baca += segment_times_baca.at(i);
+    1053             :   }
+    1054             : 
+    1055          16 :   ROS_DEBUG("[TrajectoryGeneration]: initial total time (Euclidean): %.2f", initial_total_time);
+    1056          16 :   ROS_DEBUG("[TrajectoryGeneration]: initial total time (Baca): %.2f", initial_total_time_baca);
+    1057             : 
+    1058             :   // | --------- create an optimizer object and solve it -------- |
+    1059             : 
+    1060          16 :   const int                                                     N = 10;
+    1061          32 :   eth_trajectory_generation::PolynomialOptimizationNonLinear<N> opt(dimension, parameters);
+    1062          16 :   opt.setupFromVertices(vertices, segment_times, derivative_to_optimize);
+    1063             : 
+    1064          16 :   opt.addMaximumMagnitudeConstraint(0, eth_trajectory_generation::derivative_order::VELOCITY, v_max_horizontal);
+    1065          16 :   opt.addMaximumMagnitudeConstraint(0, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_horizontal);
+    1066          16 :   opt.addMaximumMagnitudeConstraint(0, eth_trajectory_generation::derivative_order::JERK, j_max_horizontal);
+    1067             : 
+    1068          16 :   opt.addMaximumMagnitudeConstraint(1, eth_trajectory_generation::derivative_order::VELOCITY, v_max_horizontal);
+    1069          16 :   opt.addMaximumMagnitudeConstraint(1, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_horizontal);
+    1070          16 :   opt.addMaximumMagnitudeConstraint(1, eth_trajectory_generation::derivative_order::JERK, j_max_horizontal);
+    1071             : 
+    1072          16 :   opt.addMaximumMagnitudeConstraint(2, eth_trajectory_generation::derivative_order::VELOCITY, v_max_vertical);
+    1073          16 :   opt.addMaximumMagnitudeConstraint(2, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_vertical);
+    1074          16 :   opt.addMaximumMagnitudeConstraint(2, eth_trajectory_generation::derivative_order::JERK, j_max_vertical);
+    1075             : 
+    1076          16 :   opt.addMaximumMagnitudeConstraint(3, eth_trajectory_generation::derivative_order::VELOCITY, v_max_heading);
+    1077          16 :   opt.addMaximumMagnitudeConstraint(3, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_heading);
+    1078          16 :   opt.addMaximumMagnitudeConstraint(3, eth_trajectory_generation::derivative_order::JERK, j_max_heading);
+    1079             : 
+    1080          16 :   opt.optimize();
+    1081             : 
+    1082          16 :   if (overtime()) {
+    1083           5 :     return {};
+    1084             :   }
+    1085             : 
+    1086          22 :   std::string result_str;
+    1087             : 
+    1088          11 :   switch (opt.getOptimizationInfo().stopping_reason) {
+    1089           4 :     case nlopt::FAILURE: {
+    1090           4 :       result_str = "generic failure";
+    1091           4 :       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           2 :     case nlopt::FTOL_REACHED: {
+    1114           2 :       result_str = "ftol reached";
+    1115           2 :       break;
+    1116             :     }
+    1117           2 :     case nlopt::XTOL_REACHED: {
+    1118           2 :       result_str = "xtol reached";
+    1119           2 :       break;
+    1120             :     }
+    1121           3 :     case nlopt::MAXEVAL_REACHED: {
+    1122           3 :       result_str = "maxeval reached";
+    1123           3 :       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          11 :   if (opt.getOptimizationInfo().stopping_reason >= 1 && opt.getOptimizationInfo().stopping_reason != 6) {
+    1136           7 :     ROS_DEBUG("[TrajectoryGeneration]: optimization finished successfully with code %d, '%s'", opt.getOptimizationInfo().stopping_reason, result_str.c_str());
+    1137             : 
+    1138           4 :   } else if (opt.getOptimizationInfo().stopping_reason == -1) {
+    1139           4 :     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          22 :   eth_trajectory_generation::Segment::Vector segments;
+    1151          11 :   opt.getPolynomialOptimizationRef().getSegments(&segments);
+    1152             : 
+    1153          11 :   if (overtime()) {
+    1154           0 :     return {};
+    1155             :   }
+    1156             : 
+    1157             :   // | --------------- create the trajectory class -------------- |
+    1158             : 
+    1159          22 :   eth_trajectory_generation::Trajectory trajectory;
+    1160          11 :   opt.getTrajectory(&trajectory);
+    1161             : 
+    1162          22 :   eth_mav_msgs::EigenTrajectoryPoint::Vector states;
+    1163             : 
+    1164          11 :   ROS_DEBUG("[TrajectoryGeneration]: starting eth sampling with dt = %.2f s ", sampling_dt);
+    1165             : 
+    1166          11 :   bool success = eth_trajectory_generation::sampleWholeTrajectory(trajectory, sampling_dt, &states);
+    1167             : 
+    1168          11 :   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          11 :   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          11 :   } 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          11 :     ROS_DEBUG("[TrajectoryGeneration]: estimated/final trajectory length ratio (final/estimated) %.2f",
+    1195             :               (states.size() * sampling_dt) / initial_total_time_baca);
+    1196             :   }
+    1197             : 
+    1198          11 :   if (success) {
+    1199          11 :     ROS_DEBUG("[TrajectoryGeneration]: eth sampling finished, took %.3f s", (ros::Time::now() - find_trajectory_time_start).toSec());
+    1200          11 :     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          17 : 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          51 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::validateTrajectorySpatial", scope_timer_logger_, scope_timer_enabled_);
+    1402             : 
+    1403             :   // prepare the output
+    1404             : 
+    1405          17 :   std::vector<bool> segments;
+    1406         138 :   for (size_t i = 0; i < waypoints.size() - 1; i++) {
+    1407         121 :     segments.push_back(true);
+    1408             :   }
+    1409             : 
+    1410          17 :   int waypoint_idx = 0;
+    1411             : 
+    1412          17 :   bool   is_safe       = true;
+    1413          17 :   double max_deviation = 0;
+    1414             : 
+    1415        2475 :   for (size_t i = 0; i < trajectory.size() - 1; i++) {
+    1416             : 
+    1417             :     // the trajectory sample
+    1418        2458 :     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        2458 :     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        2458 :     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        2458 :         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        2458 :     const double distance_from_segment = distFromSegment(sample, segment_start, segment_end);
+    1431             : 
+    1432        2458 :     const double segment_end_dist = distFromSegment(segment_end, sample, next_sample);
+    1433             : 
+    1434        2458 :     if (waypoint_idx > 0 || max_deviation_first_segment_ || int(waypoints.size()) <= 2) {
+    1435             : 
+    1436        2252 :       if (distance_from_segment > max_deviation) {
+    1437         340 :         max_deviation = distance_from_segment;
+    1438             :       }
+    1439             : 
+    1440        2252 :       if (distance_from_segment > trajectory_max_segment_deviation_) {
+    1441         893 :         segments.at(waypoint_idx) = false;
+    1442         893 :         is_safe                   = false;
+    1443             :       }
+    1444             :     }
+    1445             : 
+    1446        2458 :     if (segment_end_dist < 0.05 && waypoint_idx < (int(waypoints.size()) - 2)) {
+    1447         104 :       waypoint_idx++;
+    1448             :     }
+    1449             :   }
+    1450             : 
+    1451          51 :   return std::tuple(is_safe, trajectory.size(), segments, max_deviation);
+    1452             : }
+    1453             : 
+    1454             : //}
+    1455             : 
+    1456             : // | --------------------- minor routines --------------------- |
+    1457             : 
+    1458             : /* findTrajectoryAsync() //{ */
+    1459             : 
+    1460          16 : 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          16 :   ROS_DEBUG("[TrajectoryGeneration]: starting the async planning task");
+    1465             : 
+    1466             :   future_trajectory_result_ =
+    1467          16 :       std::async(std::launch::async, &MrsTrajectoryGeneration::findTrajectory, this, waypoints, initial_state, sampling_dt, relax_heading);
+    1468             : 
+    1469        9638 :   while (ros::ok() && future_trajectory_result_.wait_for(std::chrono::milliseconds(1)) != std::future_status::ready) {
+    1470             : 
+    1471        9627 :     if (overtime()) {
+    1472           5 :       ROS_WARN("[TrajectoryGeneration]: async task planning timeout, breaking");
+    1473           5 :       return {};
+    1474             :     }
+    1475             :   }
+    1476             : 
+    1477          11 :   ROS_DEBUG("[TrajectoryGeneration]: async planning task finished successfully");
+    1478             : 
+    1479          11 :   return future_trajectory_result_.get();
+    1480             : }
+    1481             : 
+    1482             : //}
+    1483             : 
+    1484             : /* distFromSegment() //{ */
+    1485             : 
+    1486        4916 : double MrsTrajectoryGeneration::distFromSegment(const vec3_t& point, const vec3_t& seg1, const vec3_t& seg2) {
+    1487             : 
+    1488        4916 :   vec3_t segment_vector = seg2 - seg1;
+    1489        4916 :   double segment_len    = segment_vector.norm();
+    1490             : 
+    1491        4916 :   vec3_t segment_vector_norm = segment_vector;
+    1492        4916 :   segment_vector_norm.normalize();
+    1493             : 
+    1494        4916 :   double point_coordinate = segment_vector_norm.dot(point - seg1);
+    1495             : 
+    1496        4916 :   if (point_coordinate < 0) {
+    1497          28 :     return (point - seg1).norm();
+    1498        4888 :   } else if (point_coordinate > segment_len) {
+    1499        2393 :     return (point - seg2).norm();
+    1500             :   } else {
+    1501             : 
+    1502        2495 :     mat3_t segment_projector = segment_vector_norm * segment_vector_norm.transpose();
+    1503        2495 :     vec3_t projection        = seg1 + segment_projector * (point - seg1);
+    1504             : 
+    1505        2495 :     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        1012 : Waypoint_t MrsTrajectoryGeneration::interpolatePoint(const Waypoint_t& a, const Waypoint_t& b, const double& coeff) {
+    1566             : 
+    1567        1012 :   Waypoint_t      out;
+    1568        1012 :   Eigen::Vector4d diff = b.coords - a.coords;
+    1569             : 
+    1570        1012 :   out.coords(0) = a.coords(0) + coeff * diff(0);
+    1571        1012 :   out.coords(1) = a.coords(1) + coeff * diff(1);
+    1572        1012 :   out.coords(2) = a.coords(2) + coeff * diff(2);
+    1573        1012 :   out.coords(3) = radians::interp(a.coords(3), b.coords(3), coeff);
+    1574             : 
+    1575        1012 :   out.stop_at = false;
+    1576             : 
+    1577        2024 :   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        9682 : bool MrsTrajectoryGeneration::overtime(void) {
+    1685             : 
+    1686        9682 :   auto start_time_total   = mrs_lib::get_mutexed(mutex_start_time_total_, start_time_total_);
+    1687        9682 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    1688             : 
+    1689        9682 :   double overtime = (ros::Time::now() - start_time_total).toSec();
+    1690             : 
+    1691        9682 :   if (overtime > (OVERTIME_SAFETY_FACTOR * max_execution_time - OVERTIME_SAFETY_OFFSET)) {
+    1692          11 :     return true;
+    1693             :   }
+    1694             : 
+    1695        9671 :   return false;
+    1696             : }
+    1697             : 
+    1698             : //}
+    1699             : 
+    1700             : /* timeLeft() //{ */
+    1701             : 
+    1702          16 : double MrsTrajectoryGeneration::timeLeft(void) {
+    1703             : 
+    1704          16 :   auto start_time_total   = mrs_lib::get_mutexed(mutex_start_time_total_, start_time_total_);
+    1705          16 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    1706             : 
+    1707          16 :   double current_execution_time = (ros::Time::now() - start_time_total).toSec();
+    1708             : 
+    1709          16 :   if (current_execution_time >= max_execution_time) {
+    1710           0 :     return 0;
+    1711             :   } else {
+    1712          16 :     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             :   // if the path frame_id is latlon_origin, set UTM zone by calling setLatLon for mrs_lib::transformer using the first point in the trajectory
+    2227           2 :   if (req.path.header.frame_id == "latlon_origin") {
+    2228           0 :     transformer_->setLatLon(req.path.points.front().position.x, req.path.points.front().position.y);
+    2229             :   }
+    2230             : 
+    2231           6 :   auto transformed_path = transformPath(req.path, "");
+    2232             : 
+    2233           2 :   if (!transformed_path) {
+    2234           0 :     std::stringstream ss;
+    2235           0 :     ss << "could not transform the path to the current control frame";
+    2236           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    2237             : 
+    2238           0 :     res.message = ss.str();
+    2239           0 :     res.success = false;
+    2240           0 :     return true;
+    2241             :   }
+    2242             : 
+    2243           2 :   fly_now_                              = transformed_path->fly_now;
+    2244           2 :   use_heading_                          = transformed_path->use_heading;
+    2245           2 :   frame_id_                             = transformed_path->header.frame_id;
+    2246           2 :   override_constraints_                 = transformed_path->override_constraints;
+    2247           2 :   loop_                                 = transformed_path->loop;
+    2248           2 :   override_max_velocity_horizontal_     = transformed_path->override_max_velocity_horizontal;
+    2249           2 :   override_max_velocity_vertical_       = transformed_path->override_max_velocity_vertical;
+    2250           2 :   override_max_acceleration_horizontal_ = transformed_path->override_max_acceleration_horizontal;
+    2251           2 :   override_max_acceleration_vertical_   = transformed_path->override_max_acceleration_vertical;
+    2252           2 :   override_max_jerk_horizontal_         = transformed_path->override_max_jerk_horizontal;
+    2253           2 :   override_max_jerk_vertical_           = transformed_path->override_max_jerk_horizontal;
+    2254           2 :   stop_at_waypoints_                    = transformed_path->stop_at_waypoints;
+    2255             : 
+    2256           4 :   auto params = mrs_lib::get_mutexed(mutex_params_, params_);
+    2257             : 
+    2258           2 :   if (transformed_path->max_execution_time > 0) {
+    2259             : 
+    2260           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    2261             : 
+    2262           0 :     max_execution_time_ = transformed_path->max_execution_time;
+    2263             : 
+    2264             :   } else {
+    2265             : 
+    2266           2 :     std::scoped_lock lock(mutex_max_execution_time_);
+    2267             : 
+    2268           2 :     max_execution_time_ = params.max_execution_time;
+    2269             :   }
+    2270             : 
+    2271           2 :   if (transformed_path->max_deviation_from_path > 0) {
+    2272           0 :     trajectory_max_segment_deviation_ = transformed_path->max_deviation_from_path;
+    2273             :   } else {
+    2274           2 :     trajectory_max_segment_deviation_ = params.max_deviation;
+    2275             :   }
+    2276             : 
+    2277           2 :   dont_prepend_initial_condition_ = transformed_path->dont_prepend_current_state;
+    2278             : 
+    2279           4 :   std::vector<Waypoint_t> waypoints;
+    2280             : 
+    2281          10 :   for (size_t i = 0; i < transformed_path->points.size(); i++) {
+    2282             : 
+    2283           8 :     double x       = transformed_path->points.at(i).position.x;
+    2284           8 :     double y       = transformed_path->points.at(i).position.y;
+    2285           8 :     double z       = transformed_path->points.at(i).position.z;
+    2286           8 :     double heading = transformed_path->points.at(i).heading;
+    2287             : 
+    2288           8 :     Waypoint_t wp;
+    2289           8 :     wp.coords  = Eigen::Vector4d(x, y, z, heading);
+    2290           8 :     wp.stop_at = stop_at_waypoints_;
+    2291             : 
+    2292           8 :     if (!checkNaN(wp)) {
+    2293           0 :       ROS_ERROR("[TrajectoryGeneration]: NaN detected in waypoint #%d", int(i));
+    2294           0 :       res.success = false;
+    2295           0 :       res.message = "invalid path";
+    2296           0 :       return true;
+    2297             :     }
+    2298             : 
+    2299           8 :     waypoints.push_back(wp);
+    2300             :   }
+    2301             : 
+    2302           2 :   if (loop_) {
+    2303           0 :     waypoints.push_back(waypoints.at(0));
+    2304             :   }
+    2305             : 
+    2306           2 :   bool                          success = false;
+    2307           4 :   std::string                   message;
+    2308           4 :   mrs_msgs::TrajectoryReference trajectory;
+    2309             : 
+    2310           4 :   for (int i = 0; i < _n_attempts_; i++) {
+    2311             : 
+    2312             :     // the last iteration and the fallback sampling is enabled
+    2313           4 :     bool fallback_sampling = (_n_attempts_ > 1) && (i == (_n_attempts_ - 1)) && _fallback_sampling_enabled_;
+    2314             : 
+    2315           4 :     std::tie(success, message, trajectory) = optimize(waypoints, transformed_path->header, fallback_sampling, transformed_path->relax_heading);
+    2316             : 
+    2317           4 :     if (success) {
+    2318           2 :       break;
+    2319             :     } else {
+    2320           2 :       if (i < _n_attempts_) {
+    2321           2 :         ROS_WARN("[TrajectoryGeneration]: failed to calculate a feasible trajectory, trying again with different initial conditions!");
+    2322             :       } else {
+    2323           0 :         ROS_WARN("[TrajectoryGeneration]: failed to calculate a feasible trajectory");
+    2324             :       }
+    2325             :     }
+    2326             :   }
+    2327             : 
+    2328           2 :   double total_time = (ros::Time::now() - start_time_total_).toSec();
+    2329             : 
+    2330           2 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    2331             : 
+    2332           2 :   if (total_time > max_execution_time) {
+    2333           0 :     ROS_ERROR("[TrajectoryGeneration]: trajectory ready, took %.3f s in total (exceeding maxtime %.3f s by %.3f s)", total_time, max_execution_time,
+    2334             :               total_time - max_execution_time);
+    2335             :   } else {
+    2336           2 :     ROS_INFO("[TrajectoryGeneration]: trajectory ready, took %.3f s in total (out of %.3f)", total_time, max_execution_time);
+    2337             :   }
+    2338             : 
+    2339           2 :   if (success) {
+    2340             : 
+    2341           4 :     std::optional<geometry_msgs::TransformStamped> tf_traj_state = transformer_->getTransform("", req.path.header.frame_id, ros::Time::now());
+    2342             : 
+    2343           2 :     std::stringstream ss;
+    2344             : 
+    2345           2 :     if (!tf_traj_state) {
+    2346           0 :       ss << "could not create TF transformer for the trajectory to the requested frame: \"" << req.path.header.frame_id << "\"";
+    2347           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    2348           0 :       res.success = false;
+    2349           0 :       res.message = ss.str();
+    2350           0 :       return true;
+    2351             :     }
+    2352             : 
+    2353           2 :     trajectory.header.frame_id = transformer_->frame_to(*tf_traj_state);
+    2354             : 
+    2355         328 :     for (unsigned long i = 0; i < trajectory.points.size(); i++) {
+    2356             : 
+    2357         326 :       mrs_msgs::ReferenceStamped trajectory_point;
+    2358         326 :       trajectory_point.header    = trajectory.header;
+    2359         326 :       trajectory_point.reference = trajectory.points.at(i);
+    2360             : 
+    2361         326 :       auto ret = transformer_->transform(trajectory_point, *tf_traj_state);
+    2362             : 
+    2363         326 :       if (!ret) {
+    2364             : 
+    2365           0 :         ss << "trajectory cannot be transformed to the requested frame: \"" << req.path.header.frame_id << "\"";
+    2366           0 :         ROS_WARN_STREAM_THROTTLE(1.0, "[TrajectoryGeneration]: " << ss.str());
+    2367           0 :         res.success = false;
+    2368           0 :         res.message = ss.str();
+    2369           0 :         return true;
+    2370             : 
+    2371             :       } else {
+    2372             : 
+    2373             :         // transform the points in the trajectory to the current frame
+    2374         326 :         trajectory.points.at(i) = ret.value().reference;
+    2375             :       }
+    2376             :     }
+    2377             : 
+    2378           2 :     res.trajectory = trajectory;
+    2379           2 :     res.success    = success;
+    2380           2 :     res.message    = message;
+    2381             : 
+    2382             :   } else {
+    2383             : 
+    2384           0 :     ROS_ERROR("[TrajectoryGeneration]: failed to calculate a feasible trajectory");
+    2385             : 
+    2386           0 :     res.success = success;
+    2387           0 :     res.message = message;
+    2388             :   }
+    2389             : 
+    2390           2 :   return true;
+    2391             : }
+    2392             : 
+    2393             : //}
+    2394             : 
+    2395             : /* callbackUavState() //{ */
+    2396             : 
+    2397      175721 : void MrsTrajectoryGeneration::callbackUavState(const mrs_msgs::UavState::ConstPtr msg) {
+    2398             : 
+    2399      175721 :   if (!is_initialized_) {
+    2400           0 :     return;
+    2401             :   }
+    2402             : 
+    2403      175721 :   ROS_INFO_ONCE("[TrajectoryGeneration]: getting uav state");
+    2404             : 
+    2405      175721 :   transformer_->setDefaultFrame(msg->header.frame_id);
+    2406             : }
+    2407             : 
+    2408             : //}
+    2409             : 
+    2410             : /* //{ callbackDrs() */
+    2411             : 
+    2412         109 : void MrsTrajectoryGeneration::callbackDrs(mrs_uav_trajectory_generation::drsConfig& params, [[maybe_unused]] uint32_t level) {
+    2413             : 
+    2414         109 :   mrs_lib::set_mutexed(mutex_params_, params, params_);
+    2415             : 
+    2416             :   {
+    2417         109 :     std::scoped_lock lock(mutex_max_execution_time_);
+    2418             : 
+    2419         109 :     max_execution_time_ = params.max_execution_time;
+    2420             :   }
+    2421             : 
+    2422         109 :   ROS_INFO("[TrajectoryGeneration]: DRS updated");
+    2423         109 : }
+    2424             : 
+    2425             : //}
+    2426             : 
+    2427             : }  // namespace mrs_uav_trajectory_generation
+    2428             : 
+    2429             : #include <pluginlib/class_list_macros.h>
+    2430         109 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trajectory_generation::MrsTrajectoryGeneration, nodelet::Nodelet);
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.overview.html b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.overview.html new file mode 100644 index 0000000000..6bff0cc471 --- /dev/null +++ b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.overview.html @@ -0,0 +1,628 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/mrs_trajectory_generation.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 + 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+ Overview +
+ + diff --git a/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.png b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..e3369b7522be812bf74d59e9856e5989cd86387f GIT binary patch literal 7482 zcmV-A9mV2_P)9{2Zu zw_fdy??C#fp-g}kPzYGXYUB|%CE&dy>2tV#hQ|U%1gOVY;Es|u@M!3aW~^lL!rRyC(r=OcpVA;ZYQ1PFf47!f4@9S1x>nQB9ABCW)f^sx`+9b=H&ZX>&F7A8D`4?0#2JO(CvY1~8Uo9O}d zr0;#ZlJVF9@mswb#Up9*DL`Rkc;mf25p})SI``UyF(`kh;TC(%kXFj^F3YjilAh2W zDF~q24O@6r?e;7frzs3}uzANS;a9Xavlq0d1{lD}KTvll0TR#>Ao`~YU>Xw%FcU)# z_&^vVUb^V9fcKjc@Zr1$4d7jc@qW{hzTY@Nb&IPj(zLk5wyD_-OxQ`>hdd(1Y_uC& z?^r<+HQm+RbvpwNBXDQ#!I*=O8s|0U?xZ*&k5l+RiJ*x`=0n))AkMrqNJ$#H!uEe;a!&n4Fl&Rf~i(mCIdXbfy9#5@rafKBqa+!V4Xn<89r-RXSBaEg%$0H#d$`2SoscvF_V^b z#8^|12w25vA?ekn0d-2waaXlo_XV4#5OD&wlz zVgu>Hy>8(Vur$$++b}+|1xc6WF=+ug((r)ae~tL2yLv4Q7$=PC{PKY~j1GpktMR)Q z9v_*#F|IEWV_avF4Ffxxb9*lI`9wd;RR(tKt^&*sx>(wo1(Q@Qv*DB#2#7w;`-?C( 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